CN116624164A - Cutting control method, device and system of heading machine and storage medium - Google Patents
Cutting control method, device and system of heading machine and storage medium Download PDFInfo
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- CN116624164A CN116624164A CN202310536115.1A CN202310536115A CN116624164A CN 116624164 A CN116624164 A CN 116624164A CN 202310536115 A CN202310536115 A CN 202310536115A CN 116624164 A CN116624164 A CN 116624164A
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- 238000000034 method Methods 0.000 title claims abstract description 58
- 230000008569 process Effects 0.000 claims abstract description 11
- 238000004590 computer program Methods 0.000 claims description 15
- 230000005641 tunneling Effects 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 230000005856 abnormality Effects 0.000 claims description 4
- 230000007175 bidirectional communication Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 239000003245 coal Substances 0.000 description 7
- 230000006854 communication Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000008520 organization Effects 0.000 description 4
- 239000011435 rock Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000002817 coal dust Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 239000004973 liquid crystal related substance Substances 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/02—Agriculture; Fishing; Mining
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- 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]
Abstract
The application discloses a cutting control method, a cutting control device, a cutting control system and a storage medium of a heading machine. The method comprises the following steps: receiving parameters of a roadway to be cut, which are issued by an upper computer; if the judging parameter is valid, generating a cutting path track; calculating and comparing the difference value between the coordinate position of the current cutting head and the ith coordinate point in the cutting path track in real time; according to whether the difference value is larger than a preset threshold value, different control signals are sent to the heading machine controller, so that the heading machine controller controls the cutting head to move towards an ith coordinate point in a cutting path track at different speeds; in the moving process of the cutting head, when the difference value is smaller than a preset allowable error threshold value, i is assigned to be i+1; the process is repeated until the cutting head moves to the last coordinate point in the cutting path track. The application can realize the remote and flexible setting of the parameters of the roadway to be cut through the upper computer, and simultaneously provides a complete solution for remotely controlling the heading machine and enabling the heading machine to complete cutting according to a planned route.
Description
Technical Field
The application relates to the technical field of heading machines, in particular to a heading machine cutting control method, a heading machine cutting control device, a heading machine cutting control system and a storage medium.
Background
Heading machines are machines used to excavate straight underground roadways. The heading machine is divided into an open heading machine and a shield type heading machine. Mainly comprises a walking organization, a working organization, a shipping organization and a transferring organization. The cutting head in the working tissue continuously breaks the rock and conveys away the broken rock along with the forward pushing of the walking tissue. The heading machine has the advantages of safety, high efficiency, good roadway forming quality and the like.
The coal mining mode in the coal mine industry is to manually control the cutting head to lift, revolve left and right and stretch out and draw back by a driver of the heading machine in a cab of the heading machine so as to achieve the effect of cutting the coal seam. Under the environment, the coal dust is much, the health of operators is seriously endangered, and the risk that coal mine collapse or water permeability accidents can be sent exists, so that the life safety of the operators is endangered.
Therefore, in the intelligent process of coal mine mining, the safety investment is increased, the labor capacity of workers is reduced, the working environment is improved, and the automatic cutting of the heading machine is a necessary trend. For this purpose, there are solutions on the market for assisting an automatic cutting of a heading machine, for example, a method for planning a cutting path of a heading machine is disclosed in chinese patent document 201811401420.5, which specifically includes: establishing a three-dimensional model of the tunneling working face under a geodetic coordinate system; acquiring space position information, azimuth angle and pose information of the heading machine and displacement information of each oil cylinder, and calculating coordinates of a cutting head of the heading machine under a geodetic coordinate system; combining the coordinates of a cutting head of the heading machine with a three-dimensional model of a heading working face, and determining the cutting mode of the heading machine, the movement path and the speed of the cutting head according to the size and the shape of a tunnel section and the distribution condition and the property of coal and rock; and adjusting the movement path of the cutting head according to the spatial position change of the heading machine, judging the cutting effect of the cutting head of the heading machine, and correcting the speed of the cutting head.
