Excavation equipment planning and cutting method based on geological data coupling and control system

Abstract

The application provides a geological data coupling-based tunneling equipment planning and cutting method and a control system. The method can dynamically adjust a cutting path based on roadway geological data, realize high-precision tracking of a cutting drum along a coal-rock boundary line, effectively improve roadway forming precision and tunneling efficiency, and reduce manual intervention and safety hazards.

Description

Technical Field

[0001] This invention relates to the field of intelligent mining equipment technology, and in particular to a planning and cutting method and control system for tunneling equipment based on geological data coupling. Background Technology

[0002] Tunneling equipment, as a crucial component of intelligent mining equipment, is widely used in coal mine roadway excavation operations. Among related technologies, an automatic cutting system based on preset trajectories or driver operation memory has been constructed through the collaborative operation of inertial navigation systems, total stations, and hydraulic actuators. Specifically, this system covers the entire process from roadway parameter setting and cutting path planning to execution control, including key aspects such as cutting height control, slotting stroke management, load monitoring, and trajectory tracking. The cutting boom is typically driven by lifting cylinders and slotting cylinders, combined with displacement sensors and an inertial navigation system to achieve automatic lifting and extension of the drum within set boundaries. With the development of intelligent mining, traditional cutting systems are gradually evolving towards systems with memory and automatic control functions; however, they still rely on fixed parameters or experience-based trajectories and lack dynamic response capabilities to changes in geological conditions.

[0003] However, existing cutting control methods rely on fixed boundaries or driver-recorded data without integrating real-time geological data for dynamic adjustments. This can lead to over- or under-cutting of the cutting drum in areas with abrupt changes in coal seam thickness or roof and floor undulations. Specifically, memory-based cutting modes depend on pre-recorded trajectories and cannot adapt to real-time changes in roadway geological conditions. While automatic cutting modes possess some path planning capabilities, their boundaries are set to static values, making it difficult to address the uncertainty of coal-rock boundaries. Furthermore, traditional hydraulic systems use solenoid valves, resulting in delayed response and insufficient positioning accuracy, leading to cutting trajectory deviations, roadway steps, and impacting forming quality and construction safety. Therefore, existing technologies still have significant limitations in terms of adaptability, control accuracy, and operational efficiency under complex geological conditions, necessitating the development of a dynamic cutting control system that integrates geological data and navigation information. Summary of the Invention

[0004] The present invention aims to at least partially solve one of the technical problems in the related art.

[0005] Therefore, the first objective of this invention is to propose a tunneling equipment planning and cutting method based on geological data coupling, which can dynamically adjust the cutting path based on the roadway geological data, achieve high-precision tracking of the cutting drum along the coal-rock boundary line, effectively improve the roadway forming accuracy and tunneling efficiency, and reduce manual intervention and safety hazards.

[0006] The second objective of this invention is to propose a tunneling equipment planning and cutting control system based on geological data coupling.

[0007] To achieve the above objectives, a first aspect of the present invention proposes a method for planning and cutting tunneling equipment based on geological data coupling, comprising:

[0008] S1. The absolute coordinates of the equipment reference point are obtained through a total station and an inertial navigation system, and the real-time absolute coordinates of the cutting drum center point are calculated in combination with the geometric parameters of the cutting boom.

[0009] S2, Based on the pre-detected geological data of the tunnel, a tunnel boundary coordinate matrix is ​​generated with a fixed cutting distance as the step distance. The matrix includes the three-dimensional coordinates of the midpoint of the tunnel roof, the upper left and right corners, and the lower left and right corners.

[0010] S3, based on the real-time absolute coordinates of the center point of the cutting drum and the roadway boundary coordinate matrix, determine the geological boundary constraints corresponding to the current cutting position;

[0011] S4 adopts a dual closed-loop control structure of servo hydraulic cylinders, and adjusts the flow and pressure through a proportional servo valve to achieve precise path tracking of the cutting drum under the geological boundary constraints.

[0012] In one embodiment of the present invention, S1 includes:

[0013] S11. Obtain the three-dimensional absolute coordinates (Xc, Yc, Zc) of the equipment reference point F using a total station, and combine this with an inertial navigation system to correct the equipment attitude angle, thereby improving the accuracy of coordinate measurement.

[0014] S12, based on the structural parameters of the cutting boom, including the angle β between the carriage and the horizontal plane, the length l of the cutting cylinder, and the angle α between the two sections of the cutting boom, calculate the real-time absolute coordinates (X) of the center point O of the cutting drum. S Y S Z S ).

[0015] In one embodiment of the present invention, S2 includes:

[0016] S21, the roadway boundary coordinate matrix contains the boundary point coordinates of multiple roadway sections, with each section indexed by the center position of the equipment drum;

[0017] S22, the coordinates stored in the roadway boundary coordinate matrix include the three-dimensional coordinates of the midpoint, upper left corner, upper right corner, lower left corner, and lower right corner of the roadway roof, which are used to limit the upper and lower limit positions of the cutting roller.

[0018] In one embodiment of the present invention, S4 includes:

[0019] S41, the cutting lifting cylinder and the grooving telescopic cylinder both adopt a combination of proportional servo valve and servo hydraulic cylinder. The servo hydraulic cylinder has built-in displacement sensor and pressure sensor to form a displacement-pressure dual closed-loop control.

[0020] S42 converts the control voltage into servo valve control current through a servo amplifier. The output current of the servo amplifier and the control voltage satisfy a linear relationship to improve control accuracy and response speed.

[0021] In one embodiment of the present invention, it further includes:

[0022] S5 adjusts the cutting speed according to the real-time load current of the cutting drum. When the load current exceeds the preset threshold, the cutting speed is reduced, and when the load current is lower than the preset threshold, the cutting speed is increased to achieve adaptive cutting control.

[0023] To achieve the above objectives, a second aspect of the present invention provides a tunneling equipment planning and cutting control system based on geological data coupling, comprising:

[0024] The coordinate acquisition and correction module is used to acquire the absolute coordinates of the equipment reference point through a total station and an inertial navigation system, and to calculate the real-time absolute coordinates of the center point of the cutting drum in combination with the geometric parameters of the cutting boom.

[0025] The boundary coordinate generation module is used to generate a roadway boundary coordinate matrix based on the pre-detected roadway geological data, with a fixed cutting distance as the step. The matrix includes the three-dimensional coordinates of the midpoint of the roadway roof, the upper left and right corners, and the lower left and right corners.

[0026] The boundary matching and judgment module is used to match the real-time absolute coordinates of the center point of the cutting drum with the roadway boundary coordinate matrix to determine the geological boundary constraints corresponding to the current cutting position.

[0027] The path tracking control module employs a servo hydraulic cylinder dual closed-loop control structure, using a proportional servo valve to adjust flow and pressure, thereby achieving precise path tracking of the cutting drum under the geological boundary constraints.

[0028] The method and system of this invention can dynamically adjust the cutting path based on roadway geological data, achieve high-precision tracking of the cutting drum along the coal-rock boundary line, effectively improve roadway forming accuracy and tunneling efficiency, and reduce the risk of over-excavation and under-excavation.

[0029] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0030] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0031] Figure 1 A flowchart illustrating a tunneling equipment planning and cutting method based on geological data coupling, provided for an embodiment of this application;

[0032] Figure 2 A cross-sectional view of the tunnel provided in an embodiment of this application;

[0033] Figure 3 Cross-sectional data diagram of the tunnel provided in the embodiments of this application;

[0034] Figure 4 This is a schematic diagram of real-time slicing data provided in an embodiment of this application;

[0035] Figure 5 Angle diagram provided for embodiments of this application;

[0036] Figure 6 A control system composition diagram provided for an embodiment of this application;

[0037] Figure 7 This is a diagram showing the dual closed-loop pose control of the cutting arm provided in an embodiment of this application.

