Energy-saving and consumption-reducing control method for heading machine, medium and equipment

Abstract

The invention discloses an energy-saving and consumption-reducing control method for a heading machine, a medium and equipment, and relates to the technical field of energy consumption control. The method comprises the steps that working face surrounding rock state detection is executed, and tunneling state scene monitoring is executed; according to the working face surrounding rock state, mechanical driving analysis is executed, and a first control strategy is determined; performing system module segmentation on the heading machine, excavating a multi-module coupling rule under complete machine driving, performing energy consumption out-of-limit analysis on a heading state scene by taking any system module as a judgment basis, determining a module consumption reduction amplitude, performing complete machine same-amplitude adjustment in combination with the multi-module coupling rule, and determining a second control strategy; and coupling the first control strategy and the second control strategy, and performing low-energy-consumption operation regulation and control on the heading machine. The technical problems that in the prior art, a heading machine is high in energy consumption and poor in energy-saving effect are solved, and the technical effects that accurate energy consumption control is achieved through a multi-level control strategy and system module coupling adjustment, the energy consumption of the heading machine is reduced, and the working efficiency is improved are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of energy consumption control, and particularly relates to an energy-saving and consumption-reducing control method, medium and device for a roadheader. Background Art

[0002] As an indispensable construction equipment in projects such as tunnels and underground mine roads, roadheaders are widely used in various underground engineering projects. During the operation of a roadheader, due to its high-power drive, large mechanical structure, and complex working environment, its energy consumption level is relatively high, which in turn affects the overall cost and operation efficiency of the project. Existing energy consumption control technologies have certain limitations and cannot implement precise energy consumption regulation based on the changes in the surrounding rock state of the working face and real-time monitoring of the tunneling state. Therefore, the energy consumption control means in the prior art are difficult to effectively reduce the energy consumption of the roadheader, resulting in the working efficiency and energy-saving effect of the roadheader failing to reach the expected level. Summary of the Invention

[0003] This application provides an energy-saving and consumption-reducing control method, medium and device for a roadheader, which solves the technical problems of high energy consumption and poor energy-saving effect of the roadheader in the prior art.

[0004] In the first aspect of this application, an energy-saving and consumption-reducing control method for a roadheader is provided. The method includes: Install detection equipment at the tunneling head to perform detection of the surrounding rock state of the working face, and install various types of sensors on the whole machine to perform monitoring of the tunneling state scenario; develop a differential frequency cutting unit in the control center of the roadheader, perform mechanical drive analysis of multiple cutters based on the surrounding rock state of the working face, and determine the first control strategy; divide the system modules of the roadheader, and explore the multi-module coupling law under the drive of the whole machine. Taking any system module as the judgment basis, perform energy consumption over-limit analysis on the tunneling state scenario, determine the module energy consumption reduction amplitude, and perform synchronous adjustment of the whole machine in combination with the multi-module coupling law to determine the second control strategy, where the segmentation granularity includes at least drive - hydraulic - variable control - auxiliary; couple the first control strategy and the second control strategy according to the timestamp constraint to perform low-energy consumption operation control on the roadheader.

[0005] Further, the surrounding rock state of the working face includes the surrounding rock state in the advancing direction of each cutter position; according to the differential frequency cutting unit, perform cutting drive control analysis based on the surrounding rock state for each cutter, and determine multiple groups of cutting parameters; integrate the multiple groups of cutting parameters, and perform timestamp constraint under the unit cycle as the first control strategy.

[0006] Furthermore, the excavation big data is retrieved, the rock quality state is divided into N levels, the excavation big data is clustered, and N groups of excavation data are determined; the N groups of excavation data are traversed, statistical analysis is performed within the group, and N roller cutter cutting parameters are mined; a mapping between the N levels of rock quality state and the N roller cutter cutting parameters is established, and linear curve conversion is performed and trained until convergence to determine the cutting decision block; the cutting decision block is mirrored, and the difference frequency cutting unit is determined by integration.

[0007] Furthermore, according to the excavation big data, clustering is performed based on the excavation scenarios to determine M groups of scenario data; the M groups of scenario data are traversed to mine M groups of whole machine driving standards that meet the excavation scenario requirements, wherein the M groups of whole machine driving standards meet the low energy consumption baseline; according to the segmentation granularity, the M groups of whole machine driving standards are decoupled to determine M coupling sequences; taking the scenario as the independent variable, any system module as the decision variable, and the multi-module coupling law as the dependent variable, a multi-module coupling curve is constructed as the multi-module coupling law.

