Construction early warning method, system and medium for integrated drilling and anchoring machine

Abstract

The present invention discloses a construction early warning method, system, and medium for a drilling and anchoring machine, relating to the technical field of drilling and anchoring machines. The method comprises: identifying whether the drilling and anchoring machine is in an operation switching state; if so, modeling the posture of the drilling and anchoring components based on sensor data; analyzing the posture data using a dynamic safety buffer algorithm to assess the collision risk level between components; and triggering an early warning response module to adjust the posture of the relevant components when the risk level is greater than or equal to a preset threshold. This achieves the technical effect of dynamically monitoring the switching state, conducting real-time risk assessment and early warning, and thus improving construction safety.

Description

Technical Field

[0001] The present invention relates to the technical field of integrated digging and anchoring machines, and in particular to a construction early warning method, system and medium for integrated digging and anchoring machines. Background Art

[0002] In practice, tunneling and anchoring machines frequently switch between tunneling and anchoring modes to complete different construction tasks. During this switching process, the positions of the tunneling and anchoring components change. However, existing technologies lack real-time monitoring and risk analysis of these switching states. Specifically, existing technologies are unable to dynamically assess the collision risk between the tunneling and anchoring components. As a result, when switching between operating modes, the equipment may be damaged by collisions, or work may be interrupted due to the lack of early warning, affecting construction efficiency and equipment lifespan. Summary of the Invention

[0003] The present invention provides a construction early warning method, system and medium for a drilling and anchoring machine to solve the technical problem in the prior art of lacking real-time monitoring and early warning of the drilling and anchoring machine, which affects the safety of equipment and construction, and realizes dynamic monitoring switching status, real-time risk assessment and early warning, thereby improving the technical effect of construction safety.

[0004] In a first aspect, the present invention provides a construction early warning method for a mining and anchoring machine, wherein the construction early warning method for the mining and anchoring machine comprises:

[0005] According to the sensor perception module, it is determined whether the current operating state of the anchor drilling machine is in the switching state.

[0006] If the integrated digging and anchoring machine is in a switching state, the posture modeling of the integrated digging and anchoring machine is performed according to the sensing data of the sensing perception module to obtain the posture data of the excavation component and the posture data of the anchoring component.

[0007] Based on a dynamic safety buffer algorithm, a risk analysis is performed on the posture data of the tunneling component and the posture data of the anchoring component to obtain a collision risk level between the tunneling component and the anchoring component.

[0008] Determine whether the collision risk level of the tunneling component and the anchoring component is greater than or equal to a preset risk threshold. If the collision risk level is greater than or equal to the preset risk threshold, the early warning response module adjusts the posture of the tunneling component and the anchoring component.

[0009] In a feasible implementation, the sensing module is connected to a state classification model, and identifies whether the current operating state of the drilling and anchoring machine is in a switching state according to the state classification model, wherein the drilling and anchoring machine includes a drilling state, an anchoring state and a switching state.

[0010] In a feasible implementation, the method for constructing the state classification model includes:

[0011] Acquire excavation component sample data and anchoring component sample data in the excavation state, anchoring state and switching state respectively.

[0012] Feature vectors are extracted based on the excavation component sample data and the anchoring component sample data, and the feature vectors include time series features, spatial features, and behavioral features.

[0013] Key features are extracted from the feature vectors to obtain the speed change of the tunneling component, the angle change of the anchoring component, and the overlap of the movements of the tunneling and anchoring components in each state.

[0014] A support vector machine is used to train the model for the speed change of the tunneling component, the angle change of the anchoring component, and the overlap of the movements of the tunneling and anchoring components in each state to obtain a trained state classification model.

[0015] In a feasible implementation, risk analysis is performed on the posture data of the tunneling assembly and the posture data of the anchoring assembly based on a dynamic safety buffer algorithm, and the method includes:

[0016] The equipment data and task paths of the tunneling component and the anchoring component are obtained.

[0017] The excavation safety buffer zone and the anchoring safety buffer zone are defined based on the equipment data of the excavation component and the anchoring component and the task paths of the excavation component and the anchoring component.

[0018] Based on the dynamic safety buffer zone algorithm, risk analysis is performed on the posture data of the tunneling component and the posture data of the anchoring component in the tunneling safety buffer zone and the anchoring safety buffer zone to obtain a collision risk level.

[0019] In a feasible implementation, risk analysis is performed on the posture data of the tunneling assembly and the posture data of the anchoring assembly, and the method includes:

[0020] A first distance is calculated based on the posture data of the tunneling assembly and the posture data of the anchoring assembly, wherein the first distance is the minimum distance between the tunneling assembly and the anchoring assembly.

[0021] A safety distance is obtained according to the excavation safety buffer zone and the anchoring safety buffer zone.

[0022] The first distance is compared with the safety distance to output a collision risk level.

[0023] In a feasible implementation, the first distance is compared with the safety distance to output a collision risk level.

[0024] When the ratio of the first distance to the safety distance is greater than or equal to 1, the collision risk level is outputted using the ratio.

[0025] When the ratio of the first distance to the safety distance is less than 1, a safety signal is sent to the early warning response module.

[0026] In a feasible implementation, the early warning response module adjusts the posture of the tunneling assembly and the anchoring assembly, and the method includes:

[0027] The motion spaces of the tunneling assembly and the anchoring assembly are obtained.