However, the inventor realizes that the method provided in the patent document can only plan the cutting path according to the size and shape of the predefined tunnel section, can not remotely set tunnel conditions, can generate different cutting paths according to different tunnel conditions, and automatically cut and form according to the generated cutting paths; in addition, the method only solves the problem of planning the cutting path of the heading machine, and does not provide a complete solution for remotely controlling the heading machine to complete cutting according to the planned path.
Disclosure of Invention
Based on the above technical problems, a cutting control method, a cutting control device, a cutting control system and a cutting control storage medium for a development machine are provided, so as to solve the technical problems that the conventional development machine cutting path planning method cannot remotely set a tunnel, and a complete solution capable of controlling the development machine in a remote mode to enable the development machine to complete cutting according to a planned route is lacking.
In order to achieve the above object, the present application provides the following technical solutions:
in a first aspect, a method for controlling cutting of a heading machine includes:
s1, receiving parameters of a roadway to be cut, which are issued by an upper computer;
s2, judging whether the received parameters of the roadway to be cut are valid or not;
s3, if the received parameters of the roadway to be cut are judged to be effective, a cutting path track is generated according to the received parameters of the roadway to be cut, and the cutting path track can traverse the roadway to be cut; the cutting path track comprises a plurality of coordinate points distributed in a coordinate system established by taking the lower left corner of the roadway to be cut as an origin;
s4, acquiring rotation, lifting and expansion data of a cutting arm in real time through a heading machine controller, and acquiring the distance L0 from a heading machine body to the left roadway wall of the roadway to be cut;
s5, calculating the coordinate position of the current cutting head under the coordinate system in real time, and comparing the coordinate position of the current cutting head under the coordinate system with the difference value of the ith coordinate point in the cutting path track;
s6, when the difference value is larger than a preset threshold value, a corresponding control signal is sent to the heading machine controller, so that the heading machine controller controls the cutting head to move towards an ith coordinate point in the cutting path track at a first speed; when the difference value is smaller than or equal to a preset threshold value, a corresponding control signal is sent to the heading machine controller, so that the heading machine controller controls the cutting head to move towards an ith coordinate point in the cutting path track at a second speed;
s7, in the moving process of the cutting head, when the difference value is smaller than a preset allowable error threshold value, i is assigned to be i+1;
and S8, continuously repeating the steps S5-S7 until the cutting head moves to the last coordinate point in the cutting path track.
Optionally, the parameters of the roadway to be cut include the contour shape, the height and the width of the roadway to be cut.
Optionally, the rotation, lifting and telescopic data of the cutting head are acquired through a rotation angle sensor, a displacement sensor and a telescopic oil cylinder stroke sensor which are arranged on the body of the tunneling machine; the distance from the body of the heading machine to the left roadway wall of the roadway to be cut is obtained through a laser scanner arranged on the body of the heading machine.
Optionally, step S3 further includes:
and if the received parameters of the roadway to be cut are invalid, sending a parameter abnormality prompting instruction to an upper computer.
Optionally, the calculating the coordinate position of the current cutting head under the coordinate system includes:
the angle between the cutting arm and the center line of the tunneling machine body after rotating is defined as < A, the angle A is positive when the cutting arm rotates left, and the angle A is negative when the cutting arm rotates right;
the angle between the cutting arm and the plane of the rotary table after lifting is defined as < B >, the angle B is positive when the cutting arm ascends, and the angle B is negative when the cutting arm descends;
defining the length of a current cutting arm as L2, wherein L2=the initial length of the cutting arm L1+the telescopic stroke of an oil cylinder of the current cutting arm;
defining the vertical distance from the plane of the turntable to the ground as H;
calculating a coordinate position (X, Y) of the current cutting head in the coordinate system, wherein
Optionally, step S6 further includes:
calculating the time length required by the cutting head to move to the ith coordinate point in the cutting path track according to the moving speed of the cutting head and the distance between the coordinate position of the current cutting head under the coordinate system and the ith coordinate point in the cutting path track;
judging whether the difference value is larger than a preset allowable error threshold value after the time length is over;
and if the difference value is larger than the preset allowable error threshold, sending a fault prompting instruction to the upper computer.
