Cutter suction dredger side slope dredging one-time forming high-precision reamer process operation algorithm

Abstract

The invention belongs to the technical field of dredging engineering, and particularly relates to a cutter suction dredger side slope dredging one-time forming high-precision reamer process operation algorithm which comprises the steps that 1, definition and parameter setting are conducted; 2, designing an algorithm; the PLC controls the transverse moving winch and the bridge winch and cooperates with the transverse moving winch and the bridge winch to execute the slope excavation construction process so that parallelograms with different slopes can be cut out, and a trapezoidal target area can be formed after the multiple parallelograms are overlapped. Accurate control over the bridge winch and the transverse moving winch can be achieved, collapse is overcome, one-time forming of slope construction is achieved, and repeated construction is avoided. Compared with an existing manual side slope construction technology, the algorithm has the advantage that the slope surface can be finished to be smooth and can be close to an ideal slope surface.

Description

Technical Field

[0001] The present invention belongs to the technical field of dredging engineering, and particularly relates to the slope dredging technology of a cutter suction dredger. Background Art

[0002] A cutter suction dredger is an important dredging ship, which is involved in conventional dredging work and slope dredging technology.

[0003] Conventional Dredging Work The purpose of conventional dredging work is to "rush for quantity", and efficiency is pursued in engineering. For example, in Chinese Patent CN109750699A, a multi - advance - cut multi - layer automatic dredging control method for a cutter suction dredger; CN109750703A, a multi - layer multi - advance - cut automatic dredging control method for a cutter suction dredger; CN109750700A, an automatic controller for the bridge lifting of a cutter suction dredger. For a cutter suction dredger, its conventional dredging control system and the cutter subsystem, mud pump subsystem, transverse winch subsystem, bridge winch subsystem, steel pile trolley subsystem, and dredging pipe system gate valve subsystem controlled by this control system are used to complete the work of cutting soil, sucking in the mud - water mixture, transporting, and discharging it to the shore end. Its goal is to achieve the highest output by artificially or automatically matching control variables such as mud pump speed, cutter speed, transverse speed, and cutting thickness. This part is all existing mature technology.

[0004] Slope Dredging Technology The slope dredging of a cutter suction dredger is a special construction condition. It does not pursue high construction output.

[0005] The functional goal of the slope dredging technology is to widen the waterway, and it pursues to trim the terrain according to special requirements. Relying on highly qualified and extremely experienced operators, the manual operation steps are extremely cumbersome, and the corresponding construction technology is called manual slope.

[0006] In the ideal theoretical slope construction section, as Figure 1 shown, the small balls in the figure represent cutters, the trapezoid formed by the broken line A - B - D - C represents the waterway section, and the arrow represents the movement trajectory of the cutter during the construction process.

[0007] Currently, slope construction all relies on operators to manually operate on the dredging ship. During the manual operation of slope dredging, when industry operators are dealing with Figure 1 the target task shown (in the ideal state), they often alternately and independently operate the movement of the bridge winch and the transverse winch, thus forming a similar stepped cutting trajectory. After cutting, through natural collapse, it forms a shape close to the task target (i.e., the ideal cutting effect), as Figure 3 shown.

[0008] Figure 2The small and medium-sized balls represent the reamer. The polyline A-B-D-C represents the cross-section of the waterway. The arrow indicates the movement trajectory of the reamer during construction. The figure shows N steps ( Figure 2 It shows N = 2 steps). After a landslide, it forms a slope similar to the CD slope. During the excavation cycle of one step, the transverse movement distance is ΔX, and the up and down movement distance of the bridge is ΔY. V S represents the running speed of the transverse winch, and V L represents the running speed of the bridge winch.

[0009] Figure 2 The stepped cutting of the soil layer shown in the figure uses the natural landslide of the soil layer to form the required slope shape. This construction process is a manual slope. During the process of manual slope dredging, there are many factors affecting the construction efficiency, the good rate of the final slope formation, and the trimming accuracy: In manual control, due to the inability to accurately link the bridge winch and the transverse winch, a construction method similar to the stepped cutting mode is often adopted. The soil layer is slowly cut, and the natural landslide of the soil layer is used to form the required slope shape (the process is as Figure 3 shown). Since most slope construction is fine construction and has high construction accuracy requirements, to prevent over-excavation, multiple excavations are generally adopted in manual construction, and the method of gradually approaching is used. The construction efficiency of slope dredging becomes lower and lower. During the process of manual slope dredging, as Figure 2 shown, the transverse movement distance ΔX and the up and down movement distance ΔY of the bridge are both controlled by the personal ability and quality of the constructor, which has very high requirements for the construction skills and mental concentration of the operator. It is very difficult for the length, width, and height of each excavated step to be consistent, which affects the effect of the natural landslide process. In addition, due to the rotation of different operators, it is also very difficult to eliminate the effect differences brought by different operators' construction. Finally, due to the factors of soil quality and hydrology, the natural landslide after stepped excavation is unpredictable and uncontrollable. Therefore, there is often a large gap between the finally formed slope and the expected ideal slope.