[0028] If the motion spaces of the tunneling assembly and the anchoring assembly are both smaller than the preset motion spaces, the early warning response module performs coordinated posture adjustment on the tunneling assembly and the anchoring assembly.

[0029] If the motion space of the tunneling component is greater than or equal to the preset motion space, the early warning response module adjusts the posture of the tunneling component.

[0030] If the motion space of the anchoring component is greater than or equal to the preset motion space, the early warning response module adjusts the posture of the anchoring component.

[0031] If the motion spaces of the tunneling component and the anchoring component are both greater than or equal to the preset motion spaces, the early warning response module adjusts the posture of the tunneling component or the anchoring component.

[0032] In a feasible implementation, the early warning response module adjusts the postures of the tunneling assembly and the anchoring assembly, and the method further includes:

[0033] The posture adjustment object is determined by the early warning response module, and the posture adjustment object includes a tunneling component, an anchoring component, and a tunneling-anchoring component.

[0034] According to the posture adjustment object, a posture adjustment strategy is generated, wherein the posture adjustment strategy includes the backward and forward displacements and angles of the tunneling component, and the deployment and retraction time and angle of the anchoring component.

[0035] In a second aspect, the present invention further provides a construction early warning system for a drilling and anchoring machine, wherein the construction early warning system for the drilling and anchoring machine comprises:

[0036] The operating state identification unit is used to identify whether the current operating state of the anchoring and mining machine is in a switching state according to the sensing module.

[0037] The posture modeling unit is used to perform posture modeling on the integrated miner and anchor machine according to the sensing data of the sensing perception module when the integrated miner and anchor machine is in a switching state, and obtain the posture data of the excavation component and the posture data of the anchoring component.

[0038] A collision risk analysis unit is used to perform risk analysis on the posture data of the tunneling component and the posture data of the anchoring component based on a dynamic safety buffer algorithm to obtain a collision risk level between the tunneling component and the anchoring component.

[0039] The risk judgment and adjustment unit is used to judge whether the collision risk level of the tunneling component and the anchoring component is greater than or equal to a preset risk threshold. If the collision risk level is greater than or equal to the preset risk threshold, the early warning response module adjusts the posture of the tunneling component and the anchoring component.

[0040] In a third aspect, the present invention further provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the construction early warning method for the integrated drilling and anchoring machine provided by the present invention.

[0041] The present invention discloses a construction early warning method, system and medium for a drilling and anchoring machine, including: identifying whether the current operating state of the drilling and anchoring machine is in a switching state through a sensor perception module; if it is in the switching state, performing posture modeling on the drilling and anchoring machine according to the sensor data, and obtaining the posture data of the tunneling component and the anchoring component; then, performing risk analysis on the posture data of the two based on a dynamic safety buffer algorithm to determine their collision risk level; if the collision risk level is greater than or equal to a preset risk threshold, the early warning response module adjusts the posture of the drilling component and the anchoring component. The construction early warning method, system and medium for the drilling and anchoring machine disclosed in the present invention solve the technical problem of lack of real-time monitoring and early warning of the drilling and anchoring machine, which affects the safety of equipment and construction, and realizes the technical effect of dynamic monitoring of switching status, real-time risk assessment and early warning, thereby improving construction safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 The figure is a flow chart of the construction early warning method for the integrated drilling and anchoring machine according to the present invention.

[0043] Figure 2 The diagram is a structural diagram of a construction early warning system for an integrated drilling and anchoring machine according to the present invention.

[0044] Explanation of the accompanying symbols: operation status recognition unit 11, posture modeling unit 12, collision risk analysis unit 13, risk judgment and adjustment unit 14. DETAILED DESCRIPTION

[0045] The above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods of the specification to better understand the above technical solution. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention. It should be understood that the present invention is not limited to the example embodiments used only to explain the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In addition, it should be noted that, for the convenience of description, only the parts related to the present invention, rather than all, are shown in the drawings.

[0046] Example 1, as Figure 1 The flowchart of the construction early warning method for the integrated digging and anchoring machine of the present invention is as follows:

[0047] S100: Identify, based on the sensing module, whether the current operating state of the anchoring and mining machine is in a switching state.

[0048] Specifically, first, the sensor perception module is activated to monitor the real-time status information of the target drilling and anchoring machine, especially whether the drilling and anchoring machine is in a switching state; wherein, the switching state refers to the transition state when the drilling and anchoring machine switches from the excavation mode to the anchoring mode or from the anchoring mode to the drilling mode. During the switching process, the position and posture of the drilling component and the anchoring component will change, and there is a risk of collision.

[0049] Exemplarily, the sensing module communicates with the control terminal of the drilling and anchoring machine via an interactive CAN bus or wireless communication module to read control signals. These control signals contain the machine's current operating mode (drilling, anchoring, or switching) and related action commands (such as retracting the drilling component and deploying the anchoring component). Simultaneously, the sensing module combines real-time sensor data (such as the displacement, speed, and angle of the drilling component, and the deployment angle and retraction speed of the anchoring component) with the aforementioned control signals to identify the switching state. For example, when the drilling and anchoring machine switches from drilling mode to anchoring mode, the control signal triggers the retracting of the drilling component and the deployment of the anchoring component. The sensing module then determines whether the machine is in the switching state by reading the control signal and verifying the consistency of the sensor data.