Optionally, the preset threshold is 400mm; the preset allowable error threshold is 30mm.
In a second aspect, a heading machine cutting control device includes:
the parameter receiving module is used for receiving parameters of the roadway to be cut, which are issued by the upper computer;
the parameter judging module is used for judging whether the received parameters of the roadway to be cut are valid or not;
the cutting path track generation module is used for generating a cutting path track according to the received parameters of the roadway to be cut if the received parameters of the roadway to be cut are judged to be effective, and the cutting path track can traverse the roadway to be cut; the cutting path track comprises a plurality of coordinate points distributed in a coordinate system established by taking the lower left corner of the roadway to be cut as an origin;
the cutting arm data acquisition module acquires rotation, lifting and telescopic data of the cutting arm in real time through a heading machine controller, and acquires a distance L0 from a body of the heading machine to the left roadway wall of the roadway to be cut;
the coordinate position calculation module is used for calculating the coordinate position of the current cutting head under the coordinate system in real time and comparing the difference value between the coordinate position of the current cutting head under the coordinate system and the ith coordinate point in the cutting path track;
the mobile control module is used for sending a corresponding control signal to the heading machine controller when the difference value is larger than a preset threshold value, so that the heading machine controller controls the cutting head to move towards the ith coordinate point in the cutting path track at a first speed; when the difference value is smaller than or equal to a preset threshold value, a corresponding control signal is sent to the heading machine controller, so that the heading machine controller controls the cutting head to move towards an ith coordinate point in the cutting path track at a second speed;
the assignment module is used for assigning i to be i+1 when the difference value is smaller than a preset allowable error threshold value in the moving process of the cutting head;
and the traversing module is used for enabling the coordinate position calculating module, the moving control module and the assignment module to work repeatedly until the cutting head moves to the last coordinate point in the cutting path track.
In a third aspect, a heading machine cutting control system includes
An upper computer;
a heading machine controller;
the automatic cutting processor is in bidirectional communication connection with the upper computer and the heading machine controller;
a memory storing a computer program; the automatic cutting processor, when executing the computer program, implements the steps of the method of any one of the first aspects.
In a fourth aspect, a computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the method of any of the first aspects.
The application has at least the following beneficial effects:
in the cutting control method of the heading machine, the parameters of the roadway to be cut issued by the upper computer are received; if the received parameters of the roadway to be cut are judged to be effective, a cutting path track capable of traversing the roadway to be cut is generated according to the received parameters of the roadway to be cut; calculating the coordinate position of the current cutting head under the coordinate system in real time, and comparing the coordinate position of the current cutting head under the coordinate system with the difference value of the ith coordinate point in the cutting path track; according to whether the difference value is larger than a preset threshold value, different control signals are sent to the heading machine controller, so that the heading machine controller controls the cutting head to move towards an ith coordinate point in a cutting path track at different speeds; in the moving process of the cutting head, when the difference value is smaller than a preset allowable error threshold value, i is assigned to be i+1; repeating until the cutting head moves to the last coordinate point in the cutting path track; the method can realize the remote and flexible setting of parameters of the roadway to be cut through the upper computer, so that corresponding cutting tracks can be automatically generated according to the parameters, and then the cutting head is remotely controlled by the upper computer to automatically cut and form according to the cutting tracks; meanwhile, the method provides a complete solution for remotely controlling the heading machine and enabling the heading machine to complete cutting according to a planned route.
Drawings
FIG. 1 is a schematic view of an application environment of a cutting control method of a heading machine according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a cutting control method of a heading machine according to an embodiment of the application;
FIG. 3 is a schematic view of a cutting trajectory in an embodiment of the present application;
FIG. 4 is a schematic flow chart of another method for controlling cutting of a heading machine according to an embodiment of the application;
FIG. 5 is a block diagram of a control device for cutting a heading machine according to an embodiment of the present application;
fig. 6 is an internal structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The cutting control method of the heading machine provided by the application can be applied to an application environment shown in figure 1. The automatic cutting processor 103 communicates with the upper computer 101 through the Ethernet, and the automatic cutting processor 103 communicates with the heading machine controller 102 through the CAN interface.