[0010] During the process of manual slope dredging, construction failures such as hob and landslide, and jamming of the cutter often occur. At the moment of the failure, it is often very difficult for the operator to handle it in time, resulting in low construction efficiency or equipment damage. The so-called hob refers to the phenomenon that the reamer fails to cut into the soil and slips on the surface of the working soil. The so-called landslide refers to the phenomenon that the soil cut surface collapses under the impact of gravity and water flow. In the manual artificial slope process, on the one hand, this kind of "landslide" natural collapse phenomenon needs to be used to make the process continue, and on the other hand, the quality of the "landslide" effect depends on the overall process operation control of the staff. The so-called jamming of the cutter refers to the phenomenon that the soil collapses and presses the reamer head during the dredging construction process, often resulting in an increase in the torque of the reamer and an increase in the suction vacuum of the mud pump. These adverse factors further pose challenges to the operator's construction and also affect the project safety. Summary of the Invention

[0011] One of the invention tasks of this application is to disclose for the first time a high-precision cutter process operation algorithm for one-time forming of the side slope dredging of a cutter suction dredger.

[0012] The method of the present invention can be applied to newly dredged channels, widened channels, repaired channels and repaired channel wharves.

[0013] Technical solution one of the present invention: A high-precision cutter process operation algorithm for one-time forming of the side slope dredging of a cutter suction dredger, comprising: Step 1 Definition and parameter setting Step 1.1 Set , , , coordinate values in the construction coordinate system to determine the target construction area, so as to set the initial mud surface CD and the target mud surface C'D'; Step 1.2 To complete the target construction area in Step 1.1, set the number of excavations N, that is, the number of side slope excavation operations, and calculate the average step distances ΔC and ΔD of the cutter from the number of excavations N; Step 1.3 Set the bridge speed , the transverse movement speed : To control the movement trajectory of the cutter on the construction surface as a line segment with a specific slope, by controlling the bridge speed , the transverse movement speed to present a specific slope, that is, the transverse movement speed / the bridge speed is the slope; determine the upper edge , , the lower edge , coordinates of multiple position points, and obtain the corresponding specific slope according to the position point coordinates; Step 1.4 Set the speed magnification : The ratio of the bridge speed (transverse movement speed) in the no-load state to the bridge speed (transverse movement speed) in the side slope excavation state is set as the speed magnification Step 2 Algorithm design Regard the cutter as a rotating circle. When its center moves from a certain point M in space to another point M', the center trajectory MM' is much larger than the cutter diameter d; In the N times of side slope excavation, each side slope excavation corresponds to a slope Ki; the bridge speed , the transverse movement speed , and the ratio of the two is the slope Ki; In each slope excavation, the spatial shape of the cutterhead cutting area is composed of cylinders P, P’, Q’ and Q. When projected onto the channel cross-section, it forms a parallelogram with a slope of Ki. When the operating slope K of the cutterhead in the next (i+1) operation i+1 changes, parallelograms with different slopes can be cut out. After superimposing multiple parallelograms (i.e., excavations in multiple steps), a trapezoidal target area ( 、 、 、 ) can be formed. The initial inclined plane (CD) of this trapezoid can be regarded as the initial construction slope surface, and the final inclined plane is the target slope surface (C’D’).

