CN117189104B - Automatic cutting method, system, device and readable storage medium - Google Patents
Automatic cutting method, system, device and readable storage medium Download PDFInfo
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- 238000005520 cutting process Methods 0.000 title claims abstract description 413
- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000003860 storage Methods 0.000 title claims abstract description 9
- 230000009471 action Effects 0.000 claims description 23
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- 230000005641 tunneling Effects 0.000 description 5
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- 230000003993 interaction Effects 0.000 description 3
- 238000005065 mining Methods 0.000 description 3
- 239000003245 coal Substances 0.000 description 2
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- 239000000428 dust Substances 0.000 description 1
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Abstract
The application provides an automatic cutting method, an automatic cutting system, an automatic cutting device and a readable storage medium, and relates to the technical field of heading machines, wherein the automatic cutting method comprises the following steps: acquiring the shape and size of a roadway and an automatic cutting track; establishing a cutting plane coordinate system, and positioning the absolute coordinates of a cutting head; operating the cutting head according to the automatic cutting track, and generating a cutting main program through the demonstrator; compiling, storing and loading the cutting main program into the demonstrator; verifying the cutting main program; and controlling the heading machine to automatically cut the roadway according to the cutting main program. According to the technical scheme, the cutting track can be edited in a self-defined mode according to the user and roadway conditions on site, efficiency is improved, programming and debugging time is shortened, and the use will of the user is improved.
Description
Technical Field
The application relates to the technical field of heading machines, in particular to an automatic cutting method, an automatic cutting system, an automatic cutting device and a readable storage medium.
Background
Along with the continuous development of coal mining technology, the tunneling technology of coal mines is also continuously improved, and underground operation is steadily advanced towards automation and intellectualization. However, due to the severe environment of the underground tunneling working face, roof-falling and side-leaning events occur sometimes, dust generated during the working of the tunneling machine also brings great influence to operators of the tunneling machine, and visual blind spots exist when the operators operate the tunneling machine to cut. In conclusion, the remote one-key starting automatic cutting function of the heading machine is introduced, so that the automatic cutting can be performed by simulating the manual operation habit, and the aims of less humanization and no humanization of the heading face are fulfilled. The existing automatic cutting track is logic written according to the thought of a programmer or a part of field conditions, the cutting track is relatively fixed, when the automatic cutting track is actually used, the existing automatic cutting track cannot meet the actual cutting conditions of some roadways, at the moment, the cutting process path needs to be changed to meet the field condition, at the moment, the internal program needs to be changed, the cutting track is customized again, and a mine is caused to be a program, so that a great amount of programming and debugging time is needed, and meanwhile, the program is difficult to realize standardization and unified management. In addition, the existing cutting track has a plurality of repeated redundant paths, so that the production efficiency on the mine is seriously affected, and the use will of a user is reduced.
Disclosure of Invention
The automatic cutting track fixing device aims at solving or improving the problems of fixed automatic cutting track and low development efficiency.
To this end, a first object of the present application is to provide an automatic cutting method.
A second object of the present application is to provide an automatic cutting system.
A third object of the present application is to provide an automatic cutting device.
It is a fourth object of the present application to provide another automatic cutting system.
A fifth object of the present application is to provide a readable storage medium.
In order to achieve the first object of the present application, a technical solution of a first aspect of the present application provides an automatic cutting method for customizing a cutting track of a heading machine, the heading machine including a cutting head, the automatic cutting method including: acquiring the shape and size of a roadway and an automatic cutting track; establishing a cutting plane coordinate system, and positioning the absolute coordinates of a cutting head; operating the cutting head according to the automatic cutting track, and generating a cutting main program through the demonstrator; compiling, storing and loading the cutting main program into the demonstrator; verifying the cutting main program; and controlling the heading machine to automatically cut the roadway according to the cutting main program.
