Control method and apparatus for automatic cutting, and electronic device and roadheader

Abstract

The present application relates to the technical field of roadheaders. Provided are a control method and apparatus for automatic cutting, and an electronic device and a roadheader, which aim to solve the technical problem of a roadheader relying on a laser orientation instrument for position correction during roadheader body correction. The control method comprises: controlling a front millimeter-wave radar to emit electromagnetic waves to a roadway heading wall, and determining a first distance between the front millimeter-wave radar and the roadway heading wall; controlling a first millimeter-wave radar and a second millimeter-wave radar to emit electromagnetic waves to a roadway sidewall, and determining a second distance between the first millimeter-wave radar and the roadway sidewall, and a third distance between the second millimeter-wave radar and the roadway sidewall; on the basis of the first distance, the second distance and the third distance, controlling a position adjustment apparatus to correct the position of a roadheader body; and controlling a cutting head, which has been subjected to position correction, to cut the roadway heading wall. By means of the present application, automatic roadheader body correction can be realized, thereby improving the operating efficiency.

Description

Automatic cutting control method and device, electronic equipment and heading machine

[0001] The present application claims priority to the Chinese patent application No. 202411299684.X, filed on September 18, 2024, and entitled "Automatic cutting control method and device, electronic equipment and heading machine", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of heading machine, in particular to an automatic cutting control method and device, electronic equipment and heading machine. BACKGROUND

[0003] Currently, the heading machine of hard rock type usually needs to do preparation work before mining, which includes the correction of the machine body and the cutting head, that is, the laser pointer instrument is used to mark a laser on the center position of the front roadway wall, and then the driver moves the machine body to the standard position, in which the machine body is parallel to the roadway side wall, so as to start mining. This method increases the labor intensity of workers. SUMMARY

[0004] The present application aims to solve or improve the technical problem that the heading machine needs to rely on the laser pointer instrument to correct the position of the machine body before mining in the related art.

[0005] The first aspect of the present application is to provide an automatic cutting control method.

[0006] The second aspect of the present application is to provide an automatic cutting control device.

[0007] The third aspect of the present application is to provide an electronic equipment.

[0008] The fourth aspect of the present application is to provide a heading machine.

[0009] The control method for automatic cutting provided in the application is applied to a heading machine, the heading machine comprises a machine body, a cutting head connected with the machine body, and a position adjusting device for adjusting the position and the inclination angle of the machine body, a front millimeter wave radar is arranged on the advancing side of the machine body, a first millimeter wave radar and a second millimeter wave radar are arranged on the same side of the machine body corresponding to the sidewall of a roadway, and the control method for automatic cutting comprises the following steps: controlling the front millimeter wave radar to emit electromagnetic waves to the head-on roadway wall and determining the first distance between the front millimeter wave radar and the head-on roadway wall; controlling the first millimeter wave radar and the second millimeter wave radar to emit electromagnetic waves to the sidewall of the roadway and determining the second distance between the first millimeter wave radar and the sidewall of the roadway and the third distance between the second millimeter wave radar and the sidewall of the roadway; based on the first distance, the second distance and the third distance, controlling the position adjusting device to correct the position of the machine body; and controlling the cutting head after the position correction to cut the head-on roadway wall.

[0010] The control method for automatic cutting provided in the application has the advantages that the front millimeter wave radar is arranged on the advancing side of the machine body, the first millimeter wave radar and the second millimeter wave radar are arranged on the same side of the machine body corresponding to the sidewall of the roadway, so that the distance between the machine body and the head-on roadway wall can be directly measured by the front millimeter wave radar, the distance between the machine body and the sidewall of the roadway can be measured by the first millimeter wave radar and the second millimeter wave radar, and it is determined whether the machine body and the sidewall of the roadway are in a parallel state, so that the position of the machine body is corrected.

[0011] The control method for automatic cutting provided in the application has the advantages that the front millimeter wave radar is arranged on the advancing side of the machine body, the first millimeter wave radar and the second millimeter wave radar are arranged on the same side of the machine body corresponding to the sidewall of the roadway, so that the distance between the machine body and the head-on roadway wall can be directly measured by the front millimeter wave radar, the distance between the machine body and the sidewall of the roadway can be measured by the first millimeter wave radar and the second millimeter wave radar, and it is determined whether the machine body and the sidewall of the roadway are in a parallel state, so that the position of the machine body is corrected.

[0012] In the technical scheme, when the machine body is in the correction state, the machine body and the sidewall of the roadway are in a parallel state, and the distance between the machine body and the head-on roadway wall should be a standard distance, for example, 5 meters. That is, the distance threshold is 5 meters.

