CN116255160B - Cutting control method, cutting control device, cutting control assembly, tunneling device and readable storage medium - Google Patents

Cutting control method, cutting control device, cutting control assembly, tunneling device and readable storage medium Download PDF

Info

Publication number
CN116255160B
CN116255160B CN202310547997.1A CN202310547997A CN116255160B CN 116255160 B CN116255160 B CN 116255160B CN 202310547997 A CN202310547997 A CN 202310547997A CN 116255160 B CN116255160 B CN 116255160B
Authority
CN
China
Prior art keywords
cutting
roadway
coordinate value
longitudinal coordinate
circle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202310547997.1A
Other languages
Chinese (zh)
Other versions
CN116255160A (en
Inventor
苏昌奇
刘洋
张明明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sany Intelligent Equipment Co ltd
Sany Heavy Equipment Co Ltd
Original Assignee
Sany Intelligent Equipment Co ltd
Sany Heavy Equipment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sany Intelligent Equipment Co ltd, Sany Heavy Equipment Co Ltd filed Critical Sany Intelligent Equipment Co ltd
Priority to CN202310547997.1A priority Critical patent/CN116255160B/en
Publication of CN116255160A publication Critical patent/CN116255160A/en
Application granted granted Critical
Publication of CN116255160B publication Critical patent/CN116255160B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Environmental & Geological Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application relates to the field of control of working machinery, and particularly provides a cutting control method, a device, a component, tunneling equipment and a readable storage medium, wherein the cutting control method is used for controlling the tunneling equipment to cut a flat-top three-center arch roadway, and comprises the following steps of: acquiring the size parameters of a flat-top three-heart arch roadway; determining a plurality of cutting areas contained in the flat-topped three-heart arch roadway according to the size parameters; establishing a cutting coordinate system according to the size parameters; determining a plurality of cutting longitudinal coordinate values according to the cutting coordinate system; determining a cutting area where a plurality of cutting longitudinal coordinate values are located, and determining a cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value according to the cutting area where the cutting longitudinal coordinate value is located and the size parameter; generating a cutting path according to the plurality of cutting longitudinal coordinate values and the plurality of cutting transverse boundary coordinate values; and controlling a cutting head of the tunneling equipment to cut according to the cutting path.