[0008] Furthermore, the excavation status scenario is received, and scenario matching based on the independent variable is performed to determine the scenario coupling sequence in the multi-module coupling curve; any one system module is selected as the target decision variable; the excavation status scenario is identified, and the real-time variable state based on the target decision variable is located; based on the scenario coupling sequence, the sequence node state based on the target decision variable is located, and energy consumption over-limit judgment and coupling decision are performed on the real-time variable state to determine the second control strategy.

[0009] Furthermore, the real-time variable state and the sequence node state are checked, and if the real-time variable state is greater than the sequence node state, an energy-saving and consumption-reducing instruction is generated; according to the energy-saving and consumption-reducing instruction, the over-limit part of the state is located as a pre-adjustment amplitude; according to the pre-adjustment amplitude, a coupling decision is made to determine the second control strategy.

[0010] Furthermore, taking the pre-adjusted amplitude as a standard, the remaining system modules are subjected to co-frequency adjustment based on coupling relationships to determine multi-module amplitude modulation; and parameter control conversion is performed on the multi-module amplitude modulation to determine the second control strategy.

[0011] Furthermore, the first control strategy and the second control strategy are coupled to determine a pre-control strategy; a control transition is determined for the pre-control strategy, and if a control transition exists, a multi-step conversion is performed on the pre-control strategy, and control and adjustment are performed in response to the control center of the tunnel boring machine, wherein the control transition threshold is limited by tunneling stability.

[0012] In a second aspect of the present application, a computer-readable storage medium is provided, storing a computer program which, when executed by a processor, implements an energy-saving and consumption-reducing control method for a roadheader provided by the present application.

[0013] In a third aspect of the present application, an electronic device is provided, including: a memory for storing executable instructions; a processor for implementing an energy-saving and consumption-reducing control method for a roadheader provided by the present application when executing the executable instructions stored in the memory.

[0014] One or more technical solutions provided in the present application have at least the following technical effects or advantages: A detection device is installed at the tunneling head to detect the surrounding rock state of the working face, and multiple types of sensors are installed on the whole machine to monitor the tunneling state scenario; a differential-frequency cutting unit is developed in the control center of the roadheader to perform mechanical drive analysis of multiple cutters according to the surrounding rock state of the working face and determine the first control strategy. Then, the system modules of the roadheader are segmented, and the multi-module coupling law under the drive of the whole machine is explored. Taking any system module as the judgment basis, the energy consumption over-limit analysis of the tunneling state scenario is carried out to determine the module energy consumption reduction amplitude, and the whole machine is adjusted in the same amplitude in combination with the multi-module coupling law to determine the second control strategy, where the segmentation granularity at least includes drive - hydraulic - variable control - auxiliary. Finally, according to the timestamp constraint, the first control strategy and the second control strategy are coupled to control the roadheader for low-energy consumption operation. This solves the technical problems of high energy consumption and poor energy-saving effect of the roadheader in the prior art, and achieves the technical effect of realizing precise energy consumption control through multi-level control strategies and system module coupling adjustment, reducing the energy consumption of the roadheader and improving the operation efficiency. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0016] Figure 1 It is a schematic flowchart of an energy-saving and consumption-reducing control method for a roadheader provided by an embodiment of the present application; Figure 2 It is a schematic flowchart of exploring the multi-module coupling law under the drive of the whole machine in an energy-saving and consumption-reducing control method for a roadheader provided by an embodiment of the present application; Figure 3 It is a schematic structural diagram of an exemplary electronic device of the present application.

[0017] Explanation of the reference numerals: processor 21, memory 22, input device 23, output device 24. Specific Embodiments

[0018] By providing a control method, medium and device for energy conservation and consumption reduction of a roadheader, the present application solves the technical problems of high energy consumption and poor energy conservation effect of the roadheader in the prior art.

[0019] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0020] It should be noted that the terms "including" and "having" are intended to cover non-exclusive inclusion. For example, a process, method, system, product or server including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or modules that are not clearly listed or are inherent to these processes, methods, products or devices.

[0021] Embodiment 1, as Figure 1 shown, the embodiment of the present application provides a control method for energy conservation and consumption reduction of a roadheader, wherein the method includes: Install detection equipment at the tunneling head to perform detection of the surrounding rock state of the working face, and install various types of sensors on the whole machine to perform monitoring of the tunneling state scenario.