[0013] In some technical schemes, after the step of controlling the cutting head after the position correction to cut the head-on roadway wall, the control method for automatic cutting further comprises the following steps: based on the second distance and the third distance, determining whether the machine body is inclined relative to the sidewall of the roadway during the cutting process; and when the machine body is inclined during the cutting process, controlling the position adjusting device to adjust the inclination angle of the machine body.

[0014] In the technical scheme, during the cutting process, since the heading machine provided in the application belongs to a hard rock type heading machine, the hardness of the rock is much greater than that of coal, so that the machine body will usually be greatly deviated during the cutting process, thereby causing the problem of insufficient footage accuracy.

[0015] The application determines whether the fuselage is inclined relative to the sidewall of the tunnel in real time, and when the fuselage is inclined, the application can control the position adjusting device to adjust the inclination angle of the fuselage, thereby improving the footage accuracy.

[0016] In some technical solutions, optionally, based on the second distance and the third distance, the step of determining whether the fuselage is inclined relative to the sidewall of the tunnel during the cutting process specifically includes: calculating the difference between the second distance and the third distance, and determining whether the fuselage is inclined during the cutting process based on the difference.

[0017] In this technical solution, when the difference between the second distance and the third distance is large, it indicates that the fuselage has a large inclination during the cutting process, and at this time, the inclination angle of the fuselage is adjusted by controlling the position adjusting device, thereby improving the footage accuracy.

[0018] In some technical solutions, optionally, the advancing side of the fuselage is also provided with a laser radar, the first millimeter wave radar and the second millimeter wave radar are arranged corresponding to the left sidewall of the tunnel, and the side of the fuselage corresponding to the right sidewall of the tunnel is provided with a third millimeter wave radar and a fourth millimeter wave radar. After the step of controlling the cutting head after position correction to cut the head-on tunnel wall, the automatic cutting control method further includes: controlling the third millimeter wave radar and the fourth millimeter wave radar to emit electromagnetic waves to the right sidewall of the tunnel, and determining a fourth distance between the third millimeter wave radar and the right sidewall of the tunnel, and a fifth distance between the fourth millimeter wave radar and the right sidewall of the tunnel; based on the first distance, the second distance, the third distance, the fourth distance and the fifth distance, establishing a tunnel coordinate system and determining the position of the fuselage in the tunnel coordinate system; acquiring an end face image of the head-on tunnel wall through the laser radar; analyzing the end face image and determining whether there is uncut hard rock; determining the position of the uncut hard rock in the tunnel coordinate system; based on the position of the fuselage in the tunnel coordinate system and the position of the uncut hard rock in the tunnel coordinate system, controlling the position adjusting device to drive the fuselage to move and drive the cutting head to move to the position of the uncut hard rock to cut the uncut hard rock.

[0019] In the technical solution, after the cutting step is completed, the application first establishes a roadway coordinate system, then determines the position of the machine body in the roadway coordinate system, then acquires the end face image of the head-on roadway wall through the laser radar, analyzes the end face image, and determines whether there is uncut hard rock, and simultaneously determines the position of the uncut hard rock in the roadway coordinate system. Thus, based on the position of the machine body in the roadway coordinate system and the position of the uncut hard rock in the roadway coordinate system, the machine body movement and the cutting head movement to the position of the uncut hard rock are controlled to cut the uncut hard rock. Understandably, the application can continuously cut the large-section head-on roadway wall. In the first cutting process, the rocks that are not cut in the first cutting process are regarded as uncut hard rock. At this time, the machine body can move to the corresponding position to realize secondary cutting and tertiary cutting, and complete the entire large-section scanning. The conventional scheme cannot realize continuous and automatic adjustment of the position of the machine body because the millimeter wave radar and the laser radar are not arranged.

[0020] The application can realize the entire large-section cutting.

[0021] In some technical solutions, optionally, the first millimeter wave radar is arranged on the front side of the second millimeter wave radar. Based on the first distance, the second distance, and the third distance, the step of controlling the position adjusting device to correct the position of the machine body specifically includes: when the second distance is greater than the third distance, controlling the position adjusting device to drive the machine body to tilt counterclockwise; when the second distance is less than the third distance, controlling the position adjusting device to drive the machine body to tilt clockwise; and when the first distance is greater than the distance threshold, controlling the position adjusting device to drive the machine body to move forward until the second distance is equal to the third distance and the first distance is equal to the distance threshold.

[0022] In the technical solution, the application can directly measure the distance between the machine body and the head-on roadway wall through the front millimeter wave radar, and determine whether the machine body is parallel to the side wall of the roadway through the data fed back by the first millimeter wave radar and the second millimeter wave radar, thereby realizing automatic correction.

[0023] The application does not need to mark a laser on the center position of the head-on roadway wall through the laser pointing instrument as in the related art, thereby improving the work efficiency.

[0024] In some technical solutions, optionally, the step of determining whether the machine body is tilted in the cutting process based on the difference value specifically includes: when the difference value is greater than or equal to 10 cm, determining that the machine body is tilted; and when the difference value is less than 10 cm, determining that the machine body is not tilted.

