CN110644968B - Water jet assisted rock breaking intelligent control system and method - Google Patents
Water jet assisted rock breaking intelligent control system and method Download PDFInfo
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- 239000011435 rock Substances 0.000 title claims abstract description 182
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 156
- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000005641 tunneling Effects 0.000 claims description 47
- 238000003745 diagnosis Methods 0.000 claims description 28
- 238000003860 storage Methods 0.000 claims description 15
- 230000008447 perception Effects 0.000 claims description 11
- 238000012544 monitoring process Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 4
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- 238000004092 self-diagnosis Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
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- 238000005336 cracking Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/1066—Making by using boring or cutting machines with fluid jets
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/11—Making by using boring or cutting machines with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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Abstract
The utility model provides a supplementary broken rock intelligence control system of water jet and method, through obtaining country rock state and TBM tunnelling main parameter, judge whether start the supplementary broken rock system of water jet according to country rock state and TBM tunnelling main parameter, if open the supplementary broken rock system of water jet, detect the water supply pressure and the flow of the supplementary broken rock system of water jet in real time, and transmit the detected value to the diagnostic module, when the water supply pressure drops and is greater than the settlement threshold value, judge that the trouble appears, close the supplementary broken rock system of water jet, effectively improved the supplementary broken rock system's of water jet operating efficiency and safe and reliable degree.
Description
Technical Field
The disclosure relates to a water jet assisted rock breaking intelligent control system and method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
With the increase of the construction strength of national infrastructure, the number of large underground caverns and tunnels is increased year by year. A full face Tunnel Boring Machine (TBM) has become an indispensable large construction machine, has advantages of strong rock breaking capability, superior continuous construction, simple operation, etc., and is widely used in construction. However, the actual use process finds thatTBMThe method has a plurality of defects under working conditions of hard rock, extremely hard rock and the like: (1) the tunnel boring construction method has the advantages that the tunnel boring construction efficiency is greatly reduced, and the boring cost is greatly increased due to the defects of low penetration degree and boring speed, (2) large tool abrasion amount, (3) serious increase of tool changing times and time, (4) great reduction of the use ratio of the boring operation, (5) increase of main bearing and main drive life risks, (6) increase of tool disc abrasion life, cracking and deformation risks. Aiming at the defects of the tunnel boring machine, a means for improving the rock breaking efficiency is urgently needed to be found. In recent years, the water jet technology has developed and matured in the fields of coal mining, cleaning, cutting, crushing and the like,the rock breaking device has the characteristics of cleanness, high efficiency, low energy consumption and easiness in implementation, and the principle is that water is pressurized by a high-pressure pump and is sprayed out of a nozzle through a high-pressure water supply pipeline so as to increase the rock breaking efficiency.
The high-pressure water jet rock breaking technology provides a thought for solving the problem that the tunneling efficiency of the current tunnel boring machine is low under the hard rock condition, and when the TBM boring machine meets the working condition conditions of hard rock and extremely hard rock, the water jet assisted hob rock breaking can greatly improve the tunneling efficiency and reduce the tunneling cost; however, when the high-pressure water jet assists in rock breaking, the water pressure is dozens of even hundreds of megapascals, the water supply pipeline is easy to break due to the pressure, a long pipeline is needed for the water supply pipeline to flow out of the pump set to reach the TBM cutter head, and if leakage occurs, the leakage position is difficult to diagnose. In addition, when the water jet leaks, if the water jet can not be found in time, the life safety of constructors can be damaged if pressure of dozens or even hundreds of megapascals flows out of the pipeline; in addition, as the TBM construction conditions are complex and changeable, if no scientific decision basis exists, great resource waste can be caused.
Disclosure of Invention
The water jet assisted rock breaking intelligent control system and method can improve the operation efficiency and the safety reliability of the water jet assisted rock breaking system.