[0022] In the embodiment of the present application, by installing detection equipment at the head of the roadheader and equipping various types of sensors on the whole machine, it is possible to perform real-time detection of the surrounding rock state of the working face while comprehensively monitoring the tunneling state.

[0023] The detection equipment installed at the head of the roadheader includes lidar, geological sensors, acoustic sensors, etc. By using the combination of these sensors, it is possible to comprehensively collect parameters such as the hardness, strength, density, porosity, and crack distribution of the surrounding rock, and then evaluate the changes in the surrounding rock of the working face, ensuring the safety of the surrounding rock during the tunneling operation and avoiding operation interruption caused by unstable surrounding rock.

[0024] In addition to the surrounding rock detection equipment at the tunneling head, various types of sensors are installed on other key components of the tunneling machine to comprehensively monitor the working state of the tunneling machine. Specifically, they include load sensors, pressure sensors, temperature sensors, displacement sensors, and vibration sensors. Among them, the load sensor is used to monitor parameters such as tool load and propulsion force to ensure that the tunneling machine operates under the optimal load and avoid overloading or inefficient operation. The pressure sensor is used to monitor the working pressure of the hydraulic system and adjust the oil supply and pressure of the hydraulic system in real time to improve the system efficiency. The temperature sensor is used to monitor the working temperature of important components of the tunneling machine (such as motors, hydraulic pumps, etc.) to prevent equipment damage caused by overheating. The displacement sensor monitors the displacement and propulsion distance of the tunneling machine in real time to ensure the accuracy and stability of the tunneling process. The vibration sensor is used to detect the vibration of the tunneling machine to avoid mechanical damage or increased energy consumption caused by excessive vibration.

[0025] Develop a differential frequency cutting unit in the control center of the tunneling machine. According to the surrounding rock state of the working face, perform a mechanical drive analysis of multiple cutters to determine the first control strategy.

[0026] In the embodiment of the present application, a differential frequency cutting unit is developed in the control center of the tunneling machine. The differential frequency cutting unit is used to receive the feedback data of the surrounding rock detection equipment of the working face in real time and analyze parameters such as the hardness, strength, and stability of the surrounding rock.

[0027] Based on the surrounding rock state of the working face, the differential frequency cutting unit performs a mechanical drive analysis of the multiple cutters of the tunneling machine. Through a mechanical model, analyze the force conditions, rotation speed requirements, and contact state between the cutters and the surrounding rock under different working face conditions. According to the results of the mechanical drive analysis of the multiple cutters, the differential frequency cutting unit formulates the first control strategy. The first control strategy intelligently adjusts the cutter rotation speed, propulsion force, and output of the hydraulic system of the tunneling machine according to the changes in the surrounding rock state of different working faces to achieve the best tunneling efficiency and the lowest energy consumption.

[0028] Furthermore, the surrounding rock state of the working face includes the surrounding rock state in the advancing direction of each cutter position. According to the differential frequency cutting unit, perform a cutting drive control analysis based on the surrounding rock state for each cutter to determine multiple sets of cutting parameters. Integrate the multiple sets of cutting parameters and perform a time stamp constraint under a unit cycle as the first control strategy.

[0029] The surrounding rock state of the working face not only includes the physical properties and mechanical states of the overall surrounding rock, but also specifically includes the surrounding rock state in the advancing direction of each cutter position. By detecting the surrounding rock characteristics of each cutter position in detail, the differential frequency cutting unit can grasp the hardness, stability, and geological conditions of the surrounding rock in the area where each cutter is located in real time and provide targeted working parameters for each cutter.

[0030] According to the surrounding rock state of the working face, the differential frequency cutting unit conducts cutting drive control analysis for each hob, that is, at each hob position, the differential frequency cutting unit performs mechanical drive analysis based on the surrounding rock characteristics at that position, including analyzing parameters such as the load condition of each hob, the contact force between the tool and the surrounding rock, and the change of the thrust force. By optimizing the drive parameters of each hob, it is ensured that each hob of the roadheader can work in the most appropriate way under different geological conditions, avoiding excessive wear or low energy consumption.

