A cutting ring water jet assisted cutting method and device of an anchor and excavation integrated machine

Abstract

The present application belongs to the technical field of underground rapid tunneling, and particularly relates to a cutting ring water jet assisted cutting method, device, equipment and storage medium for a tunneling-anchor integrated machine. According to real-time identification of cutting motor current, cylinder pushing pressure and coal rock hardness coefficient, the method dynamically adjusts water pump group output, jet frequency and pressure, so as to realize significant reduction of cutting resistance and effective inhibition of cutting pick wear when the tunneling-anchor integrated machine cuts high-hardness and high-abrasion coal rock. The present application system responds quickly and controls accurately, which can greatly improve cutting efficiency and prolong the service life of key components. The present application uses water jet to assist cutting ring cutter blade to break rock, improves the rock breaking capacity and service life of the cutting ring, reduces the cutting resistance of the cutting ring, and improves the backward phenomenon of the whole machine. Through adaptive adjustment of water jet switch and pressure based on the data collected by the sensor, the cutting working condition under different hardness coefficients is adapted, and the resource consumption and energy loss of water jet assisted rock breaking are reduced.

Description

Technical Field

[0001] This invention belongs to the field of underground rapid tunneling technology, specifically relating to a method, device, equipment, and storage medium for cutting ring water jet-assisted cutting of an integrated tunneling and anchoring machine. Background Technology

[0002] Currently, coal mining has generally achieved a high degree of mechanization, with supporting equipment and process systems becoming increasingly mature and gradually transforming and upgrading towards automation and intelligence. The roadheader-anchor (BAR) is a key piece of equipment for rapid tunneling and shaping in coal mine roadways and has been widely used. During actual roadway excavation, a reducer exists between adjacent drums of the BAR. This structural limitation creates a certain cutting blind zone, forming a rectangular rock ridge. Due to complex geological conditions and variations in the physical properties of coal and rock, the BAR is prone to vibration and even backing up when the cutting ring cuts hard rock. When the hard rock's hardness coefficient is too high, the traditional cutting method has limited rock-breaking efficiency, further exacerbating the equipment's instability and directly affecting the quality and efficiency of tunneling and anchoring operations. Therefore, in the context of rapid tunneling, how to improve the cutting efficiency of the cutting ring and reduce the vibration of the BAR drum during tunneling has become a key technical challenge restricting efficient and safe roadway excavation.

[0003] Currently, methods to improve the cutting efficiency and reliability of roadheader-anchor integrated machines mainly focus on optimizing the shape and arrangement of the cutting teeth, increasing the power of the cutting head, or improving the cutting path. However, these methods have significant limitations when dealing with hard rock or highly abrasive coal seams. Introducing water jets into the cutting device as an auxiliary means of rock breaking is one way to improve the performance of roadheader machinery in cutting hard rock, but it often suffers from low integration and poor coordination. For example, patent CN113266348A, entitled "An Integrated Water Jet System for Tunneling and Anchoring Machine," places the jet nozzles independently of the cutting head, preventing the water jet from achieving precise spatial and temporal coordination with the mechanical cutting teeth, significantly reducing the rock-breaking effect. Another example is patent CN113266351A, also entitled "An Integrated Water Jet System for Tunneling and Anchoring Machine," which, although equipped with two types of nozzles on the cutting drum and switching the nozzle's operating mode based on the output flow pressure to perform water jet-assisted rock breaking and dust suppression / cooling, cannot adjust the water jet pressure according to the rock hardness coefficient being cut, resulting in a waste of water and energy. Yet another example is patent CN103195429A, entitled "High-Pressure Water Jet Assisted Cutting Mechanism for Tunneling Machine," where the hydraulic cutting tooth jet channel integrated on the cutting head may fail due to deformation or blockage by coal and rock particles. Furthermore, its integration on the cutting head may lead to maintenance difficulties and higher estimated manufacturing costs. For example, the patent with publication number CN116892388A, entitled "A cutting mechanism and mining equipment with advanced jet function", integrates the cutting mechanism with water jet function onto the disc-shaped roller cutter blade. When cutting hard rock, the deformation of the blade may cause changes in the flow rate of the water jet channel or even blockage. At the same time, the production modification cost is high, which is not conducive to production and promotion. Summary of the Invention

[0004] In order to solve at least one of the above-mentioned technical problems in the prior art, the present invention provides a method, device, equipment and storage medium for cutting ring water jet assisted cutting of an integrated tunneling and anchoring machine.