In one embodiment, as shown in fig. 1, a method for controlling cutting of a heading machine is provided, and the method is applied to the automatic cutting processor 103 in fig. 1 for illustration, and includes the following steps:
s1, receiving parameters of a roadway to be cut, which are issued by an upper computer.
The parameters of the roadway to be cut comprise the outline shape, the height and the width of the roadway to be cut.
S2, judging whether the received parameters of the roadway to be cut are valid.
S3, if the received parameters of the roadway to be cut are judged to be effective, a cutting path track is generated according to the received parameters of the roadway to be cut, and the cutting path track can traverse the roadway to be cut; the cutting path trajectory includes a plurality of coordinate points distributed in a coordinate system established with the lower left corner of the roadway to be cut as an origin. The generated cutting path track can be seen in fig. 3, and the actual coordinate system is established by taking the lower left corner of the graph as the origin.
In addition, step S3 further includes:
and if the received parameters of the roadway to be cut are invalid, sending a parameter abnormality prompting instruction to the upper computer.
S4, acquiring rotation, lifting and expansion data of the cutting arm in real time through a heading machine controller, and acquiring the distance L0 from the body of the heading machine to the left roadway wall of the roadway to be cut.
The method comprises the steps of acquiring rotation, lifting and telescopic data of a cutting head, wherein the rotation, lifting and telescopic data are acquired through a rotation angle sensor, a displacement sensor and a telescopic oil cylinder stroke sensor which are arranged on a tunneling machine body; the distance from the body of the heading machine to the left roadway wall of the roadway to be cut is obtained through a laser scanner arranged on the body of the heading machine.
S5, calculating the coordinate position of the current cutting head under the coordinate system in real time, and comparing the coordinate position of the current cutting head under the coordinate system with the difference value of the ith coordinate point in the cutting path track.
At the initial time, i has a value of 1, which indicates that cutting is started from the 1 st coordinate point.
Specifically, calculating the coordinate position of the current cutting head in the coordinate system includes:
the angle between the cutting arm and the center line of the tunneling machine body after rotating is defined as < A, the angle A is positive when the cutting arm rotates left, and the angle A is negative when the cutting arm rotates right;
the angle between the cutting arm and the plane of the rotary table after lifting is defined as < B >, the angle B is positive when the cutting arm ascends, and the angle B is negative when the cutting arm descends;
defining the length of a current cutting arm as L2, wherein L2=the initial length of the cutting arm L1+the telescopic stroke of an oil cylinder of the current cutting arm;
defining the vertical distance from the plane of the turntable to the ground as H;
calculating a coordinate position (X, Y) of the current cutting head in a coordinate system, wherein
S6, when the difference value is larger than a preset threshold value, a corresponding control signal is sent to the heading machine controller, so that the heading machine controller controls the cutting head to move towards an ith coordinate point in the cutting path track at a first speed; and when the difference value is smaller than or equal to a preset threshold value, a corresponding control signal is sent to the heading machine controller, so that the heading machine controller controls the cutting head to move towards the ith coordinate point in the cutting path track at a second speed.
The comparison of the difference between the current cutting head coordinate and the target coordinate point may be that the abscissa and the ordinate of the two coordinates are respectively compared, and if the absolute difference of one coordinate is greater than a preset threshold, it is determined that the difference between the current cutting head coordinate and the target coordinate point is greater than the preset threshold. The preset threshold may be, but is not limited to being, set to 400mm.
Further, step S6 further includes:
calculating the length of time required for the cutting head to move to the ith coordinate point in the cutting path track according to the moving speed of the cutting head and the distance between the coordinate position of the current cutting head under the coordinate system and the ith coordinate point in the cutting path track;
judging whether the difference value is larger than a preset allowable error threshold value after the time length passes;
if the difference value is larger than the preset allowable error threshold, a fault prompting instruction is sent to the upper computer.
Wherein the preset tolerance threshold may be, but is not limited to being set to 30mm.
And S7, in the moving process of the cutting head, when the difference value is smaller than a preset allowable error threshold value, i is assigned to be i+1.