[0038] Figure 8 A structural diagram of the control system provided in the embodiments of this application;

[0039] Figure 9 This is a structural diagram of a tunneling equipment planning and cutting control system based on geological data coupling, provided as an embodiment of this application. Detailed Implementation

[0040] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0041] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0042] The following description, with reference to the accompanying drawings, describes a tunneling equipment planning and cutting method and control system based on geological data coupling, according to an embodiment of the present invention.

[0043] Example 1

[0044] Figure 1 This is a flowchart of a tunneling equipment planning and cutting method based on geological data coupling according to an embodiment of the present invention, such as... Figure 1 As shown, it includes:

[0045] S1 obtains the absolute coordinates of the equipment reference point through a total station and inertial navigation system, and calculates the real-time absolute coordinates of the cutting drum center point by combining the geometric parameters of the cutting boom.

[0046] Specifically, obtaining the absolute coordinates of the equipment reference point using a total station and an inertial navigation system, and calculating the real-time absolute coordinates of the cutting drum center point in conjunction with the geometric parameters of the cutting boom, is a key step in achieving high-precision spatial positioning and trajectory control in the planned cutting control system of this invention. In some implementations, the equipment reference point F is typically set at the geometric center of the tunneling equipment body or the installation reference point of the inertial navigation system (INS). This point is acquired with high-precision three-dimensional coordinates using a total station, and its coordinates are represented as F(Xc, Yc, Zc), in millimeters (mm). The total station uses RTK-GNSS or a combination of total station and prism to achieve sub-millimeter positioning accuracy, meeting the high requirements for spatial coordinates in tunnel cutting.

[0047] The inertial navigation system is used to monitor the equipment's attitude changes during the tunneling process in real time, including pitch, yaw, and roll angles, thereby compensating for the positioning errors of the total station in dynamic environments. By fusing the absolute coordinates of the total station with the attitude data from the inertial navigation system, the control system can construct a real-time position model of the equipment in three-dimensional space.

[0048] Furthermore, combining the geometric parameters of the cutting boom, including the cutting cylinder length l, the angle β between the carriage and the horizontal plane, and the angle α between the two boom sections, the control system uses coordinate transformation algorithms (such as homogeneous transformation matrix or DH parameter method) to convert the absolute coordinates of the equipment reference point F into the real-time absolute coordinates (X) of the cutting drum center point O. S , Y S Z S This coordinate transformation process needs to consider the kinematic model of the cutting boom to ensure accurate calculation of the spatial position of the roller center point under different cutting postures.

[0049] In practical applications, this step is typically performed along the centerline of the tunnel, using pre-set boundary point coordinates from geological survey data to achieve precise positioning and trajectory tracking of the roller within the tunnel cross-section. This method allows the control system to dynamically adjust the cutting path, avoiding over- or under-excavation caused by changes in geological conditions, and significantly improving tunnel forming accuracy and automation levels.

[0050] Furthermore, S1 includes:

[0051] S11. Obtain the three-dimensional absolute coordinates (Xc, Yc, Zc) of the equipment reference point F using a total station, and combine this with an inertial navigation system to correct the equipment attitude angle, thereby improving the accuracy of coordinate measurement.

[0052] Specifically, this step involves acquiring the three-dimensional absolute coordinates (Xc, Yc, Zc) of the equipment reference point F using a total station, and then correcting the equipment attitude angle using an inertial navigation system (INS) to improve the accuracy of coordinate measurements. In some implementations, the total station employs high-precision total station measurement technology, using laser ranging and angle measurement to achieve real-time positioning of the equipment reference point F in three-dimensional space. The ranging accuracy of the total station is typically ±1mm + 2ppm, and the angle measurement accuracy is ±0.5″, meeting the high-precision positioning requirements of mining equipment in complex roadway environments. The reference point F is usually set at a critical structural location on the machine body of the tunneling equipment, such as near the rotation center of the cutting arm, to ensure a clear geometric relationship between it and the center point O of the cutting drum.

[0053] Furthermore, the inertial navigation system measures the angular velocity and linear acceleration of the equipment in real time using a three-axis accelerometer and a three-axis gyroscope. Combined with initial alignment and error compensation algorithms, it calculates the equipment's attitude angles (pitch, roll, and yaw). In practical applications, inertial navigation systems typically employ MEMS (Micro-Electro-Mechanical Systems) or fiber optic gyroscopes (FOGs), achieving attitude angle measurement accuracy within 0.1°, suitable for environments without GPS signals, such as tunnels. By fusing the absolute coordinates provided by the total station with the attitude angles measured by the inertial navigation system, coordinate offsets caused by equipment vibration, tilt, or uneven ground can be effectively compensated, improving the accuracy of the absolute coordinate calculation of the cutting drum's center point O.

[0054] In practical operation, the control system first acquires the coordinates (Xc, Yc, Zc) of reference point F using a total station. Then, combining this with the attitude angle information provided by the inertial navigation system, it uses a coordinate transformation matrix to convert the relative position of the equipment in the local coordinate system into absolute coordinates in the global coordinate system. This step provides a high-precision spatial reference for subsequent cutting trajectory planning and boundary matching, and is a key link in realizing geological data-coupled cutting control. Through this fusion positioning method, the system can perceive the precise position and attitude of the equipment in the roadway in real time, thereby ensuring that the cutting drum operates accurately near the coal-rock boundary, effectively avoiding over-excavation or under-excavation, and improving the roadway forming quality and construction efficiency.

[0055] S12, based on the structural parameters of the cutting boom, including the angle β between the carriage and the horizontal plane, the length l of the cutting cylinder, and the angle α between the two sections of the cutting boom, calculate the real-time absolute coordinates (X) of the center point O of the cutting drum. S Y S ZS ).

[0056] Specifically, the core of this step lies in calculating the absolute coordinates (X, Y, X, Y) of the cutting boom's center point O in real time based on the structural parameters of the cutting boom, including the angle β between the carriage and the horizontal plane, the length l of the cutting cylinder, and the angle α between the two sections of the cutting boom. S Y S Z S This step is a key step in achieving high-precision automatic cutting control of tunneling equipment, and its technical implementation is based on the principles of geometric modeling and coordinate transformation.

[0057] In some implementations, the cutting boom is a two-section heavy-duty hydraulic manipulator structure. Its kinematic model needs to consider the angle β between the carriage and the horizontal plane, the extension length l of the cutting cylinder, and the angle α between the two boom sections. The carriage angle β is measured in real time by an inertial navigation system (INS) to reflect the attitude changes of the equipment in the tunnel; the cutting cylinder length l is collected by a built-in high-precision displacement sensor to determine the lifting height of the cutting boom; the angle α between the two boom sections is obtained through an angle sensor or geometric calculation based on the cylinder stroke to describe the bending state of the cutting boom. By establishing a three-dimensional coordinate system with the equipment reference point F as the benchmark, and combining the carriage structural parameters and the real-time data of the cutting cylinder, the coordinate transformation relationship of the cutting drum center point O can be derived.

[0058] Specifically, the absolute coordinates (Xc, Yc, Zc) of reference point F are obtained by joint positioning using a total station and an inertial navigation system, with a positioning accuracy typically reaching ±5mm. Given the carriage angle β and the cutting cylinder length l, and considering the geometric parameters of the cutting boom (such as the length of each section and the coordinates of the hinge points), the relative coordinates of the cutting drum center point O are calculated using a forward kinematics algorithm and converted into absolute coordinates (XS, YS, ZS). This calculation process requires consideration of the cutting drum diameter D (generally 1000mm or 1200mm) to determine the absolute heights of the upper edge point (ZS+D / 2) and lower edge point (ZS-D / 2) of the drum, thereby determining whether the preset upper cutting limit Hh or lower cutting limit HL has been reached.