Description

Cutting control method, cutting control device, cutting control assembly, tunneling device and readable storage medium
Technical Field
The present disclosure relates to the field of work machine control, and more particularly, to a cutting control method, apparatus, assembly, tunneling apparatus, and readable storage medium.
Background
In the related art, for a flat-top three-center arch roadway, an automatic cutting method for automatically cutting the flat-top three-center arch roadway cannot accurately position coordinate values of roadway boundaries, the conditions of over-digging and under-digging are easily caused, the forming effect of the roadway is affected, and the automatic cutting requirement of the flat-top three-center arch roadway cannot be met.
Disclosure of Invention
In order to solve the technical problem that the automatic cutting requirement of the flat-top three-center arch roadway cannot be met due to the fact that the automatic cutting of the flat-top three-center arch roadway is easy to cause over-digging and under-digging, the forming effect of the roadway is affected, and the first aim of the application is to provide a cutting control method.
A second object of the present application is to provide a cutting control device.
A third object of the application is to propose a cutting control assembly.
A fourth object of the present application is to provide a ripping apparatus.
A fifth object of the present application is to propose a readable storage medium.
According to a first object of the present application, there is provided a cutting control method for controlling a cutting operation of a heading apparatus for a flat-topped three-heart arch roadway, the cutting control method comprising: acquiring the size parameters of a flat-top three-heart arch roadway; determining a plurality of cutting areas contained in the flat-topped three-heart arch roadway according to the size parameters; establishing a cutting coordinate system according to the size parameters; determining a plurality of cutting longitudinal coordinate values according to the cutting coordinate system; determining a cutting area where a plurality of cutting longitudinal coordinate values are located, and determining a cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value according to the cutting area where the cutting longitudinal coordinate value is located and the size parameter; generating a cutting path according to the plurality of cutting longitudinal coordinate values and the plurality of cutting transverse boundary coordinate values; and controlling a cutting head of the tunneling equipment to cut according to the cutting path.
The cutting control method provided by the application is used for controlling the tunneling equipment to cut the flat-top three-center arch roadway, and particularly, the flat-top three-center arch roadway is an arch-section roadway formed by three circular arcs.
In the following technical solutions, the execution body of the cutting control method provided by the present application may be a cutting control device of a tunneling device or a cutting control component of a tunneling device, so as to more clearly describe the cutting control method provided by the present application, and the execution body of the cutting control method is exemplified as the cutting control component of the tunneling device.
In the process of controlling cutting operation of the tunneling equipment, firstly, the dimension parameters of a flat-top three-center arch roadway are obtained. After the size parameters are obtained, determining a cutting area contained in the flat-topped three-heart arch roadway according to the size parameters of the flat-topped three-heart arch roadway. It will be appreciated by those skilled in the art that a flat top tri-arch roadway has two types, one is a flat top of the flat top tri-arch roadway cut over a large circle and the other is a flat top of the flat top tri-arch roadway cut over a small circle, with the flat top cut over a different circle, representing that the flat top tri-arch roadway has a different cut area.
After the dimension parameters of the flat-topped three-heart arch roadway are obtained, the application also establishes a cutting coordinate system according to the dimension parameters of the flat-topped three-heart arch roadway, and the cutting coordinate system can be determined by the roadway height and the roadway width in the dimension parameters.
After determining the cutting coordinate system, determining a plurality of cutting longitudinal coordinate values according to the cutting coordinate system, wherein for the cutting longitudinal coordinate values, it can be understood that in the cutting process, the cutting head of the engineering machinery needs to continuously cut off the cutter and move the height position, so that the cutting operation can be completed completely on the whole flat-top three-center arch roadway, and the cutting longitudinal coordinate values are obtained by converting the height values by using the cutting coordinate system.
After the cutting areas where the plurality of cutting longitudinal coordinate values are located are determined, the cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value is calculated according to the cutting areas and the size parameters. Specifically, the number of the calculated cutting transverse boundary coordinate values corresponding to each cutting longitudinal coordinate value is two, and the two cutting transverse boundary coordinate values are the abscissa of the cutting left boundary position and the abscissa of the cutting right boundary position under the height condition, and the absolute values of the two cutting transverse boundary coordinate values are equal and only show positive and negative opposite in a cutting coordinate system.
The application determines the cutting area where the cutting longitudinal coordinate value is located, obtains the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value according to the size parameters of different cutting areas and the flat top three-center arch tunnel, and finally obtains the transverse cutting boundary corresponding to the cutting area different from the cutting area of different cutting height positions and the flat top three-center arch tunnel, thereby providing boundary limit for cutting of the tunneling equipment and avoiding the phenomena of overexcavation and underexcavation.
After the cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value is determined, a cutting path is generated according to the plurality of cutting longitudinal coordinate values and the plurality of cutting transverse boundary coordinate values, and a cutting head of the tunneling equipment is controlled to cut according to the cutting path, so that the tunneling equipment can automatically cut the flat-topped three-heart arched roadway, the forming requirement of the flat-topped three-heart arched roadway is met, and the forming effect of the roadway is ensured.
In summary, the cutting control method provided by the application utilizes the size parameters of the flat-top three-center arch roadway to determine the cutting area contained in the flat-top three-center arch roadway, and the height position of the cutting head to be cut is correspondingly obtained under the height according to the longitudinal coordinate value of the cutting, so that the transverse cutting boundary coordinate value in the cutting area is obtained, further, the cutting boundary point is obtained, and the connection line of the cutting boundary point is used as a cutting path to control the tunneling equipment to cut, so that the characteristics of the flat-top three-center arch roadway can be correspondingly met, the forming requirement of the flat-top three-center arch roadway can be met, the phenomena of over-digging and under-digging can not occur in the cutting, the complete and standard flat-top three-center arch roadway can be obtained after the cutting, and the automatic cutting forming of the flat-top three-center arch roadway is realized.
In addition, the cutting control method in the technical scheme provided by the application can also have the following additional technical characteristics:
in the above technical solution, preferably, the dimensional parameters include: the process for determining a plurality of cutting areas contained in a flat-topped three-heart arched roadway according to the height of the roadway, the height of the rectangle, the height from the tangent point of a first roadway circle and a second roadway circle to the vertex of the rectangle, and the process specifically comprises the following steps: determining that the flat-topped three-heart arched roadway comprises a first flat-topped arched cutting area, a second flat-topped arched cutting area and a rectangular cutting area under the condition that the height value of the roadway is larger than or equal to the sum value of the height from the tangent point of a first roadway circle and a second roadway circle to the height of a rectangular vertex; and determining that the flat-topped three-heart arched roadway comprises a third flat-topped arched cutting area and a rectangular cutting area under the condition that the height value of the roadway is smaller than the sum value of the height of the rectangular and the height from the tangent point of the first roadway circle and the second roadway circle to the top of the rectangular.
In the technical scheme, the cutting area contained in the flat-top three-center arch roadway is determined through the size parameter, so that the accuracy of determining the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value can be improved, different cutting boundary points are determined according to different cutting areas, and the cutting requirement on the flat-top three-center arch roadway is met.
In any of the foregoing solutions, preferably, the dimensional parameter further includes: the process for determining the cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value according to the cutting area and the size parameter where the cutting longitudinal coordinate value is located comprises the following steps: determining that the cutting longitudinal coordinate value is in a first flat-top arched cutting area, and obtaining a cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value according to the rectangular height, the radius of the first circle of the roadway, the central angle of the first circle of the roadway, the center distance between the first circle of the roadway and the second circle of the roadway and the cutting longitudinal coordinate value.
In the technical scheme, the size parameter further comprises a first circle radius of the roadway, the first circle radius of the roadway is a radius value of a large circle of the roadway, and the size parameter further comprises a central angle of the first circle of the roadway and a circle center distance between the first circle of the roadway and a second circle of the roadway.
In the cutting control method provided by the application, the process of determining the cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value according to the cutting area where the cutting longitudinal coordinate value is located and the size parameter comprises the following steps: determining that the cutting longitudinal coordinate value is in a first flat-top arched cutting area, and obtaining a cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value according to the rectangular height, the radius of the first circle of the roadway, the central angle of the first circle of the roadway, the center distance between the first circle of the roadway and the second circle of the roadway and the cutting longitudinal coordinate value.
The transverse cutting boundary coordinate value corresponding to the longitudinal cutting coordinate value in the first flat arched cutting area is determined through the size parameters, so that the transverse cutting boundary coordinate value corresponds to the first flat arched cutting area, the cutting forming effect of the first flat arched cutting area is ensured, and the phenomena of over-digging and under-digging are avoided.
In any of the above technical solutions, preferably, when it is determined that the cutting longitudinal coordinate value is in the first flat-top arched cutting area, a calculation formula for obtaining the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value is:
；
wherein x is 1 For the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value in the first flat arch cutting area, R is the first circle radius of the roadway, alpha is the center distance between the first circle of the roadway and the second circle of the roadway,and the central angle of a first circle of the roadway is y, the cutting longitudinal coordinate value is y, and h is the rectangular height.
In this technical solution, preferably, a calculation formula for calculating the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value is defined when it is determined that the cutting longitudinal coordinate value is in the first flat arched cutting area, by which the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value can be obtained according to the rectangular height, the radius of the first circle of the roadway, the central angle of the first circle of the roadway, the center distance of the first circle of the roadway and the second circle of the roadway, and the cutting longitudinal coordinate value, and the specific cutting transverse boundary coordinate value is obtained by using the cutting longitudinal coordinate value, so that parameter conversion is also performed by using the cutting coordinate system, and the number of the obtained cutting transverse boundary coordinate values is two, and the two cutting transverse boundary coordinate values are the abscissa of the left boundary position of cutting and the abscissa of the right boundary position of cutting under the cutting longitudinal coordinate value, and the absolute values of the two cutting transverse boundary coordinate values are equal, but the positive and negative are opposite in the cutting coordinate system.
The transverse boundary coordinate value of the cutting corresponding to the longitudinal coordinate value of the cutting in the first flat arch cutting area is obtained through the size parameters and the calculation formula, the transverse boundary coordinate value of the cutting corresponding to the first flat arch cutting area can be ensured, the cutting forming effect is ensured, and the phenomena of over-digging and under-digging are avoided.
In any of the foregoing solutions, preferably, the dimensional parameter further includes: the process for determining the cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value according to the cutting area and the size parameter where the cutting longitudinal coordinate value is located comprises the following steps: determining that the cutting longitudinal coordinate value is in the second flat top arch cutting area or the third flat top arch cutting area, and obtaining the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value according to the rectangular height, the radius of the second circle of the roadway, the central angle of the first circle of the roadway, the center distance between the first circle of the roadway and the second circle of the roadway and the cutting longitudinal coordinate value.
In the technical scheme, the transverse cutting boundary coordinate value corresponding to the longitudinal cutting coordinate value in the second flat arch cutting area or the third flat arch cutting area is determined through the size parameter, so that the transverse cutting boundary coordinate value corresponds to the shape of the second flat arch cutting area or the third flat arch cutting area, the cutting forming effect in cutting by utilizing the cutting paths generated by the transverse cutting boundary coordinate value and the longitudinal cutting coordinate value is ensured, and the phenomena of over-cutting and under-cutting are avoided.
In any of the above-described aspects, preferably, when it is determined that the cutting longitudinal coordinate value is in the second flat top arch cutting area, a calculation formula for obtaining the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value is:
；
wherein x is 2 To be in a second flat roof archThe cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value of the shape cutting area, r is the radius of the second circle of the roadway, alpha is the center distance between the first circle of the roadway and the second circle of the roadway,the central angle of a first circle of the roadway is defined, y is a cutting longitudinal coordinate value, and h is a rectangular height; or under the condition that the cutting longitudinal coordinate value is determined to be in the third flat arched cutting area, obtaining a calculation formula of the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value, wherein the calculation formula is as follows:
；
wherein x is 3 For the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value in the third flat arch cutting area, r is the radius of the second circle of the roadway, alpha is the center distance between the first circle of the roadway and the second circle of the roadway,and the central angle of a first circle of the roadway is y, the cutting longitudinal coordinate value is y, and h is the rectangular height.
In the technical scheme, a calculation formula of a cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value is calculated when the cutting longitudinal coordinate value is determined to be in the second flat arch-shaped cutting area or the third flat arch-shaped cutting area, the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value can be obtained according to the rectangular height, the radius of the second circle of the roadway, the central angle of the first circle of the roadway and the central angle of the second circle of the roadway and the cutting longitudinal coordinate value through the calculation formula, the specific cutting transverse boundary coordinate value is obtained by utilizing the cutting longitudinal coordinate value, the number of the cutting transverse boundary coordinate values is two according to a cutting coordinate system, the two cutting transverse boundary coordinate values are the abscissa of the left boundary position of cutting and the abscissa of the right boundary position of cutting under the cutting longitudinal coordinate value, and the absolute values of the two cutting transverse boundary coordinate values are equal, but the absolute values of the two cutting transverse boundary coordinate values are opposite in the cutting coordinate system.
The size parameters and the calculation formula are used for determining the cutting transverse boundary coordinate values corresponding to the cutting longitudinal coordinate values in the second flat arch-shaped cutting area or the third flat arch-shaped cutting area, so that the cutting transverse boundary coordinate values can be ensured to correspond to different cutting areas, the cutting forming effect is ensured when the cutting path generated by the cutting transverse boundary coordinate values and the cutting longitudinal coordinate values is used for cutting, and the phenomena of overexcavation and underexcavation are avoided.