According to some embodiments, the following technical scheme is adopted in the disclosure:
the utility model provides a supplementary broken rock intelligence control system of water jet, includes treater, diagnosis module, rock mass perception aid decision module and input unit, wherein:
the rock mass perception auxiliary decision-making module is configured to acquire a surrounding rock state and a TBM tunneling main parameter, and judge whether to start the water jet auxiliary rock breaking system according to the surrounding rock state and the TBM tunneling main parameter;
the diagnosis module is connected with a pressure sensor and a flowmeter, respectively detects water supply pressure, flow and pump set operation parameters of the water jet auxiliary rock breaking system, transmits the detection values to the diagnosis module, judges that a fault occurs when the monitoring parameters exceed a set threshold value, and the processor sends a signal to close the water jet auxiliary rock breaking system;
the input unit configured to receive an input signal;
the processor is configured to receive the input signal, set a corresponding predetermined threshold value and a surrounding rock grade according to the input signal, and output signals to the diagnosis module and the rock mass perception aid decision-making module.
The control system is applied to a jet flow auxiliary system/device, and specifically at least comprises a water supply mechanism, a power mechanism and a transmission injection mechanism, wherein:
the water supply mechanism provides a fluid source, the power mechanism can apply pressure to the fluid, and the fluid with certain pressure can enter the transmission injection mechanism and is released to the TBM cutter head at the tail end of the transmission injection mechanism to form high-pressure jet flow.
The control system provided by the disclosure can ensure that whether the rock breaking effect of the hob is combined with the high-pressure water jet rock breaking technology or not according to the surrounding rock state and the TBM tunneling main parameter, can exert the advantages of the hob and the high-pressure water jet rock breaking technology when needed in the rock breaking process, improves the construction efficiency to a great extent, only starts the hob to tunnel when not needed in the rock breaking process, and ensures that resources are not wasted.
As a further limitation, the rock mass perception auxiliary decision-making module divides the current tunnel surrounding rock grade in real time according to the main tunneling parameters of the tunnel boring machine; real-time acquired single-blade propelling force of tunneling main parameter selection tunneling machineFn/（kN) And degree of penetrationP/（mm/rev) And the ratio of the two is used as a judgment valueFn/PAnd dividing corresponding surrounding rock grades according to different judgment values.
As a further limitation, when the determination value is [0,100 ]]Within interval, determining the grade of the surrounding rock asVStage, when the decision value is (100, 150)]Within interval, determining the grade of the surrounding rock asIVStage, when the decision value is (150,300)]Within interval, determining the grade of the surrounding rock asIIIStage, when the decision value is (300, 500)]Within interval, determining the grade of the surrounding rock asIIWhen the grade and the judgment value are more than 500, the grade of the surrounding rock is judged to beIAnd (4) stages.
According to the rock mass sensing decision-making assisting module, key parameters are extracted and different thresholds are set in the tunneling process, so that the rock is graded, the judged edge is effectively and clearly divided, and the simplicity and the accuracy of the judging process are guaranteed.
As a further limitation, the diagnosis module is further connected with an emergency switch, the emergency switch controls the switching of the water jet assisted rock breaking system, when the diagnosis module determines that a fault occurs, a signal is sent to the emergency switch, and the emergency switch stops the water jet assisted rock breaking system.
Through the setting of emergency switch, can guarantee when whole automation, intelligent control go wrong, carry out scram to the supplementary broken rock system of efflux/device through emergency switch, guaranteed the security of mechanism.
As a further limitation, the processor is connected with an alarm device, and when the processor receives the diagnosis result of the diagnosis module and the diagnosis result is that a fault occurs, the processor sends a signal to the alarm device, and the alarm device gives an alarm.
The design can realize automatic alarm and attract the attention of workers.
By way of further limitation, the input module includes a mode selection module configured to determine an operational control mode of the processor.
Through the mode selection module, the whole control system can be in different control modes, can be flexibly and randomly switched according to different front operation environments, and the construction adaptability and flexibility are guaranteed.