[0059] In practical applications, this step is used to acquire the spatial position of the cutting drum in real time during roadway excavation, providing basic data for subsequent boundary matching, trajectory planning, and servo control. Especially under conditions of complex coal seam occurrence and significant roadway undulations, this coordinate calculation method can effectively improve the adaptability and control accuracy of the cutting path.

[0060] This step enables the system to achieve high-precision positioning of the center point of the cutting drum, solving the problem of over-excavation or under-excavation caused by coordinate conversion errors in traditional systems. It provides accurate feedback for the subsequent PID iterative learning control algorithm, thereby significantly improving the forming quality and construction efficiency of roadway cutting.

[0061] S2. Based on the pre-detected geological data of the tunnel, a tunnel boundary coordinate matrix is ​​generated with a fixed cutting distance as the step. The matrix includes the three-dimensional coordinates of the midpoint of the tunnel roof, the upper left and right corners, and the lower left and right corners.

[0062] Specifically, in some implementations, generating a roadway boundary coordinate matrix based on pre-detected roadway geological data, with a fixed cutting distance as the step interval, is a key step in achieving high-precision path control in the planning and cutting method of this invention. This step constructs a roadway boundary coordinate matrix with a fixed cutting step interval (Lc) by fusing high-precision positioning data from an inertial navigation system (INS) and a total station, combined with the three-dimensional coordinate information of the roadway roof midpoint, upper left and right corners, and lower left and right corners obtained from the geological exploration system. This matrix uses the equipment drum center point Li as an index and is arranged sequentially according to the roadway excavation direction (Y-axis) to form a series of roadway cross-section boundary point coordinates, which are used for subsequent cutting path planning and execution.

[0063] Specifically, before tunnel excavation, the geological exploration system uses methods such as bottom-penetrating radar, geological boreholes, or 3D laser scanning to collect 3D coordinate data of key points on the tunnel roof, including the midpoint O (X0, Y0, Z0), upper left corner A (X1, Y1, Z1), upper right corner B (X2, Y2, Z2), lower left corner C (X3, Y3, Z3), and lower right corner D (X4, Y4, Z4). This coordinate data is discretized using a fixed cutting distance Lc (usually 1000mm or 1200mm) as a step size and sorted according to the tunnel excavation direction (Y-axis) to form a boundary coordinate matrix. Each row in the matrix corresponds to a tunnel cross-section, and each column corresponds to the coordinate information of different boundary points, thus providing precise reference boundaries for the lifting and lowering of the cutting drum at different positions and the cutting action.

[0064] Regarding parameter settings, parameters such as the initial roadway length L0, the maximum allowable cutting stroke Lc, and the coal-rock coefficient f (f≤6) need to be preset in the human-machine interface. Through these parameters, the control system can dynamically match operating parameters such as cutting speed and lifting stroke to adapt to different geological conditions. Furthermore, the cutting drum diameter D (generally 1000mm or 1200mm) serves as an important basis for boundary calculations, used to determine the absolute coordinates (XS, YS, ZS±D / 2) of the upper and lower edge points of the drum.

[0065] In practical applications, this step is mainly used for generating automatic cutting paths and setting boundary constraints in tunnels. During the tunneling process, the control system acquires the absolute coordinates (Xc, Yc, Zc) of the equipment reference point F in real time. Combined with the geometric parameters of the cutting boom (such as the carriage angle β, cylinder length l, etc.), the system calculates the real-time absolute coordinates (XS, YS, ZS) of the cutting drum center point O through a coordinate transformation algorithm. Based on the Z value of the corresponding Li position in the boundary matrix, the cutting height is dynamically adjusted to achieve precise cutting of the top and bottom plates, avoiding over-cutting or under-cutting.

[0066] In terms of technical effectiveness, this step, through the integration of geological data and the navigation system, achieves adaptive control of the cutting boundary as it dynamically changes with the geological conditions of the roadway, significantly improving the roadway forming accuracy and cutting efficiency. Compared with traditional memory cutting and fixed-path automatic cutting, this method can effectively cope with complex geological conditions such as coal seam undulations and changes in the coal-rock boundary, providing a high-quality roadway foundation for the subsequent layout of the fully mechanized mining face.

[0067] Furthermore, S2 includes:

[0068] S21, the roadway boundary coordinate matrix contains the boundary point coordinates of multiple roadway sections, with each section indexed by the center position of the equipment drum.

[0069] Specifically, the construction of the roadway boundary coordinate matrix is ​​a key technical step in achieving high-precision path tracking and geologically adaptive control in the planning and cutting control system of this invention. This matrix discretizes the roadway cutting boundary along the roadway centerline (Y-axis direction) with a fixed step distance Lc (usually 1000mm or 1200mm). Each section consists of multiple boundary point coordinates, including the midpoint of the roadway roof, the upper left and right corners, the lower left and right corners, etc., totaling 15 coordinate points, which are used to describe the roadway cutting profile.

[0070] At the technical implementation level, the tunnel boundary coordinate matrix is ​​pre-collected using geological detection systems (such as bottom-penetrating radar, geological borehole data, 3D laser scanning, etc.) to collect tunnel cutting contour data, and stored using Li as an index. This matrix serves as a lookup reference in the control system, used to match the center point position Li of the cutting drum with the corresponding tunnel boundary point coordinates in real time. Through the fusion positioning of a total station and an inertial navigation system, the system can obtain the absolute coordinates (Xc, Yc, Zc) of the equipment reference point F, and combine them with the geometric structural parameters of the cutting boom (such as the carriage angle β, cylinder length l, and the coordinates of the rotation center Z point, etc.) to calculate the real-time absolute coordinates (XS, YS, ZS) of the center point O of the cutting drum. When the cutting drum moves within the Li range, the control system obtains the corresponding tunnel boundary points Z1, Z2, Z3, Z4, etc. by looking up the table, and calculates the absolute heights of the upper edge point (ZS + D / 2) and lower edge point (ZS - D / 2) of the drum, thereby determining whether the cutting boundary of the tunnel roof or floor has been reached.

[0071] At the parameter level, the step distance Lc of Li needs to be set according to the geological conditions of the roadway and the cutting capacity of the equipment, usually between 1000mm and 1200mm, to ensure the continuity of the cutting path and the control accuracy. The acquisition accuracy of the roadway boundary point coordinates should meet the mining surveying standards (such as MT / T 1001-2006 "Technical Specification for Underground Coal Mine Surveying"), and its X, Y, and Z coordinate errors should be controlled within ±5mm to ensure the accuracy of the cutting trajectory. In addition, the coordinate conversion of the cutting drum center point O needs to consider the geometric structure error of the cutting boom and the positioning drift of the inertial navigation system, and Kalman filtering or weighted average algorithm is usually used for coordinate fusion correction.

[0072] At the application level, this step is widely used in coal mine roadway excavation operations, especially in working faces with complex coal seam conditions and significant roadway undulations. Through a lookup mechanism of the roadway boundary coordinate matrix, the control system can dynamically adjust the lifting and lowering of the cutting drum and the slotting action, ensuring that the cutting process always occurs within the geological boundary limits. This effectively avoids over-excavation or under-excavation, improving the quality of roadway formation. This technology is particularly suitable for cutting arm systems employing servo hydraulic cylinders and PID iterative learning control algorithms, providing a data foundation for subsequent path tracking and load adaptive control.

[0073] From a technical perspective, the establishment of the roadway boundary coordinate matrix achieves precise coupling between geological data and the cutting path, solving the problem that traditional automatic cutting systems cannot adapt to changes in coal seams. Through Li's indexing mechanism, the system can quickly locate the boundary data corresponding to the current cutting position. Combined with the dual closed-loop feedback (displacement + pressure) of the servo control system, the control accuracy and response speed of the cutting drum under complex geological conditions are significantly improved.