According to the automatic cutting method provided by the application, the shape and the size of the roadway and the automatic cutting track are firstly obtained. The automatic cutting track is based on the requirements of the mining party or the manual cutting habit of an operator. And then establishing a cutting plane coordinate system, and positioning the absolute coordinates of the cutting head. Then the manual operation cutting head is operated to move according to the envisaged cutting track, and the cutting main program is generated through the demonstrator. Compiling, storing and loading the cutting main program into the demonstrator, and verifying the cutting main program. And finally, controlling the heading machine to automatically cut the roadway according to the cutting main program, wherein when the roadway is automatically cut, the instructions of the main logic are executed one by one, and each instruction in the cutting main program is supported by the bottom layer program of the controller, so that the automatic cutting is realized according to the set track flow, the flexibility is high, the cutting track can be flexibly written, and the unnecessary repeated actions in the cutting process are reduced. Development efficiency can be greatly improved, and programming and debugging time can be reduced. The operability is strong, the man-machine interaction is facilitated, and the track writing operation is simple. The method has the advantages that the application range is wide, a plurality of programs can be written in the same demonstrator, and a user can write and select a proper cutting process path according to the real-time condition of a roadway.
In addition, the technical scheme provided by the application can also have the following additional technical characteristics:
in some embodiments, optionally, establishing a cutting face coordinate system, positioning an absolute coordinate of the cutting head includes: the cutting head is placed at any cutting position, a space coordinate system is established through an inertial navigation system, a laser radar and an oil cylinder sensor, and coordinate values of the cutting position under a cutting plane coordinate system are determined through an algorithm.
In the technical scheme, a cutting plane coordinate system is established, absolute coordinates of a cutting head are positioned, specifically, the cutting head is placed at any cutting position, a space coordinate system is established through an inertial navigation system, a laser radar and an oil cylinder sensor, and coordinate values of the cutting position under the cutting plane coordinate system are determined through an algorithm.
In some embodiments, optionally, the cutting head is operated according to an automatic cutting track, and the cutting main program is generated through the demonstrator at the same time, including: writing a bottom layer program of the cutting arm action of the heading machine in a controller; and operating the cutting head according to the automatic cutting track, inserting an operation instruction at each inflection point in a program editing interface of the demonstrator, and recording the absolute coordinate value of the current cutting head.
In the technical scheme, the cutting head is operated according to an automatic cutting track, and a main cutting program is generated through the demonstrator, specifically, a bottom layer program of the cutting arm action of the heading machine is written in the controller at first. And then operating the cutting head according to the automatic cutting track, inserting an operation instruction at each inflection point in a program editing interface of the demonstrator, and recording the absolute coordinate value of the current cutting head. Through the cooperation of the demonstrator and the controller, the control instruction is written in the demonstrator module, the control instruction calls the bottom program to realize the cutting action of the cutting arm, the automatic cutting of the self-defined track is realized, the flexibility is strong, the cutting track can be flexibly written, the repeated unnecessary actions in the cutting process are reduced, a plurality of programs can be written in the same demonstrator, and a user can write and select a proper cutting process path according to the real-time condition of a roadway, so that the application range is wide.
In some embodiments, optionally, the cutting head is operated according to an automatic cutting track, and a main cutting program is generated through the demonstrator, and further including: judging whether the automatic cutting track is ended or not; if yes, the cutting main program is edited.
In the technical scheme, the cutting head is operated according to the automatic cutting track, and meanwhile, the cutting main program is generated through the demonstrator, and the method further comprises the step of judging whether the automatic cutting track is ended or not, if yes, editing of the cutting main program is completed. It will be appreciated that the main cutting procedure is completed accordingly until the cutting trajectory finally ends.
In some embodiments, optionally, verifying the cutting main program includes: executing the cutting main program once through a debugging mode; judging whether the main cutting program is correct or not; if so, automatic cutting can be performed.
