AI-based hydraulic automatic control system for multiple sets of breaking hammers of high-frequency shield rock machine

Abstract

The invention discloses an AI-based hydraulic automatic control system for multiple sets of breaking hammers of a high-frequency shield rock machine, and the system comprises a tunneling execution module which comprises a cutterhead and a plurality of excavation execution units which are arranged in the circumferential direction of the cutterhead; the dynamic sensing module comprises an image acquisition unit, and the image acquisition unit is used for acquiring mining area images of the mining execution unit in real time; the task management module comprises a task generation unit and a tunneling scheduling unit, the task generation unit is used for generating a main mining area of each mining execution unit, a transition mining area to be distributed is formed between the main mining areas of every two adjacent mining execution units, and the tunneling scheduling unit comprises a progress calculation subunit and a task distribution subunit; and the task allocation subunit allocates the transition mining area to the adjacent mining execution unit according to the mining completion time of the main mining area. Compared with the prior art, the problem that the tunneling efficiency is low when a plurality of high-frequency breaking hammers cooperatively conduct tunneling is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of high-frequency shield rock machines, and particularly to a multi-set hydraulic automatic control system for high-frequency shield rock machines based on AI and multiple breaker hammers. Background Art

[0002] A shield machine is a tunnel boring machine using the shield method. Shafts play a very important role in both underground resource exploitation and the development and utilization of underground space. Shaft boring machines are widely used in shaft construction projects due to their safety and high efficiency.

[0003] In order to improve the tunneling efficiency, a high-frequency shield rock machine composed of a high-frequency breaker hammer and a traditional shield machine is adopted, and multiple high-frequency breaker hammers are used to excavate simultaneously in multiple directions. However, due to the limitations of the mechanical structure, in order to avoid collisions between multiple high-frequency breaker hammers during excavation, it is necessary to control the range of the initial independent excavation area of the high-frequency breaker hammers. This results in a transition area to be excavated between adjacent two high-frequency breaker hammers. Only after the independent excavation areas of each high-frequency breaker hammer have been excavated, the multiple transition areas are uniformly allocated to multiple high-frequency breaker hammers for excavation, with one high-frequency breaker hammer excavating one transition area. However, due to the incomplete same soil conditions in the shaft, the excavation progress of high-frequency breaker hammers in different directions is different, causing the high-frequency breaker hammers that have completed the excavation task first to stop and wait. Therefore, the above transition area allocation method leads to low overall tunneling efficiency of the shaft. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-set hydraulic automatic control system for high-frequency shield rock machines based on AI and multiple breaker hammers to solve the problem of low tunneling efficiency when multiple high-frequency breaker hammers cooperate in tunneling.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions: A multi-set hydraulic automatic control system for high-frequency shield rock machines based on AI and multiple breaker hammers, comprising:

[0006] A tunneling execution module, which includes a cutter head and a plurality of excavation execution units arranged circumferentially along the cutter head;

[0007] A dynamic perception module, which includes an image acquisition unit, and the image acquisition unit is used to collect images of the excavation areas of the excavation execution units in real time;

[0008] The task management module includes a task generation unit and a tunneling scheduling unit. The task generation unit is used to generate the main excavation areas of each excavation execution unit. A to-be-allocated transition excavation area is formed between the main excavation areas of two adjacent excavation execution units. The tunneling scheduling unit includes a progress calculation subunit and a task allocation subunit. The progress calculation subunit is used to calculate the excavated area, excavation efficiency, and remaining excavation time of the current excavation task of the excavation execution unit according to the real-time excavation area image of the excavation execution unit collected. The task allocation subunit allocates the transition excavation area to the adjacent excavation execution unit according to the excavation completion time of the main excavation area.

[0009] As a further description of the above technical solution:

[0010] The task management module further includes a collaboration management unit. The collaboration management unit is used to calculate and simulate the movement trajectories of two adjacent excavation execution units, and use the time difference to calculate and control the non-overlap of the movement trajectories of the two excavation execution units.