[0050] By monitoring the operating status of the anchor drill and accurately identifying the switching status, a basis is provided for subsequent risk analysis and posture adjustment, ensuring that the equipment can be adjusted in time during the switching process to avoid collisions and construction interruptions.

[0051] In some embodiments, the sensing module is connected to a state classification model, and identifies whether the current operating state of the drilling and anchoring machine is in a switching state according to the state classification model, wherein the drilling and anchoring machine includes a drilling state, an anchoring state, and a switching state.

[0052] Specifically, the state classification model is used to classify and identify the operating status of the drilling and anchoring machine (such as excavation, anchoring, and switching). Optionally, the state classification model is constructed and trained based on a machine learning algorithm; wherein, the switching state includes two types: excavation state to anchoring state, and anchoring state to drilling state.

[0053] Specifically, the sensor perception module is connected to the state classification model, so that the acquired perception data can be input into the state classification model in real time for state classification. Through the collaborative work of the sensor perception module and the state classification model, the operating status of the drilling and anchoring machine, especially the switching status, can be identified in real time and accurately, providing reliable data support for subsequent risk analysis and early warning.

[0054] In some implementations, the method of constructing the state classification model includes:

[0055] Obtain sample data of the tunneling component and sample data of the anchoring component in the tunneling state, anchoring state and switching state respectively; extract feature vectors based on the tunneling component sample data and the anchoring component sample data, wherein the feature vectors include time series features, spatial features and behavioral features; extract key features from the feature vectors to obtain the speed change of the tunneling component, the angle change of the anchoring component, and the degree of overlap of the movements of the tunneling and anchoring components in each state; use a support vector machine to train a model of the speed change of the tunneling component, the angle change of the anchoring component, and the degree of overlap of the movements of the tunneling and anchoring components in each state to obtain a trained state classification model.

[0056] Specifically, the excavation component sample data includes the operating data of the excavation component of the excavation and anchoring machine in the excavation state, anchoring state and switching state, such as the displacement, speed, angle, etc. of each part of the excavation component; correspondingly, the anchoring component sample data includes multiple sets of operating data of the anchoring component of the excavation and anchoring machine in the excavation state, anchoring state and switching state, such as the deployment angle, retraction speed, etc. of each part of the anchoring component.

[0057] Specifically, the feature vector is a vectorized representation of the features extracted from the tunneling component sample data and the anchoring component sample data, where different vector dimensions correspond to different feature items, including time series features (such as velocity change rate), spatial features (such as posture data) and behavioral features (such as action overlap).

[0058] Specifically, first, the original operating data of the tunneling component and anchoring component in the tunneling state, anchoring state and switching state are collected from the control instruction log or experimental data respectively; then, the acquired tunneling component sample data and anchoring component sample data are preprocessed to improve the data quality, and the preprocessed sample data are subjected to feature engineering to extract time series features such as the operating speed change rate, start / stop time difference, etc., spatial features such as the propulsion distance, the cylinder extension length, etc., and behavioral features such as the component action sequence, the collaborative operation sequence, etc.; then, the corresponding feature vector is constructed based on the acquired multi-dimensional features.

[0059] Specifically, through statistical analysis or feature selection algorithms such as correlation analysis, covariance matrix or principal component analysis, key features that can significantly distinguish the states are further extracted in the feature vector. Preferably, the key features include the speed change of the excavation component, the angle change of the anchor component, and the overlap of the movements of the excavation and anchor components.

[0060] Furthermore, the state categories of the extracted feature vectors are marked, and the marked feature vectors are used as input sample data and input into the classification model built based on the support vector machine (SVM). The radial basis function (RBF) is used as the kernel function, and the kernel function parameter γ=0.5 and the penalty factor C=10 are set. Supervised training of the state classification model is performed until the prediction performance of the model meets the preset requirements or the number of training iterations meets the preset termination conditions.

[0061] Through the above method, key features are extracted from sample data and trained using support vector machines, which helps the state classification model to accurately distinguish between tunneling, anchoring and switching states and reduce the misjudgment rate.

[0062] S200: If the integrated miner and anchor machine is in a switching state, posture modeling is performed on the integrated miner and anchor machine according to the sensing data of the sensing perception module to obtain posture data of the excavation component and posture data of the anchoring component.

[0063] Specifically, if the classification results indicate the miner and anchor machine is currently in a switching state, a digital modeling method is used to construct a corresponding pose model of the miner and anchor machine based on the sensor data acquired by the sensor perception module. This allows intuitive calculation of the pose data of the tunneling and anchoring components. This pose data includes the three-dimensional spatial position and kinematic posture information of the key components of the miner and anchor machine.

[0064] For example, in a certain set of data, the IMU (Inertial Measurement Unit) measured the instantaneous attitude change angle of the tunneling component: Δθ=0.25°, the lidar measured the spatial offset between the front edge of the tunneling part and the anchoring part: Δx=85mm, Δz=35mm, and the angle sensor detected that the anchoring leg was retracting, with a retraction angular velocity of approximately 10° / min; then, a posture solution coordinate system was established, with the tunneling component reference point as the origin, and the tunneling component and the anchoring component were abstracted into two rigid bodies, each of which was composed of multiple components. The posture state equation was constructed in combination with the structural parameters of the IMU and the tunneling and anchoring machine, and the relative posture of the two was constrained by sensor data; then, the posture data of the tunneling component and the anchoring component at the predetermined time node was obtained according to the constructed posture state equation.