In the technical scheme, after the editing of the cutting main program is completed, the cutting main program is compiled, saved and loaded into the demonstrator, the program is executed for one time from beginning to end by utilizing a debugging mode, and whether the program is error-free or not is checked. After confirming the error, automatic cutting can be performed.
To achieve the second object of the present application, a technical solution of a second aspect of the present application provides an automatic cutting system, including: a cutting track for customizing entry driving machine, entry driving machine include the cutting head, and automatic cutting system includes: the acquisition module is used for acquiring the shape and the size of the roadway and the automatic cutting track; the positioning module is used for establishing a cutting face coordinate system and positioning the absolute coordinates of the cutting head; the editing module is used for operating the cutting head according to the automatic cutting track and generating a cutting main program through the demonstrator; the loading module is used for compiling, storing and loading the cutting main program into the demonstrator; the verification module is used for verifying the cutting main program; and the automatic cutting module is used for controlling the heading machine to automatically cut the roadway according to the cutting main program.
The automatic cutting system comprises an acquisition module, a positioning module, an editing module, a loading module, a verification module and an automatic cutting module. The acquisition module is used for acquiring the shape and the size of the roadway and the automatic cutting track. The positioning module is used for establishing a cutting plane coordinate system and positioning the absolute coordinates of the cutting head. The editing module is used for operating the cutting head according to the automatic cutting track and generating a cutting main program through the demonstrator. The loading module is used for compiling, storing and loading the cutting main program into the demonstrator. The verification module is used for verifying the cutting main program. The automatic cutting module is used for controlling the heading machine to automatically cut the roadway according to the main cutting program. According to the technical scheme, the cutting track can be edited in a self-defined mode according to the user and roadway conditions on site, efficiency is improved, programming and debugging time is shortened, and the use will of the user is improved.
To achieve the third object of the present application, a technical solution of a third aspect of the present application provides an automatic cutting device, including: the controller is used for receiving signals of an external sensor and acquiring a bottom layer program of the cutting arm action of the heading machine; the inertial navigation module is connected with the controller and comprises an inertial navigation system, a laser radar and an oil cylinder sensor, and the inertial navigation system is respectively connected with the laser radar and the oil cylinder sensor and is used for establishing a cutting plane coordinate system and determining coordinate values of a cutting position under the cutting plane coordinate system; and the demonstrator is connected with the controller and used for acquiring the control instruction and calling the bottom program through the control instruction to realize the cutting action of the cutting arm.
According to the application, the automatic cutting device comprises a controller, an inertial navigation module and a demonstrator. The inertial navigation module comprises an inertial navigation system, a laser radar and an oil cylinder sensor. The controller receives signals of an external sensor for an inertial navigation system, the inertial navigation system is combined with a laser radar and an oil cylinder sensor, a cutting surface coordinate system is established by adopting an algorithm, and the absolute position of the cutting head in the coordinate system is positioned in real time. The controller is used as a bottom main controller and can receive signals and send control instructions to realize the motion control of the heading machine. The demonstrator has parameter setting and module program writing functions. The demonstrator is matched with the controller, a control instruction is written in the demonstrator module, and the control instruction calls the bottom layer program to realize the cutting action of the cutting arm, so that the automatic cutting of the self-defined track is realized. The cutting track can be edited in a self-defined mode according to the conditions of a user and a roadway on site by combining the demonstrator with the controller, so that the efficiency is improved, the programming and debugging time is shortened, and the use will of the user is improved.
In some aspects, optionally, the external sensor comprises one or a combination of the following: displacement sensor, vibration sensor, rotational speed sensor, voltage sensor, pressure sensor and temperature sensor.
In this technical solution, the external sensor may be a displacement sensor, a vibration sensor, a rotation speed sensor, a voltage sensor, a pressure sensor, and a temperature sensor.