[0011] As a further description of the above technical solution:

[0012] When the task allocation subunit allocates the transition excavation areas on both sides of the current excavation execution unit, it calculates the difference between the remaining excavation time of the current excavation execution unit and the remaining excavation times of the excavation execution units on both sides, and allocates the transition excavation area on the side with the larger difference to the current excavation execution unit.

[0013] As a further description of the above technical solution:

[0014] The dynamic perception module further includes a trajectory perception unit and a resistance feedback unit. The trajectory perception unit is used to obtain the movement trajectory of the excavation execution unit during the excavation process. The resistance feedback unit is used to obtain the resistance suffered by the excavation execution unit in real time during the tunneling process.

[0015] As a further description of the above technical solution:

[0016] The dynamic perception module further includes a soil identification unit. The soil identification unit identifies the soil category according to the real-time collected excavation area image of the excavation execution unit and the resistance suffered during the tunneling process.

[0017] As a further description of the above technical solution:

[0018] The task management module further includes a swing optimization unit. The swing optimization unit matches the optimal movement trajectory for the excavation execution unit in the database according to the real-time collected excavation area image, the movement trajectory of the excavation execution unit, and the identified soil category.

[0019] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0020] 1. In the present invention, during the excavation process of the main excavation area, the dynamic perception module collects information such as the images of the excavation area of a single excavation execution unit in the shaft in real time, enabling the tunneling scheduling unit of the task management module to process the images using computer vision, calculate the excavation progress, excavation rate, and remaining excavation time, so as to allocate the transition excavation area to the excavation execution unit that first completes the excavation task of the main excavation area, realize the collaborative tunneling among multiple excavation execution units, avoid downtime waiting, and improve the tunneling efficiency.

[0021] 2. In the present invention, when an excavation execution unit is performing the task of the main excavation area and another adjacent excavation execution unit is excavating the transition excavation area between them, or when two excavation execution units are simultaneously excavating a transition excavation area, the collision between the two excavation execution units is avoided by the collaborative management unit to protect the excavation execution unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 It is a system architecture diagram of a hydraulic automatic control system for multiple breaker hammers of a high-frequency shield rock drill based on AI.

[0024] Figure 2 It is a schematic diagram of shaft tunneling of a hydraulic automatic control system for multiple breaker hammers of a high-frequency shield rock drill based on AI.

[0025] Figure 3 It is a schematic structural diagram of a tunneling execution module in a hydraulic automatic control system for multiple breaker hammers of a high-frequency shield rock drill based on AI.

[0026] LEGEND DESCRIPTION:

[0027] 1. Cutter head; 2. Boom; 3. High-frequency breaker hammer; 9. Main excavation area; 91. Transition excavation area. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0029] Accordingly, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0030] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0031] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "upper", "inner", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the inventive product is customarily placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0032] In the description of the present invention, it should also be noted that unless otherwise clearly defined and limited, the terms "arranged", "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] Embodiment 1

[0034] Please refer to Figures 1 - 3 , the present invention provides a technical solution: a multi-set hydraulic automatic control system for a high-frequency shield rock drill based on AI, including:

[0035] A tunneling execution module, which includes a cutter head 1 and a plurality of excavation execution units arranged circumferentially along the cutter head 1;

[0036] A dynamic perception module, which includes an image acquisition unit, and the image acquisition unit is used to collect images of the excavation area of the excavation execution unit in real time;

[0037] The task management module includes a task generation unit and a tunneling scheduling unit. The task generation unit is used to generate the main excavation area 9 of each excavation execution unit. A transition excavation area 91 to be allocated is formed between the main excavation areas 9 of two adjacent excavation execution units. The tunneling scheduling unit includes a progress calculation subunit and a task allocation subunit. The progress calculation subunit is used to calculate the excavated area, excavation efficiency, and remaining excavation time of the current excavation task of the excavation execution unit based on the real-time excavation area image of the excavation execution unit collected. The current excavation task includes the excavation task of the main excavation area 9 or the transition excavation area 91 executed by the excavation execution unit. The task allocation subunit allocates the transition excavation area 91 to the adjacent excavation execution unit according to the excavation completion time of the main excavation area 9.