In any of the above technical solutions, preferably, the size parameter further includes a roadway width, and the process of determining a cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value according to a cutting region where the cutting longitudinal coordinate value is located and the size parameter further includes: determining that the cutting longitudinal coordinate value is in a rectangular cutting area, and obtaining a cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value according to the roadway width; when the cutting longitudinal coordinate value is determined to be in the rectangular cutting area, a calculation formula for obtaining the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value is as follows:
；
wherein x is 4 The horizontal boundary coordinate value is a coordinate value of the cutting corresponding to the vertical coordinate value of the cutting in the rectangular cutting area, and L is the roadway width.
In this technical solution, the dimensional parameters also include the roadway width.
The cutting control method provided by the application determines the process of the cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value according to the cutting area where the cutting longitudinal coordinate value is located and the size parameter, and further comprises the following steps: and determining that the cutting longitudinal coordinate value is in the rectangular cutting area, and obtaining a cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value according to the roadway width.
The size parameter and the calculation formula are used for determining the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value in the rectangular cutting area, so that the cutting transverse boundary coordinate value can be ensured to correspond to the rectangular cutting area, the cutting forming effect is ensured when the cutting path generated by the cutting transverse boundary coordinate value and the cutting longitudinal coordinate value is used for cutting, and the phenomena of over-digging and under-digging are avoided.
In any of the above technical solutions, preferably, the determining a plurality of cutting longitudinal coordinate values according to a cutting coordinate system specifically includes: determining a cutting start point according to the size parameter; connecting a cutting start point with a point on a plane where a flat-top three-center arch roadway is located, and separating the connecting line by taking a preset single cutting amount as a separation amount to obtain a plurality of separation points; determining longitudinal coordinate values of the cutting start point and the plurality of separation points according to the cutting coordinate system; the longitudinal coordinate values of the cutting start point and the plurality of dividing points are taken as the cutting longitudinal coordinate values.
In the cutting control method provided by the application, the process of determining a plurality of cutting longitudinal coordinate values according to a cutting coordinate system specifically comprises the following steps: firstly, determining a cutting starting point for cutting the flat-top three-heart arch roadway according to the size parameters of the flat-top three-heart arch roadway, wherein the cutting starting point is positioned at the highest middle point of the whole flat-top three-heart arch roadway. After determining the cutting start point, connecting the cutting start point with a point on a plane where the flat-topped three-heart arch-shaped roadway is located, specifically, the plane is the ground, the point is a point opposite to the cutting start point along the height direction of the whole flat-topped three-heart arch-shaped roadway, and the connecting line of the ground and the cutting start point is parallel to the gravity direction.
After connecting a cutting start point with a point of a plane where a flat-topped three-center arch roadway is located to obtain a segment, dividing the segment by taking a preset single cutting amount as a dividing amount to obtain a plurality of dividing points, wherein the process is a condition that the height of a cutting head of the simulated tunneling equipment is continuously adjusted according to the preset single cutting amount during cutting.
After a plurality of dividing points are obtained, a cutting start point and longitudinal coordinate values of the dividing points are determined according to a cutting coordinate system, and then the cutting start point and the longitudinal coordinate values of the dividing points are taken as cutting longitudinal coordinate values.
According to the steps, the cutting longitudinal coordinate value can be correspondingly obtained according to the actual height position of the cutting head of the tunneling equipment when the cutting head cuts the flat-topped three-heart arch roadway, so that the cutting transverse boundary coordinate value matched with the cutting longitudinal coordinate value can be finally obtained, the cutting path is correspondingly obtained through the cutting longitudinal coordinate value and the cutting transverse boundary coordinate value, and the cutting accuracy is ensured.
In any of the above embodiments, preferably, the cutting path includes a cutting segment, and the process of generating the cutting path according to the plurality of cutting longitudinal coordinate values and the plurality of cutting transverse boundary coordinate values specifically includes: sequencing a plurality of cutting longitudinal coordinate values according to the sequence from the big value to the small value; determining a first cutting point according to the first cutting longitudinal coordinate value and the middle transverse coordinate value of the two cutting transverse boundary coordinate values corresponding to the first cutting longitudinal coordinate value; determining a second cutting point according to the first cutting longitudinal coordinate value and the negative cutting transverse boundary coordinate value corresponding to the first cutting longitudinal coordinate value; determining a third cutting point according to the first cutting longitudinal coordinate value and a cutting transverse boundary coordinate value which corresponds to the first cutting longitudinal coordinate value and is a positive number; connecting the first cutting point with the second cutting point, and connecting the second cutting point with the third cutting point to obtain the cut-in section.
In the cutting control method provided by the application, the cutting path specifically comprises a cutting-in section, and the cutting-in section is a line section for cutting the first section by the cutting head. Specifically, in the cutting control method provided by the application, a process of generating a cutting path according to a plurality of cutting longitudinal coordinate values and a plurality of cutting transverse boundary coordinate values specifically comprises the following steps: the plurality of cutting longitudinal coordinate values are firstly ordered according to the order of the numerical values from large to small. After sequencing the plurality of cutting longitudinal coordinate values, determining a first cutting point according to a first cutting longitudinal coordinate value and a middle transverse coordinate value of two cutting transverse boundary coordinate values corresponding to the first cutting longitudinal coordinate value; determining a second cutting point according to the first cutting longitudinal coordinate value and the negative cutting transverse boundary coordinate value corresponding to the first cutting longitudinal coordinate value; determining a third cutting point according to the first cutting longitudinal coordinate value and a cutting transverse boundary coordinate value which corresponds to the first cutting longitudinal coordinate value and is a positive number; connecting the first cutting point with the second cutting point, connecting the second cutting point with the third cutting point to obtain the cut-in section, and avoiding the phenomenon of overexcavation or underexcavation in cutting operation through the process of obtaining the cut-in section.
In any of the above embodiments, preferably, the cutting path further includes a cutting segment, and after obtaining the cutting segment, the process of generating the cutting path according to the plurality of cutting longitudinal coordinate values and the plurality of cutting transverse boundary coordinate values further includes: determining a plurality of endpoints according to the second to nth cutting longitudinal coordinate values and positive and negative transverse cutting boundary coordinate values corresponding to the second to nth cutting longitudinal coordinate values; taking an end point close to the third cutting point as a connecting start point, and connecting a plurality of end points according to an S-shaped line to obtain a cutting segment; and connecting the third cutting point with an end point serving as a connecting start point to generate a cutting path.
In the technical scheme, the cutting path further comprises a cutting section, and the cutting section is a line section mainly cut after the cutting head is cut into the length.
After obtaining the cut-in section, the process of generating a cutting path according to the plurality of cutting longitudinal coordinate values and the plurality of cutting transverse boundary coordinate values further comprises: and determining a plurality of endpoints according to the second to Nth cutting longitudinal coordinate values and the positive and negative cutting transverse boundary coordinate values corresponding to the second to Nth cutting longitudinal coordinate values.
After the endpoints are determined, the endpoints close to the third cutting point are used as a connecting starting point, the endpoints are connected according to the S-shaped line to obtain a cutting segment, the third cutting point is connected with the endpoints serving as the connecting starting point, and then the cutting segment and the cutting segment are connected together to finally generate a complete cutting path.
Through the setting of the generated cutting path, on one hand, the forming effect of the flat-top three-heart arch roadway can be guaranteed, on the other hand, the cutting head of the tunneling equipment cuts in an S-shaped path, and the cutting efficiency is improved.
According to a second object of the present application, there is also provided a cutting control device for implementing the steps of the cutting control method according to any one of the above-mentioned aspects, the cutting control device comprising: the acquisition unit is used for acquiring the size parameters of the flat-top three-center arch roadway; the first processing unit is used for determining a plurality of cutting areas contained in the flat-top three-heart arch roadway according to the size parameters; the second processing unit is used for establishing a cutting coordinate system according to the size parameters; a first determining unit configured to determine a plurality of cutting longitudinal coordinate values according to a cutting coordinate system; the second determining unit is used for determining cutting areas where the plurality of cutting longitudinal coordinate values are located, and determining cutting transverse boundary coordinate values corresponding to each cutting longitudinal coordinate value according to the cutting areas where the cutting longitudinal coordinate values are located and the size parameters; a third processing unit for generating a cutting path according to the plurality of cutting longitudinal coordinate values and the plurality of cutting transverse boundary coordinate values; and the control unit is used for controlling the cutting head of the tunneling equipment to cut according to the cutting path.
The cutting control device provided by the second object of the application comprises an acquisition unit, a first processing unit, a second processing unit, a third processing unit, a first determining unit, a second determining unit and a control unit. The acquisition unit is used for acquiring the size parameters of the flat-top three-center arch roadway. After the size parameters of the flat-top three-center arch roadway are obtained, the first processing unit in the cutting control device can correspondingly determine the cutting area contained in the flat-top three-center arch roadway according to the size parameters of the flat-top three-center arch roadway. The second processing unit can establish a cutting coordinate system according to the size parameters of the flat-topped three-center arch roadway.
After the cutting coordinate system is established, the first determining unit determines a plurality of cutting longitudinal coordinate values according to the cutting coordinate system, and for the cutting longitudinal coordinate values, it can be understood that in the cutting process, the cutting head of the engineering machinery needs to continuously cut off, move the height position, and then the whole flat-top three-center arch roadway can be cut, so that the cutting operation is completed completely, and the height values are the cutting longitudinal coordinate values obtained by converting the cutting coordinate system.
After the plurality of cutting longitudinal coordinate values are obtained, the second determining unit determines the cutting areas where the plurality of cutting longitudinal coordinate values are located, and after the cutting areas where the plurality of cutting longitudinal coordinate values are located are determined, the cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value is calculated according to the cutting areas where the plurality of cutting longitudinal coordinate values are located and the size parameters. Specifically, the number of the calculated cutting transverse boundary coordinate values corresponding to each cutting longitudinal coordinate value is two, and the two cutting transverse boundary coordinate values are the abscissa of the cutting left boundary position and the abscissa of the cutting right boundary position under the height condition, and the absolute values of the two cutting transverse boundary coordinate values are equal and only show positive and negative opposite in a cutting coordinate system.
After the cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value is determined, a third processing unit generates a cutting path according to the plurality of cutting longitudinal coordinate values and the plurality of cutting transverse boundary coordinate values, and a control unit controls a cutting head of the tunneling device to cut according to the cutting path, so that the tunneling device can automatically cut the flat-top three-center arch roadway, the forming requirement of the flat-top three-center arch roadway is met, the phenomena of over-digging and under-digging can not occur in the cutting process, the complete and standard flat-top three-center arch roadway can be obtained after cutting, and the automatic cutting forming of the flat-top three-center arch roadway is realized.
According to a third object of the present application, there is also provided a cutting control assembly, wherein the cutting control assembly includes a processor and a memory, the memory storing thereon a program or instructions executable on the processor, the program or instructions implementing the steps of the cutting control method according to any of the above-mentioned aspects when executed by the processor.
The cutting control assembly according to the third object of the present application includes a processor and a memory, wherein a program or an instruction capable of being executed on the processor is stored in the memory, and the program or the instruction realizes the steps of the cutting control method according to any one of the above-mentioned aspects when executed by the processor, so that the cutting control assembly has all the advantages of the cutting control method according to any one of the above-mentioned aspects.
According to a fourth object of the present application, the present application also provides a tunneling apparatus, including a cutting control device or a cutting control assembly according to the above technical solution.
The tunneling device provided by the fourth object of the application comprises the cutting control device or the cutting control assembly in the technical scheme, so that the tunneling device has all the beneficial technical effects of the cutting control device or the cutting control assembly in the technical scheme.
The processor in the cutting control assembly executes the program or the instruction to realize the steps of the cutting control method, so that the tunneling equipment can automatically cut the flat-top three-center arch roadway, the cutting requirement of the flat-top three-center arch roadway is met, the phenomena of over-digging and under-digging are avoided, and the finally obtained flat-top three-center arch roadway is complete.
According to a fifth object of the present application, there is also provided a readable storage medium having a program stored thereon, which when executed by a processor, implements the steps of the cutting control method according to any one of the above-mentioned aspects.
The readable storage medium has stored thereon a program which, when executed by a processor, realizes the steps of the cutting control method as in any one of the above-described aspects, and therefore, the readable storage medium includes all the advantageous technical effects of the cutting control method as in any one of the above-described aspects.
Additional aspects and advantages of the application will be set forth in part in the description which follows, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 shows one of the flow diagrams of a cutting control method in one embodiment of the application;
FIG. 2 shows a second flow chart of a cutting control method according to an embodiment of the application;
FIG. 3 is a third flow chart of a cutting control method according to an embodiment of the application;
FIG. 4 shows a fourth flow chart of a cutting control method in one embodiment of the application;
FIG. 5 shows a schematic diagram of a cutting coordinate system in one embodiment of the application;
FIG. 6 illustrates one of the schematic diagrams of a flat-topped tri-arch roadway in one embodiment of the present application;
FIG. 7 shows a second schematic view of a flat-topped tri-arch roadway in accordance with one embodiment of the present application;
FIG. 8 illustrates a third schematic view of a flat-topped tri-arch roadway in accordance with one embodiment of the present application;
FIG. 9 shows a fourth schematic representation of a flat-topped tri-arch roadway in accordance with one embodiment of the present application;
FIG. 10 is a block diagram schematically showing the structure of a cutting control device in one embodiment of the present application;
fig. 11 is a block diagram schematically illustrating the structure of a cutting control assembly in one embodiment of the present application.
Detailed Description
In order that the above-recited objects, features and advantages of the present application will be more clearly understood, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present application and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced in other ways than those described herein, and therefore the scope of the present application is not limited to the specific embodiments disclosed below.
Cutting control methods, apparatus, assemblies, ripping apparatus, and computer readable storage media in some embodiments of the application are described below with reference to fig. 1-11.