To achieve the fourth object of the present application, a fourth aspect of the present application provides an automatic cutting system, including: the automatic cutting method of any one of the first aspect is realized when the processor executes the program or the instruction, so that the automatic cutting method of any one of the first aspect has the technical effects of any one of the first aspect and is not repeated herein.
In order to achieve the fifth object of the present application, a fifth aspect of the present application provides a readable storage medium, on which a program or an instruction is stored, where the program or the instruction, when executed by a processor, implements the steps of the automatic cutting method according to any one of the first aspect, so that the technical effects of any one of the first aspect are achieved, which is not described herein again.
Additional aspects and advantages of the present application will become apparent in the following description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, wherein:
FIG. 1 is a schematic illustration of an automatic cutting method according to an embodiment of a first aspect of the present application;
FIG. 2 is a schematic diagram of absolute coordinates of a locating cutting head for establishing a cutting face coordinate system in an automatic cutting method according to the present application;
fig. 3 is a schematic diagram of a cutting head operating according to an automatic cutting trajectory while generating a cutting main program through a teach pendant in the automatic cutting method provided in accordance with the present application;
FIG. 4 is a schematic diagram of another automatic cutting method according to the present application, in which a cutting head is operated according to an automatic cutting trajectory while a main cutting program is generated by a teach pendant;
FIG. 5 is a schematic diagram of verification of a cutting main program in an automatic cutting method according to the present application;
fig. 6 is a block schematic diagram of a construction of an automatic cutting system according to an embodiment of a second aspect of the present application;
fig. 7 is a block schematic diagram of the structure of an automatic cutting system according to an embodiment of the fourth aspect of the present application;
FIG. 8 is a flow chart illustrating steps of an automatic cutting method according to an embodiment of the present application;
FIG. 9 is a schematic diagram of a custom cutting path of an automatic cutting method according to an embodiment of the present application;
FIG. 10 is a schematic diagram of determining a cutting head position by a spatial coordinate system of an automatic cutting method according to an embodiment of the present application;
fig. 11 is a schematic block diagram of a structure of an automatic cutting device according to an embodiment of a third aspect of the present application.
Wherein, the correspondence between the reference numerals and the component names in fig. 6, 7 and 11 is:
10: an automatic cutting system; 110: an acquisition module; 120: a positioning module; 130: an editing module; 140: loading a module; 150: a verification module; 160: an automatic cutting module; 20: an automatic cutting system; 300: a memory; 400: a processor; 50: an automatic cutting device; 510: a controller; 520: an inertial navigation module; 530: a demonstrator.
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, in the case of no conflict, the embodiments of the present application and the 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 otherwise than as described herein, and thus the scope of the present application is not limited by the specific embodiments disclosed below.
Automatic cutting methods, systems, devices, and readable storage media according to some embodiments of the present application are described below with reference to fig. 1-11.
As shown in fig. 1, an embodiment of the first aspect of the present application provides an automatic cutting method, including the steps of:
step S102: acquiring the shape and size of a roadway and an automatic cutting track;
step S104: establishing a cutting plane coordinate system, and positioning the absolute coordinates of a cutting head;
step S106: operating the cutting head according to the automatic cutting track, and generating a cutting main program through the demonstrator;
step S108: compiling, storing and loading the cutting main program into the demonstrator;
step S110: verifying the cutting main program;
step S112: and controlling the heading machine to automatically cut the roadway according to the cutting main program.