[0014] In Step 1.2, , , is the cutterhead diameter. In Step 1.3, when and , set the bridge speed and automatically calculate the corresponding cross travel speed . When or , set the cross travel speed and automatically calculate the bridge speed In Step 2, the cutter suction dredger controls the cross travel winch and the bridge winch through the PLC, and coordinates the two to execute the slope excavation construction process to cut out parallelograms with different slopes. After superimposing multiple parallelograms (i.e., excavations in multiple steps), a trapezoidal target area ( 、 、 、 ) can be formed. The specific process is as follows: Step 2.1 Calculate the control parameters S2.1.1 Assume that the set value is the coordinate , , , , the number of excavations , the bridge speed , and the speed ratio in the non-excavation state ; S 2.1.2 The PLC calculates the average step distances ΔC and ΔD of the cutterhead at the upper edges 、 、the lower edges 、 : S2.1.3 The PLC calculates , The coordinates of all position points: Then It is recognized in the loop calculation that , ; The coordinates can be obtained in the same way; Among them is the projection on the X-axis, is the projection on the Y-axis; S2.1.4 PLC calculates the cross-movement speed of the bridge or the speed of the bridge , where N represents the speed of the Nth time: , the cutting slope of each layer; Step 2.2 Loop control process S2.2.1 The reamer runs to the starting point , and slope construction is not carried out during this movement process, only the spatial position of the reamer coordinates is adjusted: Locate the starting point = , and move the reamer from the current position to the program starting point at the cross-movement speed , the speed of the bridge alone; S2.2.2 Slope construction Run from the starting point to the target point , and slope construction is carried out during this process: Locate the target point = , and move the reamer from the starting point at the speed of the bridge , the cross-movement speed cooperatively to the target point ; S2.2.3 No-load return Return to the target point : Locate the target point = , and move the reamer from the starting point at the cross-movement speed , the speed of the bridge cooperatively to the target point , and no construction is carried out during this process, quickly reaching the target position; S2.2.4 Horizontal operation process of slope excavation to a new starting point: Run from the starting point Ci of the previous slope circular cutter to the current target point Ci+1: Locate the target point , and move the circular cutter from the starting point at the transverse movement speed , the bridge speed to move to the target point in coordinated motion , and perform construction during this process; S2.2.5 Slope construction, move to the target point Di: Locate the target point , and move the circular cutter from the starting point at the bridge speed , the transverse movement speed to move to the target point in coordinated motion , and perform slope construction during this process; S2.2.6 Determine whether the final target point is reached , If not, jump to S2.2.3 to return to the target point with no load , and execute the loop; If so, reach the final target point and end the automatic slope construction process.

[0015] In the algorithm design of Step 2, the center locus MM' is much larger than the diameter d" of the circular cutter, which means that the center locus MM' is greater than or equal to three times the diameter d of the circular cutter.

[0016] The application of this algorithm can realize the coordinated control of the bridge winch and the transverse winch, achieve the precise control of the linkage of the bridge winch and the transverse winch, overcome landslides, achieve the one-time forming of slope construction, and avoid multiple constructions. Compared with the existing manual slope construction technology, this algorithm can smooth the slope surface and be close to the ideal slope surface. Description of the drawings

[0017] Figure 1 The theoretical slope construction section under ideal conditions.

[0018] Figure 2 Schematic diagram of manual slope construction operation; The figure shows that after N steps have experienced landslides to form a slope similar to the CD slope surface, within the excavation cycle of one step, the transverse movement distance ΔX, the up and down movement distance ΔY of the bridge, V S represents the running speed of the transverse winch, V L represents the running speed of the bridge winch.

[0019] Figure 3 The slope dredging process and phenomenon are equivalent to Figure 2 the physical evolution process of the slope surface during the operation process.

[0020] Figure 4 The algorithm of the present invention selects the construction scenario from point C to point D.

[0021] Figure 5 The comparison algorithm selects the construction scenario from point A to point B.

[0022] Figure 6 Definition of the included angle between the working surface and the horizontal plane in the channel cross-section as seen from the cutter direction.

[0023] Figure 7 Schematic diagram of the algorithm principle of the present invention.

[0024] Figure 8 Schematic diagram of the algorithm flow of the present invention. Specific implementation manner

[0025] The functional objective of the automatic slope core algorithm of the present invention is to widen the channel, precisely trim the terrain with high precision, and liberate from relying on manual and highly cumbersome operations.

[0026] Since each controller does not perform the optimization operation of the conventional dredging output, it only needs to initialize the states of each controlled device to adapt to the construction soil quality and construction environment, such as initializing: the rotation speed of the underwater pump, the rotation speed of the 1# in-cabin pump, the rotation speed of the 2# in-cabin pump, the rotation speed of the cutter, the speed of the transverse winch, and the speed of the bridge winch, so as to carry out conventional dredging along with the slope dredging technology of the present invention. This part belongs to the mature technology in the field, but the conventional dredging process does not belong to the component of the technical solution of the present invention.