[0065] Through the above-mentioned posture modeling, the posture data of the tunneling component and anchoring component of the drilling and anchoring machine in the switching state can be obtained in real time and accurately, thereby providing reliable basic data for subsequent risk analysis and early warning.

[0066] S300: performing risk analysis on the posture data of the tunneling component and the posture data of the anchoring component based on a dynamic safety buffer algorithm to obtain a collision risk level between the tunneling component and the anchoring component.

[0067] Specifically, the dynamic safety buffer algorithm calculates the required safe distance between devices based on real-time dynamic parameters such as the current state of the devices (i.e., the position and posture data of the tunneling group and anchoring components), their dimensions, inertia trends, and environmental factors. This dynamic safety buffer algorithm dynamically adjusts the buffer range based on position changes, enabling more accurate risk level determination. The collision risk level is a quantitative assessment of the potential for contact conflict between devices. For example, it can be categorized as low, medium, or high risk based on factors such as proximity, relative speed, and remaining buffer ratio.

[0068] In some embodiments, risk analysis is performed on the posture data of the tunneling assembly and the posture data of the anchor assembly based on a dynamic safety buffer algorithm, and the method includes:

[0069] Obtain the equipment data and task paths of the tunneling component and the anchoring component; define a tunneling safety buffer zone and an anchoring safety buffer zone based on the equipment data of the tunneling component and the anchoring component and the task paths of the tunneling component and the anchoring component; perform risk analysis on the posture data of the tunneling component and the posture data of the anchoring component in the tunneling safety buffer zone and the anchoring safety buffer zone based on a dynamic safety buffer zone algorithm to obtain a collision risk level.

[0070] Specifically, equipment data refers to the inherent physical parameters of the tunneling component and anchoring component, including shape, size, weight, degrees of freedom, etc.; the task path is the path planning that the tunneling and anchoring machine needs to execute during the construction process, including the tunneling path and the anchoring path. In particular, the task path includes the spatial position time series data (such as G-code code) of the tunneling component and the anchoring component, that is, the spatial position status of the tunneling component and the anchoring component at different time nodes. This spatial position time series data can indirectly reflect the motion status of the tunneling component and the anchoring component.

[0071] Specifically, the tunneling safety buffer zone is a dynamic range of space surrounding the tunneling assembly, ensuring it maintains a safe distance from other components during movement. In other words, if the tunneling safety buffer zone is empty, the tunneling assembly is considered safe. Correspondingly, the anchoring safety buffer zone is another dynamic range of space surrounding the anchoring assembly, ensuring it maintains a safe distance from other components during movement.

[0072] Specifically, first, the equipment data of the excavation component and anchoring component, including size, weight, range of motion, etc., are obtained from the control system of the excavation and anchoring machine. At the same time, the task path of the excavation and anchoring machine is obtained, including the excavation path and anchoring path; then, the excavation safety buffer zone and anchoring safety buffer zone are defined through existing preset rules (such as the technical requirements of the equipment manufacturer, the equipment manual, or the general safety requirements of the target scenario).

[0073] For example, taking the tunneling component as an example, assuming the maximum speed is 0.5m / s and the maximum allowable deceleration is 0.6m / s², the equipment braking distance is ; Taking into account the additional movement of 0.15m caused by the control response lag and the environmental disturbance margin (±0.1m), the dynamic safety buffer zone of the final tunneling component can be defined as a three-dimensional space envelope with a radius of 0.46m.

[0074] Furthermore, using the aforementioned excavation safety buffer zone and anchoring safety buffer zone as the baseline safety zone, a dynamic safety buffer zone algorithm is used to calculate in real time a safety zone correction coefficient between the excavation assembly and the anchoring assembly. These excavation safety buffer zone and anchoring safety buffer zone are then corrected. The collision risk level based on the excavation safety buffer zone and anchoring assembly posture data is then determined based on the corrected excavation safety buffer zone and anchoring assembly posture data. In other words, the aforementioned excavation safety buffer zone and anchoring safety buffer zone as the baseline safety zone can be considered a buffer zone configuration that ensures absolute safety under standard conditions. Subsequent assessments require corrections using the dynamic safety buffer zone algorithm. For example, if the excavation assembly posture data and anchoring assembly posture data indicate a low speed or deceleration, the safety zone correction coefficient can be set to a value less than 1. If the excavation assembly posture data and anchoring assembly posture data indicate excessive speed or aging (resulting in reduced braking capacity), the safety zone correction coefficient can be set to a value greater than 1.

[0075] Exemplarily, by comparing the real-time minimum distance determined based on the posture data of the tunneling component and the posture data of the anchoring component with the above-mentioned corrected tunneling safety buffer zone and anchoring safety buffer zone, and calculating the overlap ratio between the safety buffer zones, the corresponding collision risk level is determined. Exemplarily, if the overlapping volume accounts for more than 20% of any buffer zone, it is judged as medium risk; if it exceeds 50%, it is judged as high risk.

[0076] Through the above process, the buffer zone is dynamically adjusted in combination with the task path and operating status, which helps to improve the accuracy of risk detection; the collision risk level can provide quantitative results for subsequent execution such as braking, deceleration or path adjustment, which in turn helps to improve the system intelligence level and operation safety during the operation.

[0077] In some implementations, risk analysis is performed on the posture data of the tunneling assembly and the posture data of the anchoring assembly, and the method includes:

[0078] According to the posture data of the tunneling component and the posture data of the anchoring component, a first distance is calculated, wherein the first distance is the minimum distance between the tunneling component and the anchoring component; according to the tunneling safety buffer zone and the anchoring safety buffer zone, a safety distance is obtained; and the first distance is compared with the safety distance to output a collision risk level.

[0079] Specifically, the first distance refers to the minimum spatial distance between the tunneling assembly and the anchoring assembly, measuring their physical proximity. For example, the first distance can be calculated using a shortest boundary distance algorithm based on a 3D envelope model. The safety distance is the combined minimum boundary value of the safety buffer zones of the two components, equivalent to the minimum spatial distance required to maintain non-contact between the safety envelopes of the two components.

[0080] Specifically, the relationship between the first distance and the safety distance is assigned to multiple collision risk levels. For example, if the first distance ≥ the safety distance, the risk is low; if the first distance is less than the safety distance × 70%, the risk is medium; and if the first distance is less than the safety distance × 40%, the risk is high.

[0081] For example, first, using the currently collected posture data as input, a simplified rigid body model (such as a rectangular block or cylindrical approximation) is established in space for the tunneling component and the anchoring component, and then a boundary collision detection algorithm (such as AABB or OBB) is used to calculate the minimum distance between the two (such as 0.45); then, based on the pre-defined tunneling safety buffer radius (such as 0.30m) and the anchoring safety buffer radius (such as 0.35m), the sum of the two is calculated as the safety distance (such as 0.65m); then, the first distance is compared with the safety distance: the current distance 0.45m is less than the safety distance 0.65m, and 0.45 / 0.65≈69.2%, which is in the [40%, 70%] interval, and the collision risk level is determined to be medium risk.

[0082] Through the above process, the collision risk between the tunneling component and the anchoring component can be evaluated in real time and dynamically, providing a reliable basis for early warning and control.

[0083] In some implementations, the first distance is compared with the safety distance to output a collision risk level; wherein, when the ratio of the first distance to the safety distance is greater than or equal to 1, the collision risk level is output using the ratio; when the ratio of the first distance to the safety distance is less than 1, a safety signal is sent to the early warning response module.

[0084] Optionally, the collision possibility level is determined based on the ratio of the first distance to the safety distance. If the ratio is greater than or equal to 1, the ratio is directly output as the collision risk level; if the ratio is less than 1, it can be considered that the device distance is within a safe range, and a safety signal is sent to the early warning response module to confirm that the current status is safe.

[0085] S400: Determine whether the collision risk level of the tunneling assembly and the anchoring assembly is greater than or equal to a preset risk threshold. If the collision risk level is greater than or equal to the preset risk threshold, the early warning response module adjusts the posture of the tunneling assembly and the anchoring assembly.

[0086] Specifically, the preset risk threshold is used to determine whether it is necessary to respond to the current collision risk level, such as adjusting the posture of the tunneling component and the anchoring component to avoid collision; optionally, the preset risk threshold is determined by statistical analysis. For example, based on the construction data of the past year, the probability of collision between the tunneling component and the anchoring component during the switching process is statistically analyzed, and the risk level corresponding to the collision confidence level of 0.8 is set as the preset risk threshold.

[0087] Specifically, if the collision risk level exceeds a preset threshold, the early warning response module is triggered, generating control signals based on the risk level to adjust the attitude of the tunneling and anchoring components. These adjustments include adjusting the backward and forward displacement and angle of the tunneling component, as well as adjusting the deployment and retraction time and angle of the anchoring component. This process enables timely and accurate assessment and response to collision risks between the tunneling and anchoring components, ensuring safety during the switching process.

[0088] In some embodiments, the early warning response module adjusts the posture of the tunneling assembly and the anchoring assembly, and the method includes:

[0089] Obtain the motion space of the tunneling component and the anchoring component; if the motion space of the tunneling component and the anchoring component are both smaller than the preset motion space, the early warning response module performs coordinated posture adjustment on the tunneling component and the anchoring component; if the motion space of the tunneling component is greater than or equal to the preset motion space, the early warning response module performs posture adjustment on the tunneling component; if the motion space of the anchoring component is greater than or equal to the preset motion space, the early warning response module performs posture adjustment on the anchoring component; if the motion space of the tunneling component and the anchoring component are both greater than or equal to the preset motion space, the early warning response module performs posture adjustment on the tunneling component or the anchoring component.

[0090] Specifically, the motion space of the tunneling component and the anchoring component refers to the actual motion range in which the tunneling component or the anchoring component can adjust its posture during operation. This space is determined by the equipment design parameters (equipment degrees of freedom), the current working status and the control strategy; the preset motion space is the minimum effective adjustment range defined in the safety adjustment process. In other words, the preset motion space is the basic motion range used to avoid collisions or optimize the working path.