[0074] S22, the coordinates stored in the roadway boundary coordinate matrix include the three-dimensional coordinates of the midpoint, upper left corner, upper right corner, lower left corner, and lower right corner of the roadway roof, which are used to limit the upper and lower limit positions of the cutting roller.

[0075] Specifically, the coordinate data stored in the tunnel boundary coordinate matrix includes the three-dimensional geographic coordinates (X, Y, Z) of the midpoint, upper left corner, upper right corner, lower left corner, and lower right corner of the tunnel roof, in millimeters (mm). Its core function is to provide precise boundary constraints for the upper and lower limits of the cutting drum, thereby achieving planned cutting control based on geological data. This step is technically implemented using a collaborative positioning system of inertial navigation (INS) and a total station. Combined with the structural parameters and kinematic model of the cutting boom, the three-dimensional geological boundary data of the tunnel is matched with the real-time position of the equipment, ensuring that the cutting drum operates within the preset tunnel contour range.

[0076] In some implementations, the tunnel boundary coordinate matrix is ​​sampled in steps of a fixed cutting stroke Lc (typically 1000 mm or 1200 mm) along the tunnel centerline (Y-axis). Each section contains the three-dimensional coordinates of five key points: the midpoint of the roof O (X0, Y0, Z0), the upper left corner A (X1, Y1, Z1), the upper right corner B (X2, Y2, Z2), the lower left corner C (X3, Y3, Z3), and the lower right corner D (X4, Y4, Z4). These coordinates are collected by geological exploration equipment (such as bottom-penetrating radar, geological borehole data, etc.) before tunnel excavation and stored in the control system database as reference data for cutting path planning.

[0077] At the parameter level, the update frequency of the roadway boundary coordinate matrix is ​​closely related to the movement step distance Lc of the cutting drum. Cross-sectional data is typically collected every 1000 mm to 1200 mm to ensure the continuity and accuracy of the boundary data. The Z-axis coordinate values ​​are used to limit the vertical movement range of the cutting drum. The Z-values ​​of the top plate midpoint and the upper left and right corners together define the upper limit position of the cutting drum, while the Z-values ​​of the lower left and right corners determine the lower limit position, i.e., the bottoming distance. The real-time absolute coordinates (XS, YS, ZS) of the cutting drum center point O are calculated using a coordinate transformation algorithm based on the total station coordinates (Xc, Yc, Zc) of the equipment reference point F and the geometric parameters of the cutting boom (such as the carriage angle β, cylinder length l, etc.).

[0078] In application scenarios, this step is widely used in coal mine roadway excavation operations, especially under conditions of complex coal seam occurrence and significant roadway undulations. By querying the boundary coordinate matrix in real time, the control system can dynamically adjust the lifting and lowering of the cutting drum and the slotting action, avoiding over-excavation or under-excavation problems caused by sudden changes in geological conditions. Combining servo hydraulic cylinders and a dual closed-loop control strategy (displacement + pressure), this method significantly improves the execution accuracy and response speed of the cutting path, meeting the requirements of high-precision, high-efficiency, and high-safety roadway excavation.

[0079] In terms of technical effectiveness, the introduction of the roadway boundary coordinate matrix ensures that the movement trajectory of the cutting drum strictly follows the actual geological boundaries of the roadway, effectively solving the problems of fixed boundaries and inability to adapt to geological changes in traditional memory cutting and automatic cutting modes. Through three-dimensional coordinate matching and boundary constraints, the roadway forming quality is improved, manual intervention is reduced, and the intelligence level and operational efficiency of the tunneling equipment are enhanced.

[0080] S3, based on the real-time absolute coordinates of the cutting drum center point and the roadway boundary coordinate matrix, determines the geological boundary constraints corresponding to the current cutting position.

[0081] Specifically, the step of "matching the real-time absolute coordinates of the cutting drum's center point with the roadway boundary coordinate matrix to determine the geological boundary constraints corresponding to the current cutting position" is the core component of the cutting control system of this invention, enabling high-precision path tracking and boundary constraint control. Its technical implementation principle is based on three-dimensional spatial coordinate matching and dynamic boundary recognition, combined with joint positioning by an inertial navigation system (INS) and a total station, to achieve precise alignment of the cutting drum's real-time position in the roadway with the preset geological boundary.

[0082] In some implementations, the real-time absolute coordinates (XS, YS, ZS) of the cutting drum center point are calculated using a coordinate transformation algorithm based on the total station coordinates (Xc, Yc, Zc) of the equipment reference point F and the geometric parameters of the cutting boom (such as the carriage angle β, cylinder stroke l, and coordinates of the rotation center Z point). The tunnel boundary coordinate matrix is ​​pre-collected by the geological exploration system and stored at a fixed cutting step distance Lc (usually 1000mm or 1200mm). Each step distance corresponds to multiple boundary points of the tunnel cross-section (such as the midpoint of the roof, the upper left and right corners, and the lower left and right corners), forming a multi-dimensional spatial coordinate table.

[0083] In practical applications, this step is widely applicable to automated cutting operations in complex geological environments such as coal mine roadway excavation and tunnel excavation. Especially in conditions with uneven coal seam occurrence and large roadway undulations, the system can achieve adaptive cutting through real-time boundary matching, significantly improving tunneling efficiency and automation level.

[0084] The technical effect of this step is that, through high-precision coordinate matching and dynamic identification of boundary constraints, it effectively solves the problem that traditional automatic cutting systems cannot adapt to geological changes, realizes intelligent path planning and boundary constraint control based on geological data, and provides key technical support for efficient, safe and precise cutting of tunneling equipment.

[0085] S4 adopts a dual closed-loop control structure of servo hydraulic cylinders, and adjusts the flow and pressure through a proportional servo valve to achieve precise path tracking of the cutting drum under the geological boundary constraints.

[0086] Specifically, this step employs a servo hydraulic cylinder dual closed-loop control structure, using a proportional servo valve to adjust flow and pressure, achieving precise path tracking of the cutting drum under geological boundary constraints. This control structure is the core execution part of the cutting control system planned in this invention, aiming to address the shortcomings of traditional hydraulic systems in terms of control accuracy, response speed, and anti-disturbance capability.

[0087] At the technical implementation level, the servo hydraulic cylinder system consists of a proportional servo valve and a servo hydraulic cylinder, used to control the lifting and lowering of the cutting boom and the extension and retraction of the grooving mechanism, respectively. The servo hydraulic cylinder incorporates a high-precision displacement sensor (such as a linear differential transformer (LVDT) or an absolute encoder) to provide real-time feedback on the cylinder's displacement; simultaneously, a pressure sensor is installed at the oil inlet to monitor the pressure difference across the cylinder. By simultaneously feeding back the displacement and pressure signals to the motion controller, a position-pressure dual closed-loop control structure is formed. This structure effectively compensates for control deviations caused by load variations, the nonlinear characteristics of the hydraulic system, and external disturbances (such as sudden geological changes in the tunnel and equipment vibration), thereby improving the path tracking accuracy of the cutting drum under complex geological conditions.

[0088] In terms of parameter specifications, the control accuracy of servo hydraulic cylinders can typically reach ±0.1mm, with a response time of less than 50ms, meeting the high dynamic and high-precision motion requirements of the cutting drum in the roadway. The control bandwidth of proportional servo valves is generally between 10 and 20Hz, providing excellent dynamic response capabilities. The system employs a PID iterative learning control algorithm, continuously adjusting the control input signal to ensure a high degree of match between the actual position of the cutting drum and the boundary points (such as the midpoint of the roof, upper left corner, and lower right corner) set in the geological survey data, with the error controlled within ±5mm.