[0027] The application of this algorithm can realize the coordinated control of the bridge winch and the transverse winch, achieve the precise control of the linkage of the bridge winch and the transverse winch, overcome landslides, realize the one-time forming of slope construction, and avoid multiple constructions. Compared with the existing manual slope construction technology, this algorithm trims the slope surface smoothly and can be close to the ideal slope surface.

[0028] Algorithm design principle: I. Hypothesis and analysis: Suppose the algorithm adopts the construction process from point A to point B, Figure 5 as shown (green arrow). Due to the combined action of gravity, transverse pulling force, and cutter rotation force, the cutter rolling phenomenon is likely to occur. This construction method is not the optimal choice.

[0029] Suppose the algorithm adopts the construction process from point B to point A Figure 5 as shown (red arrow). It is easy to form a cavity at the lower part of the slope, triggering a landslide. This construction method is not the optimal choice.

[0030] Suppose the algorithm adopts the construction process from point D to point C Figure 4As shown, it is easy to form a cavity under the slope, leading to a landslide. This construction method is not the best choice.

[0031] After comparison and weighing, the algorithm strategy of the present invention preferentially selects the construction plan from point C to point D to avoid the occurrence of hob and landslide as much as possible. In the embodiment, taking point C to point D as the construction scenario, during application, under the control of the PLC for the transverse winch and the bridge winch, the two are coordinated to execute the slope excavation construction process. Specifically, the algorithm of the present invention selects the cutter head to rotate clockwise. Assuming that the trajectories are all the running trajectories of the center point coordinates of the cutter head, the operation construction process is from point C to point D, that is, the excavation method is from top to bottom. ( Figure 4 It is the green arrow: from point C to point D).

[0032] Further explanation: Looking at the cross-section of the waterway from the direction of the cutter head, the counterclockwise angle between the working surface and the horizontal plane is defined as α. When α < 90°, the running trajectory from top to bottom is defined as A→B. When α > 90°, the running trajectory from top to bottom is defined as C→D. As Figure 6 shown.

[0033] Further explanation: Figure 4 As shown, X is the projection length of the vector CC' from the starting point C of the initial slope to the starting point C' of the final slope in the X-axis direction. When X is less than three times the cutter diameter d, it can be considered that the slope to be cut is "thin", that is, the number of construction times required to cut from the current mud surface to the target mud surface is small, which is suitable for the algorithm of the present invention. If X is greater than three times the cutter diameter d, it can be considered that the slope to be cut is "thick", that is, a long gentle slope. Other algorithms should be used for large-scale excavation first, and then supplemented by this algorithm to trim the slope to achieve the purpose of one-time forming of slope construction (which will be disclosed in subsequent patent applications).

[0034] II. High-precision cutter head process operation algorithm for one-time forming of slope dredging of cutter suction dredger ( Figure 8 shown): Step 1 Definition and parameter setting Step 1.1 Set , , , coordinate values in the construction coordinate system to determine the target construction area, so as to set the initial mud surface CD and the target mud surface C'D' (see Figure 4 , Figure 7 ).

[0035] Step 1.2 To complete the target construction area in Step 1.1, set the number of excavations N, that is, the number of slope excavation operations, and calculate the average step distance ΔC, ΔD of the cutter head from the number of excavations N. Limit , , is the cutter diameter. Step 1.3 Set the bridge speed , the cross - travel speed : To control the movement trajectory of the cutter on the construction surface as a line segment with a specific slope, by controlling the bridge speed , the cross - travel speed shows a specific slope, that is, the cross - travel speed / the bridge speed is the slope. Determine the coordinates of multiple position points on the upper edge , , the lower edge , according to the average step distances ΔC, ΔD. Obtain the corresponding specific slope based on the position - point coordinates. Specifically, when and , set the bridge speed and automatically calculate the corresponding cross - travel speed . When or , set the cross - travel speed and automatically calculate the bridge speed , as shown in Figure 6 ; Step 1.4 Set the speed multiplier : The ratio of the bridge speed (cross - travel speed) in the no - load state to the bridge speed (cross - travel speed) in the slope - excavation state is set as the speed multiplier . From the high point C to D is the excavation state, as shown by the green arrow in the figure; from the low point D to C is the no - load state (i.e., non - excavation state), as shown by the red arrow in the figure, as shown in Figure 4 ;

[0036] Step 2 Algorithm design In this algorithm design, the cutter is regarded as a rotating circle. When its center moves from a certain point M in space to another point M' (the center trajectory MM' is much larger than the cutter diameter d, that is, usually the center trajectory MM' should be greater than or equal to three times the cutter diameter d); In the N times of slope excavation, the corresponding slope Ki for each slope excavation is as shown in Figure 7 . The bridge speed , the cross - travel speed , and the ratio of the two is the slope Ki.