And S8, continuously repeating the steps S5-S7 until the cutting head moves to the last coordinate point in the cutting path track.
Stated another way, the process of the above method is as follows:
(1) The cutting flow is an independent thread at the software level, and is triggered repeatedly at fixed time in an automatic cutting processor.
(2) After entering the flow entry, the CPU acquires information of the shape to be cut, the roadway height, the width and the like set by a user from the upper computer.
(3) Judging the correctness of the data set by the user, if the data set does not exist or the set parameters are incomplete and are not in the set range, not executing the flow and feeding back the input data to the upper computer to be abnormal, and resetting is needed.
(4) If the user sets compliance, the CPU acquires the stroke sensor data of the left and right cutting, lifting and telescopic oil cylinders from the body controller of the heading machine in real time, and further acquires the distance (defined as L0) from the body to the left roadway wall from the laser scanner. And then combining the sensor information, calculating the coordinates of the cutting head relative to the roadway through the following method. (with the left lower corner of the roadway as the origin, the right as the X positive direction, the upward as the Y positive direction, and the expansion and contraction of the cutting head as the Z direction):
(1) when the cutting arm is at the rotation center, the cutting arm coincides with the center line of the vehicle body, and at the moment, the two straight angles are 0. Defining that the included angle between the cutting arm and the central line of the vehicle body is < A after the cutting arm rotates left or right, and the left turn is positive and the right turn is negative;
(2) when the cutting arm and the rotation center are positioned on the same horizontal plane, the cutting arm and the rotation table plane are overlapped in the vertical direction, at the moment, the two straight angles are 0, the included angle between the cutting arm and the rotation table plane is defined as B after the cutting arm ascends or descends, the ascending is positive, and the descending is negative;
(3) defining a current cutting arm length L2=an initial cutting arm length L1+a current telescopic cylinder stroke value;
(4) defining the vertical distance from the plane of the rotary table to the ground as H;
combining the data to obtain the current cutting head coordinates:
(5) Comparing the current cutting head coordinate with the target coordinate difference, if the current X1, Y1 and the target X, Y have larger difference (such as absolute difference larger than 400 mm), controlling the cutting head to move towards the target position at a speed V1, and when the difference is smaller than 400mm, controlling the cutting head to move towards the target position at a slightly slower speed V2. At this time, the time t=s/V required for the target point is predicted according to the current control speed V and the distance S to the target, if the time for continuous output exceeds T and the cutting head does not reach the current position yet, a fault is reported, when the left-right and lifting difference values reach the allowable error range (30 mm), the target is changed to the next coordinate point in the cutting track, and the control is continuously and circularly executed.
(6) If the cutting head has moved all the way to the last point in the cutting trajectory, the entire trajectory is considered to be completed.
(7) And stopping controlling the cutting head to move, reporting the flow execution completion information, and ending the automatic cutting flow.
Another flow diagram of the above method can be seen in fig. 4.
The cutting control method of the heading machine provided by the embodiment is an automatic cutting algorithm in a remote mode, so that an operator can remotely monitor the heading machine to automatically cut a coal seam in a ground office, the heading machine is healthy and comfortable, the safety problem of personnel can be avoided, and the working efficiency can be greatly improved.
In the cutting control method of the heading machine, the parameters of the roadway to be cut issued by the upper computer are received; if the received parameters of the roadway to be cut are judged to be effective, a cutting path track capable of traversing the roadway to be cut is generated according to the received parameters of the roadway to be cut; calculating the coordinate position of the current cutting head under the coordinate system in real time, and comparing the coordinate position of the current cutting head under the coordinate system with the difference value of the ith coordinate point in the cutting path track; according to whether the difference value is larger than a preset threshold value, different control signals are sent to the heading machine controller, so that the heading machine controller controls the cutting head to move towards an ith coordinate point in a cutting path track at different speeds; in the moving process of the cutting head, when the difference value is smaller than a preset allowable error threshold value, i is assigned to be i+1; repeating until the cutting head moves to the last coordinate point in the cutting path track; the method can realize the remote and flexible setting of parameters of the roadway to be cut through the upper computer, so that corresponding cutting tracks can be automatically generated according to the parameters, and then the cutting head is remotely controlled by the upper computer to automatically cut and form according to the cutting tracks; meanwhile, the method provides a complete solution for remotely controlling the heading machine and enabling the heading machine to complete cutting according to a planned route.