[0005] The first implementation of this invention adopts the following technical solution: a method for assisted cutting of ring water jets by a tunneling and anchoring integrated machine, comprising: During the cutting operation of the tunneling and anchoring machine, the cutting arm angle signal data and the actual current data of the cutting motor are collected in real time. A coal and rock property identification model is constructed. After processing the actual current data of the cutting motor, the data is input into the coal and rock property identification model to identify the coal and rock properties of the current cutting coal and rock by the tunneling and anchoring machine. A prediction model for water jet-assisted cutting control of the cutting ring of the integrated tunneling and anchoring machine is constructed. The actual current data of the cutting motor after data processing and the coal and rock property identification results are input into the prediction model for water jet-assisted cutting control of the cutting ring of the integrated tunneling and anchoring machine. The output results are water jet control parameters. Based on the water jet control parameters and the cutting arm pose data, the flow rate and frequency of the water jet-assisted cutting of the cutting ring are controlled.

[0006] Preferably, during the cutting operation performed by the integrated tunneling and anchoring machine, real-time data on the cutting arm's position and the actual current data of the cutting motor are collected, including: An angle sensor is installed on the cutting arm of the tunneling and anchoring machine. When the cutting arm has an angle relative to the vertical plane, the angle sensor collects the angle signal data of the cutting arm. The actual current data of the cutting motor generated by the cutting motor of the integrated tunneling and anchoring machine during the cutting operation is collected in real time through the current sensor.

[0007] Preferably, a coal and rock property identification model is constructed. After processing the actual current data of the cutting motor, the data is input into the coal and rock property identification model to identify the coal and rock properties of the coal and rock currently being cut by the roadheader-anchor integrated machine, including: A coal and rock property identification model is constructed based on a 1D-CNN neural network model with ResNet structure. Wavelet packet denoising is used to decompose and denoise the actual current data of the cutting motor, and the actual current data of the cutting motor is decomposed into the first actual current data sub-signal of the cutting motor in different frequency bands. By using wavelet packet transform, the low-frequency and high-frequency components of the actual current data sub-signal of the first cutting motor are decomposed to obtain the actual current data sub-signal of the second cutting motor. The actual current data sub-signal of the second cutting motor is input into the coal and rock property identification model, and the current data features are obtained by feature extraction through the residual module of the coal and rock property identification model. Based on the actual current data and rated current data of the cutting motor, the error signal and the error signal change rate are calculated. The error signal, the error signal change rate and the current data characteristics are input into the coal and rock property identification model, and the output result is used as the coal and rock property identification result; among them, the coal and rock property identification result is the coal and rock Protodyakonov coefficient.

[0008] Preferably, a cutting ring water jet-assisted cutting control prediction model for the integrated roadheader and anchor machine is constructed. The actual current data of the cutting motor after data processing and the coal and rock property identification results are input into the cutting ring water jet-assisted cutting control prediction model. The output results are water jet control parameters, including: Based on the RBF-BP neural network model, a prediction model for the control of cutting ring water jet assisted cutting of the tunneling and anchoring machine is constructed. The error signal, the rate of change of the error signal, and the coal and rock property identification results are input into the water jet-assisted cutting control prediction model of the roadheader-anchor integrated machine. The model outputs the water jet control parameters. The water jet control parameters include the high-pressure pump group control signal, the high-frequency solenoid valve control signal, and the jet valve group control signal.

[0009] Preferably, the flow rate and frequency of the water jet-assisted cutting of the cutting ring are controlled based on the water jet control parameters and the cutting arm pose data, including: The high-pressure pump group control signal is converted into a smooth regulating pump speed control signal for the high-pressure pump group, so as to regulate the smooth regulating pump speed and realize the control of the flow rate of the cutting ring water jet assisted cutting. The high-frequency solenoid valve control signal is converted into a multi-channel jet valve switching pulse width modulation control signal for the jet valve group. This controls the energization and de-energization of the solenoid valve coil of each jet valve. By changing the pulse width, the average opening time of the solenoid valve of each jet valve in each cycle is controlled, thereby adjusting the single injection time and realizing the control of the frequency of the cutting ring water jet assisted cutting. The control signal of the jet valve group is converted into a control signal for the electromagnetic pilot valve of the jet valve group, thereby realizing the control of the jet switch for the assisted cutting of the cutting ring water jet.