[0091] Specifically, when the motion space of both devices (tunneling component and anchoring component) is not sufficient for effective adjustment individually, the early warning response module will adjust both of them simultaneously, that is, to achieve a larger motion range through coordinated action. The total adjustment range of the coordinated action enables the relative positions of the two to be effectively adjusted, thereby ensuring that the overall motion space compensation reaches or exceeds the preset range.

[0092] Specifically, if the motion space of a single device (tunneling component or anchoring component) is greater than or equal to the preset motion space, the early warning response module only performs a separate posture adjustment on the corresponding device.

[0093] Specifically, if the motion space of both (tunneling component and anchoring component) is greater than or equal to the preset motion space, one of the devices can be arbitrarily selected for adjustment to achieve overall safety control.

[0094] Optionally, after the posture adjustment is executed, the posture and motion space data of the tunneling component and the anchoring component are obtained again, and the collision risk level is recalculated. If the risk level is lower than the preset safety threshold, the adjustment is exited; if it is still higher than the threshold, additional adjustments are made or the operator is notified to intervene.

[0095] Through the above process, the posture adjustment strategy can be flexibly adjusted according to the motion space of the tunneling component and the anchoring component to ensure the safety and efficiency of the equipment in different environments.

[0096] In some embodiments, the early warning response module adjusts the posture of the tunneling assembly and the anchoring assembly, and the method further includes:

[0097] The early warning response module determines the posture adjustment object, which includes the tunneling component, the anchoring component and the tunneling-anchoring component; according to the posture adjustment object, a posture adjustment strategy is generated, which includes the backward and forward displacement and angle of the tunneling component, as well as the deployment and retraction time and angle of the anchoring component.

[0098] Specifically, according to the judgment result of the above-mentioned early warning response module, the posture adjustment object is determined, where if the action space of the tunneling component and the anchoring component is not sufficient for effective adjustment separately, the posture adjustment object is the tunneling-anchoring component; otherwise, the posture adjustment object is a specified one of the tunneling component and the anchoring component (the action space of a single device is greater than or equal to the preset action space) or any one of them (the action space of both devices is greater than or equal to the preset action space).

[0099] Furthermore, a posture adjustment strategy is configured based on the determined adaptability of the posture adjustment object, including the backward and forward displacements and angles of the tunneling assembly, and the deployment and retraction times and angles of the anchor assembly. For example, if the posture adjustment object is a tunneling-anchor assembly, the posture adjustment strategy may include allocating a preset motion space to each assembly based on the ratio of their motion spaces (e.g., adjusting 50% of the preset motion space for each assembly).

[0100] By determining different posture adjustment objects, the above process can adopt individual or collaborative adjustment strategies in a targeted manner and generate matching adjustment strategies; it helps to achieve more refined risk control, making risk adjustment more comprehensive and dynamic response faster, thereby significantly reducing collision risks.

[0101] In summary, the construction early warning method for the anchoring and digging machine provided by the present invention has the following technical effects:

[0102] The sensor perception module is used to identify whether the current operating state of the excavator and anchor machine is in the switching state; if it is in the switching state, the posture model of the excavator and anchor machine is performed according to the sensor data to obtain the posture data of the excavation component and the anchor component; then, based on the dynamic safety buffer algorithm, the posture data of the two are analyzed to determine their collision risk level; if the collision risk level is greater than or equal to the preset risk threshold, the early warning response module adjusts the posture of the excavator and anchor component, thereby realizing dynamic monitoring of the switching state, real-time risk assessment and early warning, and thus improving the technical effect of construction safety.

[0103] Example 2, as Figure 2 This is a schematic diagram of the structure of the construction warning system for the anchoring machine of the present invention. For example, Figure 1 The flow chart of the construction early warning method for the anchoring machine of the present invention can be shown as follows: Figure 2 The structure shown is implemented.

[0104] Based on the same concept as the construction early warning method for the integrated digging and anchoring machine in the above embodiment, the present invention also provides a construction early warning system for the integrated digging and anchoring machine, including:

[0105] The operating state identification unit 11 is used to identify whether the current operating state of the anchoring and mining machine is in a switching state according to the sensing module.

[0106] The posture modeling unit 12 is used to perform posture modeling on the integrated miner and anchor machine according to the sensing data of the sensing perception module when the integrated miner and anchor machine is in the switching state, and obtain the posture data of the excavation component and the posture data of the anchoring component.

[0107] The collision risk analysis unit 13 is used to perform risk analysis on the posture data of the tunneling component and the posture data of the anchoring component based on a dynamic safety buffer algorithm to obtain a collision risk level between the tunneling component and the anchoring component.

[0108] The risk judgment and adjustment unit 14 is used to judge whether the collision risk level of the tunneling component and the anchoring component is greater than or equal to a preset risk threshold. If the collision risk level is greater than or equal to the preset risk threshold, the early warning response module adjusts the posture of the tunneling component and the anchoring component.

[0109] In some embodiments, the sensing module of the operation state identification unit 11 is connected to the state classification model, and identifies whether the current operation state of the drilling and anchoring machine is in a switching state according to the state classification model, wherein the drilling and anchoring machine includes a drilling state, an anchoring state and a switching state.