[0031] Based on the results of the cutting drive control analysis performed for each hob, the differential frequency cutting unit determines multiple sets of cutting parameters, including the rotation speed, thrust force, hydraulic output pressure, etc. of each hob, and each set of cutting parameters is dynamically adjusted according to the specific surrounding rock state of the position where each hob is located, so that each hob can obtain the best working parameters under different surrounding rock conditions, thereby improving the tunneling efficiency and reducing unnecessary energy consumption. After integrating the determined multiple sets of cutting parameters and performing synchronous scheduling according to the timestamp constraint within a unit cycle, the first control strategy is obtained. The first control strategy can accurately adjust the operation parameters of each hob according to the real-time change of the surrounding rock state, ensuring that the roadheader can maintain a high-efficiency and low-energy consumption working state under different surrounding rock conditions.

[0032] Furthermore, the construction of the differential frequency cutting unit includes: Retrieve the tunneling big data, divide the rock mass state into N levels, cluster the tunneling big data, and determine N groups of tunneling data; traverse the N groups of tunneling data, conduct within-group statistical analysis, and mine N hob cutting parameters; establish the mapping between the N-level rock mass state and the N hob cutting parameters, perform linear curve conversion and train until convergence to determine the cutting decision block; perform mirror processing on the cutting decision block and integrate to determine the differential frequency cutting unit.

[0033] In the embodiments of the present application, by constructing a difference frequency cutting unit, various data during the tunneling process are deeply analyzed and processed to formulate strategies suitable for different rock mass states. Specifically, the large amount of tunneling data accumulated during the tunneling operation is retrieved. The large amount of tunneling data includes real-time data from various sensors (such as load sensors, pressure sensors, displacement sensors, etc.) and surrounding rock detection equipment. Through comprehensive analysis of the tunneling data, clustering algorithms (such as K-Means, hierarchical clustering) are used to divide the rock mass state into N levels (N-level rock mass state), and each level corresponds to a specific surrounding rock characteristic, such as hardness, stability, crack distribution, etc.; the large amount of tunneling data is divided into N groups of tunneling data according to the N-level rock mass state; traverse the N groups of tunneling data, and for each group of tunneling data, perform within-group statistical analysis, including calculation of parameters such as mean, standard deviation, deviation, etc. Through these statistical analyses, the main influencing factors during the hob cutting process under each rock mass state can be mined, including key cutting parameters such as hob load, thrust force, rotational speed, etc., and then N hob cutting parameters are determined to ensure that each rock mass state corresponds to a set of optimized hob working parameters. According to the obtained statistical analysis results, a mapping relationship between the N-level rock mass state and the N hob cutting parameters is established. This mapping relationship is established by the method of linear curve transformation to map the change of the rock mass state and the adjustment range of the cutting parameters; by continuously training and optimizing the mapping relationship until the model converges, so as to ensure that the hob cutting parameters under each rock mass state reach the optimal configuration. After establishing the mapping relationship between the rock mass state and the hob cutting parameters, a cutting decision block is generated. The cutting decision block contains the optimal combination of hob cutting parameters obtained through mapping under different rock mass states.

[0034] By performing mirror processing on the cutting decision block, that is, symmetric or inverse mapping of the cutting decision block, it is ensured that good operation effects can be maintained under various different working conditions. After mirror processing, multiple decision blocks are integrated to form the final difference frequency cutting unit. The difference frequency cutting unit can automatically select appropriate cutting parameters according to real-time surrounding rock data and adjust the working state of the hob in real time, so as to achieve precise energy consumption control under different rock mass states.

[0035] The roadheader is subjected to system module segmentation, and the multi-module coupling law under the drive of the whole machine is mined. Taking any system module as the judgment basis, the energy consumption over-limit analysis of the tunneling state scenario is carried out to determine the module power consumption reduction amplitude, and the whole machine is adjusted in the same amplitude in combination with the multi-module coupling law to determine the second control strategy, where the segmentation granularity at least includes drive - hydraulic - variable control - auxiliary.

[0036] By dividing the roadheader into system modules, multiple functional modules are obtained, including a drive module, a hydraulic module, a variable control module, and an auxiliary module. Among them, the drive module is responsible for providing power for the roadheader, including an electric drive system and a propulsion system; the hydraulic module controls the flow and pressure of hydraulic oil in the hydraulic system to support various operations of the roadheader; the variable control module is responsible for adjusting various control strategies according to operation requirements, including power output and speed regulation; the auxiliary module includes a lighting system, a ventilation system, a cooling system, etc., to support the auxiliary functions of the roadheader. Through system module division, the performance and energy consumption of each module can be monitored and adjusted separately, thus laying a foundation for subsequent energy efficiency control.