[0025] In the technical solution, when the difference is greater than or equal to 10 cm, it is determined that the fuselage is inclined, and the fuselage needs to be adjusted at this time; if the difference is within 10 cm, it is an allowable error, and the fuselage does not need to be adjusted.

[0026] The second aspect of the present application provides a control device for automatic cutting, applied to a heading machine. The heading machine includes a fuselage, a cutting head connected with the fuselage, and a position adjusting device for adjusting the position and inclination angle of the fuselage. The advancing side of the fuselage is provided with a front millimeter wave radar, and the same side of the fuselage corresponding to the sidewall of the roadway is provided with a first millimeter wave radar and a second millimeter wave radar. The control device for automatic cutting includes: a control unit for controlling the front millimeter wave radar to emit electromagnetic waves to the head-on roadway wall, and controlling the first millimeter wave radar and the second millimeter wave radar to emit electromagnetic waves to the sidewall of the roadway; a determination unit for determining the first distance between the front millimeter wave radar and the head-on roadway wall, the second distance between the first millimeter wave radar and the sidewall of the roadway, and the third distance between the second millimeter wave radar and the sidewall of the roadway; the control unit is further used for controlling the position adjusting device to correct the position of the fuselage based on the first distance, the second distance, and the third distance, and controlling the cutting head after the position correction to cut the head-on roadway wall.

[0027] Since the control device for automatic cutting provided by the present application is used to implement the steps of the control method for automatic cutting provided by any one of the technical solutions of the first aspect of the present application, it has all the beneficial effects of the control method for automatic cutting.

[0028] The third aspect of the present application provides an electronic device including a memory and a processor. The memory stores a computer program or instructions. When the processor executes the computer program or instructions, the steps of the control method for automatic cutting provided by any one of the technical solutions of the first aspect of the present application are implemented.

[0029] Since the electronic device provided by the present application is used to implement the steps of the control method for automatic cutting provided by any one of the technical solutions of the first aspect of the present application, it has all the beneficial effects of the control method for automatic cutting.

[0030] The fourth aspect of the present application provides a heading machine including: a fuselage; a cutting head connected with the fuselage; a position adjusting device connected with the fuselage, for adjusting the position and inclination angle of the fuselage; a front millimeter wave radar provided on the advancing side of the fuselage; a first millimeter wave radar provided on one side of the fuselage close to the sidewall of the roadway; a second millimeter wave radar provided on one side of the fuselage close to the sidewall of the roadway, and located on the same side as the first millimeter wave radar; a control device for automatic cutting as proposed in the second aspect of the present application or an electronic device of the third aspect of the present application.

[0031] Since the heading machine provided in the present application comprises the automatic cutting control device provided in the second aspect of the present application, or comprises the electronic device provided in the third aspect of the present application, the heading machine has all the beneficial effects of the steps of the automatic cutting control method.

[0032] In some technical solutions, the heading machine further comprises: a third millimeter wave radar arranged on one side of the machine body close to the sidewall of the roadway; and a fourth millimeter wave radar arranged on one side of the machine body close to the sidewall of the roadway, and located on the same side of the machine body as the third millimeter wave radar, and located on a different side of the machine body from the first millimeter wave radar, and the number of the front millimeter wave radars is two.

[0033] In some technical solutions, the heading machine further comprises two laser radars arranged on the advancing side of the machine body, capable of panoramic scanning of the roadway and obtaining an end face image of the head-on roadway wall.

[0034] Compared with the prior art, the present application has the following beneficial effects:

[0035] Unlike the related art, the present application does not need to mark a laser on the center position of the head-on roadway wall by a laser pointing instrument, and then correct it by the driver. Instead, the present application can realize automatic correction and improve work efficiency. In addition, by determining in real time whether the machine body is inclined relative to the sidewall of the roadway, when the machine body is inclined, the present application can control the position adjusting device to adjust the inclination angle of the machine body, thereby improving the footage accuracy.

[0036] The additional aspects and advantages of the present application will become apparent from the following description with reference to the accompanying drawings, or can be appreciated by practice according to the present application. BRIEF DESCRIPTION OF DRAWINGS

[0037] The above and / or additional aspects and advantages of embodiments according to the present application will become apparent and more readily appreciated from the following description, taken in conjunction with the accompanying drawings, in which:

[0038] Fig. 1 shows one of the flow diagrams of the automatic cutting control method provided by embodiments of the present application;

[0039] Fig. 2 shows another flow diagram of the automatic cutting control method provided by embodiments of the present application;

[0040] Fig. 3 shows one of the structural diagrams of the heading machine in the roadway provided by embodiments of the present application;

[0041] Fig. 4 shows another structural diagram of the heading machine in the roadway provided by embodiments of the present application;

[0042] Fig. 5 shows a structural block diagram of the automatic cutting control device provided by embodiments of the present application;

[0043] FIG. 6 shows a structural block diagram of an electronic device according to an embodiment of the present application;

[0044] FIG. 7 shows a structural schematic diagram of a heading machine according to an embodiment of the present application;

[0045] FIG. 8 shows a structural schematic diagram of a heading machine according to an embodiment of the present application.

