Ground breaking judgment method and system for large-digging-depth earth cutting component based on gravel

Abstract

The invention relates to a large-digging-depth earth cutting component ground breaking judgment method and system based on gravel. The method comprises the following steps that firstly, the angle to the ground, the horizontal precession distance and the vertical earth cutting thickness of a rotating shaft of an excavator tool are obtained; 2, three-dimensional coordinates and three-direction plane angles of the earth cutting component on the excavator tool are obtained; 3, obtaining a homogenized sequence of the earth cutting components on the excavator tool; fourthly, a first feature component is determined according to the angle to the ground, and the first feature component is an earth cutting component located at the deepest excavation position; 5, performing sequence intersection test according to the horizontal precession distance to obtain the equivalent depth and the critical depth of the earth cutting component; sixthly, the ground breaking state of the earth cutting component within the vertical earth cutting thickness range is judged. The method has the advantages of being simple, accurate and efficient in positioning, low in cost, economical, practical, wide in application range and the like.

Description

Technical Field

[0001] The present invention belongs to the technical field of earth-digging machines, and particularly relates to a method and system for determining the ground-breaking state of a large-depth earth-digging component based on sand and gravel. Background Art

[0002] When an earth-digging machine performs a task, its earth-digging component contacts sand and gravel. Although sand and gravel are softer than rocks, due to the presence of hard particles in sand and gravel, the earth-digging component will also be severely worn due to the huge load during excavation and needs to be frequently replaced. Moreover, when excavating sand and gravel, the excavation depth is large, and most of the earth-digging component will contact the sand and gravel. Especially for a horizontal swing rotary earth-digging machine, it breaks the ground by rotating and cutting under the action of a driving device and constructs layer by layer by horizontal swing under the action of a traction device. The movement mode of its earth-digging component is complex. After excavating one layer of rock and soil, the machine moves down by one layer thickness and continues to construct. Each time a horizontal swing is completed, it also needs to advance by one footage. This is a typical layer-by-layer construction method. The force on each earth-digging component is not uniform, and its force is related to its position. Inappropriate construction layer thickness and footage may cause the machine to have excessive torque and transverse movement tension, resulting in some soil residues and affecting the construction quality.

[0003] The movement mode of the earth-digging component of the earth-digging machine is complex and changeable. To determine the earth-digging state at a certain moment, it is necessary to comprehensively consider the position information at the previous moment, the excavation state of the previous layer, and the excavation information of the previous footage. This is because the sand and gravel boundaries at the previous moment, the previous layer, and the previous footage constitute the construction boundary at the current moment. However, in existing methods such as "Dynamic Load Analysis of the Cutter of Ultra-Large Trailing Suction Hopper Dredger Based on Rock Cutting Theory", although the depth angle is used to judge the ground-breaking state of the cutter teeth, regarding the depth angle as a fixed value has three problems: First, the factor of the cutter tooth installation radius is not considered. At the large circle, the cutter tooth radius is the largest and then gradually decreases along the cutter arm. Different cutter tooth radii result in different depth angles. Second, the factor of the cutter head footage is not considered. Different footages of the cutter teeth should correspond to different depth angles. Third, the excavated rock and soil boundary is not considered. Even if the cutter teeth are within the layer thickness range, the rock and soil at that place may have been cleared.

[0004] In addition, there are many influencing factors for the excavation output, including direct parameters such as excavation depth, footage, and transverse movement speed. When the transverse movement speed is the same, there are two construction methods for excavating the same output of soil: large excavation depth and small footage, and small excavation depth and large footage. The wear of the cutter teeth is different for each. The actual construction situation also shows that for the cutter teeth far from the axis, the wear is lighter. Obviously, using the depth angle as a method for determining the ground-breaking state of the earth-digging component has limitations, especially during large-depth excavation operations, and this limitation is more significant. To more accurately determine the ground-breaking state of the cutter teeth during large-depth excavation, it is necessary to explore new methods and comprehensively consider more factors, such as the specific position of the cutter teeth, the excavation layer thickness, the footage size, and the overall movement state of the machine, to achieve more precise control and optimize the excavation efficiency. Summary of the Invention

[0005] The present invention provides a method and system for determining the ground breaking of large excavation and deep excavation components based on sand and gravel, which solve the technical problems existing in the prior art. The method is simple, the positioning is accurate and efficient, a large amount of labor costs are saved, the design efficiency is improved, and it has the characteristics of economic practicality and wide application range.

[0006] The technical solution adopted by the present invention is: a method for determining the ground breaking of large excavation and deep excavation components based on sand and gravel. The excavation tool has a fixed ring and a plurality of support parts. One end of each support part is connected to the driving part of the excavation tool, and the other end is connected to the fixed ring; the driving part is a cylindrical structure with driving threads inside, the fixed ring is a circular ring structure, and the fixed ring is coaxial with the driving part and maintains a fixed distance; each support part has a plurality of excavation components, and during ground breaking, the excavation components rotate around the rotation axis of the excavation tool and break the ground. The method for determining the ground breaking of the excavation component includes the following steps: Step 1: Obtain the angle A of the rotation axis of the excavation tool with respect to the ground, the horizontal precession distance L, and the vertical excavation thickness H. Step 2: Obtain the three-dimensional coordinates and three-direction plane angles of the excavation components on the excavation tool. Step 3: Obtain the normalized sequence of the excavation components on the excavation tool. Step 4: Determine the first characteristic component according to the angle with respect to the ground. The first characteristic component is the excavation component at the deepest part of the excavation. Step 5: Conduct a sequence intersection test according to the horizontal precession distance to obtain the equivalent depth and critical depth of the excavation components. Step 6: Judge the ground breaking state of the excavation components within the range of the vertical excavation thickness.