[0037] Through in-depth analysis of the coupling relationships between modules, identify which modules' operations will affect the energy efficiency of other modules. For example, when the workload of the hydraulic module increases, it may lead to an increase in the energy consumption of the drive module. Based on module division and coupling rules, analyze the energy consumption levels of each module under different working conditions, identify which modules' energy consumption exceeds the predetermined limit, and optimize the energy efficiency of the over-limit part. Through overall machine synchronous adjustment, synchronously adjust the energy consumption reduction requirements of each module, and formulate a second control strategy to ensure the collaborative optimization of each module in the working state and achieve high-efficiency operation with low energy consumption.

[0038] Furthermore, as Figure 2 shown, explore the multi-module coupling rules under the drive of the whole excavator, including: According to the tunneling big data, cluster based on the tunneling scenario to determine M groups of scenario data; traverse the M groups of scenario data to explore M groups of whole machine drive standards that meet the tunneling scenario requirements, where the M groups of whole machine drive standards meet the low energy consumption baseline; according to the segmentation granularity, decouple the M groups of whole machine drive standards to determine M coupling sequences; take the scenario as the independent variable, any system module as the decision variable, and the multi-module coupling rule as the dependent variable to construct a multi-module coupling curve as the multi-module coupling rule.

[0039] Preferably, based on the tunneling big data, cluster the data according to different tunneling scenarios to determine M groups of scenario data. Each group of scenario data represents a specific working environment and conditions, such as surrounding rock type, operation load, and operation depth, etc.; through the analysis of these tunneling scenario data, explore the whole machine drive standards that match the requirements of each scenario. These standards can not only meet the needs of various tunneling operations but also ensure maintaining the low energy consumption baseline under different operation scenarios.

[0040] After determining M sets of whole-machine drive standards, further decouple these whole-machine drive standards according to the segmentation granularity of the system modules, and convert each set of whole-machine drive standards into M independent coupling sequences. Each coupling sequence corresponds to the energy efficiency relationship and interaction between modules under a specific operation scenario. Finally, taking the tunneling scenario as the independent variable, the working state of any system module as the decision variable, and the multi-module coupling law as the dependent variable, construct a multi-module coupling curve. The module coupling curve reflects the energy efficiency transfer and adjustment law between modules under different operation scenarios. Through the module coupling curve, the synergy between modules can be accurately identified, and then the working state of the modules can be dynamically adjusted according to the change of the scenario, so as to achieve the optimal energy efficiency adjustment of the whole machine.

[0041] Furthermore, taking any system module as the judgment basis, conduct an energy consumption over-limit analysis on the tunneling state scenario, determine the module power reduction amplitude, and perform the same-amplitude adjustment of the whole machine in combination with the multi-module coupling law to determine the second control strategy, including: Receive the tunneling state scenario, perform scenario matching based on the independent variable to determine the scenario coupling sequence in the multi-module coupling curve; select any system module as the target decision variable; identify the tunneling state scenario and locate the real-time variable state based on the target decision variable; based on the scenario coupling sequence, locate the sequence node state based on the target decision variable, and conduct an energy consumption over-limit judgment and coupling decision on the real-time variable state to determine the second control strategy.

[0042] In the embodiment of the present application, taking any system module as the judgment basis, conduct an energy consumption over-limit analysis on the tunneling state scenario, so as to determine the module power reduction amplitude, and perform the same-amplitude adjustment of the whole machine in combination with the multi-module coupling law, and finally formulate the second control strategy.

[0043] Specifically, receive the tunneling state scenario, compare the real-time data of the tunneling state scenario to select the scenario coupling sequence suitable for the current working conditions; optionally select any system module as the target decision variable, and then identify the tunneling state scenario and locate the real-time variable state based on the target decision variable, that is, conduct real-time monitoring on the selected system module to obtain the parameters related to the work of this module, and these data reflect the working conditions of the module in the current working environment.

[0044] Based on the previously selected scenario coupling sequence, locate the sequence node state of the target decision variable, and determine whether the real-time variable state exceeds the energy consumption limit. By analyzing the gap between the real-time state of the selected system module and the set energy efficiency benchmark, judge whether its energy consumption exceeds the predetermined limit. If the energy consumption of the selected system module exceeds the set threshold, coupling decisions will be made according to the multi-module coupling law to coordinate the working states of other relevant modules to optimize the overall energy efficiency. Finally, based on the results of the energy consumption limit determination and the coupling decisions, a second control strategy is determined. This control strategy realizes the low-energy consumption and high-efficiency operation of the roadheader under different working conditions by precisely adjusting the working states and parameters of the target module and its related modules.