[0046] In FIGS. 3-8, the correspondence between the reference signs and the component names is as follows: 1, heading machine; 11, machine body; 12, cutting head; 13, position adjusting device; 14, front millimeter wave radar; 152, first millimeter wave radar; 154, second millimeter wave radar; 156, third millimeter wave radar; 158, fourth millimeter wave radar; 17, laser radar; 2, control device of automatic cutting; 22, control unit; 24, determination unit; 700, electronic device; 701, processor; 702, memory; 42, head-on roadway wall; 44, roadway side wall; 442, left roadway side wall; 446, right roadway side wall; 5, uncut hard rock. DETAILED DESCRIPTION

[0047] To make the above-mentioned aspects, features and advantages of the embodiments of the present application more clearly understood, the embodiments of the present application are further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0048] In the following description, many specific details are set forth in order to provide a thorough understanding of the embodiments of the present application, but the embodiments of the present application can also be implemented in other ways different from those described herein, therefore, the scope of protection of the embodiments of the present application is not limited by the specific embodiments disclosed below.

[0049] The automatic cutting control method provided by the embodiment is applied to a heading machine 1, as shown in FIG. 3, the heading machine 1 includes a machine body 11, a cutting head 12 connected with the machine body 11, and a position adjusting device 13 for adjusting the position and inclination angle of the machine body 11. The front side of the machine body 11 is provided with a front millimeter wave radar 14, and the same side of the machine body 11 corresponding to the roadway side wall 44 is provided with a first millimeter wave radar 152 and a second millimeter wave radar 154, as shown in FIG. 1, the automatic cutting control method includes:

[0050] S102: controlling the front millimeter wave radar to emit electromagnetic waves to the head-on roadway wall, and determining a first distance between the front millimeter wave radar and the head-on roadway wall;

[0051] S104: controlling the first millimeter wave radar and the second millimeter wave radar to emit electromagnetic waves to the sidewall of the tunnel, and determining a second distance between the first millimeter wave radar and the sidewall of the tunnel, and a third distance between the second millimeter wave radar and the sidewall of the tunnel;

[0052] S106: based on the first distance, the second distance and the third distance, controlling the position adjusting device to correct the position of the machine body;

[0053] S108: controlling the cutting head after position correction to cut the head-on tunnel wall.

[0054] The automatic cutting control method provided in the application, since the front millimeter wave radar 14 is arranged on the advancing side of the machine body 11, that is, the side close to the head-on tunnel wall 42, and the first millimeter wave radar 152 and the second millimeter wave radar 154 are arranged on the side of the machine body 11 corresponding to the sidewall 44 of the tunnel, the distance between the machine body 11 and the head-on tunnel wall 42 can be directly measured by the front millimeter wave radar 14, the distance between the machine body 11 and the sidewall 44 of the tunnel can be measured by the first millimeter wave radar 152 and the second millimeter wave radar 154, whether the machine body 11 and the sidewall 44 of the tunnel are in parallel state is determined, and the position of the machine body 11 is corrected, without the need for the related art to mark a laser on the center position of the head-on tunnel wall 42 by a laser pointer, and then corrected by the driver. The application can realize automatic correction and improve work efficiency.

[0055] In the correction state of the machine body 11, the machine body 11 and the sidewall 44 of the tunnel are in parallel state, and the distance between the machine body 11 and the head-on tunnel wall 42 should be a standard distance, for example, 5 meters. That is, the distance threshold is 5 meters.

[0056] In some embodiments, after the step of controlling the cutting head 12 after position correction to cut the head-on tunnel wall 42, the automatic cutting control method further comprises: based on the second distance d2 and the third distance d3, determining whether the machine body 11 is inclined relative to the sidewall 44 of the tunnel during cutting; and when the machine body 11 is inclined during cutting, controlling the position adjusting device 13 to adjust the inclination angle of the machine body 11.

[0057] In this embodiment, during cutting, since the tunneling machine 1 of the application belongs to a hard rock type tunneling machine, the hardness of the rock is much greater than that of coal, so during cutting, the machine body 11 will usually have a large deviation, resulting in insufficient footage accuracy. Therefore, the application determines in real time whether the machine body 11 is inclined relative to the sidewall 44 of the tunnel, and when the machine body 11 is inclined, the application can control the position adjusting device 13 to adjust the inclination angle of the machine body 11, thereby improving the footage accuracy.