[0110] In some embodiments, the operating state identification unit 11 includes a classification model building subunit for obtaining sample data of the excavation component and the anchoring component in the excavation state, the anchoring state, and the switching state, respectively. Feature vectors are extracted from the excavation component sample data and the anchoring component sample data, wherein the feature vectors include time series features, spatial features, and behavioral features. Key features are extracted from the feature vectors to obtain the speed change of the excavation component, the angle change of the anchoring component, and the overlap of the excavation and anchoring components in each state. A support vector machine is used to train a model of the speed change of the excavation component, the angle change of the anchoring component, and the overlap of the excavation and anchoring components in each state to obtain a trained state classification model.

[0111] In some embodiments, the collision risk analysis unit 13 includes:

[0112] The equipment data and task path acquisition subunit is used to acquire the equipment data and task path of the tunneling component and the anchoring component.

[0113] The safety buffer zone definition subunit is used to define an excavation safety buffer zone and an anchoring safety buffer zone based on the equipment data of the excavation component and the anchoring component and the task paths of the excavation component and the anchoring component.

[0114] The collision risk analysis subunit is used to perform risk analysis on the posture data of the tunneling component and the posture data of the anchoring component in the tunneling safety buffer zone and the anchoring safety buffer zone based on a dynamic safety buffer zone algorithm to obtain a collision risk level.

[0115] In some implementations, the collision risk analysis subunit in the collision risk analysis unit 13 further comprises: calculating a first distance based on the posture data of the tunneling assembly and the posture data of the anchor assembly, wherein the first distance is the minimum distance between the tunneling assembly and the anchor assembly; obtaining a safety distance based on the tunneling safety buffer zone and the anchoring safety buffer zone; and comparing the first distance with the safety distance to output a collision risk level.

[0116] In some implementations, the collision risk analysis subunit in the collision risk analysis unit 13 further includes: outputting a collision risk level based on the ratio when the ratio of the first distance to the safety distance is greater than or equal to 1; and a safety signal sending unit configured to send a safety signal to the warning response module when the ratio of the first distance to the safety distance is less than 1.

[0117] In some embodiments, the risk determination and adjustment unit 14 includes:

[0118] The motion space acquisition subunit is used to acquire the motion space of the tunneling component and the anchoring component.

[0119] The collaborative posture adjustment decision subunit is used to coordinate the posture adjustment of the tunneling component and the anchoring component by the early warning response module if the action spaces of the tunneling component and the anchoring component are both smaller than the preset action spaces.

[0120] The tunneling component posture adjustment decision subunit is used to adjust the posture of the tunneling component by the early warning response module if the action space of the tunneling component is greater than or equal to the preset action space.

[0121] The anchoring component posture adjustment decision subunit is used to adjust the posture of the anchoring component by the early warning response module if the action space of the anchoring component is greater than or equal to the preset action space.

[0122] The single component posture adjustment decision subunit is used to adjust the posture of the tunneling component or the anchoring component by the early warning response module if the action space of the tunneling component and the anchoring component is greater than or equal to the preset action space.

[0123] In some embodiments, the risk judgment and adjustment unit 14 further includes:

[0124] The posture adjustment object determination subunit is used to determine the posture adjustment object by the early warning response module, and the posture adjustment object includes a tunneling component, an anchoring component and a tunneling-anchoring component.

[0125] The posture adjustment strategy generating subunit is used to generate a posture adjustment strategy according to the posture adjustment object, wherein the posture adjustment strategy includes the backward and forward displacements and angles of the tunneling component, and the deployment and retraction time and angle of the anchoring component.

[0126] In a third embodiment, the present invention further provides a computer-readable storage medium that can be used to store software programs, computer executable programs, and modules, such as the program instructions / modules corresponding to the construction early warning method for the drilling and anchoring machine in the embodiment of the present invention, thereby realizing the above-mentioned construction early warning method for the drilling and anchoring machine.

[0127] It should be understood that the embodiments disclosed in the present invention and the above description can enable those skilled in the art to use the present invention to implement the present invention. At the same time, the present invention is not limited to the embodiments mentioned above. It should be understood that those skilled in the art can still modify the technical solutions described in the above embodiments or replace some of the technical features therein with equivalents; and such modifications or replacements do not deviate from the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention and are all included in the scope of protection of the present invention.

Claims

1. A construction early warning method for an integrated drilling and anchoring machine, characterized in that: include: Identify whether the current operating state of the anchor and miner is in a switching state according to the sensor perception module; If the integrated miner and anchor machine is in a switching state, the posture modeling of the integrated miner and anchor machine is performed according to the sensing data of the sensing perception module to obtain the posture data of the excavation component and the posture data of the anchoring component; Performing risk analysis on the posture data of the tunneling assembly and the posture data of the anchoring assembly based on a dynamic safety buffer algorithm to obtain a collision risk level between the tunneling assembly and the anchoring assembly; The dynamic safety buffer algorithm is used to calculate the required safe distance between devices based on the current state of the device, its own size, inertia trend, and real-time dynamic parameters of environmental factors. The dynamic safety buffer algorithm can dynamically adjust the buffer range according to changes in posture, thereby achieving more accurate risk level judgment, where the collision risk level is a quantitative assessment of potential contact conflicts between devices; Determine whether the collision risk level of the tunneling component and the anchoring component is greater than or equal to a preset risk threshold. If the collision risk level is greater than or equal to the preset risk threshold, the early warning response module adjusts the posture of the tunneling component and the anchoring component.