As a further limitation, when the mode selection module is in a manual control mode, the processor outputs the grade obtained according to the rock mass perception auxiliary decision module, and gives a suggestion of opening/closing the water jet auxiliary rock breaking system matched with the grade.
As a further limitation, when the mode selection module is in an intelligent/automatic control mode, the processor automatically turns on/off the water jet assisted rock breaking system according to the grade obtained by the rock mass perception assisted decision-making module.
By way of further limitation, the input module includes, but is not limited to, one or more of a touch screen, keyboard, keys, mouse, and the like.
As a further limitation, the processor is further connected with a storage module, and the storage module stores the high-pressure water jet operation monitoring parameters, the obtained rock parameters and the obtained tunneling main parameters.
By way of further limitation, the processor is further connected with an output module, and the output module comprises a display screen.
The working method based on the control system comprises the steps of obtaining a surrounding rock state and TBM tunneling main parameters, judging whether to start the water jet auxiliary rock breaking system according to the surrounding rock state and the tunneling main parameters, detecting water supply pressure, flow and pump set operation parameters of the water jet auxiliary rock breaking system in real time if the water jet auxiliary rock breaking system is started, transmitting the detected values to the diagnosis module, judging that a fault occurs when the monitored parameters exceed a set threshold value, and closing the water jet auxiliary rock breaking system.
Compared with the prior art, the beneficial effect of this disclosure is:
the operation state of the water jet auxiliary rock breaking system (or device) can be monitored in real time, the position of a fault can be found at the first time when the fault occurs, the alarm signal is sent out, the water jet auxiliary rock breaking system is automatically closed through an emergency function, the risk in the operation process of the system is reduced, and the fault diagnosis efficiency of the water jet auxiliary rock breaking system is improved.
The method is based on surrounding rock grade states and TBM tunneling main parameters fed back by a rock mass sensing system, and assists in operating out-of-discipline decision;
the mode selection module is utilized to provide various selections for operators, so that the labor intensity of the operators can be reduced; the whole system reduces the time for fault judgment and maintenance, improves the operation efficiency of equipment and brings higher economic benefit for users.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a block diagram of the overall architecture;
FIG. 2 is a block diagram of the overall structure of a rock mass sensing decision-making assisting module;
FIG. 3 is a schematic diagram of a high pressure water jet device and a connection of a self-diagnostic module;
FIG. 4 is a schematic diagram of the overall structure of an embodiment;
FIG. 5 is a schematic structural view of a power mechanism and a water supply mechanism according to an embodiment;
the water supply device comprises a water supply mechanism 1, a filter 11, a water storage device 12, a power mechanism 2, a motor 21, a booster pump 22, an energy accumulator 23, a confluence device 24, a safety valve 25, a high-pressure hard pipe return pipe 26, a high-pressure hose I31, a high-pressure hard pipe main pipe 32, a high-pressure hose II 34, a cutter head built-in high-pressure hard pipe 4, a rotary joint 5, a flow divider 6, a water jet nozzle 81, a cutter head 82.TBMGirder, 83, the connecting bridge of No. one coaster.
The specific implementation mode is as follows:
the present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure.
In the present disclosure, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.
As shown in fig. 1, the intelligent control system comprises a touch display screen, an upper computer, a switch controller, an input module, a storage module, a PLC controller, an alarm device, a mode selection module and a rock mass sensing auxiliary module; the PLC is connected with the touch display screen, the upper computer, the switch controller, the input module, the storage module, the alarm device, the mode selection module and the rock mass sensing auxiliary module.