[0058] In some embodiments, optionally, the step of determining whether the machine body 11 is tilted relative to the roadway sidewall 44 during the cutting process based on the second distance d2 and the third distance d3 specifically comprises: calculating the difference between the second distance d2 and the third distance d3, and determining whether the machine body 11 is tilted during the cutting process based on the difference.

[0059] In this embodiment, when the difference between the second distance d2 and the third distance d3 is large, it indicates that the machine body 11 has a large tilt during the cutting process, and at this time, the tilt angle of the machine body 11 is adjusted by controlling the position adjusting device 13, thereby improving the footage accuracy.

[0060] In some embodiments, optionally, the front advancing side of the machine body 11 is further provided with a laser radar 17, the first millimeter wave radar 152 and the second millimeter wave radar 154 are arranged corresponding to the left roadway sidewall 442, and the machine body 11 is provided with a third millimeter wave radar 156 and a fourth millimeter wave radar 158 corresponding to one side of the right roadway sidewall 446. After the step of controlling the cutting head 12 after the position correction to cut the head-on roadway wall 42, the automatic cutting control method further comprises: controlling the third millimeter wave radar 156 and the fourth millimeter wave radar 158 to emit electromagnetic waves to the right roadway sidewall 446, and determining a fourth distance d4 between the third millimeter wave radar 156 and the right roadway sidewall 446, and a fifth distance d5 between the fourth millimeter wave radar 158 and the right roadway sidewall 446; based on the first distance d1, the second distance d2, the third distance d3, the fourth distance d4 and the fifth distance d5, establishing a roadway coordinate system and determining the position of the machine body 11 in the roadway coordinate system; acquiring an end face image of the head-on roadway wall 42 through the laser radar 17; analyzing the end face image and determining whether there is uncut hard rock 5; determining the position of the uncut hard rock 5 in the roadway coordinate system; based on the position of the machine body 11 in the roadway coordinate system and the position of the uncut hard rock 5 in the roadway coordinate system, controlling the position adjusting device 13 to drive the machine body 11 to move and drive the cutting head 12 to move to the position of the uncut hard rock 5 to cut the uncut hard rock 5.

[0061] In this embodiment, after the cutting step is completed, the application first establishes a roadway coordinate system, as shown in FIG. 4, since d1, d3 and d4 are obtained, so the position of the machine body 11 in the roadway coordinate system can be accurately known, then the end face image of the head-on roadway wall 42 is obtained by the laser radar 17, and the end face image is analyzed to determine whether there is uncut hard rock 5, and the position of the uncut hard rock 5 in the roadway coordinate system is determined, so based on the position of the machine body 11 in the roadway coordinate system and the position of the uncut hard rock 5 in the roadway coordinate system, the machine body 11 is controlled to move and drive the cutting head 12 to the position of the uncut hard rock 5 to cut the uncut hard rock 5. It can also be understood that the application can continuously cut the large-section head-on roadway wall 42, and in the first cutting process, the rocks that are not cut in the first cutting process are regarded as uncut hard rock 5, at this time the machine body 11 can move to the corresponding position to realize secondary cutting and tertiary cutting, etc., to complete the entire large-section scanning, and the conventional scheme cannot realize continuous and automatic operation because it does not set the millimeter wave radar and the laser radar, and the application can realize the entire large-section cutting.

[0062] In some embodiments, optionally, the first millimeter wave radar 152 is arranged on the front side of the second millimeter wave radar 154, and the step of correcting the position of the machine body 11 based on the first distance d1, the second distance d2 and the third distance d3 specifically comprises: when the second distance d2 is greater than the third distance d3, controlling the position adjusting device 13 to drive the machine body 11 to tilt counterclockwise, when the second distance d2 is less than the third distance d3, controlling the position adjusting device 13 to drive the machine body 11 to tilt clockwise, and when the first distance d1 is greater than the distance threshold, controlling the position adjusting device 13 to drive the machine body 11 to move forward until the second distance d2 is equal to the third distance d3 and the first distance d1 is equal to the distance threshold.

[0063] In this embodiment, since the application can directly measure the distance between the machine body 11 and the head-on roadway wall 42 by the front millimeter wave radar 14, and the data fed back by the first millimeter wave radar 152 and the second millimeter wave radar 154 can determine whether the machine body 11 is parallel to the roadway side wall 44 to realize automatic correction, it is not necessary to mark a laser on the center position of the head-on roadway wall 42 by the laser pointing instrument as in the related art, thereby improving the work efficiency.

[0064] In some embodiments, optionally, the step of determining whether the machine body 11 is tilted during the cutting process based on the difference value specifically comprises: when the difference value is greater than or equal to 10 cm, it is determined that the machine body 11 is tilted; and when the difference value is less than 10 cm, it is determined that the machine body 11 is not tilted.