[0089] In application scenarios, this control structure is suitable for tunneling operations with complex coal seam conditions and significant roadway undulations. By comparing the boundary point coordinates (such as Z1, Z2, Z3, Z4) in the geological survey data with the real-time absolute coordinates (XS, YS, ZS) of the cutting drum, the system can dynamically adjust the cutting path to ensure that the drum always operates within the set roadway boundary range, avoiding over-excavation or under-excavation.

[0090] The technical effect of this step is to significantly improve the path tracking accuracy and system stability of the cutting drum. Especially when facing dynamic geological conditions such as changes in coal seam hardness and roof and floor undulations, it can achieve rapid response and high-precision control, thereby improving the quality of roadway formation, reducing the frequency of manual intervention, and enhancing the safety and efficiency of tunneling operations.

[0091] Furthermore, S4 includes:

[0092] S41, both the cutting lifting cylinder and the grooving telescopic cylinder adopt a combination of proportional servo valves and servo hydraulic cylinders. The servo hydraulic cylinders have built-in displacement and pressure sensors, forming a displacement-pressure dual closed-loop control.

[0093] Specifically, in this invention, both the cutting lifting cylinder and the grooving telescopic cylinder employ a combination of proportional servo valves and servo hydraulic cylinders to form a displacement-pressure dual closed-loop control, which is a key technical aspect for achieving high-precision cutting path control. In some implementations, this control method integrates proportional servo valves and servo hydraulic cylinders into the hydraulic system, combined with built-in displacement and pressure sensors, to construct a closed-loop feedback mechanism, thereby achieving dynamic and precise adjustment of the cutting boom's movement trajectory.

[0094] From a technical implementation perspective, the proportional servo valve adjusts the flow and pressure entering the servo hydraulic cylinder according to the command signals from the control system, achieving continuous control of the cylinder's movement speed and output force. The displacement sensor built into the servo hydraulic cylinder (such as a high-precision linear displacement sensor with a resolution of up to 0.1 mm) provides real-time feedback on the piston rod displacement, while the pressure sensor (typically with a range of 0~30 MPa and an accuracy of ±0.5% FS) monitors the pressure difference across the hydraulic cylinder to determine load changes. The control system uses the displacement and pressure signals as feedback inputs to the position loop and force loop, respectively, and achieves high-precision control of the cutting motion through a dual closed-loop control algorithm (such as PID + feedforward control), making it particularly suitable for cutting arm movements under heavy load, high inertia, and variable load conditions.

[0095] In terms of parameters, the response time of the servo hydraulic cylinder is generally controlled within 50ms to meet the dynamic performance requirements during the cutting process; the bandwidth of the proportional servo valve is usually between 10 and 20Hz to ensure that the system has good tracking ability. In addition, the system supports dynamic adjustment of lifting and slotting speeds according to the coal and rock coefficient f (f≤6), thereby optimizing cutting efficiency and equipment stability.

[0096] In practical applications, this control method is widely applicable to complex geological environments where the roof and floor boundaries change frequently and the coal seam is unevenly distributed during tunnel excavation. Through dual closed-loop control, the system can compensate for positional deviations caused by changes in coal and rock hardness, equipment vibration, or hydraulic system disturbances in real time, effectively avoiding over-excavation or under-excavation, and improving tunnel forming quality and construction safety.

[0097] The technical effect of this step is that it significantly improves the control accuracy and response capability of the cutting boom, solves the problem of cutting trajectory deviation caused by response lag and insufficient control accuracy in traditional solenoid valve control, and provides a reliable execution guarantee for realizing geological data-based planned cutting.

[0098] S42 converts the control voltage into servo valve control current through a servo amplifier. The output current of the servo amplifier and the control voltage satisfy a linear relationship to improve control accuracy and response speed.

[0099] Specifically, in the planning and cutting control system of this invention, converting the control voltage into servo valve control current via a servo amplifier is a key step in achieving high-precision electro-hydraulic servo control. This step is based on the fundamental control principle of electro-hydraulic servo systems, namely, using electrical signals to perform closed-loop control of the hydraulic actuator, thereby achieving precise tracking of the cutting arm's movement trajectory.

[0100] In some implementations, the servo amplifier acts as a bridge between electrical control and hydraulic actuation. Its core function is to linearly convert the analog control voltage signal (typically 0~10V or ±10V) from the motion controller into the control current signal (e.g., ±40mA or ±50mA) required by the servo valve. The servo amplifier typically employs a high-precision operational amplifier and current feedback circuitry to ensure a good linear relationship between the output current and the input voltage. This linearity can be calibrated using a calibration curve to ensure that the nonlinearity error of the output current is less than ±1% across the entire voltage range, and the bandwidth response is not less than 200Hz, meeting the high requirements for dynamic response and control accuracy during the cutting process.

[0101] Regarding parameter settings, the gain coefficient (Kamp) of the servo amplifier needs to be matched according to the flow gain (Kv) of the servo valve and the load characteristics of the hydraulic cylinder, typically adjusted within the range of 0.5~2.0 A / V. The control voltage signal is generated in real time by the motion controller based on a PID iterative learning algorithm, used to drive the lifting and grooving actions of the servo hydraulic cylinder. The accuracy of the servo valve control current directly affects the displacement control accuracy of the hydraulic cylinder; therefore, in this system, the output current resolution of the servo amplifier should reach 0.1mA to support micron-level cutting height adjustment.

[0102] In practical applications, this step, combined with the absolute position information of the equipment obtained by the inertial navigation system and total station, and the three-dimensional coordinates of the roadway boundary points in the geological survey data, enables real-time closed-loop control of the cutting drum's center point position. During the cutting process, the system queries the pre-stored roadway boundary data based on the current tunneling position Li, calculates the desired cutting height, and converts this height into servo valve control current through a servo amplifier to drive the hydraulic cylinder to move precisely. This ensures that the cutting drum operates stably near the coal-rock boundary between the roof and floor, avoiding over-excavation or under-excavation.

[0103] From a technical perspective, this step significantly improves the control accuracy and response speed of the cutting system through the coordinated control of a high-precision servo amplifier and a proportional servo valve. In heavy-duty, high-inertia cutting boom systems, the linear control capability of the servo amplifier can effectively suppress system vibration and position drift, improve the continuity of the cutting trajectory and the quality of tunnel formation, and provide a reliable electrical control foundation for realizing intelligent cutting coupled with geological data.

[0104] Also includes:

[0105] S5 adjusts the cutting speed according to the real-time load current of the cutting drum. When the load current exceeds the preset threshold, the cutting speed is reduced, and when the load current is lower than the preset threshold, the cutting speed is increased to achieve adaptive cutting control.

[0106] Specifically, this step, "adjusting the cutting speed according to the real-time load current of the cutting drum, reducing the cutting speed when the load current exceeds a preset threshold, and increasing the cutting speed when the load current is below the preset threshold to achieve adaptive cutting control," is a key step in the cutting control system of this invention to achieve dynamic load response and cutting efficiency optimization. This step, based on real-time feedback of the cutting drum's load current and combined with the closed-loop control capability of the servo hydraulic system, achieves intelligent adjustment of the cutting speed, thereby improving the stability and adaptability of the cutting process.

[0107] At the technical implementation level, this step involves using a current sensor installed in the cutting motor or hydraulic system to collect the load current value of the cutting drum in real time during the cutting process. The control system compares this current value with a preset load threshold, which is typically set based on the coal-rock coefficient (f≤6) and the rated power of the cutting drum. For example, under standard operating conditions, the load current threshold can be set to 80%~90% of the motor's rated current (e.g., if the rated current is 150A, the threshold is 120A~135A). When the real-time load current exceeds this threshold, the control system determines that the current cutting resistance is high, possibly indicating the presence of hard rock or a coal-rock interface. In this case, the cutting speed is reduced (e.g., from 0.8m / s to 0.4m / s) to reduce the risk of equipment overload and extend the machine's lifespan. When the load current is below the threshold, it indicates that the cutting resistance is low, and the system can appropriately increase the cutting speed (e.g., from 0.4m / s to 0.8m / s) to improve operational efficiency.