[0037] In each slope excavation, the shape of the space cut by the cutter is a cylinder P, P', Q', Q. The projection onto the channel cross - section is a parallelogram with a slope of Ki. When the running slope K i+1 of the cutter changes in the next (i + 1) time, parallelograms with different slopes can be cut out. The superposition of multiple parallelograms (i.e., the excavation of multiple steps) can form a trapezoidal target area ( , , , ), this initial trapezoidal inclined plane (CD) can be regarded as the initial construction slope surface, and the final inclined plane is the target inclined plane (C'D').

[0038] In step 2, the PLC controls the transverse winch and the bridge winch, and coordinates the two to execute the slope excavation construction process to cut out parallelograms with different slopes. After superimposing multiple parallelograms (i.e., the excavation of multiple steps of processes), the target trapezoidal area ( , , , ) can be formed. The specific process is as follows: Step 2.1 Calculate the control parameters S2.1.1 Assume that the set value is the coordinate , , , , the number of excavation times , the bridge speed , the speed multiplier in the non-excavation state .

[0039] S 2.1.2 The PLC calculates the average step distances ΔC and ΔD of the cutter head at the upper edge , , the lower edge , : S2.1.3 The PLC calculates , for all position points of: Then is recognized in the loop calculation , .

[0040] The coordinates can be obtained in the same way.

[0041] Among them is 's projection on the X-axis, is 's projection on the Y-axis. If point C and point C' are at the same height, then is 0, which belongs to the special working condition of this algorithm.

[0042] S2.1.4 The PLC calculates the bridge transverse movement speed or the bridge speed , where N represents the speed at the Nth time: , cutting slope of each layer; Step 2.2 Loop control process S2.2.1 The cutter runs to the starting point , during this movement process, slope construction is not carried out, only the spatial position adjustment of the cutter coordinates is done: Locate the starting point = , move the cutter from the current position to the program starting point separately at the transverse movement speed and the bridge frame speed . .

[0043] S2.2.2 Slope construction From the starting point Run to the target point , slope construction is carried out during this process: Locate the target point = , move the cutter from the starting point at the bridge frame speed , and the transverse movement speed to move jointly to the target point .

[0044] S2.2.3 No-load return Return to the target point : Locate the target point = , move the cutter from the starting point at the transverse movement speed and the bridge frame speed to move jointly to the target point , no construction is carried out during this process, and quickly reach the target position.

[0045] S2.2.4 Horizontal operation process of slope excavation to the new starting point: The cutter starting point Ci of the previous slope loop runs to the current target point Ci+1: Locate the target point , move the cutter from the starting point at the transverse movement speed and the bridge frame speed to move jointly to the target point , construction is carried out during this process.

[0046] S2.2.5 Slope construction, run to the target point Di: Locate the target point , move the cutter from the starting point at the bridge frame speed , and the transverse movement speed Cooperate to move to the target point , and slope construction is carried out during this process.

[0047] S2.2.6 Determine whether the final target point is reached , If not, jump to S2.2.3 to return to the target point without load , Execute the loop.

[0048] If yes, reach the final target point End the automatic slope construction process.

[0049] This algorithm is described by the trajectory of the cutterhead center. The application of this algorithm can realize the cooperative control of the bridge winch and the transverse winch, achieve the precise control of the linkage of the bridge winch and the transverse winch, realize the one-time forming of slope construction, and avoid multiple constructions.

[0050] Comparison: Suppose the algorithm adopts the construction process from point A to point B. Due to the combined action of gravity, transverse pulling force, and cutter rotation force, the hob phenomenon is likely to occur.

[0051] Suppose the algorithm adopts the construction process from point B to point A. Excavation is very likely to cause landslides.

[0052] Compared with the existing technology, the trimming of the slope surface by this algorithm makes the slope surface smoother and closer to the ideal slope surface.