Fig. 1 shows one of flow diagrams of a cutting control method according to an embodiment of the present application, where the cutting control method includes:
s102: acquiring the size parameters of a flat-top three-heart arch roadway;
S104: determining a plurality of cutting areas contained in the flat-topped three-heart arch roadway according to the size parameters;
s106: establishing a cutting coordinate system according to the size parameters;
s108: determining a plurality of cutting longitudinal coordinate values according to the cutting coordinate system;
s110: determining a cutting area where a plurality of cutting longitudinal coordinate values are located, and determining a cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value according to the cutting area where the cutting longitudinal coordinate value is located and the size parameter;
s112: generating a cutting path according to the plurality of cutting longitudinal coordinate values and the plurality of cutting transverse boundary coordinate values;
s114: and controlling a cutting head of the tunneling equipment to cut according to the cutting path.
In this embodiment, the cutting control method provided by the application is used for controlling the tunneling device to cut a flat-top three-center arch roadway, specifically, as shown in fig. 6 and 8, the flat-top three-center arch roadway is an arch-section roadway formed by three circular arcs and has a large circle and two small circles, wherein the center point of the large circle is the point A in the graph, and the center points of the two small circles are the points B and C in the graph.
It should be noted that, the execution body of the cutting control method provided by the present application may be a cutting control device or a cutting control component of the tunneling device, and in order to more clearly describe the cutting control method provided by the present application, the following embodiment uses the execution body of the cutting control method as the cutting control component of the tunneling device for exemplary description.
In the process of controlling cutting operation of the tunneling equipment, firstly, the dimension parameters of a flat-top three-center arch roadway are obtained. After the size parameters are obtained, determining a cutting area contained in the flat-topped three-heart arch roadway according to the size parameters of the flat-topped three-heart arch roadway. It will be appreciated by those skilled in the art that a flat top tri-arch roadway has two types, one is a flat top of the flat top tri-arch roadway cut over a large circle and the other is a flat top of the flat top tri-arch roadway cut over a small circle, with the flat top cut over a different circle, representing that the flat top tri-arch roadway has a different cut area.
After the dimension parameters of the flat-topped three-heart arch roadway are obtained, the application also establishes a cutting coordinate system according to the dimension parameters of the flat-topped three-heart arch roadway, and the cutting coordinate system can be determined by the roadway height and the roadway width in the dimension parameters.
After the cutting coordinate system is established, a plurality of cutting longitudinal coordinate values are determined according to the cutting coordinate system, and for the cutting longitudinal coordinate values, it can be understood that in the cutting process, the cutting head of the engineering machinery needs to continuously move the height position, so that the cutting operation can be completed completely on the whole flat-top three-center arch roadway, and the cutting longitudinal coordinate values obtained by converting the height values through the cutting coordinate system can be obtained.
After the cutting areas where the plurality of cutting longitudinal coordinate values are located are determined, the cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value is calculated according to the cutting areas and the size parameters. Specifically, the number of the calculated cutting transverse boundary coordinate values corresponding to each cutting longitudinal coordinate value is two, and the two cutting transverse boundary coordinate values are the abscissa of the cutting left boundary position and the abscissa of the cutting right boundary position under the height condition, and the absolute values of the two cutting transverse boundary coordinate values are equal and only show positive and negative opposite in a cutting coordinate system.
The application determines the cutting area where the cutting longitudinal coordinate value is located, obtains the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value according to the size parameters of different cutting areas and the flat top three-center arch tunnel, and finally obtains the transverse cutting boundary corresponding to the cutting area different from the cutting area of different cutting height positions and the flat top three-center arch tunnel, thereby providing boundary limit for cutting of the tunneling equipment and avoiding the phenomena of overexcavation and underexcavation.
After the cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value is determined, a cutting path is generated according to the plurality of cutting longitudinal coordinate values and the plurality of cutting transverse boundary coordinate values, and a cutting head of the tunneling equipment is controlled to cut according to the cutting path, so that the tunneling equipment can automatically cut the flat-topped three-heart arched roadway, the forming requirement of the flat-topped three-heart arched roadway is met, and the forming effect of the roadway is ensured.
In this embodiment, the dimensional parameters of the flat-topped tri-arch roadway include, in particular: the height of the tunnel, the height of the rectangle, the width of the tunnel, the radius of the first circle of the tunnel, the central angle of the first circle of the tunnel, the radius of the second circle of the tunnel, the center distance between the first circle of the tunnel and the second circle of the tunnel and the height from the tangent point of the first circle of the tunnel and the second circle of the tunnel to the vertex of the rectangle. The first circle of the roadway is a big circle of three circles of the cross section of the flat-top three-heart arched roadway, the center point of the first circle of the roadway is the point A in fig. 6 and 8, the second circle of the roadway is one of two small circles of the three circles of the cross section of the flat-top three-heart arched roadway, the radiuses of the two small circles are equal, specifically, the center point of the second circle of the roadway is the point B in fig. 6 or 8, and the center point of the corresponding other small circle is the point C in fig. 6 or 8.
Further, as shown in fig. 6 and 8, the above two drawings show the representation positions of the dimensional parameters in the structure of the flat-topped three-center arch roadway, specifically, H in the drawing is the roadway height, H in the drawing is the rectangular height, L in the drawing is the roadway width, R in the drawing is the first circle radius of the roadway, and H in the drawing is the first circle radius of the roadwayFor the central angle of the first circle of the roadway, alpha in the diagram is the center distance between the first circle of the roadway and the second circle of the roadway, r in the diagram is the radius of the second circle of the roadway, D in the diagram is the tangent point of the circles of the first circle of the roadway and the second circle of the roadway, and h in the diagram 1 The height from the tangent point of the circle of the first circle of the roadway to the tangent point of the circle of the second circle of the roadway to the vertex of the rectangle.
Further, the process for obtaining the dimension parameters of the flat-topped three-heart arch roadway specifically comprises the following steps: and receiving the roadway height, the rectangular height, the roadway width, the roadway first circular radius and the roadway first circular central angle which are input by the upper computer.
Calculating the center distance between the first circle of the roadway and the second circle of the roadway according to the roadway width, the first circle radius of the roadway and the central angle of the first circle of the roadway, and specifically, the calculation formula of the center distance between the first circle of the roadway and the second circle of the roadway is as follows:
；
wherein alpha is the center distance between a first circle of the roadway and a second circle of the roadway, R is the radius of the first circle of the roadway, L is the width of the roadway, Is the central angle of the first circle of the roadway.
Specifically, the calculation formula can be derived according to a formula for calculating the roadway width, wherein the calculation formula for calculating the roadway width is as follows:
；
wherein L is the width of the tunnel, alpha is the center distance between a first circle of the tunnel and a second circle of the tunnel, R is the radius of the first circle of the tunnel,is the central angle of the first circle of the roadway.
Further, for the radius of the second circle of the roadway, the method provided by the application is used for calculating the radius of the second circle of the roadway according to the radius of the first circle of the roadway and the center distance between the first circle of the roadway and the second circle of the roadway, and specifically, the calculation formula of the radius of the second circle of the roadway is as follows:
；
wherein R is the radius of the second circle of the roadway, R is the radius of the first circle of the roadway, and alpha is the center distance between the first circle of the roadway and the second circle of the roadway.
For the height from the tangent point of the first circle of the roadway to the second circle of the roadway to the rectangular vertex, the application sets the height from the tangent point of the first circle of the roadway to the second circle of the roadway to the rectangular vertex calculated according to the radius of the second circle of the roadway and the central angle of the first circle of the roadway, and specifically, the calculation formula from the tangent point of the first circle of the roadway to the second circle of the roadway to the rectangular vertex is as follows:
；
wherein h is 1 Is the height from the tangent point of the circle of the first circle of the roadway to the tangent point of the circle of the second circle of the roadway to the top point of the rectangle, r is the radius of the second circle of the roadway, Is the central angle of the first circle of the roadway.
In this embodiment, the relation between the cutting coordinate system and the flat-top three-centered arch roadway is shown in fig. 5, specifically, the cutting control method provided by the application is based on the roadway height and the roadway width in the dimension of the flat-top three-centered arch roadway when the cutting coordinate system is established, the cutting coordinate system is specifically a plane rectangular coordinate system, and the origin of coordinates of the cutting coordinate system is the middle value of the roadway width and the lowest value of the roadway height. The X axis of the cutting coordinate system is the width direction of the roadway, and the Y axis of the cutting coordinate system is the height direction of the roadway.
In this embodiment, the dimensional parameters include: the process for determining a plurality of cutting areas contained in a flat-topped three-heart arched roadway according to the height of the roadway, the height of the rectangle, the height from the tangent point of a first roadway circle and a second roadway circle to the vertex of the rectangle, and the process specifically comprises the following steps: determining that the flat-topped three-heart arched roadway comprises a first flat-topped arched cutting area, a second flat-topped arched cutting area and a rectangular cutting area under the condition that the height value of the roadway is larger than or equal to the sum value of the height from the tangent point of a first roadway circle and a second roadway circle to the height of a rectangular vertex; and determining that the flat-topped three-heart arched roadway comprises a third flat-topped arched cutting area and a rectangular cutting area under the condition that the height value of the roadway is smaller than the sum value of the height of the rectangular and the height from the tangent point of the first roadway circle and the second roadway circle to the top of the rectangular.
In this embodiment, after the roadway height, the rectangular height, and the height from the tangent point of the first roadway circle and the second roadway circle to the rectangular vertex in the dimension parameters of the flat-top three-center arch roadway are obtained, the process of determining a plurality of cutting areas included in the flat-top three-center arch roadway according to the dimension parameters specifically includes: the value of the roadway height is compared with the sum of the value of the height of the vertices of the roadway first circle and the roadway second circle to the arch and the value of the rectangle height. And determining that the flat-topped three-heart arched roadway comprises a first flat-topped arched cutting area, a second flat-topped arched cutting area and a rectangular cutting area under the condition that the height value of the roadway is larger than or equal to the sum value of the height from the tangent point of the first roadway circle and the second roadway circle to the height of the rectangular vertex.
Specifically, fig. 6 and 7 show specific positions of a first flat arch-shaped cutting region, a second flat arch-shaped cutting region and a rectangular cutting region included in a flat-top three-heart arch roadway, the first flat arch-shaped cutting region having a longitudinal length h 2 The longitudinal length of the second flat arch-shaped cutting area is h 1 The longitudinal length of the rectangular cutting area is h.
And determining that the flat-topped three-heart arched roadway comprises a third flat-topped arched cutting area and a rectangular cutting area under the condition that the height value of the roadway is smaller than the sum value of the height of the rectangular and the height from the tangent point of the first roadway circle and the second roadway circle to the top of the rectangular. In particular, the specific positions of the two cutting zones can be seen with reference to fig. 8 and 9, wherein the third flat-top arched cutting zone has a longitudinal length h 3 The longitudinal length of the rectangular cutting area is h.
In the embodiment, the cutting area contained in the flat-top three-heart arch roadway is determined through the size parameter, so that the accuracy of determining the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value can be improved, different cutting boundary points are determined according to different cutting areas, and the cutting requirement on the flat-top three-heart arch roadway is met.
Specifically, in the case where the value of the tunnel height is greater than or equal to the sum of the rectangular height and the height from the tangent point of the tunnel first circle and the tunnel second circle to the rectangular vertex, it can be determined that this flat-topped three-centered arch tunnel is a tunnel that is flat-topped on a large circle, i.e., a flat-topped three-centered arch tunnel as shown in fig. 6. In the case where the value of the tunnel height is smaller than the sum of the rectangular height and the height from the tangent point of the tunnel first circle and the tunnel second circle to the rectangular vertex, the flat-topped three-centered arch tunnel is determined to be a tunnel with a flat roof cut on a small circle, namely, a flat-topped three-centered arch tunnel as shown in fig. 8.
Fig. 2 shows a second flow chart of a cutting control method according to an embodiment of the present application, where the cutting control method includes:
S202: acquiring the size parameters of a flat-top three-heart arch roadway;
s204: determining that the flat-topped three-heart arched roadway comprises a first flat-topped arched cutting area, a second flat-topped arched cutting area and a rectangular cutting area under the condition that the height value of the roadway is larger than or equal to the sum value of the height from the tangent point of a first roadway circle and a second roadway circle to the height of a rectangular vertex;
s206: establishing a cutting coordinate system according to the size parameters;
s208: determining a plurality of cutting longitudinal coordinate values according to the cutting coordinate system;
s210: determining cutting areas where the plurality of cutting longitudinal coordinate values are located;
s212: determining that the cutting longitudinal coordinate value is in a first flat-top arched cutting area, and obtaining a cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value according to the rectangular height, the radius of the first circle of the roadway, the central angle of the first circle of the roadway, the center distances of the first circle of the roadway and the second circle of the roadway and the cutting longitudinal coordinate value;
s214: determining that the cutting longitudinal coordinate value is in a second flat top arch cutting area, and obtaining a cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value according to the rectangular height, the radius of a second circle of the roadway, the central angle of the first circle of the roadway, the center distances of the first circle of the roadway and the second circle of the roadway and the cutting longitudinal coordinate value;
S216: determining that the cutting longitudinal coordinate value is in a rectangular cutting area, and obtaining a cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value according to the roadway width;
s218: generating a cutting path according to the plurality of cutting longitudinal coordinate values and the plurality of cutting transverse boundary coordinate values;
s220: and controlling a cutting head of the tunneling equipment to cut according to the cutting path.
In this embodiment, the value of the roadway height is compared with the sum of the value of the height of the vertices of the roadway first circle and roadway second circle to arch and the value of the rectangular height. And determining that the flat-topped three-heart arched roadway comprises a first flat-topped arched cutting area, a second flat-topped arched cutting area and a rectangular cutting area under the condition that the height value of the roadway is larger than or equal to the sum value of the height from the tangent point of the first roadway circle and the second roadway circle to the height of the rectangular vertex.
And acquiring a plurality of cutting longitudinal coordinate values, determining a cutting area where the plurality of cutting longitudinal coordinate values are located, determining that the cutting longitudinal coordinate values are in a first flat arch cutting area, and obtaining a cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value according to the rectangular height, the first circle radius of the roadway, the first circle central angle of the roadway, the center distance between the first circle of the roadway and the second circle of the roadway and the cutting longitudinal coordinate value.