The rock mass sensing auxiliary decision-making module is configured to acquire a surrounding rock state and a TBM tunneling main parameter, and judge whether to start the water jet auxiliary rock breaking system according to the surrounding rock state and the TBM tunneling main parameter;
the upper computer is communicated with the pressure sensor and the flowmeter on the jet flow auxiliary rock breaking system/device through the diagnosis module, respectively detects the water supply pressure, the flow and the pump set operation parameters of the water jet flow auxiliary rock breaking system, transmits the detection values to the upper computer, judges that a fault occurs when the monitoring parameters exceed a set threshold value,PLCthe controller sends out a signal to close the water jet auxiliary rock breaking system;
an input module configured to receive an input signal;
a mode selection module configured to select a corresponding control mode according to an input signal;
the alarm device is configured to communicate with the upper computer, and when the upper computer determines that the water supply pressure or flow exceeds a set maximum value, the alarm device gives an alarm;
and the PLC is configured to receive the input signal, set a corresponding preset threshold value and a surrounding rock grade according to the input signal, and output signals to the upper computer and the rock mass perception auxiliary decision-making module.
Specifically, in the embodiment, the rock mass sensing auxiliary decision module divides the current tunnel surrounding rock grade in real time according to the main tunneling parameters of the tunnel boring machine; real-time acquired single-blade propelling force of tunneling main parameter selection tunneling machineFn/（kN) And degree of penetrationP/（mm/rev) And the ratio of the two is used as a judgment valueFn/P. And dividing different surrounding rock grades according to different judgment values.
In the present embodiment, when the determination value is [0,100 ]]Within interval, determining the grade of the surrounding rock asVStage, when the decision value is (100, 150)]Within interval, determining the grade of the surrounding rock asIVStage, when the decision value is (150,300)]Within interval, determining the grade of the surrounding rock asIIIStage, when the decision value is (300, 500)]Within interval, determining the grade of the surrounding rock asIIWhen the grade and the judgment value are more than 500, the grade of the surrounding rock is judged to beIAnd (4) stages.
Of course, in other embodiments, a person skilled in the art may flexibly adjust the number of the surrounding rock determination levels and/or the boundary values of the respective levels according to the specific surrounding rock situation ahead or the tunneling condition, based on the above technical solutions.
As another scheme which can be realized, the rock mass sensing auxiliary decision module is a sensing system and a method of the TBM in the rock mass digging state real-time sensing system and method, wherein the patent number is 201710761045.4.
Of course, in other embodiments, other existing rock mass/rock sensing methods may be used.
In other embodiments, the PLC controller may be replaced with other control processors.
The intelligent control system is mainly used for matching or controlling the buildingAnd the high-pressure water jet loaded on the TBM assists the rock breaking system. The high-pressure water jet auxiliary rock breaking system carried on the TBM generally comprises a flowmeter, a plurality of groups of pressure sensor flowmeters, a high-pressure pump set, a TBM cutter head, a water jet nozzle, a water supply pipeline and a water pressure controller. Wherein, the high-pressure pump group provides a water source with certain pressure for a water supply pipeline, and the water supply pipeline conveys the water source with certain pressure to the position near the TBM cutter head and sprays the water source with certain pressure through a water jet nozzle to assist inTBMAnd breaking rock of the cutter head.
A plurality of pressure sensors are arranged on the water supply pipeline at intervals, and in the embodiment, as shown in fig. 3, four pressure sensors are respectively arranged. And the two ends of the water supply line are respectively provided with a flowmeter, in this embodiment, two flowmeters.
More specifically, as a usable object, a water jet assisted rock breaking system mounted on a full face Tunnel Boring Machine (TBM), as shown in fig. 4, includes a numerical control console facilitating remote control, a water supply mechanism 1 facilitating use of water for TBM construction, a power mechanism 2 facilitating assembly and integration according to a target flow rate and a jet pressure, and a transmission and jet mechanism facilitating reduction of pressure loss and ensuring application safety.
As shown in fig. 4, the water supply mechanism 1 and the power mechanism 2 are installed at the front end of the first pulley connecting bridge 83 of the whole TBM, the power mechanism is installed at one side close to the main beam 82 of the TBM, the water supply mechanism is installed at one side far away from the main beam of the TBM, it is ensured that fluid enters the main beam of the TBM after being pressurized by the power mechanism, the fluid running process is not obstructed, and the path is smooth.