[0038] The task management module further includes a cooperation management unit. The cooperation management unit is used to calculate and simulate the movement trajectories of two adjacent excavation execution units, and calculate and control the movement trajectories of the two excavation execution units not to overlap using the time difference.

[0039] For example, when one excavation execution unit is performing the main excavation area task and another adjacent excavation execution unit is excavating the transition excavation area 91 between them, or when two excavation execution units are simultaneously excavating a transition excavation area 91, the cooperation management unit avoids collisions between the two excavation execution units and protects the excavation execution units.

[0040] When the task allocation subunit allocates the transition excavation areas 91 on both sides of the current excavation execution unit, it calculates the difference between the remaining excavation time of the current excavation execution unit and the remaining excavation times of the excavation execution units on both sides, and allocates the transition excavation area 91 on the side with the larger difference to the current excavation execution unit.

[0041] For the excavation execution unit that has completed the excavation task of the main excavation area 9, the task allocation subunit controls the excavation execution unit to preferentially assist the excavation execution unit on the slower side of the excavation progress of the main excavation area 9 to perform the excavation of the transition excavation area 91, so as to shorten the overall excavation time of the tunneling execution module.

[0042] The excavation execution unit includes a boom 2 and a high-frequency breaker 3. The boom 2 is rotatably installed on the cutter head 1, and the high-frequency breaker 3 is fixedly installed at the end of the boom 2. A vibrating knife row or a bucket can be installed on the high-frequency breaker 3. The boom 2 swings through a hydraulic cylinder to adjust the movement trajectory of the high-frequency breaker 3, and the end of the boom 2 drives the high-frequency breaker 3 to perform tunneling work.

[0043] The number of booms 2 on the cutter head 1 can be set according to requirements, effectively ensuring the tunneling efficiency.

[0044] Working principle: When shaft tunneling, the task generation unit of the task management module splits the overall task through control instructions input manually, such as excavation depth and shaft excavation diameter, to generate the main excavation area 9 of each excavation execution unit. A transitional excavation area 91 to be allocated is formed between the main excavation areas 9 of two adjacent excavation execution units. Each excavation execution unit first excavates the main excavation area 9.

[0045] During the excavation process of the main excavation area 9, the dynamic perception module collects information such as images of the excavation area of a single excavation execution unit in the shaft in real time, enabling the tunneling scheduling unit of the task management module to process the images using computer vision to calculate the excavation progress, excavation rate, and remaining excavation time, so as to allocate the transitional excavation area 91 to the excavation execution unit that first completes the excavation task of the main excavation area 9, realizing collaborative tunneling among multiple excavation execution units, avoiding downtime waiting, and improving the tunneling efficiency.

[0046] Embodiment 2

[0047] Based on the above embodiment, this embodiment further makes the following improved technical solutions: The dynamic perception module further includes a trajectory perception unit and a resistance feedback unit. The trajectory perception unit is used to obtain the movement trajectory of the excavation execution unit during the excavation process, and the resistance feedback unit is used to obtain the resistance received by the excavation execution unit during the tunneling process in real time.

[0048] The dynamic perception module further includes a soil identification unit. The soil identification unit identifies the soil type according to the images of the excavation area of the excavation execution unit collected in real time and the resistance received during the tunneling process. The soil types are stored in the soil identification unit.

[0049] When classifying the soil, the soil images collected from the excavation area are associated with the resistance feedback during tunneling, so as to classify the soil according to the resistance received during tunneling, facilitating the consideration of the influence of soils with different excavation difficulties on the excavation speed when calculating the remaining excavation time later, and accurately estimating the remaining excavation time.

[0050] Embodiment 3

[0051] Based on the above embodiment, this embodiment further makes the following improved technical solutions: The task management module further includes a swing optimization unit. The swing optimization unit matches the optimal movement trajectory for the excavation execution unit in the database according to the images of the excavation area collected in real time, the movement trajectory of the excavation execution unit, and the identified soil type.