[0108] Regarding parameter specifications, the cutting speed is typically adjustable between 0.2 m / s and 1.2 m / s, with a step interval set to 0.1 m / s or 0.2 m / s to ensure smooth control and responsiveness. The load current sampling frequency is recommended to be no less than 100 Hz to guarantee real-time performance. Simultaneously, the system employs a PID iterative learning control algorithm, combined with the three-dimensional coordinate data of the cutting path, to achieve coordinated optimization of speed adjustment and position control.

[0109] In application scenarios, this step is suitable for working faces with frequent changes in coal and rock hardness and complex geological conditions during tunnel excavation. Through adaptive speed regulation, the system can effectively cope with complex geological conditions such as alternating soft and hard coal seams, fault zones, and interbedded rock layers, avoiding problems such as low cutting efficiency or equipment damage caused by fixed speed.

[0110] The technical benefits of this step are that it significantly improves the adaptability and stability of the cutting process, reduces mechanical shocks and vibrations caused by sudden load changes, extends equipment lifespan, and improves the forming accuracy and construction efficiency of tunnel cutting. Combined with the three-dimensional geological boundary data and servo control architecture of this invention, this adaptive speed regulation mechanism provides key support for achieving high-precision, high-efficiency intelligent cutting.

[0111] The geological data coupling-based tunneling equipment planning and cutting method of this invention monitors the load current of the cutting drum in real time and dynamically adjusts the cutting speed, enabling the tunneling equipment to have better adaptive control capabilities under complex geological conditions, further improving the stability and energy efficiency of the cutting process, reducing equipment wear and energy consumption, and enhancing the overall level of intelligent tunneling.

[0112] Example 2

[0113] This invention patent describes a cutting method that monitors the geographical coordinates of the cutting drum's center point and its position within the tunnel in real time. By pre-storing the geographical coordinates of the tunnel boundary center points (formed at fixed cutting intervals) in a program query area, the cutting drum operates according to the preset cutting boundaries. Furthermore, the hardware and software of the control system, considering the characteristics of the cutting boom structure, load characteristics, electrical control, hydraulic control, and its execution system, have resulted in a precise electro-hydraulic control and execution system. This system enables a hydraulically driven electro-hydraulic control system for heavy loads, high inertia, and variable loads.

[0114] 1) Set the machine body parameters and tunnel parameters:

[0115] Before tunnel construction, the following parameters need to be set on the human-machine interface (HMI). The HMI cutting parameters are set as follows:

[0116] The dimensions of the proposed tunnel (length × width × height, in mm) are determined based on the coal seam occurrence and mining conditions. The tunnel data are constrained by the mining boundary conditions of the equipment relative to the tunnel. The automatic cutting program controls the trajectory of the equipment and its cutting drum by referring to the dimensions of the tunnel.

[0117] The initial length L0 of the planned tunnel is in mm. If excavation starts from the tunnel entrance, the initial length can be set to 0. The initial length of the tunnel can be arbitrarily determined and used as the initial position for planned cutting.

[0118] Maximum permissible slotting stroke: L c The unit is mm, usually 1000 or 1200.

[0119] Coal-rock coefficient: f, f≦6. Different coal-rock hardnesses are matched with corresponding cutting lifting and cutting slotting speeds based on experimental data and field deep learning data.

[0120] Actual cyclic grooving stroke: L e Units: mm, L e ≦L c The specific route is determined based on the hardness of the coal seam and the stability of the roof.

[0121] Tunneling method: Bottom coal thickness: d, unit mm. If tunneling is carried out along the bottom, that is, along the coal-rock boundary line, d can be set to 0.

[0122] The diameter of the cutting drum is D, in mm, and the standard model is generally 1000 or 1200.

[0123] 2) Geological exploration tunnel boundary data:

[0124] The boundary data of the tunnel excavation is based on pre-explored geological data. This data includes the coordinates of the cut boundary A (X1, Y1, Z1), B (X2, Y2, Z2), C (X3, Y3, Z3), D (X4, Y4, Z4), and the center point O (X0, Y0, Z0), all measured in mm. The geological data is divided into several tunnel cross-sectional data points at intervals based on the excavation stroke, such as... Figure 2 and Figure 3 As shown in Table 1, X represents north, Y represents forward, and Z represents the ground baseline height. The equipment position is the advance distance, i.e., the excavation advance from the initial position or the calibrated roadway L0. As shown in Table 1, the maximum value of the equipment cutting arm drum center position i is (L-L0) / L. c ; Excavation roadway boundary data in L c One step is calculated from the center of the equipment drum at position L0 in the roadway, with the direction of the equipment drum center aligned with the Y direction within the boundary coordinates. The roadway boundary data is stored in a matrix array within a specified area in the program for automatic cutting program lookup. The first row of data in the program table contains L0 and X... 01 X 02 X 03 ......X 015 The second line is L0+L c X 11 X 12 X 13 ......X 115 And so on.

[0125] Table 1

[0126]

[0127] 3) Real-time data truncation:

[0128] The center point of the cutting boom and cutting roller in the roadway is located at: L i Unit: mm; Maximum height: H h Unit: mm; Lower limit height: H L Unit: mm; Real-time cutting height: H0 (unit: mm); e.g. Figure 4 As shown.

[0129] Figure 5 In the diagram, b+e represents the cutting boom, and the angle between the two sections of the cutting boom is α. The cutting boom slide is c, and its angle with the horizontal plane is β. The length of the cutting cylinder is l. Point Z is the rotation center of the cutting boom, and point F is the reference point. The distance between F and Z in the Y direction is the grooving distance. B and C are the mounting points of the cutting cylinder. Based on the positional relationships shown in the diagram, the coordinates of point Z can be determined from the coordinates of point F and the grooving distance. Then, the coordinates of the center point O of the cutting drum can be determined from the coordinates of point Z and the lifting distance.

[0130] The absolute position coordinates of the equipment reference point F were obtained using a total station and an inertial navigation system. For example... Figure 5 As shown, the total station measures the absolute coordinates F(X) of the reference point. c Y c Z c Using the absolute coordinates of the machine body reference point, the reference point's position within the equipment, the cutting boom's position within the equipment, and the lifting and extending displacement and telescopic distance of the cutting boom's cutting drum, the real-time absolute coordinates (X, Y, Z) of the cutting drum's center point O are determined. S Y S Z S The diameter of the cutting drum is D, and the absolute coordinates of the upper edge point of the cutting drum are (X, D, X, D). S Y S Z S +D / 2), absolute coordinates of the lower edge point of the cutting drum (X S Y S Z S -D / 2). The absolute coordinates of the upper and lower edge points of the cutting drum are obtained indirectly by total station and inertial navigation system. Their physical coordinates change with the movement in the roadway and the movement of the cutting drum relative to the equipment.

[0131] The center point of the cutting boom and cutting roller in the roadway was measured using a total station at position L. i The cut boundary data is queried cyclically within the "equipment drum center position" data of the tunnel boundary data. When L0+iL c ≤L i ≤L0+(i+1)L c At that time, because the cutting drum moves in a circular motion along the rotating lug of the cutting arm, the cutting drum Y... S It will decrease, considering that the retraction distance is less than L. c A single cut operation satisfies L0 + (i-1)L c ≤Y S ≤L0+(i+1)L c The cutting drum moves in an upper semi-circular motion along the rotating lug of the cutting arm, with the absolute coordinates of its center point O (X...). S Y S Z S By looking up a table in the program, when ascending from the initial position, the position in the tunnel is L0+iL. c —L0+(i+1)L c When Z is in range S +D / 2=L0+iL c When the corresponding upper left or right corner data Z1 or Z2 is reached, the cutting roller reaches its upper limit position. When descending from the initial position, its position in the aisle is L0+iL. c —L0+(i+1)L c When Z is in rangeS -D / 2=L0+iL c When the corresponding lower left or right corner data is Z3 or Z4, the cutting roller reaches the lower limit position, i.e., the bottoming amount.

[0132] 4) Planning and control system:

[0133] The tunnel geological survey data pre-planned a series of absolute coordinates for cross-sectional boundary points formed at fixed intervals, along with the real-time monitoring positions of the positioning and orientation sensors within the tunnel. These coordinates were then converted into the absolute coordinates of the cutting drum using the relative position of the cutting arm. During the cutting operation, the cutting drum moves within the limits defined by the geological survey boundaries.

[0134] Traditional cutting booms are driven by solenoid valves and hydraulic cylinders. Displacement sensors monitor the cylinder stroke. When the cutting drum reaches a predetermined position, the solenoid valve cuts off the oil supply to the cylinder, and the cutting drum stops running. However, due to the influence of control, execution accuracy, and response time, the cutting drum is not easy to stop at the accurate position, resulting in uneven roof and floor plates and multiple steps in the roadway, affecting the roadway formation quality and increasing roadway safety hazards.

[0135] To improve the control and execution accuracy of the planned cutting, this invention features a servo cutting arm. The cutting arm path execution system consists of a proportional servo valve and a servo hydraulic cylinder. The cutting lifting and grooving extension circuits respectively utilize the proportional servo valve and the servo hydraulic cylinder. A motion controller employing cutting path control is used, with the servo hydraulic cylinder having a built-in displacement sensor. A pressure sensor is connected to the oil inlet of the servo hydraulic cylinder, forming a dual closed loop with the pressure sensor and displacement sensor. Figure 6 , Figure 7 and Figure 8 As shown, the servo valve enables precise control of specific parameters such as flow rate and pressure of the cutting lifting servo hydraulic cylinder and the grooving telescopic servo hydraulic cylinder, and adjusts the position, speed, force and other parameters of the hydraulic actuator in real time.

[0136] The hydraulic cylinders used in the lifting and grooving extension / retraction of the servo hydraulic cylinders are mainly symmetrical cylinder electro-hydraulic servo control systems. The load force balance equation of the hydraulic cylinder is as follows:

[0137]

[0138] The equation for the working flow rate of the hydraulic cylinder is:

[0139]

[0140] The linearized load flow equation for the servo valve is:

[0141]

[0142] In the formula The hydraulic pressure difference between the left and right sides of the hydraulic cylinder. This refers to the effective area of ​​the hydraulic cylinder. The load mass of the hydraulic cylinder includes both the external load and the mass of the hydraulic cylinder piston. The system outputs displacement; This refers to the viscous damping coefficient of the hydraulic system. For the sum of unknown internal and external disturbances in the hydraulic system; For hydraulic system load flow; This represents the overall leakage coefficient of the hydraulic system. The total compressed volume of the hydraulic system cavity includes the volumes of the left and right cylinders and the dynamic flow rates of oil inlet and outlet. Since the hydraulic cylinder is a fused structure, the inlet and outlet flow rates are the same and can cancel each other out. The effective bulk modulus of hydraulic oil; This refers to the servo valve flow gain coefficient. The flow and pressure amplification factor of the servo valve is used; during the modeling process, the pressure loss of the hydraulic system is ignored; the temperature and bulk modulus of the hydraulic oil are constants, and the internal and external leakage coefficients are ignored.

[0143] In general, the bandwidth of the servo valve in an electro-hydraulic servo system is much larger than that of the closed-loop system to prevent the servo valve from affecting the dynamic performance of the system. Therefore, the servo valve can be equivalent to a proportional element. In addition, a hydraulic servo system also needs to be equipped with a servo amplifier for power amplification and signal conversion.

[0144]

[0145] In the formula, For the displacement of the servo valve spool; For servo valve amplifiers; For the output current of the servo valve amplifier; For servo amplifier coefficients; To control the output voltage.

[0146] Select Let be the system state variable, where , , The state equation of the system then becomes:

[0147]

[0148] in, , , , ,in This is the total flow and pressure amplification factor of the hydraulic system after eliminating leakage. Since the actual system has no leakage, then... .

[0149] This invention employs an iterative learning PID control algorithm, which can effectively track a given displacement signal within a finite time without requiring precise mathematical model information. Specifically, it continuously iteratively adjusts the control signal through a learning law, enabling the system output to track the given displacement signal.

[0150] First, define the tracking error:

[0151]

[0152] in, Given a desired signal for the system, which is continuous and bounded, The number of iterations. For the first The actual output of a cycle system.

[0153] The actual control law of the designed PID iterative learning state feedback controller, i.e., the control input... for:

[0154]

[0155] in, For the first Each cycle of system control input, For the first Each cycle of system control input, , , These are the proportional, integral, and derivative gain parameters of the controller.

[0156] In summary, by using planned and scheduled cutting based on the boundary data pre-detected by the geological exploration system, automatic cutting based on the actual geological conditions of the tunnel is achieved. Compared to memory-based cutting and automatic cutting where the cutting boundaries are manually set in the program, the planned cutting control method of this invention excavates along the planned geological boundary line of the tunnel, which not only improves the tunnel forming accuracy and automatic cutting efficiency, but also enhances the safety level of tunnel construction. Its main features are as follows:

[0157] 1. Geological surveys are conducted in advance to cut the boundary line, which can adapt to changes in the geological conditions of the tunnel;

[0158] 2. Accurately detect the coal-rock boundary line in the roadway, enabling the cutting drum to cut along the coal-rock boundary line of the roof or floor;

[0159] 3. The absolute coordinates of the equipment reference point are obtained by using the navigation system and converted into the absolute coordinates of the cutting drum center point. Thus, the actual position of the cutting drum can be determined based on the boundary points given by the geological data detected in the tunnel.

[0160] 4. Based on the pre-detected distribution of coal and rock hardness in the roadway, the equipment automatically adjusts its speed according to the load hardness during the cutting process;

[0161] 5. The grooving and lifting cylinders are equipped with displacement and pressure sensors. The grooving and lifting cylinders are hydraulic servo cylinders, which enables precise control of the heavy-duty hydraulic cutting arm with large inertia.

[0162] Example 3

[0163] To achieve the above embodiments, such as Figure 9 As shown, this embodiment also provides a tunneling equipment planning and cutting control system 10 based on geological data coupling, including:

[0164] The coordinate acquisition and correction module 100 is used to acquire the absolute coordinates of the equipment reference point through a total station and an inertial navigation system, and to calculate the real-time absolute coordinates of the center point of the cutting drum in combination with the geometric parameters of the cutting boom.

[0165] The boundary coordinate generation module 200 is used to generate a roadway boundary coordinate matrix based on the pre-detected roadway geological data, with a fixed cutting distance as the step distance. The matrix includes the three-dimensional coordinates of the midpoint of the roadway roof, the upper left and right corners, and the lower left and right corners.

[0166] The boundary matching judgment module 300 is used to match the real-time absolute coordinates of the center point of the cutting drum with the roadway boundary coordinate matrix to determine the geological boundary constraints corresponding to the current cutting position.

[0167] The path tracking control module 400 is used to achieve precise path tracking of the cutting drum under the geological boundary constraints by using a servo hydraulic cylinder dual closed-loop control structure and adjusting the flow and pressure through a proportional servo valve.

[0168] Furthermore, the coordinate acquisition and correction module is also used for:

[0169] The three-dimensional absolute coordinates (Xc, Yc, Zc) of the equipment reference point F are obtained by using a total station, and the equipment attitude angle is corrected by combining the inertial navigation system to improve the accuracy of coordinate measurement.

[0170] Based on the structural parameters of the cutting boom, including the angle β between the carriage and the horizontal plane, the length l of the cutting cylinder, and the angle α between the two sections of the cutting boom, the real-time absolute coordinates (X, Y, α) of the center point O of the cutting drum are calculated. S Y S Z S ).

[0171] Furthermore, the boundary coordinate generation module is also used for:

[0172] The roadway boundary coordinate matrix contains the boundary point coordinates of multiple roadway sections, with each section indexed by the center position Li of the equipment drum.

[0173] The coordinates stored in the roadway boundary coordinate matrix include the three-dimensional coordinates of the midpoint, upper left corner, upper right corner, lower left corner, and lower right corner of the roadway roof, which are used to define the upper and lower limit positions of the cutting roller.

[0174] Furthermore, the path tracking control module is also used for:

[0175] Both the cutting lifting cylinder and the grooving telescopic cylinder adopt a combination of proportional servo valve and servo hydraulic cylinder. The servo hydraulic cylinder has built-in displacement sensor and pressure sensor to form a displacement-pressure dual closed-loop control.

[0176] The control voltage is converted into servo valve control current by a servo amplifier. The output current of the servo amplifier and the control voltage have a linear relationship, which improves control accuracy and response speed.

[0177] Furthermore, it also includes:

[0178] The load adjustment module is used to adjust the cutting speed according to the real-time load current of the cutting drum. When the load current exceeds the preset threshold, the cutting speed is reduced, and when the load current is lower than the preset threshold, the cutting speed is increased, so as to achieve adaptive cutting control.

[0179] The tunneling equipment planning and cutting control system based on geological data coupling in this invention can dynamically adjust the cutting boundary according to the geological conditions of the tunnel, realize precise path planning and execution, significantly improve the tunnel forming accuracy and cutting efficiency, and enhance construction safety.

[0180] In the description of this specification, the references to "one embodiment," "some embodiments," "example," "specific example," or "some examples" refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0181] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two or three, unless otherwise explicitly specified.

Claims

1. A method for planning and cutting tunneling equipment based on geological data coupling, characterized in that, include: S1 involves obtaining the absolute coordinates of the equipment reference point using a total station and inertial navigation system, and calculating the real-time absolute coordinates of the cutting drum center point based on the geometric parameters of the cutting boom; specifically, S1 includes: S11. Obtain the three-dimensional absolute coordinates (Xc, Yc, Zc) of the equipment reference point F using a total station, and combine this with an inertial navigation system to correct the equipment attitude angle, thereby improving the accuracy of coordinate measurement. S12, based on the structural parameters of the cutting boom, including the angle β between the carriage and the horizontal plane, the length l of the cutting cylinder, and the angle α between the two sections of the cutting boom, calculate the real-time absolute coordinates (X) of the center point O of the cutting drum. S Y S Z S ); S2, based on pre-detected geological data of the tunnel, generates a tunnel boundary coordinate matrix with a fixed cutting distance as the step distance. This matrix includes the three-dimensional coordinates of the midpoint of the tunnel roof, the upper left and right corners, and the lower left and right corners. Specifically, S2 includes: S21, the roadway boundary coordinate matrix contains the boundary point coordinates of multiple roadway sections, with each section indexed by the center position of the equipment drum; S22, the coordinates stored in the roadway boundary coordinate matrix include the three-dimensional coordinates of the midpoint, upper left corner, upper right corner, lower left corner, and lower right corner of the roadway roof, which are used to limit the upper and lower limit positions of the cutting roller; S3, based on the real-time absolute coordinates of the center point of the cutting drum and the roadway boundary coordinate matrix, determine the geological boundary constraints corresponding to the current cutting position; S4 adopts a dual closed-loop control structure of servo hydraulic cylinders, and adjusts the flow and pressure through a proportional servo valve to achieve precise path tracking of the cutting drum under the geological boundary constraints.

2. The method as described in claim 1, characterized in that, The S4 includes: S41, the cutting lifting cylinder and the grooving telescopic cylinder both adopt a combination of proportional servo valve and servo hydraulic cylinder. The servo hydraulic cylinder has built-in displacement sensor and pressure sensor to form a displacement-pressure dual closed-loop control. S42 converts the control voltage into servo valve control current through a servo amplifier. The output current of the servo amplifier and the control voltage satisfy a linear relationship to improve control accuracy and response speed.

3. The method as described in claim 1, characterized in that, Also includes: S5 adjusts the cutting speed according to the real-time load current of the cutting drum. When the load current exceeds the preset threshold, the cutting speed is reduced, and when the load current is lower than the preset threshold, the cutting speed is increased to achieve adaptive cutting control.

4. A tunneling equipment planning and cutting control system based on geological data coupling, characterized in that, include: The coordinate acquisition and correction module is used to acquire the absolute coordinates of the equipment reference point using a total station and an inertial navigation system, and to calculate the real-time absolute coordinates of the cutting drum center point in conjunction with the geometric parameters of the cutting boom. The module is also used to: acquire the three-dimensional absolute coordinates (Xc, Yc, Zc) of the equipment reference point F using a total station, and to correct the equipment attitude angles using an inertial navigation system to improve the accuracy of coordinate measurements; and to calculate the real-time absolute coordinates (Xc, Yc, Zc) of the cutting drum center point O based on the structural parameters of the cutting boom, including the angle β between the carriage and the horizontal plane, the length l of the cutting cylinder, and the angle α between the two sections of the cutting boom. S Y S Z S ); The boundary coordinate generation module is used to generate a roadway boundary coordinate matrix based on pre-detected roadway geological data, with a fixed cutting distance as the step distance. The matrix contains the three-dimensional coordinates of the midpoint, upper left and right corners, and lower left and right corners of the roadway roof. The boundary coordinate generation module is also used to: contain the boundary point coordinates of multiple roadway cross-sections in the roadway boundary coordinate matrix, with each cross-section indexed by the center position Li of the equipment drum; the coordinates stored in the roadway boundary coordinate matrix include the three-dimensional coordinates of the midpoint, upper left corner, upper right corner, lower left corner, and lower right corner of the roadway roof, which are used to limit the upper and lower limit positions of the cutting drum. The boundary matching and judgment module is used to match the real-time absolute coordinates of the center point of the cutting drum with the roadway boundary coordinate matrix to determine the geological boundary constraints corresponding to the current cutting position. The path tracking control module employs a servo hydraulic cylinder dual closed-loop control structure, using a proportional servo valve to adjust flow and pressure, thereby achieving precise path tracking of the cutting drum under the geological boundary constraints.

5. The system as described in claim 4, characterized in that, The path tracking control module is also used for: Both the cutting lifting cylinder and the grooving telescopic cylinder adopt a combination of proportional servo valve and servo hydraulic cylinder. The servo hydraulic cylinder has built-in displacement sensor and pressure sensor to form a displacement-pressure dual closed-loop control. The control voltage is converted into servo valve control current by a servo amplifier. The output current of the servo amplifier and the control voltage have a linear relationship, which improves control accuracy and response speed.

6. The system as described in claim 4, characterized in that, Also includes: The load adjustment module is used to adjust the cutting speed according to the real-time load current of the cutting drum. When the load current exceeds the preset threshold, the cutting speed is reduced, and when the load current is lower than the preset threshold, the cutting speed is increased, so as to achieve adaptive cutting control.

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