[0045] Furthermore, compare the real-time variable state with the sequence node state. If the real-time variable state is greater than the sequence node state, generate an energy-saving and consumption-reducing instruction; according to the energy-saving and consumption-reducing instruction, locate the part where the state exceeds the limit as the pre-adjustment amplitude; according to the pre-adjustment amplitude, make a coupling decision to determine the second control strategy.

[0046] By comparing the real-time variable state with the preset sequence node state, judge whether the current energy consumption level of the selected system module exceeds the predetermined energy efficiency range. If the real-time variable state is greater than the sequence node state, it means that the energy consumption of the module exceeds the predetermined efficiency standard, and at this time, an energy-saving and consumption-reducing instruction will be generated to guide subsequent adjustment operations.

[0047] After generating the energy-saving and consumption-reducing instruction, locate the part where the state exceeds the limit, that is, identify the specific module part with excessive energy consumption, and use this part as the pre-adjustment amplitude. The pre-adjustment amplitude refers to setting a consumption reduction amplitude value according to the specific performance of the part where the energy consumption exceeds the limit to reflect the adjusted energy efficiency level. According to the determined pre-adjustment amplitude, make a coupling decision to determine the second control strategy; during the coupling decision process, according to the multi-module coupling law, coordinate the pre-adjustment amplitude with the working states of other modules to ensure the energy efficiency optimization of the overall system of the roadheader.

[0048] Furthermore, making a coupling decision to determine the second control strategy includes: Taking the pre-adjustment amplitude as the standard, perform co-frequency adjustment on the remaining system modules based on the coupling relationship to determine the multi-module amplitude adjustment; perform parameter control conversion on the multi-module amplitude adjustment to determine the second control strategy.

[0049] Specifically, taking the preset amplitude as the standard, for the remaining system modules of the roadheader, perform co-frequency regulation based on the coupling relationship. This regulation process ensures that when adjusting the energy efficiency of the target module, the working states and energy consumption of other relevant modules are coordinately adjusted according to the mutual influence and energy efficiency transfer law among the modules. Perform parameter control conversion on the determined amplitude modulation of multiple modules, that is, effectively convert and adjust each adjustment amount of the amplitude modulation to adapt to the working characteristics and actual requirements of different modules of the system; based on the result of the parameter control conversion, determine the second control strategy, which comprehensively optimizes the energy efficiency of the roadheader according to the adjusted working parameters of each module, ensuring that the roadheader can operate efficiently and with low energy consumption in different working environments.

[0050] According to the timestamp constraint, couple the first control strategy and the second control strategy to control the low-energy consumption operation of the roadheader.

[0051] During the operation of the roadheader, according to the real-time data and the preset timestamp constraint, dynamically combine the first control strategy and the second control strategy to ensure that appropriate energy efficiency adjustment measures are taken at different time points.

[0052] In specific implementation, the timestamp constraint is used to coordinate the execution timing of different strategies, ensuring the smooth transition and dynamic adjustment of the first control strategy and the second control strategy during the operation. For example, when the roadheader is in a high-load operation state, the first control strategy is mainly responsible for reducing energy consumption by adjusting the real-time state of the cutting head and the cutters, while the second control strategy is responsible for the coordinated adjustment of the overall system modules. At this time, through the way of timestamp constraint, it is ensured that the implementation of the first control strategy and the second control strategy does not conflict with each other and can achieve the optimal energy efficiency.

[0053] Furthermore, after coupling the first control strategy and the second control strategy, it includes: Couple the first control strategy and the second control strategy to determine the pre-control strategy; perform a control transition determination on the pre-control strategy. If there is a control transition, perform a multi-step conversion on the pre-control strategy, and respond to the control adjustment of the control center of the roadheader, where the adjustment transition threshold is defined by the tunneling stability.

[0054] After coupling the first control strategy and the second control strategy, a pre-control strategy is generated. The pre-control strategy combines the adjustment characteristics of both, including both the energy efficiency control for the cutting head and the cutters (from the first control strategy) and the coordinated adjustment among system modules and the overall machine optimization (from the second control strategy). Through coupling, the pre-control strategy can ensure the optimal energy efficiency of the roadheader under different working conditions.