As shown in fig. 5, the water supply mechanism 1 comprises a filter 11 and a water reservoir 12, wherein the filter 11 and the water reservoir 12 are connected by a low-pressure hose; the filter 11 introduces the TBM construction water for use through a low pressure hose.
As shown in fig. 5, the power mechanism 2 includes a motor 21, a booster pump 22, an accumulator 23, and a confluence device 24. The booster pump 22 and the energy accumulator 23, and the energy accumulator 23 and the confluence device 24 are all connected by high-pressure hard pipes, and the confluence device 24 is provided with a safety valve 25. When a large flow of high pressure water is required to be produced, a plurality of groups of pressurizing branches can be used in parallel, and two pressurizing branches are included in the embodiment. High-pressure water generated by the two pressurizing branches is converged into the confluence device 24, the high-pressure water in the confluence device 24 is regulated by the safety valve 25 and divided into two paths, one path flows into the high-pressure hose I31 to finally form high-pressure jet, and the other path flows to the water storage device 12 through the high-pressure hard pipe return pipe 26. The high-pressure water in the confluence device 24 can effectively control the pressure of the high-pressure water flowing into the transmission injection mechanism under the regulation of the safety valve 25, and the use safety of each component in the transmission injection mechanism is ensured.
As shown in fig. 4, the transmission injection mechanism is composed of a water jet nozzle 6, a high-pressure hard pipe 34 arranged in a cutter head, a flow divider 5, a rotary joint 4, a high-pressure hose ii 33, a high-pressure hard pipe main pipe 32 and a high-pressure hose i 31, which are connected with each other in the listed sequence. The water jet nozzles 6 are arranged on the working surface of the cutter disc 81, each water jet nozzle 6 is connected with a cutter disc built-in high-pressure hard pipe 34, the cutter disc built-in high-pressure hard pipes 34 are connected with a flow divider 5 arranged in the center of the back of the cutter disc 81, and the flow divider 5 is connected with a high-pressure hose II 33 for supplying water outside the cutter disc through a rotary joint 4. The high-pressure hard pipe main pipe 32 is a linear pipeline and is fixed in the TBM main beam 82, the front end of the high-pressure hard pipe main pipe is connected with the rotary joint 4 through a high-pressure hose II 33, and the rear end of the high-pressure hard pipe main pipe is connected with the confluence device 24 through a high-pressure hose I31.
The numerical control of the supplementary broken rock system of water jet controls the platform and sets up in the TBM master control room, makes things convenient for driver remote operation, and the numerical control is controlled the platform and is passed through electric wire, data line and water supply mechanism, power unit connection.
In this embodiment, an application method of the water jet assisted rock breaking system mounted on a full face Tunnel Boring Machine (TBM) is as follows:
1. when the water jet auxiliary rock breaking system needs to be started, firstly, the system is checked, potential safety hazards are eliminated, and particularly the reliability and safety of some important components or parts (such as the rotary joint 4, the high-pressure hose II 33, the high-pressure hose I31 and the like) are improved; the filter 11 is opened to filter and soften the construction water introduced therein so that a certain amount of spray water is stored in the reservoir 12.
2. The device comprises two pressurizing branches, after the step 1 is completed, the motors 21 in the two pressurizing branches are simultaneously started through a numerical control switch, high-pressure water formed under the pressurizing effect of a pressurizing pump 22 flows into a confluence device 24 through an energy accumulator 23 under the constant pressure effect, the high-pressure water in the confluence device 24 is regulated through a safety valve 25, one part of the high-pressure water flows back to a water storage device 12, the other part of the high-pressure water flows into a transmission injection mechanism and is finally sprayed out through a plurality of water jet nozzles 6 on a cutter head 81 to assist the hob in rock breaking.
3. When the next construction step still needs to start the water jet auxiliary system, the steps are repeated.
Meanwhile, a water pressure controller is also arranged on the high-pressure pump set to control the original pressure applied by the high-pressure pump set.