It should be understood that, although the steps in the flowcharts of fig. 2 and 4 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least a portion of the steps in fig. 2 and 4 may include a plurality of steps or stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the execution of the steps or stages is not necessarily sequential, but may be performed in turn or alternately with at least a portion of the steps or stages in other steps or other steps.
In one embodiment, as shown in fig. 5, there is provided a heading machine cutting control device including the following program modules:
the parameter receiving module 501 is configured to receive parameters of a roadway to be cut issued by the host computer.
The parameters of the roadway to be cut comprise the outline shape, the height and the width of the roadway to be cut.
The parameter judging module 502 is configured to judge whether the received parameter of the roadway to be cut is valid.
The cutting path track generating module 503 is configured to generate a cutting path track according to the received parameters of the roadway to be cut, if the received parameters of the roadway to be cut are determined to be valid, where the cutting path track can traverse the roadway to be cut; the cutting path trajectory includes a plurality of coordinate points distributed in a coordinate system established with the lower left corner of the roadway to be cut as an origin. The generated cutting path track can be seen in fig. 3, and the actual coordinate system is established by taking the lower left corner of the graph as the origin.
In addition, the cutting path trajectory generation module 503 is further configured to:
and if the received parameters of the roadway to be cut are invalid, sending a parameter abnormality prompting instruction to the upper computer.
The cutting arm data acquisition module 504 acquires rotation, lifting and telescopic data of the cutting arm in real time through the heading machine controller, and acquires a distance L0 from the body of the heading machine to the left roadway wall of the roadway to be cut.
The method comprises the steps of acquiring rotation, lifting and telescopic data of a cutting head, wherein the rotation, lifting and telescopic data are acquired through a rotation angle sensor, a displacement sensor and a telescopic oil cylinder stroke sensor which are arranged on a tunneling machine body; the distance from the body of the heading machine to the left roadway wall of the roadway to be cut is obtained through a laser scanner arranged on the body of the heading machine.
The coordinate position calculating module 505 is configured to calculate, in real time, a coordinate position of the current cutting head under the coordinate system, and compare a difference between the coordinate position of the current cutting head under the coordinate system and an ith coordinate point in the cutting path track.
At the initial time, i has a value of 1, which indicates that cutting is started from the 1 st coordinate point.
Specifically, calculating the coordinate position of the current cutting head in the coordinate system includes:
the angle between the cutting arm and the center line of the tunneling machine body after rotating is defined as < A, the angle A is positive when the cutting arm rotates left, and the angle A is negative when the cutting arm rotates right;
the angle between the cutting arm and the plane of the rotary table after lifting is defined as < B >, the angle B is positive when the cutting arm ascends, and the angle B is negative when the cutting arm descends;
defining the length of a current cutting arm as L2, wherein L2=the initial length of the cutting arm L1+the telescopic stroke of an oil cylinder of the current cutting arm;
defining the vertical distance from the plane of the turntable to the ground as H;
calculating a coordinate position (X, Y) of the current cutting head in a coordinate system, wherein
The movement control module 506 is configured to send a corresponding control signal to the heading machine controller when the difference value is greater than a preset threshold value, so that the heading machine controller controls the cutting head to move at a first speed to an ith coordinate point in the cutting path track; and when the difference value is smaller than or equal to a preset threshold value, a corresponding control signal is sent to the heading machine controller, so that the heading machine controller controls the cutting head to move towards the ith coordinate point in the cutting path track at a second speed.
The comparison of the difference between the current cutting head coordinate and the target coordinate point may be that the abscissa and the ordinate of the two coordinates are respectively compared, and if the absolute difference of one coordinate is greater than a preset threshold, it is determined that the difference between the current cutting head coordinate and the target coordinate point is greater than the preset threshold. The preset threshold may be, but is not limited to being, set to 400mm.