[0055] Determine the regulation transition of the determined pre-control strategy. Regulation transition means that during the operation of the roadheader, due to changes in the external environment or fluctuations in the equipment state, it may lead to sudden changes or significant adjustments of the control strategy. If it is judged that there is a situation of regulation transition, that is, when the state of the roadheader suddenly changes or there is a drastic load change, a multi-step conversion will be performed on the pre-control strategy. Multi-step conversion means that when a large change occurs, the control strategy of the roadheader is gradually adjusted through multiple small-step adjustments, so as to avoid large control fluctuations and ensure a smooth transition of the operation.

[0056] When performing multi-step conversion, corresponding adjustments will be made in response to the control center of the roadheader. By setting the tunneling stability as the adjustment transition threshold, it is ensured that the operation of the roadheader will not be unstable during the adjustment process. As a threshold limit condition for transition, tunneling stability can ensure that the control adjustment of the roadheader is always within a safe range under different operation states, avoiding unnecessary equipment damage or energy efficiency loss caused by excessive or too fast control adjustments.

[0057] In summary, the embodiments of the present application have at least the following technical effects: Install detection equipment at the tunneling head to detect the state of the surrounding rock of the working face, and install multiple types of sensors on the whole machine to monitor the tunneling state scenario. Develop a differential frequency cutting unit in the control center of the roadheader, perform mechanical drive analysis of multiple cutters according to the state of the surrounding rock of the working face, and determine the first control strategy. Then, divide the system modules of the roadheader, and explore the multi-module coupling law under the drive of the whole machine. Taking any system module as the judgment basis, perform energy consumption over-limit analysis on the tunneling state scenario, determine the module energy consumption reduction amplitude, and perform the same amplitude adjustment of the whole machine in combination with the multi-module coupling law to determine the second control strategy, where the segmentation granularity at least includes drive - hydraulic - variable control - auxiliary. Finally, according to the timestamp constraint, couple the first control strategy and the second control strategy to control the roadheader for low-energy consumption operation. It solves the technical problems of high energy consumption and poor energy-saving effect of the roadheader in the prior art, and achieves the technical effect of realizing precise energy consumption control through multi-level control strategies and system module coupling adjustment, reducing the energy consumption of the roadheader and improving the operation efficiency.

[0058] Embodiment 2 Figure 3 It is a schematic structural diagram of the electronic device provided in Embodiment 2 of the present invention, showing a block diagram of an exemplary electronic device suitable for implementing the embodiments of the present invention. Figure 3 The displayed electronic device is only an example and should not bring any limitations to the functions and usage scope of the embodiments of the present invention. As Figure 3 shown, the electronic device includes a processor 21, a memory 22, an input device 23 and an output device 24; the number of processors 21 in the electronic device can be one or more. Figure 3Taking a processor 21 as an example, the processor 21, the memory 22, the input device 23, and the output device 24 in the electronic device can be connected through a bus or other means. Figure 3 Taking the connection through the bus as an example.

[0059] Embodiment 3: Based on the same inventive concept as the energy-saving and consumption-reducing control method for a roadheader in the first foregoing embodiment, this embodiment provides a computer-readable storage medium, which can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the energy-saving and consumption-reducing control method for a roadheader in the embodiments of this application. The processor executes various functional applications and data processing of the computer device by running the software programs, instructions, and modules stored in the memory, that is, implements the above-mentioned energy-saving and consumption-reducing control method for a roadheader.

[0060] It should be noted that the above-mentioned sequence of the embodiments of this application is only for description and does not represent the superiority or inferiority of the embodiments. And the above description of specific embodiments of this specification has been made. The processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0061] The above are only the preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

[0062] This specification and the drawings are only exemplary descriptions of this application and are considered to have covered any and all modifications, variations, combinations, or equivalents within the scope of this application. Obviously, those skilled in the art can make various changes and modifications to this application without departing from the scope of this application. Thus, if these modifications and variations of this application fall within the scope of this application and its equivalent technologies, this application is intended to include these changes and modifications.

Claims

1. A control method for energy saving and consumption reduction of a roadheader, characterized in that, The method includes: Installing detection equipment at the tunneling head to detect the surrounding rock state of the working face, and installing various types of sensors on the whole machine to monitor the tunneling state scenario; Developing a differential-frequency cutting unit in the control center of the roadheader, performing mechanical drive analysis of multiple cutters according to the surrounding rock state of the working face, and determining the first control strategy; Dividing the roadheader into system modules, and exploring the multi-module coupling law under the drive of the whole machine. Taking any system module as the judgment basis, performing energy consumption over-limit analysis on the tunneling state scenario, determining the module power consumption reduction range, and performing the same amplitude adjustment of the whole machine in combination with the multi-module coupling law to determine the second control strategy, where the segmentation granularity includes at least drive - hydraulic - variable control - auxiliary; Coupling the first control strategy and the second control strategy according to the timestamp constraint to control the low-energy consumption operation of the roadheader.