[0010] Preferably, the control signal of the jet valve assembly is converted into a control signal for the electromagnetic pilot valve of the jet valve assembly, thereby controlling the jet switch for assisted cutting of the circulating water jet, including: Based on the cutting arm angle signal data, determine the circumferential part of the drum of the tunneling and anchoring machine that is involved in the current cutting; among which, the type of circumferential part of the drum involved in the current cutting includes the upper side area, the lower side area, or the entire circumference. Based on the type of circumferential part of the drum involved in the current cutting, determine the jet switch for performing cutting ring water jet assisted cutting; The jet switch for assisted cutting with water jet receives the control signal from the corresponding electromagnetic pilot valve and controls the corresponding jet switch for assisted cutting with water jet to open, thereby controlling the jet switch for assisted cutting with water jet.

[0011] Preferably, based on the cutting arm angle signal data, determining the circumferential part of the tunneling and anchoring machine's drum involved in the current cutting includes: An angle sensor is installed on the cutting arm of the tunneling and anchoring machine to collect the cutting arm angle signal data in real time; The cutting arm angle signal data is filtered, denoised, and calibrated. Based on the processed cutting arm angle signal data, the circumferential portion of the tunneling and anchoring machine's drum involved in the current cutting is determined; among which, When the drum performs horizontal grooving cutting, the cutting arm angle is 0°, and the drum participates in cutting in the entire circumference; When the drum cuts vertically downwards, the cutting arm angle is negative and decreases as the cutting depth increases, and the lower part of the drum participates in the cutting. When the drum is cutting the top plate, the cutting arm angle is positive, and the upper area of ​​the drum participates in the cutting. When the drum sweeps the bottom, the cutting arm angle is negative, and the area under the drum participates in cutting.

[0012] The second implementation of the present invention adopts the following technical solution: a cutting device for a tunneling and anchoring integrated machine with water jet-assisted cutting, comprising: The data acquisition module is used to collect cutting arm angle signal data and actual current data of the cutting motor in real time during the cutting operation of the tunneling and anchoring machine. The coal and rock property identification module is used to construct a coal and rock property identification model. After processing the actual current data of the cutting motor, the data is input into the coal and rock property identification model to identify the coal and rock properties of the coal and rock being cut by the tunneling and anchoring machine. The parameter prediction module is used to construct a prediction model for the water jet-assisted cutting control of the cutting ring of the tunneling and anchoring machine. The actual current data of the cutting motor after data processing and the coal and rock property identification results are input into the prediction model for the water jet-assisted cutting control of the cutting ring of the tunneling and anchoring machine, and the output results are the water jet control parameters. The control module is used to control the flow rate and frequency of the water jet-assisted cutting of the cutting ring based on the water jet control parameters and the cutting arm pose data.

[0013] The third implementation of the present invention adopts the following technical solution: a computer device, including an input / output unit, a memory and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the processor performs the steps in the aforementioned technical solution method.

[0014] The fourth implementation of the present invention adopts the following technical solution: a storage medium storing computer-readable instructions, which, when executed by one or more processors, cause one or more processors to perform the steps in the aforementioned technical solution method.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This invention discloses a water-jet-assisted cutting method for a roadheader-anchor integrated machine. Based on real-time identification of the cutting motor current, cylinder propulsion pressure, and coal / rock hardness coefficient, the method dynamically adjusts the water pump output, jet frequency, and pressure. This significantly reduces cutting resistance and effectively suppresses cutter wear when cutting high-hardness, highly abrasive coal / rock. The system offers rapid response and precise control, greatly improving cutting efficiency and extending the service life of key components. This invention utilizes water jet assistance to break rock with the cutting ring blades, enhancing the cutting ring's rock-breaking ability and service life, reducing cutting resistance, and mitigating overall machine backward movement. Adaptive adjustment of the water jet switch and pressure is achieved through sensor-collected data, adapting to different hardness coefficients during cutting and reducing resource consumption and energy loss associated with water jet-assisted rock breaking. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic flowchart of a cutting method assisted by water jet for cutting using an integrated tunneling and anchoring machine, provided by the present invention.

[0018] Figure 2 This is a schematic diagram of the overall structure of the water jet-assisted cutting system in the cutting method of the integrated tunneling and anchoring machine provided by the present invention.

[0019] Figure 3 This is a schematic diagram of the specific layout of the ring water jet assisted cutting system in the cutting ring water jet assisted cutting method of the tunneling and anchoring integrated machine provided by the present invention.

[0020] Figure 4 This is a schematic diagram showing the specific arrangement of the water jet cutting ring in the water jet-assisted cutting method for a cutting ring of an integrated tunneling and anchoring machine provided by the present invention.

[0021] Figure 5 This is a schematic diagram of the structure of a cutting ring water jet-assisted cutting device for an integrated tunneling and anchoring machine provided by the present invention. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings. 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 implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should fall within the scope of the technical content disclosed in the present invention. It should be noted that in this specification, relational terms such as "first" and "second" are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0024] This invention provides an embodiment: such as Figure 1 As shown, the present invention provides a method for cutting ring water jet-assisted cutting with a tunneling and anchoring integrated machine, comprising: S110: During the cutting operation of the tunneling and anchoring machine, real-time acquisition of cutting arm angle signal data and actual current data of the cutting motor is performed.

[0025] This invention installs an angle sensor on the cutting arm of a tunneling and anchoring machine. When the cutting arm is tilted relative to the vertical plane, the angle sensor collects the angle signal data of the cutting arm. A current sensor collects the actual current data of the cutting motor generated by the cutting motor of the tunneling and anchoring machine in real time during the cutting operation.

[0026] S120: Construct a coal and rock property identification model. After processing the actual current data of the cutting motor, input the data into the coal and rock property identification model to identify the coal and rock properties of the current cutting coal and rock by the tunneling and anchoring machine.

[0027] Specifically, including: A coal and rock property identification model is constructed based on a 1D-CNN neural network model with ResNet structure. Wavelet packet denoising is used to decompose and denoise the actual current data of the cutting motor, and the actual current data of the cutting motor is decomposed into the first actual current data sub-signal of the cutting motor in different frequency bands. By using wavelet packet transform, the low-frequency and high-frequency components of the actual current data sub-signal of the first cutting motor are decomposed to obtain the actual current data sub-signal of the second cutting motor. The actual current data sub-signal of the second cutting motor is input into the coal and rock property identification model, and the current data features are obtained by feature extraction through the residual module of the coal and rock property identification model. Based on the actual current data and rated current data of the cutting motor, the error signal and the error signal change rate are calculated. The error signal, the error signal change rate and the current data characteristics are input into the coal and rock property identification model, and the output result is used as the coal and rock property identification result; among them, the coal and rock property identification result is the coal and rock Protodyakonov coefficient.

[0028] Specifically, when processing current feature signals using a 1D-CNN based on the ResNet architecture, it first extracts features from the current time-series signal through one-dimensional convolution, including the error signal and its derivative. The error signal consists of the actual cut-off current I and the rated cut-off current I0. e The difference, the rate of change of the differential current deviation of the error signal, in order to The calculation is performed, and the neural network is trained and analyzed using existing cutting current data. The error signal and the value of the differential of the error signal are used as the input of the neural network, and then the coal and rock identification results are output.

[0029] S130: Construct a water jet-assisted cutting control prediction model for the cutting ring of the integrated tunneling and anchoring machine. Input the actual current data of the cutting motor after data processing and the coal and rock property identification results into the water jet-assisted cutting control prediction model for the integrated tunneling and anchoring machine. The output result is the water jet control parameters.

[0030] Based on the RBF-BP neural network model, a prediction model for the control of cutting ring water jet assisted cutting of the tunneling and anchoring machine is constructed. The error signal, the rate of change of the error signal, and the coal and rock property identification results are input into the water jet-assisted cutting control prediction model of the roadheader-anchor integrated machine. The model outputs the water jet control parameters. The water jet control parameters include the high-pressure pump group control signal, the high-frequency solenoid valve control signal, and the jet valve group control signal.

[0031] Specifically, the coal and rock identification results, error signals, and the derivatives of the error signals are input into the RBF-BP neural network to make decisions and obtain control quantities, thereby obtaining control signals for the high-pressure pump group, high-frequency solenoid valve, and jet valve group.

[0032] S140: Based on the water jet control parameters and the cutting arm pose data, the flow rate and frequency of the water jet-assisted cutting of the cutting ring are controlled.

[0033] These include: The high-pressure pump group control signal is converted into a smooth regulating pump speed control signal for the high-pressure pump group, so as to regulate the smooth regulating pump speed and realize the control of the flow rate of the cutting ring water jet assisted cutting. The high-frequency solenoid valve control signal is converted into a multi-channel jet valve switching pulse width modulation control signal for the jet valve group. This controls the energization and de-energization of the solenoid valve coil of each jet valve. By changing the pulse width, the average opening time of the solenoid valve of each jet valve in each cycle is controlled, thereby adjusting the single injection time and realizing the control of the frequency of the cutting ring water jet assisted cutting. The control signal of the jet valve assembly is converted into a control signal for the electromagnetic pilot valve of the jet valve assembly, thereby controlling the jet switch of the jet assisted in cutting the circulating water jet. Specifically, this includes: Based on the cutting arm angle signal data, determine the circumferential part of the drum of the tunneling and anchoring machine that is involved in the current cutting; among which, the type of circumferential part of the drum involved in the current cutting includes the upper side area, the lower side area, or the entire circumference. When the drum performs horizontal grooving cutting, the cutting arm angle is 0°, and the drum participates in cutting in the entire circumference; When the drum cuts vertically downwards, the cutting arm angle is negative and decreases as the cutting depth increases, and the lower part of the drum participates in the cutting. When the drum is cutting the top plate, the cutting arm angle is positive, and the upper area of ​​the drum participates in the cutting. When the drum sweeps the bottom, the cutting arm angle is negative, and the area under the drum participates in cutting.

[0034] Based on the type of circumferential part of the drum involved in the current cutting, determine the jet switch for performing cutting ring water jet assisted cutting; The jet switch for assisted cutting with water jet receives the control signal from the corresponding electromagnetic pilot valve and controls the corresponding jet switch for assisted cutting with water jet to open, thereby controlling the jet switch for assisted cutting with water jet.

[0035] Specifically, the implementation of the cutting ring water jet-assisted cutting method of the integrated tunneling and anchoring machine of the present invention is based on Figure 2-4 The cutting ring water jet-assisted cutting system shown is implemented. The cutting ring water jet-assisted cutting system includes: high-pressure water jet nozzle, cutting ring 2, cutting drum 3, cutting arm 4, high-pressure pump set 5, angle sensor 6, high-frequency solenoid valve 7, high-pressure water supply pipeline 8, jet valve group 9, central controller 10, and wedge-shaped high-pressure water supply pipeline 11.

[0036] This invention employs a four-stage collaborative architecture for the high-pressure pump group 5, high-frequency solenoid valve 7, and jet valve group 9 mounted on the machine body: "electrical control stage - jet preamplifier stage - spool valve power output stage - feedback regulation stage." Each stage achieves distortion-free signal transmission through linear coupling. Flow linear control is based on the valve orifice flow characteristics under constant pressure conditions. High-precision linear mapping between output flow and control signal is achieved through multi-stage linear matching. Specifically, the high-pressure pump group 5 first provides a stable constant pressure source, ensuring the upstream and downstream pressure difference at the valve orifice remains essentially constant. The electromagnet of the high-frequency solenoid valve 7 is controlled first. This stage uses linear correction between the linear power amplifier or PWM duty cycle and the average drive current of the electromagnet to maintain an approximately linear relationship between the control signal and the electromagnet output force. The electromagnet drives the pilot stage in the jet valve group 9. This stage utilizes the saturation characteristics of jet oscillation and a linear operating range design to linearly convert small changes in electromagnetic force into changes in pilot stage output pressure. Frequency linear control, based on jet oscillation characteristics and PWM pulse modulation principle, achieves a linear mapping between the water jet pulse frequency and the control signal. The high-frequency solenoid valve 7 receives the PWM pulse modulation signal from the central controller 10. The central controller calculates and outputs a PWM square wave of the corresponding frequency in real time according to the desired frequency. The duty cycle of the PWM signal establishes a linear correspondence with the desired jet pulse frequency, thus achieving linear control of the water jet frequency and flow rate. In summary, the actual cutting current I, the rated cutting current I, and the rate of change of current deviation are monitored. For different coal and rock conditions and working load states, the water jet control parameters are optimized in real time, including the linear control of the water jet flow rate and frequency phenomenon control. This enables the pulse nozzle jet switching and pressure control of the water jet auxiliary rock-breaking device in the full-width drum cutting ring of the tunneling and anchoring machine. The high-flow nozzle 1 is installed at the arc notch between the cutting ring blades, utilizing high-pressure jets for auxiliary rock-breaking. Another water jet arrangement for the cutting ring is also provided, in which the high-pressure water jet nozzle 1 and the jet valve group 9 are arranged on the cutting ring blade, and the wedge-shaped high-pressure water supply pipeline 11 is used as the flow channel.

[0037] The central controller 10 collects the current operation data of the cutting motor in real time. After wavelet packet signal denoising decomposition, ResNet-1D-CNN neural network feature extraction and processing analysis, it determines that the cutting object is coal, rock, or interbedded gangue. Based on this judgment, it comprehensively judges the current firmness coefficient of the coal and rock. Based on this judgment, the current signals collected by the cutting motor and angle sensor 6 are converted into control signals of the high-pressure pump group 5, high-frequency solenoid valve 7, and jet valve group 9 through a preset RBF-BP neural network. This enables the central controller 10 to dynamically adjust the output flow of the pump group, thereby adjusting the water pressure in the high-pressure water supply system. This ensures that the nozzle can provide appropriate cutting water pressure when cutting coal and rock of different hardness, thus accurately completing the adaptive adjustment of water jet assisted cutting.

[0038] An angle sensor 6 is mounted on the cutting arm, transmitting the arm's position and orientation information to the central controller 10. The angle sensor collects the cutting angle signal of the cutting wall in real time and transmits it to the central controller 10. After filtering, noise reduction, and signal calibration, the signal is combined with the actual cutting posture of the roller corresponding to the angle signal to determine the current cutting condition of the roller, i.e., which part of the roller is participating in the cutting. Specifically, the roller corresponds to different cutting arm angles under different cutting conditions: when the roller is horizontally grooving, the cutting arm angle is 0°, and the roller participates in the entire circumference of the cutting; when the roller is vertically downward cutting, the cutting arm angle is negative and decreases as the cutting depth increases, and the lower part of the roller participates in the cutting; when the roller is cutting the top plate, the cutting arm angle is positive, and the upper part of the roller participates in the cutting; when the roller is sweeping the bottom, the cutting arm angle is negative, and the lower part of the roller participates in the cutting. Based on the real-time angle of the cutting arm, the circumferential part of the roller currently participating in the cutting can be determined. The central controller 10 uses an RBF-BP neural network to obtain output control signals to adjust the jet valve assembly 9. It transmits control signals adapted to the current working conditions to the jet valve assembly 9. Through the corresponding valve actions of the jet valve assembly 9, it achieves independent start / stop and timing control of each water jet switch, ultimately meeting the requirement of adjusting each water jet switch according to the drum cutting conditions. The jet valve assembly 9 integrates multiple independently controlled electrically controlled valves, each with its outlet connected to a corresponding water jet nozzle 1, forming an independent water jet switch channel. The central controller 10 analyzes the cutting arm angle signal, which is collected in real-time by the angle sensor 6 and filtered, noise-reduced, and calibrated, to determine the circumferential part of the drum currently participating in cutting (i.e., the upper area, lower area, or full circumference of the drum). Based on this, the central controller 10 generates multiple switching control signals corresponding to each water jet switch and transmits these control signals in parallel to the jet valve assembly 9. This accurately completes the adaptive adjustment of the water flow switches according to the cutting method.

[0039] The central controller 10 controls the high-frequency solenoid valve 7 according to the properties of the coal and rock being cut. Its frequency linear control is based on the PWM pulse modulation principle. By switching on and off and changing the duty cycle, it achieves a linear mapping between the water jet pulse frequency and the control signal through equivalent analog output. Specifically, the central controller 10 generates multiple switching pulse width modulation (PWM) control signals corresponding to the frequency control of each water jet and transmits these control signals in parallel to the high-frequency solenoid valve group 9, thereby controlling the water jet injection frequency, forming a water hammer effect, and thus increasing the rock-breaking ability of the water jet. At the same time, when the high-pressure fluid enters the pulse jet nozzle, a self-excited oscillation phenomenon will occur. The fluid interacts with the wall of the contraction section to generate a reverse pressure wave. This pressure wave couples with the initial hydrodynamic wave to generate a vortex pulsation source. After the fluid with vortex pulsation is injected into the chamber through the upper nozzle, a three-dimensional unsteady shear layer is formed under the action of fluid-structure interaction. This shear layer causes flow instability through the vortex-pressure wave amplification mechanism, and finally forms a large-scale vortex ring structure with axisymmetric characteristics. As the vortex ring migrates downstream and comes into contact with the collision wall, part of its kinetic energy is converted into a pressure disturbance wave, which propagates upstream at the speed of sound. In the shear layer separation region, the disturbance wave and the newly formed vortex produce nonlinear interference. When the phase difference between the two meets a specific condition, the system enters a self-excited oscillation state. At this time, a standing wave mode is formed in the chamber, and through the periodic conversion of fluid kinetic energy and pressure potential energy, a high-energy pulse jet is output at the downstream nozzle.

[0040] This invention discloses a water-jet-assisted cutting method for a roadheader-anchor integrated machine. Based on real-time identification of the cutting motor current, cylinder propulsion pressure, and coal / rock hardness coefficient, the method dynamically adjusts the water pump output, jet frequency, and pressure. This significantly reduces cutting resistance and effectively suppresses cutter wear when cutting high-hardness, highly abrasive coal / rock. The system offers rapid response and precise control, greatly improving cutting efficiency and extending the service life of key components. This invention utilizes water jet assistance to break rock with the cutting ring blades, enhancing the cutting ring's rock-breaking ability and service life, reducing cutting resistance, and mitigating overall machine backward movement. Adaptive adjustment of the water jet switch and pressure is achieved through sensor-collected data, adapting to different hardness coefficients during cutting and reducing resource consumption and energy loss associated with water jet-assisted rock breaking.

[0041] like Figure 5 As shown, the present invention provides a cutting ring water jet-assisted cutting device for an integrated tunneling and anchoring machine, comprising: The data acquisition module 510 is used to collect cutting arm angle signal data and actual current data of the cutting motor in real time during the cutting operation of the tunneling and anchoring machine. The coal and rock property identification module 520 is used to construct a coal and rock property identification model. After processing the actual current data of the cutting motor, the data is input into the coal and rock property identification model to identify the coal and rock properties of the coal and rock being cut by the tunneling and anchoring machine. The parameter prediction module 530 is used to construct a prediction model for the water jet-assisted cutting control of the cutting ring of the tunneling and anchoring machine. The actual current data of the cutting motor after data processing and the coal and rock property identification results are input into the prediction model for the water jet-assisted cutting control of the cutting ring of the tunneling and anchoring machine, and the output results are water jet control parameters. The control module 540 is used to control the flow rate and frequency of the water jet-assisted cutting of the cutting ring based on the water jet control parameters and the cutting arm pose data.

[0042] In addition, the present invention also provides a computer device, including an input / output unit, a memory and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the processor performs the steps as described in the aforementioned technical solution method.

[0043] The present invention also provides a storage medium storing computer-readable instructions, which, when executed by one or more processors, cause the one or more processors to perform the steps in the methods described in the foregoing technical solutions.

[0044] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A cutting ring water jet assisted cutting method of an integrated anchor excavator, characterized in that, include: During the cutting operation of the tunneling and anchoring machine, the cutting arm angle signal data and the actual current data of the cutting motor are collected in real time. A coal and rock property identification model is constructed. After processing the actual current data of the cutting motor, the data is input into the coal and rock property identification model to identify the coal and rock properties of the current cutting coal and rock by the tunneling and anchoring machine. A prediction model for water jet-assisted cutting control of the cutting ring of the integrated tunneling and anchoring machine is constructed. The actual current data of the cutting motor after data processing and the coal and rock property identification results are input into the prediction model for water jet-assisted cutting control of the cutting ring of the integrated tunneling and anchoring machine. The output result is the water jet control parameters. Based on the water jet control parameters and the cutting arm pose data, the flow rate and frequency of the water jet-assisted cutting of the cutting ring are controlled.

2. The method according to claim 1, wherein, During the cutting operation of the integrated tunneling and anchoring machine, real-time data on the cutting arm's position and the actual current data of the cutting motor are collected, including: An angle sensor is installed on the cutting arm of the tunneling and anchoring machine. When the cutting arm has an angle relative to the vertical plane, the angle sensor collects the angle signal data of the cutting arm. The actual current data of the cutting motor generated by the cutting motor of the integrated tunneling and anchoring machine during the cutting operation is collected in real time through the current sensor.

3. The method according to claim 1, wherein, A coal and rock property identification model is constructed. After processing the actual current data of the cutting motor, the data is input into the coal and rock property identification model to identify the coal and rock properties of the coal and rock currently being cut by the tunneling and anchoring machine. This includes: The coal and rock property identification model is constructed based on a 1D-CNN neural network model with ResNet structure. Wavelet packet denoising is used to decompose and denoise the actual current data of the cutting motor, and the actual current data of the cutting motor is decomposed into first cutting motor actual current data sub-signals of different frequency bands. By using wavelet packet transform, the low-frequency and high-frequency components of the first cutting motor actual current data sub-signal are decomposed to obtain the second cutting motor actual current data sub-signal. The actual current data sub-signal of the second cutting motor is input into the coal and rock property identification model, and the current data features are obtained by feature extraction through the residual module of the coal and rock property identification model. Based on the actual current data and rated current data of the cutting motor, the error signal and the error signal change rate are calculated. The error signal, the error signal change rate, and the current data characteristics are input into the coal and rock property identification model, and the output result is used as the coal and rock property identification result; wherein, the coal and rock property identification result is the coal and rock Protodyakonov coefficient.

4. The method according to claim 3, wherein, A prediction model for water jet-assisted cutting control of a roadheader-anchor integrated machine is constructed. The actual current data of the cutting motor after data processing and the coal and rock property identification results are input into the prediction model. The output results are water jet control parameters, including: Based on the RBF-BP neural network model, a prediction model for the cutting ring water jet-assisted cutting control of the tunneling and anchoring integrated machine is constructed. The error signal, the rate of change of the error signal, and the coal and rock property identification results are input into the water jet-assisted cutting control prediction model of the roadheader-anchor integrated machine. The model outputs the water jet control parameters. The water jet control parameters include high-pressure pump group control signals, high-frequency solenoid valve control signals, and jet valve group control signals.

5. The method according to claim 4, wherein, Based on the water jet control parameters and the cutting arm pose data, the flow rate and frequency of the water jet-assisted cutting of the cutting ring are controlled, including: The high-pressure pump group control signal is converted into a smooth regulating pump speed control signal for the high-pressure pump group to adjust the smooth regulating pump speed and realize the control of the flow rate of the cutting ring water jet assisted cutting. The high-frequency solenoid valve control signal is converted into a multi-channel jet valve switching pulse width modulation control signal of the jet valve group to control the energization and de-energization of the solenoid valve coil of each jet valve. By changing the pulse width, the average opening time of the solenoid valve of each jet valve in each cycle is controlled, thereby adjusting the single injection time and realizing the control of the frequency of the cutting ring water jet assisted cutting. The control signal of the jet valve group is converted into a control signal for the electromagnetic pilot valve of the jet valve group, thereby controlling the jet switch for assisted cutting of the circulating water jet.

6. The method according to claim 5, wherein, Converting the control signal of the jet valve assembly into a control signal for the electromagnetic pilot valve of the jet valve assembly, thereby controlling the jet switch for assisted cutting of the circulating water jet, including: Based on the cutting arm angle signal data, the circumferential part of the drum of the tunneling and anchoring machine participating in the current cutting is determined; wherein, the type of the circumferential part of the drum participating in the current cutting includes the upper side area, the lower side area, or the entire circumference. Based on the type of the circumferential part of the roller participating in the current cutting, determine the jet switch for performing cutting ring water jet assisted cutting; The jet switch for assisted cutting with water jet receives the control signal from the corresponding electromagnetic pilot valve and controls the corresponding jet switch for assisted cutting with water jet to open, thereby controlling the jet switch for assisted cutting with water jet.

7. The method for cutting with water jet-assisted cutting using a tunneling and anchoring integrated machine according to claim 6, characterized in that, Based on the cutting arm angle signal data, the circumferential part of the drum of the tunneling and anchoring machine involved in the current cutting is determined, including: An angle sensor is installed on the cutting arm of the tunneling and anchoring machine to collect the cutting arm angle signal data in real time; The cutting arm angle signal data is filtered, denoised, and calibrated. Based on the processed cutting arm angle signal data, the circumferential portion of the drum of the integrated tunneling and anchoring machine involved in the current cutting is determined; wherein... When the drum performs horizontal grooving cutting, the cutting arm angle is 0°, and the drum participates in cutting in the entire circumference; When the drum cuts vertically downwards, the cutting arm angle is negative and decreases as the cutting depth increases, and the lower part of the drum participates in the cutting. When the drum is cutting the top plate, the cutting arm angle is positive, and the upper area of ​​the drum participates in the cutting. When the drum sweeps the bottom, the cutting arm angle is negative, and the area under the drum participates in cutting.

8. A cutting device assisted by a water jet for a tunneling and anchoring integrated machine, characterized in that, include: The data acquisition module is used to collect cutting arm angle signal data and actual current data of the cutting motor in real time during the cutting operation of the tunneling and anchoring machine. The coal and rock property identification module is used to construct a coal and rock property identification model. After processing the actual current data of the cutting motor, the data is input into the coal and rock property identification model to identify the coal and rock properties of the coal and rock being cut by the tunneling and anchoring machine. The parameter prediction module is used to construct a prediction model for the water jet-assisted cutting control of the cutting ring of the integrated tunneling and anchoring machine. The actual current data of the cutting motor after data processing and the coal and rock property identification results are input into the prediction model for the water jet-assisted cutting control of the cutting ring of the integrated tunneling and anchoring machine, and the output result is the water jet control parameters. The control module is used to control the flow rate and frequency of the water jet-assisted cutting of the cutting ring based on the water jet control parameters and the cutting arm pose data.

9. A computer device, characterized in that, The method includes an input / output unit, a memory, and a processor, wherein the memory stores computer-readable instructions that, when executed by the processor, cause the processor to perform the steps of the method as described in any one of claims 1 to 7.

10. A storage medium storing computer-readable instructions, characterized in that, When the computer-readable instructions are executed by one or more processors, they cause the one or more processors to perform the steps in the method as described in any one of claims 1 to 7.

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