[0065] In this embodiment, when the difference is greater than or equal to 10 cm, it is determined that the body 11 is tilted, and the body 11 needs to be adjusted at this time, and if the difference is within 10 cm, it is an allowable error, and the body 11 does not need to be adjusted.

[0066] As shown in FIGS. 3 and 5, the second aspect of the present application provides an automatic cutting control device 2 applied to the tunneling machine 1, the tunneling machine 1 including a body 11, a cutting head 12 connected with the body 11, and a position adjusting device 13 for adjusting the position and the tilt angle of the body 11, the advancing side of the body 11 being provided with a front millimeter wave radar 14, the same side of the body 11 corresponding to the side wall 44 of the tunnel being provided with a first millimeter wave radar 152 and a second millimeter wave radar 154, the automatic cutting control device 2 including: a control unit 22 for controlling the front millimeter wave radar 14 to emit electromagnetic waves to the head-on tunnel wall 42, and controlling the first millimeter wave radar 152 and the second millimeter wave radar 154 to emit electromagnetic waves to the tunnel side wall 44; a determination unit 24 for determining the first distance d1 between the front millimeter wave radar 14 and the head-on tunnel wall 42, the second distance d2 between the first millimeter wave radar 152 and the tunnel side wall, and the third distance d3 between the second millimeter wave radar 154 and the tunnel side wall; the control unit 22 is further used for correcting the position of the body 11 based on the first distance d1, the second distance d2 and the third distance d3, and controlling the cutting head 12 after position correction to cut the head-on tunnel wall 42.

[0067] Since the automatic cutting control device 2 provided by the present application is used to implement the steps of the automatic cutting control method provided by any one of the embodiments of the first aspect of the present application, it has all the beneficial effects of the automatic cutting control method.

[0068] As shown in FIG. 6, the third aspect of the present application provides an electronic device 700 including a memory 702 and a processor 701, the memory 702 storing a computer program or instructions, and the processor 701 implementing the steps of the automatic cutting control method provided by any one of the embodiments of the first aspect of the present application when executing the computer program or instructions.

[0069] Since the electronic device 700 provided by the present application is used to implement the steps of the automatic cutting control method provided by any one of the embodiments of the first aspect of the present application, it has all the beneficial effects of the automatic cutting control method.

[0070] As shown in FIG. 3, FIG. 7 and FIG. 8, the fourth aspect of the present application provides a heading machine 1, comprising: a machine body 11; a cutting head 12 connected with the machine body 11; a position adjusting device 13 connected with the machine body 11, used for adjusting the position and inclination angle of the machine body 11; a front millimeter wave radar 14 arranged on the advancing side of the machine body 11; a first millimeter wave radar 152 arranged on one side of the machine body 11 close to the sidewall 44 of the roadway; a second millimeter wave radar 154 arranged on one side of the machine body 11 close to the sidewall 44 of the roadway, and located on the same side as the first millimeter wave radar 152; the automatic cutting control device 2 of the second aspect embodiment of the present application or the electronic device 700 of the third aspect embodiment.

[0071] Since the heading machine 1 provided by the present application comprises the automatic cutting control device 2 provided by the second aspect embodiment of the present application, or comprises the electronic device 700 provided by the third aspect embodiment, all the beneficial effects of the steps of the automatic cutting control method are possessed.

[0072] In some embodiments, the heading machine 1 further comprises: a third millimeter wave radar 156 arranged on one side of the machine body 11 close to the sidewall 44 of the roadway; a fourth millimeter wave radar 158 arranged on one side of the machine body 11 close to the sidewall 44 of the roadway, and located on the same side of the machine body 11 as the third millimeter wave radar 156, and located on different sides of the machine body 11 from the first millimeter wave radar 152, and the number of front millimeter wave radars 14 is two.

[0073] In some embodiments, the heading machine 1 further comprises two laser radars 17 arranged on the advancing side of the machine body 11, capable of panoramic scanning of the roadway and obtaining an end face image of the head-on roadway wall 42.

[0074] The present application provides an automatic cutting control method.

[0075] Need to understand that the roadway forming has always been an important dimension of intelligent excavation evaluation, and the high-level intelligent acceptance standard in many regions also adds this acceptance index, which is the only way for intermediate mines to move towards high-level mines. At present, the precise one-time forming of full-rock roadways and wide roadways and the automatic detection of the forming effect after cutting are still the bottleneck technologies in the intelligent heading machine industry, and the current status mainly relies on inertial navigation positioning, which cannot meet the forming and cutting of complex working conditions, and the visualization display industry of cross section forming is still blank.

[0076] There are mainly the following technical problems in the current heading machine mining process. 1. The footage accuracy is not enough. 2. The hard rock machine type does not have a telescopic part to automatically compensate. 3. The large cross section cannot realize automatic machine moving to realize full cross section cutting. 4. The lateral transverse distance cannot be detected during hard rock cutting, and automatic deviation correction cannot be realized. 5. There is a lack of roadway forming data acquisition and detection hardware.

[0077] The application adds 6 millimeter wave radars in hardware to realize real-time perception of forward distance and side distance, and adds 2 forward laser radars 17 to realize panoramic scanning of the roadway.

[0078] The application can know the absolute position coordinates relative to the roadway through the combination of inertial navigation and millimeter wave radars through the coordinate system. The dynamic cutting process can perceive lateral deviation through the lateral millimeter wave radar, and the dynamic deviation correction algorithm can be implemented. The footage is accurately controlled through the 2 forward millimeter wave radars to solve the problem of insufficient footage. The 6 millimeter wave radars are used to accurately control the automatic machine moving of the roadheader 1 in the roadway to solve the problem of large cross-section that cannot be formed at one time. The point cloud algorithm is used to visually evaluate the quality of roadway forming.

[0079] Specifically, as shown in FIG. 2, the control method for automatic cutting of the application includes the following steps:

[0080] S202: automatic footage;

[0081] S204: judge whether the footage is in place; if not, execute S206, and if yes, execute S208;

[0082] S206: compensation based on the front millimeter wave radar; execute S202;

[0083] S208: automatic cutting;

[0084] S210: judge whether the side is transverse; if not, execute S214, and if yes, execute S212;

[0085] S212: compensation based on the side millimeter wave radar; execute S208;

[0086] S214: cutting is completed;

[0087] S216: judge whether the edge needs to be repaired; if not, execute S220, and if yes, execute S218;

[0088] S218: automatic machine moving for edge repair; execute S214;

[0089] S220: automatic machine retreating;

[0090] S222: point cloud scanning uploading.

[0091] The technical effect of the application is that the underbreakage working condition caused by insufficient precision can be solved, the underbreakage working condition caused by lateral deviation in the cutting process can be solved, the large cross-section one-time forming working condition can be solved, and the roadway forming visual display can be realized.

[0092] In the embodiments according to the application, the terms "first", "second", "third" are only used for descriptive purpose, and should not be understood as indicating or implying relative importance; the term "multiple" refers to two or more, unless otherwise explicitly limited. The terms "mount", "connect", "connection", "fixed", and the like should be interpreted broadly, for example, "connection" can be fixed connection, or detachable connection, or integrally connected; "connected" can be directly connected, or indirectly connected through intermediate medium. For those skilled in the art, the specific meanings of the above terms in the embodiments according to the application can be understood according to the specific circumstances.

[0093] In addition, although each operation is described in a specific order, it should be understood that the operations are not required to be performed in the specific order, or in sequential order, or that all illustrated operations should be performed to achieve the desired result. In certain circumstances, multi-tasking and parallel processing can be advantageous. Similarly, although several implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the application. Certain features described in the context of separate embodiments can also be combined in a single implementation. Conversely, various features described in the context of a single implementation can also be separated and implemented in multiple implementations.

[0094] Although the subject matter has been described in language specific to structural features and / or methodological acts, it is to be understood that the subject defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely illustrative of example forms of implementing the claims.

[0095] The above merely describes the preferred embodiments according to the application, and is not intended to limit the embodiments according to the application. For those skilled in the art, the embodiments according to the application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the embodiments according to the application should be included in the protection scope of the embodiments according to the application.

Claims

1. A control method of automatic cutting, characterized by, The application is applied to a heading machine, the heading machine comprises a machine body, a cutting head connected with the machine body, and a position adjusting device for adjusting the position and inclination angle of the machine body, a front millimeter wave radar is arranged on the advancing side of the machine body, a first millimeter wave radar and a second millimeter wave radar are arranged on the same side of the machine body corresponding to the sidewall of a roadway, and the control method of automatic cutting comprises the following steps: controlling the front millimeter wave radar to emit electromagnetic waves to the head-on roadway wall and determining the first distance between the front millimeter wave radar and the head-on roadway wall; controlling the first millimeter wave radar and the second millimeter wave radar to emit electromagnetic waves to the sidewall of the roadway, and determining the second distance between the first millimeter wave radar and the sidewall of the roadway and the third distance between the second millimeter wave radar and the sidewall of the roadway; based on the first distance, the second distance and the third distance, controlling the position adjusting device to correct the position of the machine body; controlling the cutting head after position correction to cut the head-on roadway wall.

2. The control method of automatic cutting according to claim 1, wherein After the step of controlling the cutting head after position correction to cut the head-on roadway wall, the control method of automatic cutting further comprises the following steps: based on the second distance and the third distance, determining whether the machine body is inclined relative to the sidewall of the roadway during cutting; when the machine body is inclined during cutting, controlling the position adjusting device to adjust the inclination angle of the machine body.