2. The energy-saving and consumption-reducing control method for a roadheader according to claim 1, wherein The surrounding rock state of the working face includes the surrounding rock state in the advancing direction of each cutter position; According to the differential-frequency cutting unit, perform cutting drive control analysis based on the surrounding rock state for each cutter to determine multiple groups of cutting parameters; Integrate the multiple groups of cutting parameters and perform timestamp constraint under the unit cycle as the first control strategy.

3. The energy-saving and consumption-reducing control method of a roadheader according to claim 2, characterized in that, The construction of the differential-frequency cutting unit includes: Retrieving tunneling big data, dividing the rock mass state into N levels, clustering the tunneling big data, and determining N groups of tunneling data; Traversing the N groups of tunneling data, performing within-group statistical analysis, and exploring N cutter cutting parameters; Establishing the mapping between the N-level rock mass state and the N cutter cutting parameters, performing linear curve conversion and training until convergence to determine the cutting decision block; Performing mirror processing on the cutting decision block and integrating to determine the differential-frequency cutting unit.

4. The energy-saving and consumption-reducing control method of a roadheader according to claim 1, wherein Exploring the multi-module coupling law under the drive of the whole machine, including: Based on the tunneling big data, clustering according to the tunneling scenario to determine M groups of scenario data; Traversing the M groups of scenario data, exploring M groups of whole machine drive standards that meet the requirements of the tunneling scenario, where the M groups of whole machine drive standards meet the low-energy consumption baseline; According to the segmentation granularity, decoupling the M groups of whole machine drive standards to determine M coupling sequences; Taking the scenario as the independent variable, taking any system module as the decision variable, and taking the multi-module coupling law as the dependent variable, constructing a multi-module coupling curve as the multi-module coupling law.

5. The energy-saving and consumption-reducing control method of a roadheader according to claim 4, characterized in that Taking any system module as the judgment basis, performing energy consumption over-limit analysis on the tunneling state scenario, determining the module power consumption reduction range, and performing the same amplitude adjustment of the whole machine in combination with the multi-module coupling law to determine the second control strategy, including: Receiving the tunneling state scenario, performing scenario matching based on the independent variable, and determining the scenario coupling sequence in the multi-module coupling curve; Selecting any one system module as the target decision variable; Identifying the tunneling state scenario and positioning the real-time variable state based on the target decision variable; Based on the scenario coupling sequence, positioning the sequence node state based on the target decision variable, and performing energy consumption over-limit judgment and coupling decision on the real-time variable state to determine the second control strategy.

6. The energy-saving and consumption-reducing control method of a roadheader according to claim 5, characterized in that, Compare the real-time variable status with the sequence node status. If the real-time variable status is greater than the sequence node status, generate an energy-saving and consumption-reducing instruction; Locate the part with out-of-limit status according to the energy-saving and consumption-reducing instruction as the pre-adjustment amplitude; Determine the second control strategy through coupling decision-making according to the pre-adjustment amplitude.

7. The energy-saving and consumption-reducing control method of a roadheader according to claim 6, characterized in that Determining the second control strategy through coupling decision-making includes: Taking the pre-adjustment amplitude as the standard, perform co-frequency adjustment on the remaining system modules based on the coupling relationship to determine the multi-module amplitude adjustment; Perform parameter control conversion on the multi-module amplitude adjustment to determine the second control strategy.

8. The energy-saving and consumption-reducing control method of a roadheader according to claim 1, characterized in that, After coupling the first control strategy and the second control strategy, it includes: Couple the first control strategy and the second control strategy to determine the pre-control strategy; Perform a control transition determination on the pre-control strategy. If there is a control transition, perform a multi-step conversion on the pre-control strategy and perform control adjustment in response to the control center of the roadheader, where the adjustment transition threshold is defined by the tunneling stability.

9. An electronic device, characterized in that, The electronic device includes: A memory for storing executable instructions; A processor, when executing the executable instructions stored in the memory, implements a roadheader energy-saving and consumption-reducing control method according to any one of claims 1-8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements a roadheader energy-saving and consumption-reducing control method according to any one of claims 1-8.

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