The transverse cutting boundary coordinate value corresponding to the longitudinal cutting coordinate value in the first flat arch cutting area is determined through the size parameters, so that the transverse cutting boundary coordinate value corresponds to the first flat arch cutting area, the cutting forming effect of the first flat arch cutting area is ensured, and the phenomena of over-digging and under-digging are avoided.
Specifically, when it is determined that the cutting longitudinal coordinate value is in the first flat-top arched cutting area, a calculation formula for obtaining the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value is:
；
wherein x is 1 To be in a first flat-top arched cutting zoneThe cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value of the domain, R is the radius of the first circle of the roadway, alpha is the center distance between the first circle of the roadway and the second circle of the roadway,and the central angle of a first circle of the roadway is y, the cutting longitudinal coordinate value is y, and h is the rectangular height.
According to the calculation formula, the corresponding cutting transverse boundary coordinate values corresponding to the cutting longitudinal coordinate values can be obtained according to the rectangular height, the radius of the first circle of the roadway, the central angle of the first circle of the roadway, the central distance between the first circle of the roadway and the second circle of the roadway and the cutting longitudinal coordinate values, and the specific cutting transverse boundary coordinate values are obtained by utilizing the cutting longitudinal coordinate values, so that the number of the cutting transverse boundary coordinate values is two by utilizing a cutting coordinate system, namely, under the cutting longitudinal coordinate values, the transverse coordinate of the left boundary position of cutting and the transverse coordinate of the right boundary position of cutting, and the absolute values of the two cutting transverse boundary coordinate values are equal, but are opposite in positive and negative in the cutting coordinate system.
In this embodiment, if it is determined that the cutting longitudinal coordinate value is in the second flat top arch cutting area, the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value is obtained according to the rectangular height, the radius of the lane second circle, the central angle of the lane first circle, the center distance between the lane first circle and the lane second circle, and the cutting longitudinal coordinate value.
The size parameter is used for determining the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value in the second flat top arch cutting area, so that the cutting transverse boundary coordinate value corresponds to the second flat top arch cutting area, the cutting forming effect is ensured when a cutting path generated by the cutting transverse boundary coordinate value and the cutting longitudinal coordinate value is used for cutting, and the phenomena of over-cut and under-cut are avoided.
Specifically, when it is determined that the cutting longitudinal coordinate value is in the second flat top arch cutting region, a calculation formula for obtaining the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value is:
；
wherein x is 2 For the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value in the second flat arch cutting area, r is the radius of the second circle of the roadway, alpha is the center distance between the first circle of the roadway and the second circle of the roadway, And the central angle of a first circle of the roadway is y, the cutting longitudinal coordinate value is y, and h is the rectangular height.
According to the calculation formula, the corresponding cutting transverse boundary coordinate values corresponding to the cutting longitudinal coordinate values can be obtained according to the rectangular height, the radius of the second circle of the roadway, the central angle of the first circle of the roadway, the central distance between the first circle of the roadway and the second circle of the roadway and the cutting longitudinal coordinate values, and the specific cutting transverse boundary coordinate values are obtained by utilizing the cutting longitudinal coordinate values, so that the corresponding cutting transverse boundary coordinate values are presented according to a cutting coordinate system, the number of the obtained cutting transverse boundary coordinate values is two, and the two cutting transverse boundary coordinate values are the transverse coordinate of the left boundary position of cutting and the transverse coordinate of the right boundary position of cutting under the cutting longitudinal coordinate values, and the absolute values of the two cutting transverse boundary coordinate values are equal, but are positive and negative in the cutting coordinate system.
In this embodiment, if it is determined that the cutting longitudinal coordinate value is in the rectangular cutting region, the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value is obtained from the lane width.
Specifically, when it is determined that the cutting longitudinal coordinate value is in the rectangular cutting region, a calculation formula for obtaining the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value is:
；
Wherein x is 4 A cutting transverse boundary coordinate value corresponding to a cutting longitudinal coordinate value at the rectangular cutting region,l is the roadway width.
It can be seen that in this embodiment, the process of determining the coordinate value of the cutting transversal boundary corresponding to each cutting longitudinal coordinate value according to the cutting area where the cutting longitudinal coordinate value is located and the size parameter further includes: and determining that the cutting coordinate value is in the rectangular cutting area, and obtaining a cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value according to the roadway width.
The size parameters and the calculation formula are used for determining the cutting transverse boundary coordinate values corresponding to the cutting longitudinal coordinate values in the rectangular cutting area, so that the cutting transverse boundary coordinate values can be ensured to correspond to the rectangular cutting area, the cutting forming effect is ensured when the cutting path generated by the cutting transverse boundary coordinate values and the cutting longitudinal coordinate values is used for cutting, and the phenomena of over-digging and under-digging are avoided.
In this embodiment, specifically, the process of determining the cutting region in which the plurality of cutting longitudinal coordinate values are located specifically includes: comparing the cutting longitudinal coordinate value with the height of the roadway, the height of the rectangle and the height from the tangent point of the first roadway circle and the second roadway circle to the height of the roadway vertex, and determining that the cutting longitudinal coordinate value is in the first flat arched cutting area under the condition that the cutting longitudinal coordinate value is larger than the sum value of the height of the rectangle and the height from the tangent point of the first roadway circle and the second roadway circle to the height of the rectangle vertex and smaller than or equal to the value of the roadway height.
And determining that the cutting longitudinal coordinate value is in the second flat arch cutting area under the condition that the cutting longitudinal coordinate value is smaller than or equal to the sum value of the height from the tangent point of the first circle of the roadway and the second circle of the roadway to the height of the rectangular vertex and is larger than the value of the rectangular height.
In the case where the cutting longitudinal coordinate value is a value greater than zero and less than or equal to the height of the rectangle, it is determined that the cutting longitudinal coordinate value is within the rectangular cutting area.
Fig. 3 shows a third flow chart of a cutting control method according to an embodiment of the present application, where the cutting control method includes:
s302: acquiring the size parameters of a flat-top three-heart arch roadway;
s304: under the condition that the value of the roadway height is smaller than the sum value of the height from the tangent point of the roadway first circle and the roadway second circle to the height of the rectangular vertex, determining that the flat-topped three-heart arched roadway comprises a third flat-topped arched cutting area and a rectangular cutting area;
s306: establishing a cutting coordinate system according to the size parameters;
s308: determining a plurality of cutting longitudinal coordinate values according to the cutting coordinate system;
s310: determining cutting areas where the plurality of cutting longitudinal coordinate values are located;
s312: determining that the cutting longitudinal coordinate value is in a third flat-top arched cutting area, and obtaining a cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value according to the rectangular height, the radius of the second circle of the roadway, the central angle of the first circle of the roadway, the center distances of the first circle of the roadway and the second circle of the roadway and the cutting longitudinal coordinate value;
S314: determining that the cutting longitudinal coordinate value is in a rectangular cutting area, and obtaining a cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value according to the roadway width;
s316: generating a cutting path according to the plurality of cutting longitudinal coordinate values and the plurality of cutting transverse boundary coordinate values;
s318: and controlling a cutting head of the tunneling equipment to cut according to the cutting path.
In this embodiment, it is determined that the flat-topped, tri-centered, arched roadway includes a third flat-topped, arched cutting region and a rectangular cutting region, where the value of the roadway height is less than the sum of the rectangular height and the height of the tangent point of the roadway first circle and the roadway second circle to the rectangular vertex.
And determining that the cutting longitudinal coordinate value is in a third flat-top arched cutting area, and obtaining a cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value according to the rectangular height, the radius of the second circle of the roadway, the central angle of the first circle of the roadway, the center distances of the first circle of the roadway and the second circle of the roadway and the cutting longitudinal coordinate value.
The transverse cutting boundary coordinate value corresponding to the cutting longitudinal coordinate value in the third flat arched cutting area is determined through the size parameter, so that the transverse cutting boundary coordinate value can be ensured to correspond to the third flat arched cutting area, the cutting forming effect is ensured when a cutting path generated by the transverse cutting boundary coordinate value and the longitudinal cutting coordinate value is used for cutting, and the phenomena of over-cut and under-cut are avoided.
Specifically, when it is determined that the cutting longitudinal coordinate value is within the third flat-top arched cutting area, a calculation formula for obtaining the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value is:
；
wherein x is 3 For the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value in the third flat arch cutting area, r is the radius of the second circle of the roadway, alpha is the center distance between the first circle of the roadway and the second circle of the roadway,and the central angle of a first circle of the roadway is y, the cutting longitudinal coordinate value is y, and h is the rectangular height.
Through the calculation formula, the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value can be obtained according to the rectangular height, the radius of the second circle of the roadway, the central angle of the first circle of the roadway, the center distance between the first circle of the roadway and the second circle of the roadway and the cutting longitudinal coordinate value correspondingly.
In this embodiment, if it is determined that the cutting longitudinal coordinate value is in the rectangular cutting region, the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value is obtained from the lane width.
Specifically, when it is determined that the cutting longitudinal coordinate value is in the rectangular cutting region, a calculation formula for obtaining the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value is:
；
Wherein x is 4 For pairs of cutting longitudinal coordinate values with those in rectangular cutting areasAnd the corresponding cutting transverse boundary coordinate value L is the roadway width.
Fig. 4 shows a fourth flow chart of a cutting control method according to an embodiment of the present application, where the cutting control method includes:
s402: acquiring the size parameters of a flat-top three-heart arch roadway;
s404: determining a plurality of cutting areas contained in the flat-topped three-heart arch roadway according to the size parameters;
s406: determining a cutting start point according to the size parameter;
s408: connecting a cutting start point with a point on a plane where a flat-top three-center arch roadway is located, and separating the connecting line by taking a preset single cutting amount as a separation amount to obtain a plurality of separation points;
s410: determining longitudinal coordinate values of the cutting start point and the plurality of separation points according to the cutting coordinate system;
s412: taking the longitudinal coordinate values of the cutting start point and the plurality of separation points as the cutting longitudinal coordinate values;
s414: determining a cutting area where a plurality of cutting longitudinal coordinate values are located, and determining a cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value according to the cutting area where the cutting longitudinal coordinate value is located and the size parameter;
s416: generating a cutting path according to the plurality of cutting longitudinal coordinate values and the plurality of cutting transverse boundary coordinate values;
S418: and controlling a cutting head of the tunneling equipment to cut according to the cutting path.
In this embodiment, the process of determining a plurality of cutting longitudinal coordinate values from the cutting coordinate system specifically includes: firstly, determining a cutting starting point for cutting the flat-top three-heart arch roadway according to the size parameters of the flat-top three-heart arch roadway, wherein the cutting starting point is positioned at the highest middle point of the whole flat-top three-heart arch roadway. After determining the cutting start point, connecting the cutting start point with a point on a plane where the flat-topped three-heart arch-shaped roadway is located, specifically, the plane is the ground, the point is a point opposite to the cutting start point along the height direction of the whole flat-topped three-heart arch-shaped roadway, and the connecting line of the ground and the cutting start point is parallel to the gravity direction.
After connecting a cutting start point with a point of a plane where a flat-topped three-center arch roadway is located to obtain a segment, dividing the segment by taking a preset single cutting amount as a dividing amount to obtain a plurality of dividing points, wherein the process is a condition that the height of a cutting head of the simulated tunneling equipment is continuously adjusted according to the preset single cutting amount when the cutting head is used for cutting.
After a plurality of dividing points are obtained, a cutting start point and longitudinal coordinate values of the dividing points are determined according to a cutting coordinate system, and then the cutting start point and the longitudinal coordinate values of the dividing points are taken as cutting longitudinal coordinate values.
Through the steps, the cutting longitudinal coordinate value can be correspondingly obtained according to the actual height position of the cutting head of the tunneling equipment when the cutting head cuts the flat-topped three-heart arch roadway, so that the cutting transverse boundary coordinate value matched with the cutting longitudinal coordinate value can be finally obtained, the cutting path is correspondingly obtained according to the cutting longitudinal coordinate value and the cutting transverse boundary coordinate value, and the cutting accuracy is ensured.
Specifically, the cutting path includes a cut-in section, which refers to a line section where the cutting head cuts into the first section. In this embodiment, in the cutting control method provided by the present application, a process of generating a cutting path according to a plurality of cutting longitudinal coordinate values and a plurality of cutting transverse boundary coordinate values specifically includes: first, the plurality of cutting longitudinal coordinate values are ordered in order of the values from large to small, for example, when there are five cutting longitudinal coordinate values, and the values of the five cutting longitudinal coordinate values are 3000, 2800, 2600, 2400, and 2200, respectively, then the cutting longitudinal coordinate value of 3000 is the first cutting longitudinal coordinate value, and the cutting longitudinal coordinate value of 2800 is the second cutting longitudinal coordinate value.
After sequencing the plurality of cutting longitudinal coordinate values, determining a first cutting point according to a first cutting longitudinal coordinate value and a middle transverse coordinate value of two cutting transverse boundary coordinate values corresponding to the first cutting longitudinal coordinate value; determining a second cutting point according to the first cutting longitudinal coordinate value and the negative cutting transverse boundary coordinate value corresponding to the first cutting longitudinal coordinate value; determining a third cutting point according to the first cutting longitudinal coordinate value and a cutting transverse boundary coordinate value which corresponds to the first cutting longitudinal coordinate value and is a positive number; connecting the first cutting point with the second cutting point, connecting the second cutting point with the third cutting point to obtain the cut-in section, and avoiding the phenomenon of overexcavation or underexcavation in cutting operation through the process of obtaining the cut-in section.
Further, in the cutting control method provided by the application, the cutting path further comprises a cutting section, and the cutting section is a line section mainly cut after the cutting head is cut.
After obtaining the cut-in segment, in this embodiment, the process of generating a cutting path from the plurality of cutting longitudinal coordinate values and the plurality of cutting transverse boundary coordinate values further includes: and determining a plurality of endpoints according to the second to Nth cutting longitudinal coordinate values and the positive and negative cutting transverse boundary coordinate values corresponding to the second to Nth cutting longitudinal coordinate values.