2. The construction early warning method for the anchoring and digging machine according to claim 1, characterized in that: The sensing module is connected to a state classification model and identifies whether the current operating state of the drilling and anchoring machine is in a switching state according to the state classification model, wherein the drilling and anchoring machine includes a drilling state, an anchoring state and a switching state.

3. The construction early warning method for the anchoring and digging machine according to claim 2, characterized in that: The method for constructing the state classification model includes: Acquire sample data of the excavation component and sample data of the anchoring component in the excavation state, anchoring state and switching state respectively; Extracting feature vectors based on the excavation component sample data and the anchor component sample data, wherein the feature vectors include time series features, spatial features, and behavioral features; Extract key features from the feature vector to obtain the speed change of the tunneling component, the angle change of the anchoring component, and the overlap of the tunneling and anchoring components in each state; A support vector machine is used to train the model for the speed change of the tunneling component, the angle change of the anchoring component, and the overlap of the movements of the tunneling and anchoring components in each state to obtain a trained state classification model.

4. The construction early warning method for the anchoring and digging machine according to claim 1, characterized in that: Performing risk analysis on the posture data of the tunneling assembly and the posture data of the anchor assembly based on a dynamic safety buffer algorithm, the method comprising: Acquiring equipment data and task paths of the tunneling component and the anchoring component; Defining a tunneling safety buffer zone and an anchoring safety buffer zone based on the equipment data of the tunneling component and the anchoring component and the task paths of the tunneling component and the anchoring component; Based on the dynamic safety buffer zone algorithm, risk analysis is performed on the posture data of the tunneling component and the posture data of the anchoring component in the tunneling safety buffer zone and the anchoring safety buffer zone to obtain a collision risk level.

5. The construction early warning method for the anchoring and digging machine according to claim 4, characterized in that: Performing risk analysis on the posture data of the tunneling assembly and the posture data of the anchoring assembly, the method comprising: Calculating a first distance according to the posture data of the tunneling assembly and the posture data of the anchoring assembly, wherein the first distance is a minimum distance between the tunneling assembly and the anchoring assembly; Obtaining a safety distance according to the excavation safety buffer zone and the anchoring safety buffer zone; The first distance is compared with the safety distance to output a collision risk level.

6. The construction early warning method for the anchoring and digging machine according to claim 5, characterized in that: comparing the first distance with the safety distance and outputting a collision risk level; When the ratio of the first distance to the safety distance is greater than or equal to 1, the collision risk level is outputted based on the ratio; When the ratio of the first distance to the safety distance is less than 1, a safety signal is sent to the early warning response module.

7. The construction early warning method for the anchoring and digging machine according to claim 1, characterized in that: The early warning response module adjusts the attitude of the tunneling assembly and the anchoring assembly, and the method includes: Acquiring the motion space of the tunneling assembly and the anchoring assembly; If the motion spaces of the tunneling assembly and the anchoring assembly are both smaller than the preset motion spaces, the early warning response module performs coordinated posture adjustment on the tunneling assembly and the anchoring assembly; If the motion space of the tunneling component is greater than or equal to the preset motion space, the early warning response module adjusts the posture of the tunneling component; If the motion space of the anchoring component is greater than or equal to the preset motion space, the early warning response module adjusts the posture of the anchoring component; If the motion spaces of the tunneling component and the anchoring component are both greater than or equal to the preset motion spaces, the early warning response module adjusts the posture of the tunneling component or the anchoring component.

8. The construction early warning method for the anchoring and digging machine according to claim 7, characterized in that: The early warning response module adjusts the attitude of the tunneling assembly and the anchoring assembly, and the method further includes: The early warning response module determines the posture adjustment object, which includes a tunneling component, an anchoring component, and a tunneling-anchoring component; According to the posture adjustment object, a posture adjustment strategy is generated, wherein the posture adjustment strategy includes the backward and forward displacements and angles of the tunneling component, and the deployment and retraction time and angle of the anchoring component.

9. The construction early warning system for the anchor drilling machine is characterized by: A construction early warning method for a drilling and anchoring machine according to any one of claims 1 to 8, comprising: An operating state identification unit, configured to identify whether the current operating state of the anchoring and mining machine is in a switching state according to the sensing module; a posture modeling unit configured to perform posture modeling of the integrated miner and anchor machine based on the sensing data of the sensing perception module when the integrated miner and anchor machine is in a switching state, and obtain posture data of the excavation component and posture data of the anchoring component; a collision risk analysis unit, configured to perform risk analysis on the posture data of the tunneling assembly and the posture data of the anchoring assembly based on a dynamic safety buffer algorithm, and obtain a collision risk level between the tunneling assembly and the anchoring assembly; The risk judgment and adjustment unit is used to judge whether the collision risk level of the tunneling component and the anchoring component is greater than or equal to a preset risk threshold. If the collision risk level is greater than or equal to the preset risk threshold, the early warning response module adjusts the posture of the tunneling component and the anchoring component.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the construction early warning method for the drilling and anchoring machine according to any one of claims 1 to 8 is implemented.

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