[0007] Preferably, in Step 1, the angle with respect to the ground refers to the angle between the rotation axis and the horizontal plane, the horizontal precession distance refers to the distance that the excavation tool moves forward horizontally, and the vertical excavation thickness refers to the distance that the excavation tool moves downward vertically.

[0008] Preferably, in Step 2, the three-dimensional coordinate system takes the upper surface of the fixed ring as the XOY plane, the XOY plane is perpendicular to the rotation axis, the Z axis of the coordinate system is along the rotation axis, and the positive direction of the Z axis points to the driving part. The three-dimensional coordinates are the coordinates of the effective positioning points of the excavation components, and the three-direction plane angles are the angles between the ground breaking action surfaces of the excavation components and the X axis, Y axis, and Z axis respectively.

[0009] Preferably, in Step 3, the process of obtaining the normalized sequence of the excavation components on the excavation tool is as follows: Taking the center of the upper surface of the fixed circle as the origin O, the POQ plane is perpendicular to the horizontal plane, the positive direction of the P axis is the vertical downward direction, and the positive direction of the Q axis is the horizontal forward direction. For any earth-digging member, the absolute value of the coordinate is the distance from the effective positioning point on this earth-digging member to the Q axis, and for any earth-digging member, the absolute value of the coordinate is the distance from the effective positioning point on this earth-digging member to the P axis, as shown in Equation (1); the normalization sequence is sorted according to the coordinate values, and the arrangement order is from large to small; (1) where, is the coordinate of the th earth-digging member in the PQ coordinate system; is the coordinate of the th earth-digging member in the PQ coordinate system; is the coordinate of the th earth-digging member in the XYZ coordinate system; is the coordinate of the th earth-digging member in the XYZ coordinate system; is the coordinate of the th earth-digging member in the XYZ coordinate system; is a natural number; Define the penetration factor as

[0010] (2) Define the influence depth as

[0011] (3) where, is the total number of earth-digging members on the earth-digging tool, .

[0012] Preferably, in the fourth step, calculate the angle between adjacent earth-digging members in the normalization sequence and the rotation axis of the earth-digging tool, and the is expressed as (4) where, is the coordinate of the th earth-digging member in the normalization sequence; is the coordinate of the th earth-digging member in the normalization sequence; is the coordinate of the th earth excavation member in the normalized sequence; Coordinate; is the coordinate of the th earth excavation member in the normalized sequence; Coordinate; Define the included angle sequence as , is the total number of the normalized sequence of the earth excavation members on the earth excavation tool, , the feature of the included angle sequence is ; Determine the position of the earth excavation member located on the earth excavation boundary in the included angle sequence. There is a th earth excavation member that satisfies , and the th earth excavation member is the first characteristic member.

[0013] Preferably, in the fifth step, perform the intersection test between the current normalized sequence of the earth excavation member and the normalized sequence of the previous footage earth excavation member. Define the serial number of the second characteristic member as the serial number of the earth excavation member at the intersection of the current normalized sequence and the previous footage normalized sequence. Starting from the serial number of the first characteristic member as , perform the determination of formula (5) one by one: (5) where (6) (7) where, is the intersection factor determined by the , , th three earth excavation members in the normalized sequence; is the intersection factor determined by the , , th three earth excavation members in the normalized sequence; is the th earth excavation member's coordinate in the normalized sequence; is the th earth excavation member's coordinate in the normalized sequence; is the th earth excavation member's coordinate in the normalized sequence; is the th earth excavation member's coordinate in the normalized sequence; is the th earth excavation member's in the normalized sequence Coordinate; is the coordinate of the th earth excavation member in the normalized sequence; is the coordinate of the th earth excavation member in the normalized sequence; is the coordinate of the th earth excavation member in the normalized sequence; , ; The th earth excavation member and the th earth excavation member are located in the previous footage normalized sequence, the th earth excavation member and the th earth excavation member are located in the current normalized sequence. After satisfying formula (5), the line connecting the th earth excavation member and the th earth excavation member and the line connecting the th earth excavation member and the th earth excavation member have a unique intersection point, and the intersection point coordinate is , where is defined as the critical depth, is defined as the critical distance, expressed as (8) where is the position coefficient of the th and the th two adjacent earth excavation members in the PQ coordinate system; is the position coefficient of the th and the th two adjacent earth excavation members in the PQ coordinate system; is the inclination coefficient of the th and the th two adjacent earth excavation members in the PQ coordinate system; is the inclination coefficient of the th and the th two adjacent earth excavation members in the PQ coordinate system; (9) (10) (11) (12) Define the equivalent depth as

[0014] (13)

[0015] Step 6: Determine the breaking state of the excavation components within the vertical excavation thickness range. At moment, the coordinates of the th excavation component in the PQ coordinate system are , expressed as ; Among them, , is the rotation frequency of the excavation tool, ; is the azimuth angle of the th excavation component relative to the Z-axis at moment, and is the azimuth angle of the th excavation component relative to the Z-axis at the initial moment; If the normalization sequence of any excavation component satisfies the following formula, it is in the breaking state (14) Among them, the th excavation component and the th excavation component are two adjacent excavation components in the normalization sequence, is located between and ; is the coordinate of the th excavation component in the normalization sequence; is the coordinate of the th excavation component in the normalization sequence; is the coordinate of the th excavation component in the normalization sequence; is the coordinate of the th excavation component in the normalization sequence.