After the endpoints are determined, the endpoints close to the third cutting point are used as a connecting starting point, the endpoints are connected according to the S-shaped line to obtain a cutting segment, the third cutting point is connected with the endpoints serving as the connecting starting point, and then the cutting segment and the cutting segment are connected together to finally generate a complete cutting path.
Through the setting of the generated cutting path, on one hand, the forming effect of the flat-top three-heart arch roadway can be guaranteed, on the other hand, the cutting head of the tunneling equipment cuts in an S-shaped path, and the cutting efficiency is improved.
Specifically, the process of controlling the cutting head of the tunneling device to cut according to the cutting path specifically includes: controlling the cutting head to start rotating; and controlling the cutting head to move to the first cutting point to start cutting the flat-topped three-center arched roadway, controlling the cutting head to move from the first cutting point to the second cutting point, controlling the cutting head to move from the second cutting point to the third cutting point after moving to the second cutting point, and controlling the cutting head to move to the first endpoint after moving to the third cutting point, wherein the cutting transverse boundary coordinate value of the endpoint is positive. The cutting head is controlled to move to the second end point, specifically, the cutting longitudinal coordinate value of the end point is equal to the cutting longitudinal coordinate value of the first end point, and the cutting transverse boundary coordinate value of the end point is equal to the absolute value of the cutting transverse boundary coordinate value of the first end point, but is negative.
Then, the cutting head is controlled to move to a third end point, and specifically, the coordinate value of the cutting transverse boundary of the end point is negative. The cutting head is controlled to move to a fourth endpoint, specifically, the cutting longitudinal coordinate value of the endpoint is equal to the cutting longitudinal coordinate value of the third endpoint, and the cutting transverse boundary coordinate value of the endpoint is equal to the absolute value of the cutting transverse boundary coordinate value of the third endpoint, but is a positive number.
Then, the cutting head is controlled to move to a fifth end point, and specifically, the cutting transverse boundary coordinate value of the end point is positive. The cutting head is controlled to move to a sixth endpoint, specifically, the cutting longitudinal coordinate value of the endpoint is equal to the cutting longitudinal coordinate value of the fifth endpoint, and the cutting transverse boundary coordinate value of the endpoint is equal to the absolute value of the cutting transverse boundary coordinate value of the fifth endpoint, but is a negative number.
According to the process, the cutting head is controlled to move to different end points until the cutting head passes through all the end points, so that the cutting of the flat-topped three-heart arch roadway is completed, the rapid cutting roadway with the S-shaped track is realized, the automatic cutting operation of tunneling equipment is rapidly completed, the forming quality of the flat-topped three-heart arch roadway is ensured, and the boundary overexcavation and underexcavation are avoided.
As shown in fig. 10, in an embodiment of the present application, a cutting control device 800 is also provided, where the cutting control device 800 is used to implement the steps of the cutting control method as in any of the above embodiments. The cutting control device 800 includes: an obtaining unit 810, configured to obtain a size parameter of a flat-top tri-center arch roadway; a first processing unit 820, configured to determine a plurality of cutting areas included in the flat-top tri-arch roadway according to the size parameter; a second processing unit 830, configured to establish a cutting coordinate system according to the size parameter; a first determining unit 840 for determining a plurality of cutting longitudinal coordinate values according to the cutting coordinate system; a second determining unit 850, configured to determine a cutting area where the plurality of cutting longitudinal coordinate values are located, and determine a cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value according to the cutting area where the cutting longitudinal coordinate value is located and the size parameter; a third processing unit 860 for generating a cutting path according to the plurality of cutting longitudinal coordinate values and the plurality of cutting transverse boundary coordinate values; a control unit 870 for controlling the cutting head of the tunneling apparatus to cut according to the cutting path.
In this embodiment, the cutting control apparatus 800 according to the present application is used to implement the steps of the cutting control method according to any one of the above embodiments, and the cutting control apparatus 800 includes an acquisition unit 810, a first processing unit 820, a second processing unit 830, a third processing unit 860, a first determination unit 840, a second determination unit 850, and a control unit 870. The obtaining unit 810 is configured to obtain a size parameter of a flat-topped tri-arch roadway. After obtaining the size parameter of the flat-top tri-arch roadway, the first processing unit 820 in the cutting control device 800 may determine the cutting area included in the flat-top tri-arch roadway according to the size parameter of the flat-top tri-arch roadway. The second processing unit 830 may establish a cutting coordinate system according to the size parameters of the flat-topped tri-centered arch roadway.
After the cutting coordinate system is established, the first determining unit 840 determines a plurality of cutting longitudinal coordinate values according to the cutting coordinate system, for the cutting longitudinal coordinate values, it can be understood that in the cutting process, the cutting head of the engineering machinery needs to continuously cut off, move the height position, and then can cut the whole flat-top three-center arch roadway, complete cutting operation, and convert the height values into the cutting longitudinal coordinate values by using the cutting coordinate system.
After obtaining the plurality of cutting longitudinal coordinate values, the second determining unit 850 determines the cutting region where the plurality of cutting longitudinal coordinate values are located, and after determining the cutting region where the plurality of cutting longitudinal coordinate values are located, calculates a cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value according to the located cutting region and the size parameter. Specifically, the number of the calculated cutting transverse boundary coordinate values corresponding to each cutting longitudinal coordinate value is two, the two cutting transverse boundary coordinate values are the abscissa of the cutting left boundary position and the abscissa of the cutting right boundary position under the height condition, and the absolute values of the two cutting transverse boundary coordinate values are equal and only show positive and negative opposite in a cutting coordinate system.
After determining the cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value, the third processing unit 860 generates a cutting path according to the plurality of cutting longitudinal coordinate values and the plurality of cutting transverse boundary coordinate values, and the control unit 870 controls the cutting head of the tunneling device to cut according to the cutting path, so that the tunneling device can automatically cut the flat-top three-center arch roadway, the forming requirement of the flat-top three-center arch roadway is met, the phenomena of over-digging and under-digging can not occur in the cutting process, the complete and standard flat-top three-center arch roadway can be obtained after cutting, and the automatic cutting forming of the flat-top three-center arch roadway is realized.
Further, the dimension parameters of the flat-topped three-heart arch roadway specifically comprise: the height of the tunnel, the height of the rectangle, the width of the tunnel, the radius of the first circle of the tunnel, the central angle of the first circle of the tunnel, the radius of the second circle of the tunnel, the center distance between the first circle of the tunnel and the second circle of the tunnel and the height from the tangent point of the first circle of the tunnel and the second circle of the tunnel to the vertex of the rectangle. In the process of acquiring the size parameters of the flat-topped tri-arch roadway, the acquiring unit 810 is specifically configured to: receiving the roadway height, the rectangular height, the roadway width, the roadway first round radius and the roadway first round central angle which are input by the upper computer; calculating according to the roadway width, the roadway first circle radius and the roadway first circle central angle to obtain the circle center distance between the roadway first circle and the roadway second circle; calculating to obtain a tunnel second circle radius according to the tunnel first circle radius and the circle center distance between the tunnel first circle and the tunnel second circle; and calculating according to the radius of the second circle of the roadway and the central angle of the first circle of the roadway to obtain the height from the tangent point of the first circle of the roadway and the second circle of the roadway to the top point of the rectangle.
In determining the plurality of cutting areas included in the flat-topped tri-arch roadway according to the size parameter, the first processing unit 820 is specifically configured to: comparing the roadway height with the sum of the rectangular height and the height from the tangent point of the roadway first circle and the roadway second circle to the rectangular vertex, and determining that the flat-topped three-heart arched roadway comprises a first flat-topped arched cutting area, a second flat-topped arched cutting area and a rectangular cutting area under the condition that the value of the roadway height is larger than or equal to the sum of the rectangular height and the height from the tangent point of the roadway first circle and the roadway second circle to the rectangular vertex; and determining that the flat-topped three-heart arched roadway comprises a third flat-topped arched cutting area and a rectangular cutting area under the condition that the height value of the roadway is smaller than the sum value of the height of the rectangular and the height from the tangent point of the first roadway circle and the second roadway circle to the top of the rectangular.
In determining a plurality of cutting longitudinal coordinate values from the cutting coordinate system, the first determining unit 840 is specifically configured to: determining a cutting start point according to the size parameter; connecting a cutting start point with a point on a plane where a flat-top three-center arch roadway is located, and separating the connecting line by taking a preset single cutting amount as a separation amount to obtain a plurality of separation points; determining longitudinal coordinate values of the cutting start point and the plurality of separation points according to the cutting coordinate system; the longitudinal coordinate values of the cutting start point and the plurality of dividing points are taken as the cutting longitudinal coordinate values.
In determining the cutting area where the plurality of cutting longitudinal coordinate values are located, and determining the cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value according to the cutting area where the cutting longitudinal coordinate value is located and the size parameter, the second determining unit 850 is specifically configured to: determining that the cutting longitudinal coordinate value is in a first flat-top arched cutting area, and obtaining a cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value according to the rectangular height, the radius of the first circle of the roadway, the central angle of the first circle of the roadway, the center distance between the first circle of the roadway and the second circle of the roadway and the cutting longitudinal coordinate value.
Determining that the cutting longitudinal coordinate value is in the second flat top arch cutting area or the third flat top arch cutting area, and obtaining the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value according to the rectangular height, the radius of the second circle of the roadway, the central angle of the first circle of the roadway, the center distance between the first circle of the roadway and the second circle of the roadway and the cutting longitudinal coordinate value.
And determining that the cutting longitudinal coordinate value is in the rectangular cutting area, and obtaining a cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value according to the roadway width.
Further, the cutting path includes a cutting segment and a cutting segment, and in generating the cutting path according to the plurality of cutting longitudinal coordinate values and the plurality of cutting transverse boundary coordinate values, the third processing unit 860 is specifically configured to: sequencing a plurality of cutting longitudinal coordinate values according to the sequence from the big value to the small value; determining a first cutting point according to the first cutting longitudinal coordinate value and the middle transverse coordinate value of the two cutting transverse boundary coordinate values corresponding to the first cutting longitudinal coordinate value; determining a second cutting point according to the first cutting longitudinal coordinate value and the negative cutting transverse boundary coordinate value corresponding to the first cutting longitudinal coordinate value; determining a third cutting point according to the first cutting longitudinal coordinate value and a cutting transverse boundary coordinate value which corresponds to the first cutting longitudinal coordinate value and is a positive number; connecting the first cutting point with the second cutting point, and connecting the second cutting point with the third cutting point to obtain the cut-in section.
After obtaining the cut-in section, the third processing unit 860 is further specifically configured to determine a plurality of endpoints according to the second to nth cutting longitudinal coordinate values and positive and negative cutting transverse boundary coordinate values corresponding to the second to nth cutting longitudinal coordinate values; taking an end point close to the third cutting point as a connecting start point, and connecting a plurality of end points according to an S-shaped line to obtain a cutting segment; and connecting the third cutting point with an end point serving as a connecting start point to generate a cutting path.
In an embodiment of the present application, as shown in fig. 11, a cutting control assembly 900 is also provided, where the cutting control assembly 900 includes a processor 920 and a memory 910, and a program or an instruction executable on the processor 920 is stored in the memory 910, and the program or the instruction implements the steps of the cutting control method in any of the embodiments described above when executed by the processor 920.
In this embodiment, the cutting control assembly 900 includes a processor 920 and a memory 910, where the memory 910 stores a program or instructions executable on the processor 920, and the program or instructions implement the steps of the cutting control method in any of the embodiments described above when executed by the processor 920, so that the cutting control assembly 900 has all the advantages of the cutting control method in any of the embodiments described above.
In one embodiment of the present application, a ripping apparatus is provided that includes a cutting control device 800 or a cutting control assembly 900 as in the embodiments described above.
In this embodiment, a ripping apparatus is proposed, and the ripping apparatus specifically includes the cutting control device 800 or the cutting control assembly 900 in the above-described embodiment, and thus has all the advantageous technical effects of the cutting control device 800 or the cutting control assembly 900 in the above-described embodiment. The tunneling equipment can be controlled to automatically cut the flat-top three-center arched roadway, so that the cutting requirement of the flat-top three-center arched roadway is met, the phenomena of over-digging and under-digging are avoided, and the finally obtained flat-top three-center arched roadway is complete. Specifically, the tunneling device includes a tunneling machine, which may be an open tunneling machine or a shield tunneling machine.
In one embodiment of the present application, there is also provided a readable storage medium having a program stored thereon, which when executed by a processor, implements the steps of the cutting control method as in any of the embodiments described above.
In this embodiment, a readable storage medium has stored thereon a program which, when executed by a processor, implements the steps of the cutting control method in any of the above embodiments, and therefore, this readable storage medium has all the advantageous technical effects of the cutting control method in any of the above embodiments.
Specifically, it will be understood by those skilled in the art that all or part of the steps of implementing the cutting control method in the above embodiment may be performed by controlling related hardware by a program, and the program is stored in a readable storage medium, and the program may include the following steps when executed: acquiring the size parameters of a flat-top three-heart arch roadway; determining a plurality of cutting areas contained in the flat-topped three-heart arch roadway according to the size parameters; establishing a cutting coordinate system according to the size parameters; determining a plurality of cutting longitudinal coordinate values according to the cutting coordinate system; determining a cutting area where a plurality of cutting longitudinal coordinate values are located, and determining a cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value according to the cutting area where the cutting longitudinal coordinate value is located and the size parameter; generating a cutting path according to the plurality of cutting longitudinal coordinate values and the plurality of cutting transverse boundary coordinate values; and controlling a cutting head of the tunneling equipment to cut according to the cutting path.
In particular, the readable storage medium may include a magnetic disk, an optical disk, a semiconductor memory, or a memory bank.
In the present application, the term "plurality" means two or more, unless explicitly defined otherwise. The terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; "coupled" may be directly coupled or indirectly coupled through intermediaries. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (12)