In addition, the movement control module 506 is further configured to:
calculating the length of time required for the cutting head to move to the ith coordinate point in the cutting path track according to the moving speed of the cutting head and the distance between the coordinate position of the current cutting head under the coordinate system and the ith coordinate point in the cutting path track;
judging whether the difference value is larger than a preset allowable error threshold value after the time length passes;
if the difference value is larger than the preset allowable error threshold, a fault prompting instruction is sent to the upper computer.
Wherein the preset tolerance threshold may be, but is not limited to being set to 30mm.
And the assignment module 507 is configured to assign i to i+1 when the difference is smaller than a preset allowable error threshold during movement of the cutting head.
The traversing module 508 is configured to make the coordinate position calculating module 505, the movement control module 506, and the assignment module 507 work repeatedly until the cutting head moves to the last coordinate point in the cutting path track.
The specific definition of a cutting control device of a heading machine can be found in the definition of a cutting control method of a heading machine hereinabove, and will not be described in detail herein. The above-mentioned each module in the cutting control device of the heading machine can be realized completely or partially by software, hardware and the combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, there is provided a heading machine cutting control system, as shown in fig. 1, comprising:
an upper computer 101;
a heading machine controller 102;
the automatic cutting processor 103 is in bidirectional communication connection with the upper computer 101 and the heading machine controller 102;
a memory storing a computer program; the steps of a heading machine cutting control method according to any one of the embodiments described above are implemented by the automatic cutting processor 102 when executing the computer program.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which may be as shown in fig. 6. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program when executed by a processor implements a heading machine cutting control method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in FIG. 6 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer device is provided, including a memory and a processor, the memory having stored therein a computer program, involving all or part of the flow of the methods of the embodiments described above.
In one embodiment, a computer readable storage medium having a computer program stored thereon is provided, involving all or part of the flow of the methods of the embodiments described above.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile memory may include Read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static RandomAccess Memory, SRAM) or dynamic random access memory (Dynamic RandomAccess Memory, DRAM), and the like.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (10)
1. The cutting control method of the heading machine is characterized by comprising the following steps of:
s1, receiving parameters of a roadway to be cut, which are issued by an upper computer;
s2, judging whether the received parameters of the roadway to be cut are valid or not;
s3, if the received parameters of the roadway to be cut are judged to be effective, a cutting path track is generated according to the received parameters of the roadway to be cut, and the cutting path track can traverse the roadway to be cut; the cutting path track comprises a plurality of coordinate points distributed in a coordinate system established by taking the lower left corner of the roadway to be cut as an origin;
s4, acquiring rotation, lifting and expansion data of a cutting arm in real time through a heading machine controller, and acquiring the distance L0 from a heading machine body to the left roadway wall of the roadway to be cut;
s5, calculating the coordinate position of the current cutting head under the coordinate system in real time, and comparing the coordinate position of the current cutting head under the coordinate system with the difference value of the ith coordinate point in the cutting path track;
s6, when the difference value is larger than a preset threshold value, a corresponding control signal is sent to the heading machine controller, so that the heading machine controller controls the cutting head to move towards an ith coordinate point in the cutting path track at a first speed; when the difference value is smaller than or equal to a preset threshold value, a corresponding control signal is sent to the heading machine controller, so that the heading machine controller controls the cutting head to move towards an ith coordinate point in the cutting path track at a second speed;
s7, in the moving process of the cutting head, when the difference value is smaller than a preset allowable error threshold value, i is assigned to be i+1;
and S8, continuously repeating the steps S5-S7 until the cutting head moves to the last coordinate point in the cutting path track.
2. The heading machine cutting control method of claim 1, wherein the parameters of the roadway to be cut include a contour shape, a height and a width of the roadway to be cut.
3. The cutting control method of the heading machine according to claim 1, wherein the rotation, lifting and telescoping data of the cutting head are acquired through a rotation angle sensor, a displacement sensor and a telescoping cylinder stroke sensor which are arranged on the body of the heading machine; the distance from the body of the heading machine to the left roadway wall of the roadway to be cut is obtained through a laser scanner arranged on the body of the heading machine.