The diagnosis and emergency module is connected with the water pressure controller, the values of each flowmeter and each pressure sensor are collected, the diagnosis module compiles a diagnosis program through an upper computer, the input module edits early warning threshold values, the early warning threshold values are connected to the fault position display lamp and the alarm device through the PLC control device and finally displayed on the touch display screen, the diagnosis principle is that when the pressure difference between the two pressure sensors reaches the early warning threshold values, red lamps are lighted corresponding to the fault display and the like of the section, and the alarm device sends out alarm signals.
Meanwhile, a control switch is displayed on the touch screen through a PLC (programmable logic controller), and the control switch can adjust the pressure of the water jet device;
as shown in fig. 2, the mode selection module can select two modes, namely a manual mode and an automatic control mode;
the two modes are established based on the rock mass sensing auxiliary module, the decision is made according to the surrounding rock grade fed back by the rock mass sensing system, and an operator can select the operation mode through the PLC;
when the control mode is the manual control state, the surrounding rock grade acquired by the rock mass sensing module comprisesI、II、III、IV、VFive grades, when the grade of the surrounding rock isI、IIThe assistant decision module displays 'strongly advised to start water jet flow' when the grade of the surrounding rock isIIIAuxiliary strategy module for grade surrounding rock displayStarting water jet flow and when the grade of surrounding rock isIV、VThe auxiliary strategy module displays 'no suggestion to start water jet flow' during grade surrounding rock;
when the control mode is the intelligent control mode, the surrounding rock grade acquired by the rock mass sensing module comprisesI、II、III、IV、VFive grades when the surrounding rock isI、IIWhen the surrounding rock is graded, the water jet device is automatically started, and when the surrounding rock isIII、IV、VWhen surrounding rock is graded, the water jet device is automatically closed;
the storage module is mainly used for storing high-pressure water jet operation monitoring parameters, rock parameters obtained by a rock sensing system and TBM tunneling main parameters; input module connectionPLCThe controller may input an early warning threshold for the diagnostic system; the switch controller comprises a water jet device switch controller, an alarm device switch controller and a water jet pressure controller.
The specific working process is as follows:
starting a TBM tunneling device, starting a high-pressure water jet assisted rock breaking intelligent control system carried on the TBM through a touch display screen, wherein a diagnosis emergency module is used for diagnosing the running state of a high-pressure water supply device in real time according to an alarm program programmed in advance by a host computer and an early warning threshold value input by an input module in the running process of the system, a diagnosis signal is connected to an alarm indicating device and a storage module through a PLC (programmable logic controller), and if the running state of the device is good, each indicator lamp is displayed to be green; when a fault occurs, the display lamp corresponding to the position where the fault occurs displays red, a fault alarm signal is sent, meanwhile, the emergency module automatically closes the water jet device, in addition, various control devices of the water jet device are displayed on a display screen through a PLC (programmable logic controller), the self-diagnosis and emergency module and the shield equipment run in parallel, the self-diagnosis and emergency module and the shield equipment run in a synchronous state, and the obtained monitoring data are stored in the storage module in the running process of the system.
The rock mass sensing module collects surrounding rock parameters and TBM tunneling main parameters under the current tunneling working condition in real time, the surrounding rock grade under the current tunneling state is judged, an operator of the TBM tunneling machine selects to start an automatic control mode on a touch display screen according to requirements, and when the tunneling working condition isI、IIWhen surrounding rock is graded, the high-pressure water supply device automatically starts the high-pressure water auxiliary rock breaking device, and the high-pressure water jet and the hob share the rock breaking task, so that the tunneling speed is greatly improved, and the tunneling cost is reduced; when the working condition isIII、IV、VAnd the water jet auxiliary device is automatically closed when surrounding rocks are similar.