1. The cutting control method is characterized by being used for controlling tunneling equipment to cut a flat-top three-heart arch roadway, and comprises the following steps:
acquiring the size parameters of the flat-top three-center arch roadway;
determining a plurality of cutting areas contained in the flat-top three-heart arch roadway according to the size parameters;
Establishing a cutting coordinate system according to the size parameters;
determining a plurality of cutting longitudinal coordinate values according to the cutting coordinate system;
determining a cutting area where a plurality of cutting longitudinal coordinate values are located, and determining a cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value according to the cutting area where the cutting longitudinal coordinate value is located and the size parameter;
generating a cutting path according to the cutting longitudinal coordinate values and the cutting transverse boundary coordinate values;
controlling a cutting head of the tunneling equipment to cut according to the cutting path;
the dimensional parameters include: the process of determining a plurality of cutting areas contained in the flat-topped three-heart arched roadway according to the size parameters comprises the following steps:
determining that the flat-topped three-heart arched roadway comprises a first flat-topped arched cutting area, a second flat-topped arched cutting area and a rectangular cutting area under the condition that the value of the roadway height is larger than or equal to the sum value of the rectangular height and the height from the tangent point of a first roadway circle and a second roadway circle to the rectangular vertex;
Determining that the flat-topped three-heart arched roadway comprises a third flat-topped arched cutting area and the rectangular cutting area under the condition that the height value of the roadway is smaller than the sum value of the height from the tangent point of the first roadway circle and the second roadway circle to the height of the rectangular vertex;
the process of determining a plurality of cutting longitudinal coordinate values according to the cutting coordinate system specifically comprises the following steps:
determining a cutting start point according to the size parameter;
connecting the cutting start point with one point on the plane of the flat-top three-center arch roadway, and separating the connecting line by taking a preset single cutting amount as a separation amount to obtain a plurality of separation points;
determining longitudinal coordinate values of the cutting start point and the plurality of separation points according to the cutting coordinate system;
and taking the longitudinal coordinate values of the cutting start point and the plurality of separation points as the cutting longitudinal coordinate values.
2. The cutting control method according to claim 1, wherein the dimensional parameters further include: the process for determining the cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value according to the cutting area where the cutting longitudinal coordinate value is and the size parameter comprises the following steps:
Determining that the cutting longitudinal coordinate value is in the first flat-top arched cutting area, and obtaining a cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value according to the rectangular height, the first circle radius of the roadway, the first circle central angle of the roadway, the circle center distance between the first circle of the roadway and the second circle of the roadway and the cutting longitudinal coordinate value.
3. The cutting control method according to claim 2, wherein, in the case where it is determined that the cutting longitudinal coordinate value is in the first flat-top arched cutting area, a calculation formula of a cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value is obtained as follows:
；
wherein x is 1 For the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value in the first flat arch cutting area, R isAnd alpha is the center distance between the first circle of the roadway and the second circle of the roadway, a is the central angle of the first circle of the roadway, y is the longitudinal coordinate value of cutting, and h is the rectangular height.
4. The cutting control method according to claim 1, wherein the dimensional parameters further include: the process for determining the cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value according to the cutting area where the cutting longitudinal coordinate value is and the size parameter comprises the following steps:
Determining that the cutting longitudinal coordinate value is in the second flat arch-shaped cutting area or the third flat arch-shaped cutting area, and obtaining a cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value according to the rectangular height, the roadway second circle radius, the roadway first circle central angle, the circle center distance between the roadway first circle and the roadway second circle and the cutting longitudinal coordinate value.
5. The cutting control method according to claim 4, wherein, in the case where it is determined that the cutting longitudinal coordinate value is in the second flat top arch cutting region, a calculation formula of a cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value is obtained as:
；
wherein x is 2 R is the radius of the second circle of the roadway, alpha is the center distance between the first circle of the roadway and the second circle of the roadway, a is the central angle of the first circle of the roadway, y is the cutting longitudinal coordinate value, and h is the rectangular height; or (b)
Under the condition that the cutting longitudinal coordinate value is determined to be in the third flat-top arched cutting area, a calculation formula of the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value is obtained as follows:
；
Wherein x is 3 And r is the radius of the second circle of the roadway, alpha is the center distance between the first circle of the roadway and the second circle of the roadway, a is the central angle of the first circle of the roadway, y is the longitudinal coordinate value of the cutting, and h is the height of the rectangle.
6. The cutting control method according to claim 1, wherein the dimension parameter further includes a roadway width, and the process of determining a cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value according to the cutting region where the cutting longitudinal coordinate value is located and the dimension parameter specifically includes:
determining that the cutting longitudinal coordinate value is in the rectangular cutting area, and obtaining a cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value according to the roadway width;
when the cutting longitudinal coordinate value is determined to be in the rectangular cutting area, a calculation formula of the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value is obtained as follows:
；
wherein x is 4 And L is the roadway width, and is the cutting transverse boundary coordinate value corresponding to the cutting longitudinal coordinate value in the rectangular cutting area.
7. The cutting control method according to claim 1, wherein the cutting path includes a cut-in section, and the process of generating the cutting path from the plurality of cutting longitudinal coordinate values and the plurality of cutting transverse boundary coordinate values specifically includes:
sequencing a plurality of cutting longitudinal coordinate values according to the sequence from the large value to the small value;
determining a first cutting point according to a first cutting longitudinal coordinate value and a middle transverse coordinate value of two cutting transverse boundary coordinate values corresponding to the first cutting longitudinal coordinate value;
determining a second cutting point according to the first cutting longitudinal coordinate value and the negative cutting transverse boundary coordinate value corresponding to the first cutting longitudinal coordinate value;
determining a third cutting point according to the first cutting longitudinal coordinate value and the cutting transverse boundary coordinate value which corresponds to the first cutting longitudinal coordinate value and is a positive number;
and connecting the first cutting point with the second cutting point, and connecting the second cutting point with the third cutting point to obtain the cut-in section.
8. The cutting control method according to claim 7, wherein the cutting path further includes a cutting segment, and the process of generating the cutting path from the plurality of cutting longitudinal coordinate values and the plurality of cutting transverse boundary coordinate values after obtaining the cutting segment further includes:
Determining a plurality of endpoints according to the second to Nth cutting longitudinal coordinate values and positive and negative transverse cutting boundary coordinate values corresponding to the second to Nth cutting longitudinal coordinate values;
taking an endpoint close to the third cutting point as a connecting starting point, and connecting a plurality of endpoints according to an S-shaped line to obtain the cutting segment;
and connecting the third cutting point with an endpoint serving as the connecting start point to generate the cutting path.
9. A cutting control apparatus for realizing the cutting control method according to any one of claims 1 to 8, comprising:
the acquisition unit is used for acquiring the size parameters of the flat-top three-heart arch roadway;
the first processing unit is used for determining a plurality of cutting areas contained in the flat-top three-heart arch roadway according to the size parameter;
the second processing unit is used for establishing a cutting coordinate system according to the size parameters;
a first determining unit configured to determine a plurality of cutting longitudinal coordinate values according to the cutting coordinate system;
a second determining unit, configured to determine a cutting area where a plurality of cutting longitudinal coordinate values are located, and determine a cutting transverse boundary coordinate value corresponding to each cutting longitudinal coordinate value according to the cutting area where the cutting longitudinal coordinate value is located and the size parameter;
A third processing unit for generating a cutting path according to the plurality of cutting longitudinal coordinate values and the plurality of cutting transverse boundary coordinate values;
the control unit is used for controlling the cutting head of the tunneling equipment to cut according to the cutting path;
the dimensional parameters include: the first processing unit is specifically configured to:
comparing the roadway height with the sum of the rectangular height and the height from the tangent point of the first roadway circle and the second roadway circle to the rectangular vertex;
determining that the flat-topped three-heart arched roadway comprises a first flat-topped arched cutting area, a second flat-topped arched cutting area and a rectangular cutting area under the condition that the value of the roadway height is larger than or equal to the sum value of the rectangular height and the height from the tangent point of a first roadway circle and a second roadway circle to the rectangular vertex;
determining that the flat-topped three-heart arched roadway comprises a third flat-topped arched cutting area and the rectangular cutting area under the condition that the height value of the roadway is smaller than the sum value of the height from the tangent point of the first roadway circle and the second roadway circle to the height of the rectangular vertex;
In determining a plurality of cutting longitudinal coordinate values according to the cutting coordinate system, the first determining unit is specifically configured to:
determining a cutting start point according to the size parameter;
connecting the cutting start point with one point on the plane of the flat-top three-center arch roadway, and separating the connecting line by taking a preset single cutting amount as a separation amount to obtain a plurality of separation points;
determining longitudinal coordinate values of the cutting start point and the plurality of separation points according to the cutting coordinate system;
and taking the longitudinal coordinate values of the cutting start point and the plurality of separation points as the cutting longitudinal coordinate values.
10. A cutting control assembly comprising a processor and a memory having stored thereon a program or instructions executable on the processor, which when executed by the processor, implement the steps of the cutting control method of any of claims 1 to 8.
11. A ripping apparatus, characterized by comprising:
the cutting control device according to claim 9; or (b)
The cutting control assembly of claim 10.
12. A readable storage medium having a program stored thereon, wherein the program, when executed by a processor, implements the steps of the cutting control method according to any one of claims 1 to 8.
CN202310547997.1A 2023-05-16 2023-05-16 Cutting control method, cutting control device, cutting control assembly, tunneling device and readable storage medium Active CN116255160B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310547997.1A CN116255160B (en) 2023-05-16 2023-05-16 Cutting control method, cutting control device, cutting control assembly, tunneling device and readable storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310547997.1A CN116255160B (en) 2023-05-16 2023-05-16 Cutting control method, cutting control device, cutting control assembly, tunneling device and readable storage medium