4. The heading machine cutting control method according to claim 1, characterized in that step S3 further includes:
and if the received parameters of the roadway to be cut are invalid, sending a parameter abnormality prompting instruction to an upper computer.
5. The heading machine cutting control method of claim 1, wherein said calculating a coordinate position of a current cutting head in said coordinate system includes:
the angle between the cutting arm and the center line of the tunneling machine body after rotating is defined as < A, the angle A is positive when the cutting arm rotates left, and the angle A is negative when the cutting arm rotates right;
the angle between the cutting arm and the plane of the rotary table after lifting is defined as < B >, the angle B is positive when the cutting arm ascends, and the angle B is negative when the cutting arm descends;
defining the length of a current cutting arm as L2, wherein L2=the initial length of the cutting arm L1+the telescopic stroke of an oil cylinder of the current cutting arm;
defining the vertical distance from the plane of the turntable to the ground as H;
calculating a coordinate position (X, Y) of the current cutting head in the coordinate system, wherein
6. The heading machine cutting control method according to claim 1, characterized in that step S6 further includes:
calculating the time length required by the cutting head to move to the ith coordinate point in the cutting path track according to the moving speed of the cutting head and the distance between the coordinate position of the current cutting head under the coordinate system and the ith coordinate point in the cutting path track;
judging whether the difference value is larger than a preset allowable error threshold value after the time length is over;
and if the difference value is larger than the preset allowable error threshold, sending a fault prompting instruction to the upper computer.
7. The heading machine cutting control method of claim 1, wherein the preset threshold is 400mm; the preset allowable error threshold is 30mm.
8. A heading machine cutting control device, comprising:
the parameter receiving module is used for receiving parameters of the roadway to be cut, which are issued by the upper computer;
the parameter judging module is used for judging whether the received parameters of the roadway to be cut are valid or not;
the cutting path track generation module is used for generating a cutting path track according to the received parameters of the roadway to be cut if the received parameters of the roadway to be cut are judged to be effective, and the cutting path track can traverse the roadway to be cut; the cutting path track comprises a plurality of coordinate points distributed in a coordinate system established by taking the lower left corner of the roadway to be cut as an origin;
the cutting arm data acquisition module acquires rotation, lifting and telescopic data of the cutting arm in real time through a heading machine controller, and acquires a distance L0 from a body of the heading machine to the left roadway wall of the roadway to be cut;
the coordinate position calculation module is used for calculating the coordinate position of the current cutting head under the coordinate system in real time and comparing the difference value between the coordinate position of the current cutting head under the coordinate system and the ith coordinate point in the cutting path track;
the mobile control module is used for sending a corresponding control signal to the heading machine controller when the difference value is larger than a preset threshold value, so that the heading machine controller controls the cutting head to move towards the ith coordinate point in the cutting path track at a first speed; when the difference value is smaller than or equal to a preset threshold value, a corresponding control signal is sent to the heading machine controller, so that the heading machine controller controls the cutting head to move towards an ith coordinate point in the cutting path track at a second speed;
the assignment module is used for assigning i to be i+1 when the difference value is smaller than a preset allowable error threshold value in the moving process of the cutting head;
and the traversing module is used for enabling the coordinate position calculating module, the moving control module and the assignment module to work repeatedly until the cutting head moves to the last coordinate point in the cutting path track.
9. The cutting control system of the heading machine is characterized by comprising
An upper computer;
a heading machine controller;
the automatic cutting processor is in bidirectional communication connection with the upper computer and the heading machine controller;
a memory storing a computer program; the automatic cutting processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 7.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117189104A (en) * | 2023-11-08 | 2023-12-08 | 三一重型装备有限公司 | Automatic cutting method, system, device and readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117189104A (en) * | 2023-11-08 | 2023-12-08 | 三一重型装备有限公司 | Automatic cutting method, system, device and readable storage medium |
| CN117189104B (en) * | 2023-11-08 | 2024-01-19 | 三一重型装备有限公司 | Automatic cutting method, system, device and readable storage medium |
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