The rock mass sensing module collects surrounding rock parameters and TBM tunneling main parameters under the current tunneling working condition in real time, the surrounding rock grade under the current tunneling state is judged, a TBM tunneling operator selects to start a manual control mode on a touch display screen according to requirements, and when the surrounding rock grade isI、IIThe stage-time assistant decision module displays 'strongly advised to start water jet', and when the grade of surrounding rock isIIIThe stage time auxiliary strategy module displays 'suggestion on water jet flow', and when the grade of surrounding rock isIV、VAnd the stage time auxiliary strategy module displays that 'water jet is not recommended to be started', and an operator selects whether to start the auxiliary rock breaking system according to the prompt information and the field operation condition.
The PLC is connected with the touch display screen, the pressure sensor, the flow meter monitoring signal and the diagnosis emergency module information are displayed on the touch display screen in real time, and meanwhile, a water pressure adjusting button of the water jet device is displayed on the touch screen and can adjust the high-pressure water pressure.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (7)
1. The utility model provides a supplementary broken rock intelligence control system of water jet which characterized by: the device comprises a processor, a diagnosis module, a rock mass perception auxiliary decision module and an input unit, wherein:
the rock mass perception auxiliary decision-making module is configured to acquire a surrounding rock state and a TBM tunneling main parameter, and judge whether to start the water jet auxiliary rock breaking system according to the surrounding rock state and the TBM tunneling main parameter;
the rock mass perception auxiliary decision-making module is used for dividing the current tunnel surrounding rock grade in real time according to the tunneling main parameter of the tunnel boring machine; selecting the single-blade propelling force and the penetration degree obtained by the development machine in real time according to the main development parameters, taking the ratio of the single-blade propelling force to the penetration degree as a judgment value, and dividing corresponding surrounding rock grades according to the difference of the judgment values;
the diagnosis module is connected with a pressure sensor and a flowmeter, respectively detects the water supply pressure and flow of the water jet assisted rock breaking system, transmits a detection value to the diagnosis module, judges that a fault occurs when the water supply pressure drop is larger than a set threshold value, and the processor sends a signal to close the water jet assisted rock breaking system;
the input unit is configured to receive an input signal and comprises a mode selection module, the mode selection module is configured to determine an operation control mode of the processor, and when the mode selection module is a manual control mode, the processor outputs a grade obtained according to the rock mass sensing auxiliary decision-making module and gives a suggestion of opening/closing the water jet auxiliary rock breaking system matched with the grade; when the mode selection module is in an intelligent/automatic control mode, the processor automatically turns on/off the water jet assisted rock breaking system according to the grade obtained by the rock mass sensing assisted decision-making module;
the processor is configured to receive the input signal, judge a corresponding preset threshold value and a corresponding surrounding rock grade according to the input signal, and output signals to the diagnosis module and the rock mass perception auxiliary decision-making module;
the rock mass sensing module collects surrounding rock parameters and TBM tunneling main parameters under the current tunneling working condition in real time, judges the surrounding rock grade under the current tunneling state and operates the TBM tunneling machineThe operator selects and starts the automatic control mode on the touch display screen according to the requirement, and when the tunneling working condition isI、IIWhen surrounding rock is graded, the high-pressure water supply device automatically starts the high-pressure water auxiliary rock breaking device, and the high-pressure water jet and the hob share the rock breaking task; when the working condition isIII、IV、VAutomatically closing the water jet auxiliary device when the surrounding rock is similar;
the rock mass sensing module collects surrounding rock parameters and TBM tunneling main parameters under the current tunneling working condition in real time, the surrounding rock grade under the current tunneling state is judged, a TBM tunneling operator selects to start a manual control mode on a touch display screen according to requirements, and when the surrounding rock grade isI、IIThe stage-time assistant decision module displays 'strongly advised to start water jet', and when the grade of surrounding rock isIIIThe stage time auxiliary strategy module displays 'suggestion on water jet flow', and when the grade of surrounding rock isIV、VAnd the stage time auxiliary strategy module displays that 'water jet is not recommended to be started', and an operator selects whether to start the auxiliary rock breaking system according to the prompt information and the field operation condition.