Claims

1. A high-precision cutter process operation algorithm for one-time forming of the side slope dredging of a cutter suction dredger, characterized in that, Including: Step 1: Definition and parameter setting Step 1.1 Set in the construction coordinate system , , , coordinate values to determine the target construction area, so as to set the initial mud surface CD and the target mud surface C'D'; Step 1.2 Set the number of excavations N for the target construction area to complete Step 1.1, that is, the number of slope excavation operations. The average step distances ΔC and ΔD of the cutter head calculated from the number of excavations N are respectively at the upper edge , , the lower edge , . Step 1.3 Set the bridge speed , the cross - travel speed : To control the movement trajectory of the cutter on the construction surface as a line segment with a specific slope, by controlling the bridge speed , the cross - travel speed to be of a specific slope, that is, the cross - travel speed / the bridge speed is the slope; Determine the upper edge , , the lower edge , coordinates of multiple position points, and obtain the corresponding specific slope according to the position point coordinates; Step 1.4 Set the speed multiplier : The ratio of the bridge speed in the no-load state to the bridge speed in the slope excavation state is set as the speed multiplier Step 2: Algorithm design Regarding the cutter as a rotating circle, when its center moves from a certain point M in space to another point M'; the locus MM' of the center is much larger than the cutter diameter d; For N times of slope excavation, each slope excavation corresponds to a slope Ki; the bridge frame speed , and the cross - travel speed . The ratio of the two is the slope Ki; In each slope excavation, the cutter cuts a space with the shape of P, P', Q', Q cylinders, which is projected onto the channel cross section as a parallelogram with a slope of Ki. When the cutter's next (i+1) operation slope is K i+1 After the change, parallelograms with different slopes can be cut out, and multiple parallelograms can be superimposed to form a trapezoidal target area. 、 、 、 , this trapezoidal initial slope CD can be regarded as the initial slope of construction, and the final slope is the target slope C'D'.

2. The one-step high-precision reamer process operation algorithm for slope dredging of a cutter suction dredger as claimed in claim 1 is characterized in that: In step 1.2, , , is the reamer diameter.

3. The high-precision cutter process operation algorithm for one-time shaping of the side slope dredging of the cutter suction dredger according to claim 1, wherein, In Step 1.3, when and the bridge speed is set the corresponding cross travel speed is automatically calculated , when or the cross travel speed is set the bridge speed is automatically calculated .

4. The high-precision cutter process operation algorithm for one-time forming of the side slope dredging of the cutter suction dredger according to claim 1, characterized in that In Step 2, the cutter suction dredger controls the traverse winch and the bridge winch through the PLC, and coordinates the two to execute the slope excavation construction process to cut out parallelograms with different slopes. Multiple parallelograms, that is, the excavation of multiple steps, can form the target trapezoidal area after superposition. , , , , The specific process is as follows: Step 2.1: Calculate control parameters S2.1.1 Assume the set value is the coordinate , , , , the number of excavation times , the bridge speed , the speed multiplier in non-excavation state ; S 2.1.2 PLC calculates the average step distances ΔC and ΔD of the reamer at the upper edge , , the lower edge , : S2.1.3 PLC Calculation , coordinates of all position points: ， Then , Identified in loop calculation , ; The coordinates can be obtained in the same way; Among them, is the projection on the X-axis, and is the projection on the Y-axis; S2.1.4 PLC calculates the cross - travel speed of the bridge or the speed of the bridge , where N represents the speed at the Nth time: , is the cutting slope for each layer; Step 2.2: Loop control process S2.2.1: The cutter runs to the starting point , no slope construction is carried out during this movement process, and only the adjustment of the spatial position of the cutter coordinates is done: Positioning starting point = , move the reamer from its current position at a traverse speed , bridge speed Move to the program starting point alone ; S2.2.2: Side slope construction From the starting point Run to the target point , this process is for slope construction: Locate target point = , move the reamer from the starting point At bridge speed , traverse speed Coordinated movement to the target point ; S2.2.3: Return empty Return to target point : Locate the target point = , move the reamer from the starting point at the transverse movement speed and the gantry speed to move coordinately to the target point , no construction is carried out during this process, and quickly reach the target position; S2.2.4: The horizontal operation process of side slope excavation to a new starting point: The cutter starting point Ci of the previous side slope loop runs to the current target point Ci+1; Locate the target point , move the reamer from the starting point at the transverse movement speed , the bridge speed cooperatively move to the target point , and perform construction during this process; S2.2.5: Side slope construction, running to the target point Di Locate target point , move the reamer from the starting point At bridge speed , traverse speed Coordinated movement to the target point ,This process carries out slope construction; S2.2.6 Determine whether the final target point has been reached , If not, jump to S2.2.3 and return to the target point without load. , Execute the loop; If yes, reach the final target point End the automatic slope construction process.

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