[0052] During the hoistway tunneling process, the swing optimization unit optimizes the swing amplitude of the excavation execution unit in real time to improve the hoistway excavation efficiency. For example, after collecting the images of the excavation area in real time, it determines whether the excavation efficiency is the highest according to the calculated excavation efficiency. If the excavation efficiency of the excavation execution unit is not the highest, it selects the optimal movement trajectory corresponding to the highest excavation efficiency in the database according to the soil type, and optimizes the movement trajectory of the excavation execution unit according to the optimal movement trajectory and the current movement trajectory of the excavation execution unit.

[0053] As mentioned above, it is only the preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered within the protection scope of the present invention.

Claims

1. An AI-based high-frequency shield rock machine with multiple sets of hydraulic automatic control systems for breaker hammers, characterized in that: include: A tunneling execution module, which includes a cutterhead and a plurality of excavation execution units arranged along the circumference of the cutterhead; A dynamic perception module, comprising an image acquisition unit, wherein the image acquisition unit is used to acquire an image of a mining area of ​​a mining execution unit in real time; The task management module includes a task generation unit and an excavation scheduling unit. The task generation unit is used to generate the main excavation area of ​​each excavation execution unit. A transition excavation area to be allocated is formed between the main excavation areas 9 of two adjacent excavation execution units. The excavation scheduling unit includes a progress calculation subunit and a task allocation subunit. The progress calculation subunit is used to calculate the excavated area, excavation efficiency, and remaining excavation time of the current excavation task of the excavation execution unit based on the collected real-time excavation area image of the excavation execution unit. The task allocation subunit allocates the transition excavation area to the adjacent excavation execution unit according to the excavation completion time of the main excavation area.

2. According to the AI-based high-frequency shield rock machine multi-set breaker hammer hydraulic automatic control system according to claim 1, it is characterized in that: The task management module further includes a collaboration management unit, which is used to calculate and simulate the movement trajectories of two adjacent excavation execution units, and to control the movement trajectories of the two excavation execution units to not overlap by using time difference calculation.

3. According to the AI-based high-frequency shield rock machine multi-set breaker hammer hydraulic automatic control system of claim 1, it is characterized in that: When the task allocation subunit allocates the transitional excavation areas on both sides of the current excavation execution unit, it calculates the difference between the remaining excavation time of the current excavation execution unit and the remaining excavation time of the excavation execution units on both sides, and allocates the transitional excavation area on the side with the larger difference to the current excavation execution unit.

4. According to the AI-based high-frequency shield rock machine multi-set breaker hammer hydraulic automatic control system according to claim 1, it is characterized in that: The dynamic perception module also includes a trajectory perception unit and a resistance feedback unit. The trajectory perception unit is used to obtain the movement trajectory of the excavation execution unit during the excavation process, and the resistance feedback unit is used to obtain the resistance encountered by the excavation execution unit during the excavation process in real time.

5. According to the AI-based high-frequency shield rock machine multi-set breaker hammer hydraulic automatic control system according to claim 4, it is characterized in that: The dynamic perception module also includes a soil identification unit, which identifies the soil type based on the real-time collection of the excavation area image of the excavation execution unit and the resistance encountered during the excavation process.

6. The AI-based high-frequency shield rock machine multi-set breaker hammer hydraulic automatic control system according to claim 5 is characterized in that: The task management module also includes a swing optimization unit, which matches the optimal movement trajectory of the excavation execution unit in the database according to the real-time collected excavation area image, the movement trajectory of the excavation execution unit, and the identified soil type.

7. The AI-based high-frequency shield rock machine multi-set breaker hammer hydraulic automatic control system according to claim 1 is characterized in that: The excavation execution unit comprises a boom and a high-frequency breaker hammer. The boom is rotatably mounted on a cutter head, and the high-frequency breaker hammer is fixedly mounted on the end of the boom.

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