2. The intelligent control system for water jet assisted rock breaking as claimed in claim 1, wherein: the diagnosis module is further connected with an emergency switch, the emergency switch controls the water jet auxiliary rock breaking system to be switched on and off, when the diagnosis module judges that a fault occurs, a signal is sent to the emergency switch, and the emergency switch stops the water jet auxiliary rock breaking system.
3. The intelligent control system for water jet assisted rock breaking as claimed in claim 1, wherein: the processor is connected with an alarm device, when the processor receives the diagnosis result of the diagnosis module and the diagnosis result is that a fault occurs, a signal is sent to the alarm device, and the alarm device gives an alarm.
4. The intelligent control system for water jet assisted rock breaking as claimed in claim 1, wherein: the input module includes, but is not limited to, one or more of a touch screen, a keyboard, a button, and a mouse.
5. The intelligent control system for water jet assisted rock breaking as claimed in claim 1, wherein: the processor is also connected with a storage module, and the storage module stores the high-pressure water jet operation monitoring parameters and the obtained rock mass parameters.
6. The intelligent control system for water jet assisted rock breaking as claimed in claim 1, wherein: the processor is further connected with an output module, and the output module comprises a display screen.
7. Method of operating a control system according to any of claims 1-6, characterized in that: the method comprises the steps of obtaining a surrounding rock state and TBM tunneling main parameters, judging whether to start a water jet auxiliary rock breaking system according to the surrounding rock state and the tunneling main parameters, detecting water supply pressure and flow of the water jet auxiliary rock breaking system in real time if the water jet auxiliary rock breaking system is started, transmitting a detection value to a diagnosis module, judging that a fault occurs when water supply pressure drops to be larger than a set threshold value, and closing the water jet auxiliary rock breaking system.
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| CN2019101327564 | 2019-02-21 | ||
| CN201910132756.4A CN109812257A (en) | 2019-02-21 | 2019-02-21 | Water jet auxiliary rock intelligence control system and method |
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| CN109812257A (en) * | 2019-02-21 | 2019-05-28 | 山东大学 | Water jet auxiliary rock intelligence control system and method |
| CN110185428A (en) * | 2019-05-31 | 2019-08-30 | 重庆大学 | A kind of coal mine underground movable water jet system |
| CN110318766B (en) * | 2019-07-02 | 2024-06-25 | 中国科学院武汉岩土力学研究所 | TBM tunneling equipment for mechanical-hydraulic combined rock breaking and tunneling method thereof |
| CN110318765B (en) * | 2019-07-02 | 2020-08-21 | 中国科学院武汉岩土力学研究所 | Mechanical-hydraulic combined rock breaking TBM real-time tunneling method based on lithology recognition |
| CN110259474B (en) * | 2019-07-02 | 2024-07-16 | 中国科学院武汉岩土力学研究所 | Double-hob hydraulic-mechanical TBM cutter head combined rock breaking method and tunneling equipment thereof |
| CN110219660B (en) * | 2019-07-02 | 2024-07-16 | 中国科学院武汉岩土力学研究所 | Hydraulic-mechanical TBM cutter head combined rock breaking method and cutter head and device thereof |
| CN111556094B (en) * | 2020-03-31 | 2021-06-15 | 中信重工机械股份有限公司 | Internet of things cloud platform system based on high-pressure water jet robot |
| CN111520156B (en) * | 2020-04-30 | 2021-01-29 | 中国矿业大学 | Energy-gathering jet rock breaking and fluidization carrying system and method |
| CN112196571B (en) * | 2020-09-30 | 2022-08-19 | 中国铁建重工集团股份有限公司 | Abrasive jet flow auxiliary mechanical rock breaking system and method |
| CN112160762A (en) * | 2020-10-13 | 2021-01-01 | 盾构及掘进技术国家重点实验室 | Tunneling machine cutter head for rock breaking by combining high-pressure water jet and hobbing cutter |
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