[0016] Preferably, the excavation component has one or more effective positioning points.

[0017] Preferably, the three-dimensional coordinates adopt a right-hand coordinate system.

[0018] A large-scale deep excavation component breaking determination system based on sand and gravel, including a construction parameter module, a component information module, a sequence component module, an inclination angle determination module, a cutting thickness determination module, and an advance determination module; The construction parameter module is used to obtain the ground angle of the rotating shaft of the earth-digging tool, the horizontal precession distance, the vertical earth-digging thickness, the rotation speed and the moving speed. The ground angle refers to the angle between the rotating shaft and the horizontal plane, the horizontal precession distance refers to the distance that the earth-digging tool moves forward horizontally, and the vertical earth-digging thickness refers to the distance that the earth-digging tool moves downward vertically; The component information module is used to obtain the three-dimensional coordinates and three-direction plane angles of the earth-digging components on the earth-digging tool. The three-dimensional coordinate system takes the upper surface of the fixed ring as the XOY plane, the XOY plane is perpendicular to the rotating shaft, the Z axis of the coordinate system is along the rotating shaft, and the positive direction of the Z axis points to the driving part. The three-dimensional coordinates are the coordinates of the effective positioning points of the earth-digging components, and the three-direction plane angles are the angles between the earth-breaking working surfaces of the earth-digging components and the X axis, the Y axis and the Z axis respectively; The sequential component module is used to obtain the normalized sequence of the earth-digging components on the earth-digging tool. Taking the center of the upper surface of the fixed ring as the origin O, the POQ plane is perpendicular to the horizontal plane, the positive direction of the P axis is the vertical downward direction, and the positive direction of the Q axis is the horizontal forward direction. The normalized sequence is sorted according to the coordinate values, and the sorting order is from large to small to determine the penetration factor and the influence depth of the earth-digging components; The inclination angle determination module is used to calculate the angles between adjacent earth-digging components in the normalized sequence and the rotating shaft of the earth-digging tool to form an angle sequence, and determine the position number of the rotating shaft inclination angle in the angle sequence. The earth-digging component with this number is defined as the first characteristic component; The penetration determination module determines the intersection point of the normalized sequence of the earth-digging tool state and the previous penetration normalized sequence, and determines the sequence number at the intersection point, which is defined as the second characteristic component, and is used to determine the equivalent depth and the critical depth of the earth-digging components according to the normalized sequence in the sequential component module; The cutting thickness determination module calculates the positions of the earth-digging components at any moment and is used to determine the earth-breaking states of all the earth-digging components.

[0019] The advantages and positive effects of the present invention are as follows: 1. The present invention can accurately obtain the positions and postures of the earth-digging components of the earth-digging tool in the excavation state, which is used to accurately determine the earth-digging states of the earth-digging components at different penetrations and different earth-digging depths, and provides accurate data for the construction and design of the earth-digging tool.

[0020] 2. The determination method of the present invention includes the first determination and the second determination, which respectively consider the key parameters of the ground angle, the horizontal precession distance and the vertical earth-digging thickness, and determine the influence depth, the equivalent depth and the critical depth. It can obtain the information of the first characteristic component and the second characteristic component. The first characteristic component is the component at the deepest excavation depth, and the determination is simple and direct. The second determination obtains the position of the second characteristic component, and the determination method is accurate and efficient. It can be drawn into a database to provide guidance for on-site construction. Brief Description of the Drawings

[0021] Figure 1 is a schematic flow chart of the soil-breaking determination system for the soil-digging component of the soil-digging machine of the present invention; Figure 2 is a schematic structural diagram of the soil-digging machine of the present invention; Figure 3 is a schematic diagram of the three-dimensional coordinate system of the soil-digging component of the soil-digging machine of the present invention; Figure 4 is a schematic diagram of the inclination angle, soil-digging thickness and horizontal precession distance of the soil-digging machine of the present invention; Figure 5 is a schematic diagram of the soil-digging component at the intersection of the current normalization sequence and the previous footage normalization sequence of the present invention; Figure 6 is a schematic diagram of the soil-cutting thickness determination module of the soil-digging component of the present invention.

[0022] In the figures: 1. Soil-digging machine; 2. Support part; 3. Driving part; 4. Fixed ring; 5. Soil-digging component; 6. Rotating shaft; 7. Positioning point; 8. Cavity. Detailed Embodiments

[0023] In order to further understand the content, features and effects of the present invention, the following embodiments are exemplified and described in detail with reference to the accompanying drawings as follows.

[0024] Embodiment Refer to Figures 1 to 6 , a method for determining soil breaking of a large-scale deep soil-digging component based on sand and gravel. The soil-digging machine 1 has a fixed ring 4 and a plurality of support parts 2. A fixed distance is maintained between the support parts 2. One end of each support part 2 is connected to the driving part 3 of the soil-digging machine 1, and the other end is connected to the fixed ring 4. The support parts 2 enclose each other to form a cavity 8; the driving part 3 is a cylindrical structure with internal threads for driving. The fixed ring 4 is a circular ring structure. The fixed ring 4 is coaxial with the driving part 3 and maintains a fixed distance; each support part 2 has a plurality of soil-digging components 5. The soil-digging components 5 are located on the side of the support part 2 pointing to the outside of the cavity 8. A distance is maintained between adjacent soil-digging components 5. During soil breaking, the soil-digging components 5 rotate around the rotating shaft 6 of the soil-digging machine 1 and break the soil.

[0025] Before breaking ground, place the earth - digging machine 1 on the sand - gravel surface. At this time, the rotating shaft 6 of the earth - digging machine 1 forms a certain angle A with the horizontal plane. The angle A is generally greater than 0°. In other words, the earth - digging machine 1 is placed inclined downward on the sand - gravel surface. Under the action of gravity, the earth - digging machine 1 enters the surface layer of the sand - gravel. Control the penetration depth of the earth - digging machine 1. The penetration depth generally does not exceed the characteristic dimensions of the earth - digging machine 1. The characteristic dimensions refer to the length, width, and height of the earth - digging machine 1. When the earth - digging machine 1 rotates around the rotating shaft 6, the earth - digging component 5 also rotates around the rotating shaft 6 and breaks the ground. Obviously, only the earth - digging component 5 located in the sand - gravel participates in breaking the ground and also bears the resistance of the sand - gravel.

[0026] If the earth - digging machine 1 rotates around the X - axis, its transformation matrix can be expressed as (15) If the earth - digging machine 1 rotates around the Y - axis, its transformation matrix can be expressed as (16) If the earth - digging machine 1 rotates around the Z - axis, its transformation matrix can be expressed as (17) The accurate positions of each earth - digging component 5 on the earth - digging machine 1 can be obtained according to formulas (15) - (17). As Figure 2 shown, the arrangement of each earth - digging component 5 on the earth - digging machine 1 is very complex, and the spatial positions of each earth - digging component 5 determine its ground - breaking judgment.

[0027] The method for judging the ground - breaking of the earth - digging component 5 includes the following steps: The first step: Obtain the ground - relative angle A of the rotating shaft 6 of the earth - digging machine 1, the horizontal precession distance L, and the vertical earth - digging thickness H. The ground - relative angle refers to the angle between the rotating shaft 6 and the horizontal plane. The horizontal precession distance refers to the distance that the earth - digging machine 1 moves forward horizontally, also known as the horizontal footage. The vertical earth - digging thickness refers to the distance that the earth - digging machine 1 moves downward vertically. The direction in which the earth - digging machine 1 moves forward horizontally is the direction from the fixed ring to the driving part of the rotating shaft when the ground - relative angle A is 0. The horizontal forward movement of the earth - digging machine 1 is relative to the construction. While the earth - digging machine 1 rotates itself, it also swings around a specific axis perpendicular to the horizontal plane. Obviously, the swinging arc is in the same horizontal plane.

[0028] At any moment, the earth - digging components 5 located on the earth - digging machine 1 are in different states. The states include position and attitude, and also include the ground - breaking state. During the construction process, the earth - digging components 5 swing around the specific axis. The distance between the earth - digging machine 1 and the specific axis is much larger than the characteristic dimensions of the earth - digging machine 1, and the self - rotation speed of the earth - digging machine 1 is much greater than the angular velocity of the earth - digging machine 1 swinging around the specific axis. The movement mode of the earth - digging machine 1 can be simplified into horizontal movement and self - rotation.

[0029] Step 2: Obtain the three-dimensional coordinates and three-direction plane angles of the earth-digging member 5 on the earth-digging machine 1. The three-dimensional coordinate system takes the upper surface of the fixed ring 4 as the XOY plane, the XOY plane is perpendicular to the rotation axis 6, the Z-axis of the coordinate system is along the rotation axis 6, and the positive direction of the Z-axis points to the driving part 3. The three-dimensional coordinates are the coordinates of the effective positioning point 7 of the earth-digging member 5, and the three-direction plane angles are the angles between the earth-breaking working surface of the earth-digging member 5 and the X-axis, Y-axis, and Z-axis respectively.

[0030] In a preferred example, the coordinate system is a Cartesian rectangular coordinate system, with the upper surface of the fixed ring 4 as the XOY plane and the positive direction of the Z-axis pointing to the driving part 3. For the earth-digging member 5 on any support part 2, compared with the earth-digging member 5 at the end of the fixed ring 4, the earth-digging member 5 at the end of the driving part 3 is closer to the rotation axis 6. Of course, a cylindrical coordinate system can also be used to obtain the three-dimensional coordinates of the earth-digging member 5 on the earth-digging machine 1.

[0031] Step 3: Obtain the normalization sequence of the earth-digging members 5 on the earth-digging machine; with the center of the upper surface of the fixed ring as the origin O, the POQ plane is perpendicular to the horizontal plane, the positive direction of the P-axis is the vertical downward direction, and the positive direction of the Q-axis is the horizontal forward direction. The absolute value of the coordinate of any earth-digging member is the distance from the effective positioning point on this earth-digging member to the Q-axis, and the absolute value of the coordinate of any earth-digging member is the distance from the effective positioning point on this earth-digging member to the P-axis. When the ground angle A is 0, the Q-axis coincides with the rotation axis 6 of the earth-digging machine. At this time, the P-axis is located on the upper surface of the fixed ring, and the coordinate origin O is the intersection of the upper surface of the fixed ring 4 and the rotation axis 6. The coordinates of any earth-digging member 5 are as follows: (18) Wherein, is the coordinate of the th earth-digging member in the PQ coordinate system; is the coordinate of the th earth-digging member in the PQ coordinate system; is the coordinate of the th earth-digging member in the XYZ coordinate system; is the coordinate of the th earth-digging member in the XYZ coordinate system; is the coordinate of the th earth-digging member in the XYZ coordinate system; is a natural number.

[0032] The normalization sequence is in accordance with The coordinate values are sorted, and the sorting order can be from small to large or from large to small. In this embodiment, the normalization sequence is arranged in descending order of the coordinate values. Obviously, for the earth-digging member 5 on any support portion 2, the earth-digging member 5 located at the driving portion 3 end is more forward in the normalization sequence than the earth-digging member 5 at the fixed ring 4 end. Define the penetration factor as

[0033] (19) Define the influence depth as

[0034] (20) Wherein, is the total number of earth-digging members 5 on the earth-digging machine, .

[0035] Step 4: Calculate the angle between the adjacent earth-digging members 5 in the normalization sequence and the rotation axis 6 of the earth-digging machine , the is expressed as (21) Wherein, is the th earth-digging member in the normalization sequence coordinate; The th earth-digging member in the normalization sequence coordinate; is the th earth-digging member in the normalization sequence coordinate; is the th earth-digging member in the normalization sequence coordinate; Define the angle sequence as , is the total number of earth-digging members in the normalization sequence of the earth-digging machine, , the characteristics of the angle sequence are .

[0036] Determine the position of the earth-digging member located on the earth-digging boundary in the angle sequence. There is a th earth-digging member that satisfies , then the th earth-digging member is the first characteristic member.

[0037] Step 5: Conduct an intersection test on the homogenized sequence of the current earth excavation component and the homogenized sequence of the previous footage earth excavation component. Define the serial number of the second characteristic component as the serial number of the earth excavation component at the intersection of the current homogenized sequence and the previous footage homogenized sequence, starting from the first characteristic component number and conduct the determination of formula (22) one by one: (22) where (23) (24) where is the intersection factor determined by the , , three earth excavation components in the homogenized sequence; is the intersection factor determined by the , , three earth excavation components in the homogenized sequence; is the th earth excavation component's coordinate in the homogenized sequence; is the th earth excavation component's coordinate in the homogenized sequence; is the th earth excavation component's coordinate in the homogenized sequence; is the th earth excavation component's coordinate in the homogenized sequence; is the th earth excavation component's coordinate in the homogenized sequence; is the th earth excavation component's coordinate in the homogenized sequence; is the th earth excavation component's coordinate in the homogenized sequence; is the th earth excavation component's coordinate in the homogenized sequence; , ; , .

[0038] ( , )is the The coordinates of an excavation component in the current coordinate system. After the previous penetration coordinate system is translated ([ , ), it coincides with the current coordinate system, and thus the coordinates of the excavation component in the previous penetration in the current coordinate system are obtained, that is, the coordinates remain unchanged, and the coordinate plus gives the coordinates of the excavation component in the previous penetration in the current coordinate system.

[0039] The th excavation component is relative to the previous penetration, and the th excavation component is also relative to the previous penetration. The th excavation component and the th excavation component are located in the previous penetration homogenization sequence, and the th excavation component and the th excavation component are located in the current homogenization sequence. After satisfying formula (22), the line connecting the th excavation component and the th excavation component and the line connecting the th excavation component and the th excavation component have a unique intersection point, and the intersection point coordinates of the two line segments are denoted as , where is defined as the critical depth, is defined as the critical distance, expressed as (25) Among them, is the position coefficient of the th and the th adjacent excavation components in the PQ coordinate system; is the position coefficient of the th and the th adjacent excavation components in the PQ coordinate system; is the inclination coefficient of the th and the th adjacent excavation components in the PQ coordinate system; is the inclination coefficient of the th and the th adjacent excavation components in the PQ coordinate system; (26) (27) (28) (29) Define the equivalent depth as , seeFigure 6 .

[0040] (30) Step 6: Determine the breaking state of the excavation components within the vertical excavation thickness range. At the coordinates of the th excavation component in the PQ coordinate system are ; where , is the rotation frequency of the excavation tool, ; is the azimuth angle of the th excavation component relative to the Z-axis at time, is the azimuth angle of the th excavation component relative to the Z-axis at the initial time; the azimuth angle is the azimuth angle of any excavation component relative to the rotation axis, and this azimuth angle gradually increases with the rotational operation of the excavation tool. It should be noted that as time increases, the azimuth angle can also be described as a function with a period of 2π. If the normalization sequence of any excavation component satisfies the following formula, then it is in the breaking state (31) where the th excavation component and the th excavation component are two adjacent excavation components in the normalization sequence, is located between and ; is the coordinate of the th excavation component in the normalization sequence; is the coordinate of the th excavation component in the normalization sequence; is the coordinate of the th excavation component in the normalization sequence; is the coordinate of the th excavation component in the normalization sequence. When ; When , .

[0041] When the coordinate of any excavation component is located between the critical depth and the influence depth When it is between, at this time, the coordinates of the earth-digging member are bounded by the excavation contour of the current earth-digging tool 1 in the front and back. When the coordinates of any earth-digging member are located between the critical depth and the equivalent depth at this time, the coordinates of the earth-digging member are bounded by the excavation contour of the current earth-digging tool 1 in the front and, at the same time, by the excavation contour of the earth-digging tool 1 in the previous penetration in the front. Although the excavation contour of the current earth-digging tool 1 is very complex, the normalized sequence constructed by formula (18) can construct the excavation contour of the current earth-digging tool 1 for the coordinates of all earth-digging members 5 and make a sufficient judgment on the earth-digging state.

[0042] The normalized sequence constructed by formula (18) can construct the excavation contour of the current earth-digging tool 1 and the excavation contour of the earth-digging tool 1 in the previous penetration for the coordinates of all earth-digging members 5, and there is a horizontal precession distance in the Q-axis direction. In other words, the sand and gravel outside the horizontal precession distance of the excavation contour of the current earth-digging tool 1 has been excavated and no longer needs to be excavated.

[0043] A large-scale deep earth-digging member breaking determination system based on sand and gravel, including a construction parameter module, a member information module, a sequence member module, an inclination angle determination module, a cutting thickness determination module, and a penetration determination module, as shown in Figure 1 .

[0044] The construction parameter module obtains the angle of the rotation axis 6 of the earth-digging tool 1 with respect to the ground, the horizontal precession distance, the vertical earth-digging thickness, the rotation speed, and the moving speed. The angle A with respect to the ground refers to the angle between the rotation axis 6 and the horizontal plane. The horizontal precession distance refers to the distance that the earth-digging tool 1 moves forward horizontally. The vertical earth-digging thickness refers to the distance that the earth-digging tool 1 moves downward vertically, as shown in Figure 4 .

[0045] The member information module obtains the three-dimensional coordinates and the three-way plane angles of the earth-digging member 5 on the earth-digging tool 2. The three-dimensional coordinate system takes the upper surface of the fixed ring 4 as the XOY plane. The XOY plane is perpendicular to the rotation axis 6. The Z-axis of the coordinate system is along the rotation axis 6, and the positive direction of the Z-axis points to the driving part 3. The three-dimensional coordinates are the coordinates of the effective positioning point 7 of the earth-digging member 5. The three-way plane angles are the angles between the earth-breaking working surface of the earth-digging member 5 and the X-axis, the Y-axis, and the Z-axis respectively.

[0046] Sequence component module, obtain the normalized sequence of the earth-digging components on the earth-digging machine tool. Taking the center of the upper surface of the fixed ring as the origin O, the POQ plane is perpendicular to the horizontal plane, the positive direction of the P axis is vertically downward, and the positive direction of the Q axis is horizontally forward. When the angle A with respect to the ground is 0, the Q axis coincides with the rotation axis 6 of the earth-digging machine tool, the P axis is located on the upper surface of the fixed ring 4 and is vertically downward, and the coordinate origin O is the intersection of the upper surface of the fixed ring 4 and the rotation axis 6. The normalized sequence is sorted according to the coordinate values, and the arrangement order is from large to small. Determine the penetration factor and influence depth of the earth-digging component for defining the cutting area of the earth-digging component.

[0047] Inclination angle determination module, calculate the angle between adjacent earth-digging components 5 and the rotation axis 6 of the earth-digging machine tool 1 in the normalized sequence to form an angle sequence, and determine the position number of the rotation axis 6 inclination angle in the angle sequence. The earth-digging component 5 with this number is defined as the first characteristic component.

[0048] Penetration determination module, determine the intersection point of the normalized sequence of the current earth-digging machine tool state and the normalized sequence of the previous penetration according to the horizontal penetration, and determine the sequence number at the intersection point to determine the second characteristic component, which is used to determine the equivalent depth and critical depth of the earth-digging component according to the normalized sequence in the sequence component module.

[0049] Cutting thickness determination module, calculate the position of the earth-digging component at any moment, determine the judgment model according to construction parameters such as equivalent depth, critical depth, influence depth and horizontal forward movement distance, and conduct the breaking state judgment of all earth-digging components.

[0050] Among them, the earth-digging component 5 has one or more effective positioning points, and the positions of each effective positioning point are also different. The position of the effective positioning point 7 should be determined in advance before determining the coordinate system, and each earth-digging component 5 should determine the effective positioning point at the same position.

[0051] The present invention has carried out strict derivation, and can accurately obtain the position and attitude of the earth-digging component 5 of the earth-digging machine tool 1 in space under the excavation state, which is used for the accurate judgment of the breaking state of the earth-digging component 5 at different penetrations and different earth-digging depths, and provides accurate data for the construction and design of the earth-digging machine tool 1.

[0052] In a sand and gravel operation environment, the cutting depth of the earth excavation machine 1 is often relatively large, so as to obtain a greater sand and gravel excavation output. The determination of the cutting state of each earth excavation component 5 is not an isolated event, but is closely related to multiple factors such as wear, cutting force, torque, cross-pulling equipment, and ground pressure. The sand and gravel are hard and contain a large number of hard particles. During the operation of the earth excavation machine 1, it will continuously friction and collide with these particles, resulting in the gradual wear of the cutting edge of the earth excavation component 5. As the wear intensifies, the cutting ability of the earth excavation machine 1 decreases. If the cutting depth is forcibly increased, not only will it be difficult to achieve the expected effect, but it will also accelerate the damage of the earth excavation machine 1 and shorten its service life.

[0053] Accurate determination of the cutting state is also beneficial for determining the cutting force, torque of the earth excavation machine 1, and the selection of external equipment. Due to the large cutting depth, the cutting force and torque of the earth excavation machine 1 can reach the design limit of the equipment, and the accompanying wear is also very significant. The magnitude of the cutting force directly determines the ease of the earth excavation machine 1 cutting into the sand and gravel, while the torque is the key power parameter that drives the earth excavation machine 1 to rotate to overcome the cutting force. The pulling force provided by the cross-pulling equipment affects the cutting direction and stability of the earth excavation machine 1, and the ground pressure determines the tightness of the contact between the earth excavation machine 1 and the sand and gravel.

[0054] The present invention proposes a comprehensive and accurate determination method, which integrates the first determination and the second determination, respectively considers the key parameters of the ground angle, horizontal precession distance, and vertical earth excavation thickness, and systematically determines the key parameters such as the influence depth, equivalent depth, and critical depth. It can conveniently obtain detailed information about the first characteristic component and the second characteristic component. The first characteristic component is clearly defined as the deepest component in the excavation operation. This determination process is intuitive and efficient, greatly simplifying the complexity of the traditional determination process.

[0055] The second determination goes further to accurately capture the specific position of the second characteristic component. This step not only improves the accuracy of the determination but also ensures the efficiency of the whole process. The data and information obtained by the present invention can be sorted out and drawn into a detailed database, so as to provide scientific, intuitive, and easy-to-operate guidance for on-site construction. This innovative determination method not only improves the engineering efficiency but also provides strong technical support for ensuring the construction quality, and has extremely high practical value and application prospects. This embodiment has the positive effects of simple method, accurate and efficient positioning, saving a large amount of labor costs, improving the design efficiency, being economically practical and having a wide range of applications.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features, and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining the breaking of a large-scale deep excavation soil component based on sand and gravel, characterized in that, The earth-digging machine has a fixed ring and a plurality of supporting parts. One end of each supporting part is connected to the driving part of the earth-digging machine, and the other end is connected to the fixed ring. The driving part is a cylindrical structure with driving threads inside. The fixed ring is an annular structure. The fixed ring is coaxial with the driving part and maintains a fixed distance. Each supporting part has a plurality of earth-digging components. When breaking the soil, the earth-digging components rotate around the rotation axis of the earth-digging machine and break the soil. The method for determining the soil-breaking state of the earth-digging component includes the following steps: The first step: Obtain the angle A of the rotation axis of the earth-digging machine with respect to the ground, the horizontal precession distance L, and the vertical soil-digging thickness H. The second step: Obtain the three-dimensional coordinates and three-direction plane angles of the earth-digging components on the earth-digging machine. The third step: Obtain the normalized sequence of the earth-digging components on the earth-digging machine. The fourth step: Determine the first characteristic component according to the angle with respect to the ground. The first characteristic component is the earth-digging component at the deepest part of the excavation. The fifth step: Perform sequence intersection inspection according to the horizontal precession distance to obtain the equivalent depth and critical depth of the earth-digging components. The sixth step: Judge the soil-breaking state of the earth-digging components within the range of the vertical soil-digging thickness.

2. The method for determining the breaking of the earth-breaking member for large-scale deep excavation based on sand and gravel according to claim 1, wherein In the first step, the angle with respect to the ground refers to the angle between the rotation axis and the horizontal plane. The horizontal precession distance refers to the distance that the earth-digging machine moves forward horizontally. The vertical soil-digging thickness refers to the distance that the earth-digging machine moves downward vertically.

3. The method for determining the breaking of the earthwork component with large and deep excavation based on sand and gravel according to claim 1, wherein In the second step, the three-dimensional coordinate system takes the upper surface of the fixed ring as the XOY plane. The XOY plane is perpendicular to the rotation axis. The Z axis of the coordinate system is along the rotation axis, and the positive direction of the Z axis points to the driving part. The three-dimensional coordinates are the coordinates of the effective positioning points of the earth-digging components. The three-direction plane angles are the angles between the soil-breaking action surfaces of the earth-digging components and the X axis, Y axis, and Z axis respectively.

4. The method for determining the breaking of the large-scale deep excavation component based on sand and gravel according to claim 3, characterized in that, In the third step, the process of obtaining the normalized sequence of the earth-digging components on the earth-digging machine is as follows: Taking the center of the upper surface of the fixed circle as the origin O, the POQ plane is perpendicular to the horizontal plane, the positive direction of the P axis is the vertical downward direction, the positive direction of the Q axis is the horizontal forward direction, and for any earth-digging component, the absolute value of the coordinate is the distance from the effective positioning point on this earth-digging component to the Q axis, and for any earth-digging component, the absolute value of the coordinate is the distance from the effective positioning point on this earth-digging component to the P axis, as shown in Equation (1); the normalization sequence is sorted according to the coordinate values, and the sorting order is from large to small; （1） Among them, is the coordinate of the th earth excavation member in the PQ coordinate system; is the coordinate of the th earth excavation member in the PQ coordinate system; is the coordinate of the th earth excavation member in the XYZ coordinate system; is the coordinate of the th earth excavation member in the XYZ coordinate system; is the coordinate of the th earth excavation member in the XYZ coordinate system; is a natural number; Define the footage factor as （2） Define the influence depth as （3） Among them, is the total number of earth-digging components on the earth-digging machine tool, .

5. The method for determining the breaking of the earth-breaking component for large-scale deep excavation based on sand and gravel according to claim 4, characterized in that In the fourth step, calculate the angle between the adjacent earth-digging members in the normalized sequence and the rotation axis of the earth-digging implement , the said is expressed as （4） Among them, is the coordinate of the nth excavation member in the normalized sequence; is the coordinate of the nth excavation member in the normalized sequence; is the coordinate of the nth excavation member in the normalized sequence; is the coordinate of the nth excavation member in the normalized sequence; Define the included angle sequence as , is the total number of the homogenization sequences of the earth-digging components on the earth-digging machine,[[]] , the characteristics of the included angle sequence are ; Determine the position of the excavation member located on the excavation boundary in the included angle sequence. There is a th excavation member that satisfies , and the th excavation member is the first characteristic member.

6. The method for determining the breaking of the deep excavation member based on sand and gravel according to claim 5, characterized in that In the fifth step, perform the intersection test between the current normalized sequence of the excavation component and the normalized sequence of the excavation component in the previous footage. Define the serial number of the second characteristic component as the serial number of the excavation component at the intersection of the current normalized sequence and the normalized sequence of the previous footage, starting from the first characteristic component number and successively perform the determination of formula (5): （5） Among them （6） （7） Among them, is the intersection factor determined by the , , three excavation components in the normalized sequence; is the intersection factor determined by the , , three excavation components in the normalized sequence; is the coordinate of the th excavation component in the normalized sequence; is the coordinate of the th excavation component in the normalized sequence; is the coordinate of the th excavation component in the normalized sequence; is the coordinate of the th excavation component in the normalized sequence; is the coordinate of the th excavation component in the normalized sequence; is the coordinate of the th excavation component in the normalized sequence; is the coordinate of the th excavation component in the normalized sequence; is the coordinate of the th excavation component in the normalized sequence; , ; The th earth excavation member and the th earth excavation member are located in the previous footage normalization sequence. After the th earth excavation member and the th earth excavation member are located in the current normalization sequence and satisfy formula (5), then the line connecting the th earth excavation member and the th earth excavation member and the line connecting the th earth excavation member and the th earth excavation member have a unique intersection point, and the intersection point coordinates are , where is defined as the critical depth, is defined as the critical distance, expressed as （8） Among them, is the position coefficient of the and the two adjacent earth excavation members in the PQ coordinate system; is the position coefficient of the and the two adjacent earth excavation members in the PQ coordinate system; is the inclination coefficient of the and the two adjacent earth excavation members in the PQ coordinate system; is the inclination coefficient of the and the two adjacent earth excavation members in the PQ coordinate system; （9） （10） （11） （12） Define the equivalent depth as （13）。 7. The method for determining the breaking of the earthwork component for large-scale deep excavation based on sand and gravel according to claim 6, characterized in that, In the sixth step, the breaking state of the excavation components within the vertical excavation thickness range is determined. At moment, the coordinates of the th excavation component in the PQ coordinate system are , expressed as ; Among them, , is the rotation frequency of the earth-digging tool, ; is at the azimuth angle of the th earth-digging component relative to the Z-axis at the moment, is the azimuth angle of the th earth-digging component relative to the Z-axis at the initial moment; If the normalized sequence of any earth-digging component satisfies the following formula, it is in the soil-breaking state （14） Among them, the th excavation member and the th excavation member are two adjacent excavation members in the homogenized sequence, is located and ; is the th excavation member's coordinate in the homogenized sequence; is the th excavation member's coordinate in the homogenized sequence; is the th excavation member's coordinate in the homogenized sequence; is the th excavation member's coordinate in the homogenized sequence.

8. The method for determining the breaking of the large-scale deep excavation member based on sand and gravel according to claim 1, characterized in that, The earth-digging component has one or more effective positioning points.

9. The method for determining the breaking of the earth-breaking member for large-scale deep excavation based on sand and gravel according to claim 1, characterized in that The three-dimensional coordinates adopt a right-hand coordinate system.

10. A gravel-based large-scale deep excavation soil component breaking determination system for implementing the method according to any one of claims 1 to 9, characterized in that, It includes a construction parameter module, a component information module, a sequence component module, an inclination determination module, a cutting thickness determination module, and an advance determination module. The construction parameter module is used to obtain the angle of the rotation axis of the earth-digging machine with respect to the ground, the horizontal precession distance, the vertical soil-digging thickness, the rotation speed, and the moving speed. The angle with respect to the ground refers to the angle between the rotation axis and the horizontal plane. The horizontal precession distance refers to the distance that the earth-digging machine moves forward horizontally. The vertical soil-digging thickness refers to the distance that the earth-digging machine moves downward vertically. The component information module is used to obtain the three-dimensional coordinates and three-direction plane angles of the earth-digging components on the earth-digging machine. The three-dimensional coordinate system takes the upper surface of the fixed ring as the XOY plane. The XOY plane is perpendicular to the rotation axis. The Z axis of the coordinate system is along the rotation axis, and the positive direction of the Z axis points to the driving part. The three-dimensional coordinates are the coordinates of the effective positioning points of the earth-digging components. The three-direction plane angles are the angles between the soil-breaking action surfaces of the earth-digging components and the X axis, Y axis, and Z axis respectively. The sequence component module is used to obtain the homogenized sequence of the earth-digging components on the earth-digging machine. Taking the center of the upper surface of the fixed ring as the origin O, the POQ plane is perpendicular to the horizontal plane, the positive direction of the P axis is the vertical downward direction, and the positive direction of the Q axis is the horizontal forward direction. The homogenized sequence is sorted according to coordinate values, and the arrangement order is from large to small to determine the penetration factor and influence depth of the earth-digging components. The inclination angle determination module is used to calculate the angles between adjacent earth-digging members and the rotation axis of the earth-digging tool in the normalized sequence, form an angle sequence, and determine the position number of the rotation axis inclination angle in the angle sequence. The earth-digging member with this number is defined as the first characteristic member; The penetration determination module determines the intersection point between the normalized sequence of the earth-digging tool state and the normalized sequence of the previous penetration, and determines the sequence number at the intersection point, which is defined as the second characteristic member. It is used to determine the equivalent depth and critical depth of the earth-digging member according to the normalized sequence in the sequence member module; The cutting thickness determination module calculates the position of the earth-digging member at any moment and is used to determine the breaking state of all earth-digging members.

Images