3. The control method of automatic cutting according to claim 2, wherein The step of determining whether the machine body is inclined relative to the sidewall of the roadway during cutting based on the second distance and the third distance specifically comprises the following steps: calculating the difference between the second distance and the third distance, and determining whether the machine body is inclined during cutting based on the difference.

4. The control method of automatic cutting according to claim 1, wherein The advancing side of the machine body is also provided with a laser radar, the first millimeter wave radar and the second millimeter wave radar are arranged corresponding to the left sidewall of the roadway, the machine body is provided with a third millimeter wave radar and a fourth millimeter wave radar on the side corresponding to the right sidewall of the roadway, and after the step of controlling the cutting head after position correction to cut the head-on roadway wall, the control method of automatic cutting further comprises the following steps: controlling the third millimeter wave radar and the fourth millimeter wave radar to emit electromagnetic waves to the right sidewall of the roadway, and determining the fourth distance between the third millimeter wave radar and the right sidewall of the roadway and the fifth distance between the fourth millimeter wave radar and the right sidewall of the roadway; based on the first distance, the second distance, the third distance, the fourth distance and the fifth distance, establishing a roadway coordinate system and determining the position of the machine body in the roadway coordinate system; acquiring the end face image of the head-on roadway wall through the laser radar; analyzing the end face image and determining whether there is uncut hard rock; determining the position of the uncut hard rock in the roadway coordinate system; Based on the position of the machine body in the roadway coordinate system and the position of the uncut hard rock in the roadway coordinate system, the position adjusting device is controlled to drive the machine body to move and drive the cutting head to the position of the uncut hard rock to cut the uncut hard rock.

5. The control method of automatic cutting according to claim 1, wherein The first millimeter wave radar is arranged on the front side of the second millimeter wave radar, and the step of controlling the position adjusting device to correct the position of the machine body based on the first distance, the second distance and the third distance specifically includes: When the second distance is greater than the third distance, the position adjusting device is controlled to drive the machine body to tilt counterclockwise, when the second distance is less than the third distance, the position adjusting device is controlled to drive the machine body to tilt clockwise, and when the first distance is greater than a distance threshold, the position adjusting device is controlled to drive the machine body to move forward until the second distance is equal to the third distance and the first distance is equal to the distance threshold.

6. The control method of automatic cutting according to claim 3, wherein The step of determining whether the machine body is tilted during cutting based on the difference value specifically includes: When the difference value is greater than or equal to 10 cm, it is determined that the machine body is tilted; When the difference value is less than 10 cm, it is determined that the machine body is not tilted.

7. A control device for automatic cutting, characterized in that The automatic cutting control device is applied to a heading machine, the heading machine includes a machine body, a cutting head connected with the machine body and a position adjusting device, the position adjusting device is used to adjust the position and tilt angle of the machine body, the front side of the machine body is provided with a front millimeter wave radar, the same side of the machine body corresponding to the side wall of the roadway is provided with a first millimeter wave radar and a second millimeter wave radar, and the automatic cutting control device includes: A control unit is used to control the front millimeter wave radar to emit electromagnetic waves to the head-on roadway wall, and control the first millimeter wave radar and the second millimeter wave radar to emit electromagnetic waves to the side wall of the roadway. A determination unit is used to determine the first distance between the front millimeter wave radar and the head-on roadway wall, the second distance between the first millimeter wave radar and the side wall of the roadway, and the third distance between the second millimeter wave radar and the side wall of the roadway. The control unit is further used to correct the position of the machine body based on the first distance, the second distance and the third distance, and control the cutting head after position correction to cut the head-on roadway wall. The electronic device includes a memory and a processor, the memory stores a computer program or instructions, and the processor executes the computer program or the instructions to realize the steps of the automatic cutting control method according to any one of claims 1 to 6.

8. An electronic device, comprising: The electronic device includes:

9. A heading machine characterized by A machine body; A cutting head connected with the machine body; A position adjusting device connected with the machine body, used to adjust the position and tilt angle of the machine body; A front millimeter wave radar arranged on the front side of the machine body; A first millimeter wave radar arranged on one side of the machine body close to the side wall of the roadway; A second millimeter wave radar arranged on one side of the machine body close to the side wall of the roadway and located on the same side as the first millimeter wave radar; The automatic cutting control device according to claim 7 or the electronic device according to claim 8. The electronic device further includes:

10. A heading machine according to claim 9, characterised in that ​ A third millimeter wave radar is arranged on one side of the fuselage close to the side wall of the lane. A fourth millimeter wave radar is arranged on one side of the fuselage close to the side wall of the lane, and is located on the same side of the fuselage as the third millimeter wave radar, and is located on a different side of the fuselage from the first millimeter wave radar. The number of front millimeter wave radars is two.

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