Publications (2)

Publication Number Publication Date
CN116255160A CN116255160A (en) 2023-06-13
CN116255160B true CN116255160B (en) 2023-08-11

Family

ID=86682946

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310547997.1A Active CN116255160B (en) 2023-05-16 2023-05-16 Cutting control method, cutting control device, cutting control assembly, tunneling device and readable storage medium

Country Status (1)

Country Link
CN (1) CN116255160B (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2305583A1 (en) * 1975-03-24 1976-10-22 Perforex Tunnelling machine forming vaulted roof - has excavator head truck travelling along partly vaulted transverse guide
CN103362520A (en) * 2013-07-22 2013-10-23 重庆千牛建设工程有限公司 Marking method for three-centred arch roadway excavation contour line
CN104153790A (en) * 2014-07-29 2014-11-19 开滦（集团）有限责任公司林南仓矿业分公司 Coalface cutting hole supporting structure and supporting method thereof
CN112377204A (en) * 2020-11-10 2021-02-19 三一重型装备有限公司 Control method of heading machine, heading machine and readable storage medium
CN112983412A (en) * 2021-03-05 2021-06-18 中国矿业大学 Automatic forming cutting motion optimization method for cantilever longitudinal shaft type heading machine section
CN115163107A (en) * 2022-09-05 2022-10-11 三一重型装备有限公司 Cutting arm control method and device, heading machine and heading machine control system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2305583A1 (en) * 1975-03-24 1976-10-22 Perforex Tunnelling machine forming vaulted roof - has excavator head truck travelling along partly vaulted transverse guide
CN103362520A (en) * 2013-07-22 2013-10-23 重庆千牛建设工程有限公司 Marking method for three-centred arch roadway excavation contour line
CN104153790A (en) * 2014-07-29 2014-11-19 开滦（集团）有限责任公司林南仓矿业分公司 Coalface cutting hole supporting structure and supporting method thereof
CN112377204A (en) * 2020-11-10 2021-02-19 三一重型装备有限公司 Control method of heading machine, heading machine and readable storage medium
CN112983412A (en) * 2021-03-05 2021-06-18 中国矿业大学 Automatic forming cutting motion optimization method for cantilever longitudinal shaft type heading machine section
CN115163107A (en) * 2022-09-05 2022-10-11 三一重型装备有限公司 Cutting arm control method and device, heading machine and heading machine control system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
王守安 ; .谈光爆造型的选择应用及其理论探讨.黑龙江科技信息.2003,(第02期),全文. *

Also Published As

Publication number Publication date
CN116255160A (en) 2023-06-13

Similar Documents

Publication Publication Date Title
CN109191521B (en) A kind of tunnel point cloud data analysis method and system
CN107856309B (en) Rapid path planning method for additive manufacturing and remanufacturing
CN110703685B (en) Skin mirror image milling cutter path self-adaptive adjusting method and device
CN113642100A (en) Design method and design device for trimming cutter block
WO2019113972A1 (en) Numerical control system and path planning method therefor, and computer readable storage medium
CN112050801A (en) Automatic navigation path planning method and system for agricultural machinery
CN116255160B (en) Cutting control method, cutting control device, cutting control assembly, tunneling device and readable storage medium
CN105783712A (en) Method and device used for detecting knife mark
CN109676803B (en) Method for roughly machining polygonal area of stone by using circular saw
CN109732788A (en) A method of utilizing saw blade processing stone material railing
CN104460500A (en) Machining method of special-shaped arc
CN105278461A (en) Method for integral machining of complex curved surface
US9645568B2 (en) Numerical controller having command path compression function
CN108196511B (en) Error prediction method for turning track of spiral cutter
CN113291841B (en) Material leveling control method of material taking machine
CN104036096B (en) Method for mapping bump features on inclined face to manufacturing feature bodies
CN115202361A (en) Path planning method of mobile robot and mobile robot
CN108581218B (en) Shredding method facilitating waste separation in pipe laser cutting
CN106424877A (en) Generating method for milling tool path of novel robot
CN113253675B (en) Two-dimensional-oriented three-axis tool location point operation method and system
CN105334560B (en) A kind of method that rotation etching angle carrys out etched diffraction grating groove profile
KR102314776B1 (en) Method and apparatus for generating path profile
CN104050339B (en) Housing part numerical control machining cutter geometric parameter choosing method
KR101833677B1 (en) Ship block placing method
CN117934616B (en) Method and device for determining welding seam of ship workpiece

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant