Anti-collision method for arm support of tunneling arm and related device

Abstract

The embodiment of the invention provides an anti-collision method for an arm frame of a tunneling arm and a related device, and relates to the technical field of tunnel engineering equipment. The method comprises the steps that a first posture angle corresponding to a tunneling arm frame under the current propelling distance is obtained, wherein the first posture angle is used for indicating the posture angle when the tunneling arm frame collides under the current propelling distance; the current second posture angle of the tunneling arm frame is obtained through detection; obtaining a collision analysis result according to the first attitude angle and the second attitude angle; and when the collision analysis result indicates that anti-collision processing needs to be carried out, executing a target anti-collision measure corresponding to the collision analysis result so as to prevent the arm frame of the tunneling arm from colliding with other structures of the tunneling and supporting all-in-one machine. Therefore, collision between the cantilever crane and other parts of the tunneling and supporting all-in-one machine can be effectively avoided, and equipment damage is reduced, so that the reliability and adaptability of the system under complex working conditions are improved, and safe and efficient proceeding of tunneling and supporting operation is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of tunnel engineering equipment, and in particular to a tunneling boom anti-collision method and related devices. Background Art

[0002] The tunneling and support machine is a large-scale integrated operation equipment that integrates tunneling and support functions. The tunneling and support machine is mainly used in the field of tunnel construction engineering, in which the tunneling mechanism is the core component of the equipment. Affected by factors such as the tunnel construction working environment and working space, when tunneling, the tunneling arm of the tunneling mechanism is very likely to collide with other parts of the tunneling and support machine during the construction movement. Summary of the invention

[0003] The embodiment of the present application provides a tunneling boom anti-collision method and related device, which can accurately detect the collision risk of the tunneling boom during operation, effectively avoid the collision between the boom and other parts of the tunneling support machine, reduce equipment damage, thereby improving the reliability and adaptability of the system under complex working conditions, and ensuring the safe and efficient conduct of tunneling support operations.

[0004] The embodiments of the present application can be implemented as follows:

[0005] In a first aspect, an embodiment of the present application provides a method for preventing a tunneling boom from collision, the method comprising:

[0006] Obtaining a first posture angle corresponding to the tunneling boom frame at a current advancement distance, wherein the first posture angle is used to indicate a posture angle of the tunneling boom frame when a collision occurs at the current advancement distance;

[0007] Obtaining the second current posture angle of the tunneling arm boom by detecting;

[0008] Obtaining a collision analysis result according to the first posture angle and the second posture angle;

[0009] When the collision analysis result indicates that anti-collision processing is required, target anti-collision measures corresponding to the collision analysis result are executed to prevent the tunneling boom support from colliding with other structures of the tunneling support integrated machine.

[0010] In a second aspect, an embodiment of the present application provides a tunneling boom anti-collision device, the device comprising:

[0011] A first angle obtaining module, used for obtaining a first posture angle corresponding to the tunneling boom frame at a current advancement distance, wherein the first posture angle is used for indicating the posture angle of the tunneling boom frame when a collision occurs at the current advancement distance;

[0012] A second angle obtaining module, which obtains the current second posture angle of the tunneling arm frame through detection;

[0013] An analysis module, used for obtaining a collision analysis result according to the first posture angle and the second posture angle;

[0014] A processing module is used to execute target anti-collision measures corresponding to the collision analysis results when the collision analysis results indicate that anti-collision processing is required, so as to prevent the tunneling arm boom from colliding with other structures of the tunneling support integrated machine.

[0015] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the tunneling arm boom anti-collision method described in the aforementioned embodiment.

[0016] In a fourth aspect, an embodiment of the present application provides an integrated tunneling and supporting machine, including a tunneling arm support, a first detection unit, a second detection unit and a control unit,

[0017] The first detection unit is used to detect and obtain first information indicating a current advancement distance of the boom of the tunneling arm;

[0018] The second detection unit is used to detect and obtain second information indicating a current second posture angle of the boom of the tunneling arm;

[0019] The control unit is communicatively connected with the first detection unit and the second detection unit, and is used to determine a first posture angle corresponding to the tunneling arm boom at a current advancing distance based on the first information, obtain the second posture angle based on the second information, and when a three-dimensional collision analysis result obtained based on the first posture angle and the second posture angle indicates that anti-collision processing is required, execute target anti-collision measures corresponding to the collision analysis result to prevent the tunneling arm boom from colliding with other structures of the tunneling support machine where it is located, wherein the first posture angle is used to indicate the posture angle of the tunneling arm boom when a collision occurs at the current advancing distance.

[0020] In a fifth aspect, an embodiment of the present application provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the anti-collision method for the boom of a tunneling arm as described in the aforementioned embodiment is implemented.

[0021] The anti-collision method and related device for the tunneling arm boom provided in the embodiment of the present application first obtain the first posture angle corresponding to the tunneling arm boom at the current advancement distance and the current second posture angle of the tunneling arm boom, wherein the first posture angle is used to indicate the posture angle of the tunneling arm boom when a collision occurs at the current advancement distance; then, based on the above-mentioned first posture angle and second posture angle, the collision analysis result is obtained through analysis, and when the collision analysis result indicates that anti-collision processing is required, the target anti-collision measures corresponding to the collision analysis result are executed to prevent the tunneling arm boom from colliding with other structures of the tunneling support integrated machine in which it is located. In this way, the collision risk of the tunneling arm boom during operation is accurately detected, the collision between the arm boom and other parts of the tunneling support integrated machine is effectively avoided, and equipment damage is reduced, thereby improving the reliability and adaptability of the system under complex working conditions and ensuring the safe and efficient conduct of tunneling support operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 A block diagram of an electronic device provided in an embodiment of the present application;

[0024] Figure 2 A schematic diagram of the structure of the integrated tunneling and supporting machine provided in the embodiment of the present application;

[0025] Figure 3 A block diagram of an integrated tunneling and supporting machine provided in an embodiment of the present application;

[0026] Figure 4 One of the flow diagrams of the anti-collision method for the tunneling arm and boom provided in the embodiment of the present application;

[0027] Figure 5 for Figure 4 A schematic flow chart of the sub-steps included in step S110;

[0028] Figure 6 for Figure 4 A schematic flow chart of the sub-steps included in step S120;

[0029] Figure 7 for Figure 4 A schematic flow chart of the sub-steps included in step S130;

[0030] Figure 8A second flow chart of the anti-collision method for the tunneling arm and boom provided in an embodiment of the present application;

[0031] Fig. 9 One of the block diagrams of the anti-collision device for the tunneling arm and boom provided in the embodiment of the present application;

[0032] Fig.10 The second block diagram of the anti-collision device for the boom of the tunneling arm provided in the embodiment of the present application.

[0033] Icons: 100-electronic equipment; 110-memory; 120-processor; 130-communication unit; 200-anti-collision device of excavation arm and boom; 210-first angle acquisition module; 220-second angle acquisition module; 230-analysis module; 240-processing module; 250-detection module; 300-excavation support integrated machine; 311-excavation arm and boom; 313-guide rail; 315-platform beam; 321-first detection unit; 3211-first sensor; 322-second detection unit; 3221-second sensor; 3223-third sensor; 323-fourth sensor; 330-control unit; 340-hydraulic element; 350-display screen; 360-alarm. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all 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.

[0035] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0036] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0037] The inventor of the present application has found through research that the excavation arm boom of the excavation mechanism is very likely to collide with other parts of the excavation support machine during construction movement. The following anti-collision measures are currently adopted.

[0038] The first method is to use a mechanical limit structure for protection. In the method of using a mechanical structure for protection, a limit block is set at a position that is prone to collision. When the tunneling arm frame approaches the limit position and is about to collide with other parts of the tunneling support machine, it collides with the limit block, thereby protecting other parts of the tunneling support machine. Alternatively, the stroke of the cylinder is considered when selecting the cylinder. The cylinder stroke is limited by the cylinder selection, thereby limiting the range of motion of the tunneling arm frame. When the tunneling arm frame approaches the limit position (that is, when a collision is about to occur), the limitation of the cylinder stroke causes the tunneling arm frame to stop moving.

[0039] The second method is to use laser distance sensors for protection. Laser distance sensors are installed at the locations of some tunneling support machines that are easily hit by the tunneling boom. The laser distance sensors use lasers to measure distance information and sound an alarm or take braking measures when the distance is detected to be too close.

[0040] The inventors of the present application have found through research that the above two measures have the following problems.

[0041] 1. There are blind spots in protection. The current mechanical limit structure and laser ranging sensor protection methods cannot detect in all directions, and there are collision blind spots. Because the operating range of the tunneling arm is affected by the tunneling depth of the face, the extension range of the tunneling arm is different, and there are blind spots in protection, which makes it difficult to meet actual operation needs. In other words, when the extension distance of the tunneling arm is different, the corresponding positions prone to collision are different. It is impossible to set limit blocks or laser ranging sensors at all positions where collisions may occur, and it is impossible to avoid collisions at all positions where collisions may occur by selecting a cylinder.

[0042] 2. Poor reliability. The limit block is prone to wear and deformation due to long-term use, resulting in a decrease in the protective function. By limiting the stroke of the cylinder, the excavation working surface is also limited. The measurement accuracy and reliability of the laser ranging sensor will be greatly reduced when facing strong light interference or dusty environment, and it is very easy to be blocked by the pipeline of the excavation support machine itself and other items (for example, during the operation, the pipeline of the excavation support machine falls down and blocks the laser ranging sensor), which can easily lead to misjudgment or missed judgment.

[0043] In response to the above situation, the embodiments of the present application provide a tunneling boom anti-collision method and related devices, which can accurately detect the collision risk of the tunneling boom during operation, effectively avoid collision between the boom and other parts of the tunneling support machine, reduce equipment damage, thereby improving the reliability and adaptability of the system under complex working conditions, and ensuring the safe and efficient implementation of tunneling support operations.

[0044] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0045] Please refer to Figure 1 , Figure 1 A block diagram of an electronic device 100 provided in an embodiment of the present application. The electronic device 100 may be a control device of an integrated tunneling and supporting machine, etc. The electronic device 100 may include a memory 110, a processor 120, and a communication unit 130. The memory 110, the processor 120, and the communication unit 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components may be electrically connected to each other via one or more communication buses or signal lines.

[0046] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0047] The processor 120 is used to read / write data or programs stored in the memory 110 and execute corresponding functions. For example, the memory 110 stores a tunneling arm anti-collision device 200, and the tunneling arm anti-collision device 200 includes at least one software function module that can be stored in the memory 110 in the form of software or firmware. The processor 120 executes various functional applications and data processing by running software programs and modules stored in the memory 110, such as the tunneling arm anti-collision device 200 in the embodiment of the present application, that is, the tunneling arm anti-collision method in the embodiment of the present application is implemented.

[0048] The communication unit 130 is used to establish a communication connection between the electronic device 100 and other communication terminals through a network, and to send and receive data through the network.

[0049] It should be understood that Figure 1 The structure shown is only a schematic diagram of the structure of the electronic device 100. The electronic device 100 may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0050] Please refer to Figure 2 and Figure 3 The embodiment of the present application also provides an integrated tunneling support machine 300. The integrated tunneling support machine 300 may include a tunneling mechanism, a first detection unit 321, a second detection unit 322, and a control unit 330. The tunneling mechanism may include a tunneling arm frame 311, a guide rail 313, and a platform (in order to illustrate the structure of the tunneling arm frame 311 below the platform, Figure 2 The flat plate of the middle platform is hidden, and only the platform crossbeam 315 below the flat plate is shown. The guide rail 313 includes a moving part and a bearing part, and the moving part can move relative to the bearing part. The excavation arm support 311 is connected to the moving part of the guide rail 313 to move relative to the bearing part of the guide rail 313, thereby changing the advancement distance.

[0051] The first detection unit 321 is used to detect and obtain first information indicating the current advancement distance of the tunneling arm frame 311. The second detection unit 322 is used to detect and obtain second information indicating the current second posture angle of the tunneling arm frame 311. The sensor types and specific setting positions included in the first detection unit 321 and the second detection unit 322 can be determined in combination with actual needs and are not specifically limited here.

[0052] The control unit 330 is in communication connection with the first detection unit 321 and the second detection unit 322, and is used to determine the first posture angle corresponding to the tunneling arm 311 at the current advancement distance according to the first information, obtain the second posture angle according to the second information, and when the three-dimensional collision analysis result obtained according to the first posture angle and the second posture angle indicates that anti-collision processing is required, execute the target anti-collision measures corresponding to the collision analysis result to prevent the tunneling arm 311 from colliding with other structures (e.g., platform) of the tunneling support integrated machine 300. The first posture angle is used to indicate the posture angle of the tunneling arm 311 when a collision occurs at the current advancement distance.

[0053] As a possible implementation, the first detection unit 321 may include a first sensor 3211. The first sensor 3211 may be disposed on the guide rail 313, and the current advancement distance of the tunneling arm support 311 may be obtained through the first sensor 3211. Optionally, the first sensor 3211 may be a length distance detection sensor.

[0054] As a possible implementation, the second detection unit 322 may include a second sensor 3221 and a third sensor 3223. The second sensor 3221 is used to detect the horizontal inclination angle of the tunneling and supporting machine 300, and may be set at any position of the tunneling and supporting machine, for example, on the guide rail 313. The second sensor 3221 may be a platform horizontal angle sensor.

[0055] The third sensor 3223 is used to detect the working angle of the tunneling arm frame, and can be set in the target area of ​​the tunneling arm frame 311, and the target area is the area where the tunneling arm frame 311 is located below the platform of the tunneling support machine 300. The second posture angle can be obtained according to the above-mentioned horizontal inclination angle and working angle. The second posture angle is used to indicate the posture of the tunneling arm frame 311 relative to the horizontal plane. The third sensor 3223 can be a three-dimensional angle sensor.

[0056] As a possible implementation, the tunneling support integrated machine 300 may further include a fourth sensor 323. The fourth sensor 323 may be disposed below the platform, for example, disposed on the side of the flat plate of the platform cross beam 315 away from the platform. The control unit 330 is in communication connection with the fourth sensor 323, and may detect whether the fourth sensor 323 collides with the tunneling arm boom 311, and execute corresponding anti-collision measures when a collision occurs. Optionally, the fourth sensor 323 may be a pressure sensor.

[0057] In this embodiment, the tunneling and supporting integrated machine 300 may further include a display screen 350 and an alarm 360. The display screen 350 and the alarm 360 are in communication connection with the control unit 330. The control unit 330 may control the display screen 350 to display various data currently detected, and when anti-collision measures need to be executed, the display screen 350 may be controlled to display alarm information and the alarm 360 may be controlled to sound and light alarms. The alarm 360 may be an audible and visual alarm.

[0058] When the posture of the tunneling arm boom 311 needs to be changed, the posture of the tunneling arm boom 311 can also be adjusted by controlling the hydraulic element 340.

[0059] The control unit 330 can use a high-performance 32-bit three-core microprocessor controller to connect with the above four sensors to perform fusion processing and analysis on the data collected by the sensors. The control unit 330 uses advanced signal processing algorithms to calibrate and filter the sensor data. The data processing data refresh cycle is in milliseconds, and the response is fast.

[0060] Please refer to Figure 4 , Figure 4 One of the flow diagrams of the anti-collision method for the tunneling arm frame provided in the embodiment of the present application. The anti-collision method for the tunneling arm frame can be applied to the above-mentioned tunneling support integrated machine. The specific process of the anti-collision method for the tunneling arm frame is described in detail below. In this embodiment, the method may include steps S110 to S140.

[0061] Step S110, obtaining a first posture angle corresponding to the boom of the tunneling arm at the current advancing distance.

[0062] In this embodiment, the first attitude angle corresponding to the current advancement distance of the tunneling arm in the tunneling mechanism of the tunneling support integrated machine can be obtained in any manner. For example, it can be calculated by other devices in combination with models or other algorithms and sent to an electronic device that executes the tunneling arm anti-collision method; or it can be calculated by an electronic device that executes the tunneling arm anti-collision method in combination with relevant data. The first attitude angle is used to indicate the attitude angle of the tunneling arm when a collision occurs at the current advancement distance.

[0063] Step S120, obtaining the current second posture angle of the tunneling boom boom through detection.

[0064] In this embodiment, the current posture angle of the tunneling arm can be obtained by collecting the current image of the tunneling arm or by a sensor set on the tunneling arm, as the second posture angle. The second posture angle can also be obtained by other methods, and the above method is only for example.

[0065] Step S130, obtaining a collision analysis result according to the first posture angle and the second posture angle.

[0066] The first posture angle is the posture angle at the time of collision, and the second posture angle is the current posture angle. Based on the first posture angle and the second posture angle, a collision analysis can be performed to obtain a collision analysis result. The collision analysis result is used to indicate whether a collision will occur, that is, to indicate whether anti-collision processing is required.

[0067] Step S140, when the collision analysis result indicates that anti-collision processing is required, executing target anti-collision measures corresponding to the collision analysis result to prevent the tunneling boom support from colliding with other structures of the tunneling support integrated machine.

[0068] When the obtained collision analysis result indicates that no collision prevention processing is required, the tunneling support integrated machine can operate normally without the need for additional collision prevention measures. When the collision analysis result indicates that collision prevention processing is required, a target collision prevention measure corresponding to the collision analysis result can be determined and executed to prevent the tunneling boom arm frame from colliding with other structures of the tunneling support integrated machine.

[0069] In this way, the collision risk of the tunneling boom during operation can be accurately detected, the collision between the boom and other parts of the tunneling support machine can be effectively avoided, and equipment damage can be reduced, thereby improving the reliability and adaptability of the system under complex working conditions and ensuring the safe and efficient implementation of tunneling support operations.

[0070] As a possible implementation, Figure 5 The first posture angle is obtained in the manner shown. Figure 5 , Figure 5 for Figure 4 Schematic diagram of the flow of sub-steps included in step S110. In this embodiment, step S110 may include sub-steps S111 to S112.

[0071] Sub-step S111, obtaining the current advancement distance of the boom of the tunneling arm through a first sensor arranged on the guide rail.

[0072] like Figure 2As shown, a first sensor 3211 may be provided on the guide rail 313 of the tunneling mechanism, and the first sensor 3211 may be used to detect the distance so as to obtain the current advancement distance of the tunneling arm. The tunneling arm is connected to the moving part of the guide rail 313 so as to move relative to the bearing part of the guide rail 313. The specific position of the first sensor 3211 on the guide rail 313 may be determined in combination with actual needs, as long as data indicating the advancement distance of the tunneling arm can be detected. For example, Figure 2 As shown, the first sensor 3211 is arranged at the rear end of the guide rail 313. The front end of the guide rail 313 is close to the boom of the excavation arm.

[0073] Optionally, only one first sensor 3211 may be provided on one guide rail 313, and the distance value detected by the first sensor 3211 may be directly used as the current advancement distance of the boom of the tunneling arm.

[0074] Alternatively, Figure 2 As shown, a first sensor 3211 may be respectively provided on the guide rails 313 on both sides, and then the current advancement distance of the tunneling arm frame is determined based on the distance values ​​detected by the two first sensors 3211. For example, first determine whether the two first sensors 3211 are damaged. If one of them is damaged, the distance value detected by the other undamaged first sensor 3211 is used as the current advancement distance of the tunneling arm frame; if both first sensors 3211 are not damaged, the distance value detected by one of the first sensors 3211 may be randomly used as the current advancement distance of the tunneling arm frame, or the distance value detected by a pre-specified first sensor 3211 may be used as the current advancement distance of the tunneling arm frame, and the larger or smaller value of the two distance values ​​or the average value of the two distance values ​​may also be used as the current advancement distance of the tunneling arm frame.

[0075] Optionally, the distance difference between the distance values ​​detected by the two first sensors 3211 can also be calculated, and it can be determined whether the distance difference is greater than a preset threshold. If it is greater than, it means that the current operation of the two guide rails 313 is not good, which may cause the connector connected to the two guide rails to get stuck due to the large difference in the advancing distances on both sides. Wherein, the two ends of the connector are respectively connected to a guide rail and connected to the tunneling arm boom, and are used to drive the tunneling arm boom to move when sliding on the guide rail, thereby changing the advancing distance of the tunneling arm boom. In the case where the distance difference is greater than the threshold, the speed of the left thrust cylinder or the right thrust cylinder corresponding to the tunneling arm boom can be adjusted in time so that the distance difference between the distance values ​​detected by the two first sensors 3211 is not greater than the threshold.

[0076] Sub-step S112, calculating the first posture angle according to the advancing distance and a preset formula.

[0077] In this embodiment, a formula representing the relationship between the theoretical limit attitude angle of the boom and the advancement distance x of the tunneling arm can be obtained in advance according to the three-dimensional dynamic simulation of the mechanical structure as the preset formula. The theoretical limit attitude angle of the boom is the attitude angle of the tunneling arm when it collides with other structures (e.g., platform) of the tunneling support machine. After obtaining the current advancement distance x of the tunneling arm, the first attitude angle can be calculated in combination with the preset formula: θ = 0.0000000093x 3 -0.0000339478x 2 +0.0621844433x-42.754498580. Wherein, θ represents the theoretical arm limit attitude angle, that is, the first attitude angle.

[0078] As a possible implementation, Figure 6 The second posture angle is obtained in the manner shown. Figure 6 , Figure 6 for Figure 4 Schematic diagram of the flow of sub-steps included in step S120. In this embodiment, step S120 may include sub-steps S121 to S123.

[0079] Sub-step S121, detecting and obtaining the horizontal inclination angle of the tunneling and supporting integrated machine by means of a second sensor provided on the tunneling and supporting integrated machine.

[0080] Sub-step S122, detecting and obtaining the working angle of the tunneling arm boom by means of a third sensor disposed in a target area of ​​the tunneling arm boom.

[0081] Sub-step S123, obtaining the second posture angle according to the horizontal tilt angle and the working angle.

[0082] In this embodiment, a second sensor may be provided at any position of the tunneling and supporting integrated machine, and the second sensor is used to detect the horizontal tilt angle of the tunneling and supporting integrated machine caused by the uneven working ground. Figure 2 As shown, the second sensor 3221 can be set at the rear end of the guide rail 313.

[0083] A third sensor may also be arranged in the target area of ​​the tunneling arm, and the working angle of the tunneling arm is detected by the third sensor. The target area is the area where the tunneling arm is located below the platform of the tunneling support machine. Figure 2As shown, a third sensor 3223 is arranged in the area where the excavation arm boom 311 is located below the platform.

[0084] After obtaining the horizontal tilt angle and the working angle, the horizontal tilt angle can be subtracted from the working angle to obtain the actual attitude angle of the tunneling boom, that is, the second attitude angle. The process can be shown as the following formula: γ = α-β, γ represents the second attitude angle, α represents the working angle, and β represents the horizontal tilt angle. The second attitude angle is used to indicate the actual attitude of the tunneling boom relative to the horizontal plane, that is, the pitch angle; similarly, the first attitude angle is the attitude of the tunneling boom relative to the horizontal plane when it is about to collide in theory, that is, the pitch angle.

[0085] After obtaining the first posture angle and the second posture angle, Figure 7 The collision analysis results are obtained in the manner shown. Figure 7 , Figure 7 for Figure 4 Schematic diagram of the flow of sub-steps included in step S130. In this embodiment, step S130 may include sub-steps S131 to S134.

[0086] Sub-step S131, calculating the difference between the first posture angle and the second posture angle as the angle difference.

[0087] Sub-step S132, determining whether the angle difference is greater than a first preset angle.

[0088] When the angle difference is greater than the first preset angle, sub-step S133 is executed.

[0089] Sub-step S133, determining a collision analysis result indicating that no collision avoidance processing is required.

[0090] When the angle difference is not greater than the first preset angle, sub-step S134 is executed.

[0091] Sub-step S134, determining a collision analysis result indicating that collision avoidance processing is required.

[0092] In this embodiment, the absolute value of the difference between the first posture angle and the second posture angle can be calculated as the angle difference. Then, the angle difference is compared with the first preset angle to determine whether the angle difference is greater than the first preset angle. The first preset angle can be determined in combination with actual needs, for example, it is set to 5°. If the angle difference is greater than the first preset angle, it means that the current posture of the excavation arm boom is significantly different from the posture when the collision occurs. At this time, a collision analysis result indicating that no collision avoidance processing is required can be determined.

[0093] If the angle difference is not greater than the first preset angle, it means that the current posture of the tunneling arm boom is slightly different from the posture when the collision occurs. At this time, a collision analysis result indicating the need for anti-collision processing can be determined so that processing can be performed in advance to avoid collision.

[0094] Optionally, the collision analysis result can be obtained by directly comparing the angle difference with the first preset angle. Alternatively, further analysis can be performed when the angle difference is not greater than the first preset angle to obtain the collision analysis result when the angle difference is not greater than the first preset angle. The collision analysis result at this time can indicate the degree of urgency so as to determine what kind of collision avoidance measures to take. For example, when a collision is about to occur, a higher level of collision avoidance measures can be adopted; when a collision is only likely to occur, a general level of collision avoidance measures can be adopted.

[0095] In this embodiment, when the angle difference is not greater than the first preset angle, it can also be determined whether the angle difference is greater than or equal to the second preset angle. Among them, the second preset angle is a preset angle, and the second preset angle is less than the first preset angle. The specific value can be determined in combination with actual needs, for example, it is set to 0.5°. If the angle difference is greater than or equal to the second preset angle, that is, it is between the second preset angle and the first preset angle, then the collision analysis result of a possible collision can be determined. If the angle difference is less than the second preset angle, that is, it is between the second preset angle and 0, then the collision analysis result of an impending collision can be determined.

[0096] In this embodiment, when the collision analysis result is obtained, if the collision analysis result indicates that the current posture of the tunneling arm boom is significantly different from the posture where the collision occurs, that is, it indicates that no anti-collision processing is required, and no anti-collision processing may be performed, for example, no collision warning is generated, and the operating speed of the tunneling arm boom is not restricted. When the collision analysis result indicates that the current posture of the tunneling arm boom is significantly different from the posture where the collision occurs, that is, it indicates that anti-collision processing is required, the target anti-collision measures corresponding to the collision analysis result may be executed to prevent the tunneling arm boom from colliding with other structures of the tunneling support integrated machine. For example, the tunneling arm boom is directly controlled to stop working, etc.

[0097] Optionally, as described above, when the angle difference is not greater than the first preset angle, a collision analysis result of a possible collision or a collision analysis result of an impending collision can be obtained. In this case, the following processing can be performed.

[0098] When the collision analysis result indicates that a collision may occur, an audible and visual alarm is given, and the operating speed of the tunneling boom is reduced. The smaller the angle difference between the first posture angle and the second posture angle, the slower the operating speed after the reduction. In this way, by reducing the operating speed of the tunneling boom, the operator can feel that the boom speed is abnormal, thereby realizing that a collision may occur, so that the operator can operate in time to avoid the collision.

[0099] When the collision analysis result indicates that a collision is about to occur, the tunneling boom is controlled to stop the tunneling operation and sound and light alarms are sounded. The posture of the tunneling boom can also be adjusted, and the collision analysis result corresponding to the adjusted posture and the first posture angle is used to indicate that no collision avoidance processing is required, thereby avoiding a collision. The operation can be resumed after ensuring safety.

[0100] In this embodiment, the tunneling mechanism may further include a hydraulic element. When the posture or operating speed of the tunneling arm support needs to be adjusted, the actuator may be controlled to send a corresponding control instruction to the hydraulic element, thereby achieving the desired control effect.

[0101] In the above anti-collision processing, the anti-collision processing effect may be poor due to the failure of one or more sensors (i.e. at least one of the first sensor, the second sensor and the third sensor). Figure 8 Steps S150 to S160 in the above method are used to ensure the anti-collision effect. Figure 8 , Figure 8The second flow chart of the anti-collision method for the tunneling arm and boom provided in the embodiment of the present application. In the present embodiment, steps S150 to S160 and steps S110 to S140 are parallel steps.

[0102] Step S150, detecting whether a fourth sensor disposed below the platform of the tunneling and supporting machine collides with the boom of the tunneling arm.

[0103] Step S160: If the fourth sensor collides with the tunneling arm boom, the tunneling arm boom is controlled to stop the tunneling operation, sound and light alarms are given, and the posture of the tunneling arm boom is adjusted.

[0104] In this embodiment, a fourth sensor may be provided below the platform of the tunneling and supporting integrated machine. Figure 2 As shown, a fourth sensor 323 can be set on the side of the platform cross beam 315 of the platform away from the flat plate of the platform, so that the tunneling arm frame will collide with the fourth sensor first and then with the platform. The detection data of the fourth sensor can be used to determine whether the fourth sensor collides with the tunneling arm frame. For example, the fourth sensor is a pressure sensor. If the pressure detected by the pressure sensor is greater than the corresponding preset pressure, it can be determined that the fourth sensor collides with the tunneling arm frame; otherwise, it is determined that the fourth sensor does not collide with the tunneling arm frame.

[0105] In the case where it is determined that the fourth sensor collides with the tunneling arm frame, a target anti-collision measure corresponding to the collision analysis result indicating that anti-collision processing is required can be executed to avoid the collision. Optionally, since a collision has occurred with the fourth sensor at this time, in order to ensure the processing effect, the tunneling arm frame can be controlled to stop the tunneling operation, and an audible and visual alarm can be issued, and the posture of the tunneling arm frame can be adjusted, and the collision analysis result corresponding to the adjusted posture and the first posture angle is a result used to indicate that anti-collision processing is not required.

[0106] In this embodiment, the excavation mechanism may further include a display screen on which the detection data of the first sensor, the second sensor, the third sensor and the fourth sensor may be displayed, and corresponding alarm information may be displayed on the display screen when anti-collision processing is required.

[0107] In order to perform the corresponding steps in the above embodiments and various possible methods, a method for implementing the anti-collision device 200 for the tunneling arm frame is given below. Optionally, the anti-collision device 200 for the tunneling arm frame can adopt the above Figure 1 Further, please refer to Fig. 9 , Fig. 9This is one of the block diagrams of the tunneling arm anti-collision device 200 provided in the embodiment of the present application. It should be noted that the basic principle and technical effect of the tunneling arm anti-collision device 200 provided in this embodiment are the same as those of the above embodiments. For the sake of brief description, for the parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above embodiments. In this embodiment, the tunneling arm anti-collision device 200 may include: a first angle acquisition module 210, a second angle acquisition module 220, an analysis module 230 and a processing module 240.

[0108] The first angle acquisition module is used to obtain a first posture angle corresponding to the tunneling arm frame at the current advancement distance, wherein the first posture angle is used to indicate the posture angle of the tunneling arm frame when a collision occurs at the current advancement distance.

[0109] The second angle obtaining module 220 obtains the current second posture angle of the tunneling boom by detection.

[0110] The analysis module 230 is used to obtain a collision analysis result according to the first posture angle and the second posture angle.

[0111] The processing module 240 is used to execute target anti-collision measures corresponding to the collision analysis results when the collision analysis results indicate that anti-collision processing is required, so as to prevent the tunneling boom frame from colliding with other structures of the tunneling support integrated machine.

[0112] Please refer to Fig.10 , Fig.10 The second block diagram of the tunneling arm anti-collision device 200 provided in the embodiment of the present application. In this embodiment, the tunneling arm anti-collision device 200 may further include a detection module 250 .

[0113] The detection module 250 is used to detect whether a fourth sensor disposed below the platform of the tunneling and supporting machine collides with the boom of the tunneling arm.

[0114] If the fourth sensor collides with the tunneling arm boom, the processing module 240 controls the tunneling arm boom to stop the tunneling operation, and makes an audible and visual alarm, and adjusts the posture of the tunneling arm boom, wherein the collision analysis result corresponding to the adjusted posture and the first posture angle is used to indicate that no anti-collision processing is required.

[0115] Optionally, the above modules can be stored in the form of software or firmware. Figure 1 The memory 110 shown in the figure may be fixed in the operating system (OS) of the electronic device 100 and may be Figure 1 Meanwhile, the data and program codes required for executing the above modules may be stored in the memory 110.

[0116] An embodiment of the present application also provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the tunneling arm boom anti-collision method is implemented.

[0117] In summary, the embodiment of the present application provides a method and related device for preventing collision of a tunneling arm boom. First, the first posture angle corresponding to the tunneling arm boom at the current advancement distance and the current second posture angle of the tunneling arm boom are obtained. The first posture angle is used to indicate the posture angle of the tunneling arm boom when a collision occurs at the current advancement distance. Then, based on the above-mentioned first posture angle and second posture angle, a collision analysis result is obtained through analysis, and when the collision analysis result indicates that anti-collision processing is required, the target anti-collision measures corresponding to the collision analysis result are executed to prevent the tunneling arm boom from colliding with other structures of the tunneling support integrated machine. In this way, the collision risk of the tunneling arm boom during operation is accurately detected, the collision between the boom and other parts of the tunneling support integrated machine is effectively avoided, and equipment damage is reduced, thereby improving the reliability and adaptability of the system under complex working conditions and ensuring the safe and efficient conduct of tunneling support operations.

[0118] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0119] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0120] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0121] The above description is only an optional embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for preventing a tunneling boom from collision, characterized in that: The method comprises: Obtaining a first posture angle corresponding to the tunneling boom frame at a current advancement distance, wherein the first posture angle is used to indicate a posture angle of the tunneling boom frame when a collision occurs at the current advancement distance; Obtaining the current second posture angle of the tunneling arm boom by detecting; Obtaining a collision analysis result according to the first posture angle and the second posture angle; When the collision analysis result indicates that anti-collision processing is required, target anti-collision measures corresponding to the collision analysis result are executed to prevent the tunneling boom support from colliding with other structures of the tunneling support integrated machine.

2. The method according to claim 1, characterized in that: Obtaining a collision analysis result according to the first posture angle and the second posture angle includes: Calculate the difference between the first posture angle and the second posture angle as the angle difference; Determining whether the angle difference is greater than a first preset angle; When the angle difference is greater than the first preset angle, determining a collision analysis result indicating that no collision avoidance processing is required; When the angle difference is not greater than the first preset angle, a collision analysis result indicating that collision avoidance processing is required is determined.

3. The method according to claim 2, characterized in that When the angle difference is not greater than the first preset angle, determining a collision analysis result indicating that collision avoidance processing is required includes: When the angle difference is between a second preset angle and the first preset angle, determining a collision analysis result that a collision may occur, wherein the second preset angle is smaller than the first preset angle; When the angle difference is between the second preset angle and 0, a collision analysis result indicating an impending collision is determined.

4. The method according to claim 1, characterized in that: When the collision analysis result indicates that collision avoidance processing is required, executing a target collision avoidance measure corresponding to the collision analysis result includes: When the collision analysis result indicates that a collision may occur, an audible and visual alarm is given, and the operating speed of the tunneling boom is reduced, wherein the smaller the angle difference between the first posture angle and the second posture angle is, the slower the operating speed after the reduction is; When the collision analysis result indicates that a collision is about to occur, the tunneling arm boom is controlled to stop the tunneling operation, and an audible and visual alarm is issued, and the posture of the tunneling arm boom is adjusted, wherein the collision analysis result corresponding to the adjusted posture and the first posture angle is a result indicating that no anti-collision processing is required.

5. The method according to claim 1, characterized in that The obtaining of the first posture angle corresponding to the tunneling boom support at the current advancement distance includes: Obtaining a current advancement distance of the tunneling boom by means of a first sensor disposed on the guide rail, wherein the tunneling boom is connected to a moving part of the guide rail so as to move relative to a bearing part of the guide rail; The first posture angle is calculated based on the propulsion distance and a preset formula.

6. The method according to claim 1, characterized in that The step of obtaining the current second posture angle of the tunneling boom by detecting includes: The horizontal inclination angle of the tunneling and supporting integrated machine is detected by a second sensor arranged on the tunneling and supporting integrated machine; The working angle of the tunneling arm frame is detected by a third sensor disposed in a target area of ​​the tunneling arm frame, wherein the target area is an area where the tunneling arm frame is located below the platform of the tunneling support machine; The second posture angle is obtained according to the horizontal inclination angle and the working angle, wherein the second posture angle is used to indicate the posture of the tunneling boom frame relative to the horizontal plane.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: Detecting whether a fourth sensor disposed below the platform of the tunneling support integrated machine collides with the tunneling arm boom; If the fourth sensor collides with the tunneling arm boom, the tunneling arm boom is controlled to stop the tunneling operation, and an audible and visual alarm is issued, and the posture of the tunneling arm boom is adjusted, wherein the collision analysis result corresponding to the adjusted posture and the first posture angle is used to indicate that no anti-collision processing is required.

8. A tunneling boom anti-collision device, characterized in that: The device comprises: A first angle obtaining module, used for obtaining a first posture angle corresponding to the tunneling boom frame at a current advancement distance, wherein the first posture angle is used for indicating the posture angle of the tunneling boom frame when a collision occurs at the current advancement distance; A second angle obtaining module, which obtains the current second posture angle of the tunneling arm frame through detection; An analysis module, used for obtaining a collision analysis result according to the first posture angle and the second posture angle; A processing module is used to execute target anti-collision measures corresponding to the collision analysis results when the collision analysis results indicate that anti-collision processing is required, so as to prevent the tunneling arm boom from colliding with other structures of the tunneling support integrated machine.

9. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the anti-collision method for the excavation arm boom according to any one of claims 1-7.

10. An integrated tunneling and supporting machine, characterized in that: It includes a tunneling arm support, a first detection unit, a second detection unit and a control unit, The first detection unit is used to detect and obtain first information indicating a current advancement distance of the boom of the tunneling arm; The second detection unit is used to detect and obtain second information indicating a current second posture angle of the boom of the tunneling arm; The control unit is communicatively connected with the first detection unit and the second detection unit, and is used to determine a first posture angle corresponding to the tunneling arm boom at a current advancing distance based on the first information, obtain the second posture angle based on the second information, and when a three-dimensional collision analysis result obtained based on the first posture angle and the second posture angle indicates that anti-collision processing is required, execute target anti-collision measures corresponding to the collision analysis result to prevent the tunneling arm boom from colliding with other structures of the tunneling support machine where it is located, wherein the first posture angle is used to indicate the posture angle of the tunneling arm boom when a collision occurs at the current advancing distance.

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