According to the automatic cutting method provided by the embodiment, the shape and the size of the roadway and the automatic cutting track are firstly obtained. The automatic cutting track is based on the requirements of the mining party or the manual cutting habit of an operator. And then establishing a cutting plane coordinate system, and positioning the absolute coordinates of the cutting head. Then the manual operation cutting head is operated to move according to the envisaged cutting track, and the cutting main program is generated through the demonstrator. Compiling, storing and loading the cutting main program into the demonstrator, and verifying the cutting main program. And finally, controlling the heading machine to automatically cut the roadway according to the cutting main program, wherein when the roadway is automatically cut, the instructions of the main logic are executed one by one, and each instruction in the cutting main program is supported by the bottom layer program of the controller, so that the automatic cutting is realized according to the set track flow, the flexibility is high, the cutting track can be flexibly written, and the unnecessary repeated actions in the cutting process are reduced. Development efficiency can be greatly improved, and programming and debugging time can be reduced. The operability is strong, the man-machine interaction is facilitated, and the track writing operation is simple. The method has the advantages that the application range is wide, a plurality of programs can be written in the same demonstrator, and a user can write and select a proper cutting process path according to the real-time condition of a roadway.
As shown in fig. 2, according to the automatic cutting method provided by the present application, a cutting plane coordinate system is established, and the absolute coordinates of the cutting head are located, including the following steps:
step S202: the cutting head is placed at any cutting position, a space coordinate system is established through an inertial navigation system, a laser radar and an oil cylinder sensor, and coordinate values of the cutting position under a cutting plane coordinate system are determined through an algorithm.
In the embodiment, a cutting plane coordinate system is established, absolute coordinates of a cutting head are positioned, specifically, the cutting head is placed at any cutting position, a space coordinate system is established through an inertial navigation system, a laser radar and an oil cylinder sensor, and coordinate values of the cutting position under the cutting plane coordinate system are determined through an algorithm.
As shown in fig. 3, according to the automatic cutting method provided by the present application, a cutting head is operated according to an automatic cutting track, and a cutting main program is generated through a demonstrator, comprising the steps of:
step S302: writing a bottom layer program of the cutting arm action of the heading machine in a controller;
step S304: and operating the cutting head according to the automatic cutting track, inserting an operation instruction at each inflection point in a program editing interface of the demonstrator, and recording the absolute coordinate value of the current cutting head.
In this embodiment, the cutting head is operated according to an automatic cutting trajectory while a main cutting program is generated by a teach pendant, specifically, first a bottom program of the heading machine cutting arm action is written in a controller. And then operating the cutting head according to the automatic cutting track, inserting an operation instruction at each inflection point in a program editing interface of the demonstrator, and recording the absolute coordinate value of the current cutting head. Through the cooperation of the demonstrator and the controller, the control instruction is written in the demonstrator module, the control instruction calls the bottom program to realize the cutting action of the cutting arm, the automatic cutting of the self-defined track is realized, the flexibility is strong, the cutting track can be flexibly written, the repeated unnecessary actions in the cutting process are reduced, a plurality of programs can be written in the same demonstrator, and a user can write and select a proper cutting process path according to the real-time condition of a roadway, so that the application range is wide.
As shown in fig. 4, according to the automatic cutting method provided by the present application, the cutting head is operated according to an automatic cutting track, and a main cutting program is generated by a demonstrator, and further includes the steps of:
step S402: judging whether the automatic cutting track is ended or not;
step S404: if yes, the cutting main program is edited.
In this embodiment, the cutting head is operated according to the automatic cutting track, and a main cutting program is generated by the demonstrator, and further includes determining whether the automatic cutting track is finished, and if yes, editing of the main cutting program is completed. It will be appreciated that the main cutting procedure is completed accordingly until the cutting trajectory finally ends.
As shown in fig. 5, according to the automatic cutting method provided in the present application, the verification of the cutting main program includes the following steps:
step S502: executing the cutting main program once through a debugging mode;
step S504: judging whether the main cutting program is correct or not;
step S506: if so, automatic cutting can be performed.
In this embodiment, after the editing of the cutting main program is completed, the cutting main program is compiled, saved and loaded into the teach pendant, and the program is executed through the whole process by using the debug mode to check whether the program is error-free. After confirming the error, automatic cutting can be performed.
As shown in fig. 6, an embodiment of the second aspect of the present application provides an automatic cutting system 10 for customizing a cutting trajectory of a heading machine, the heading machine including a cutting head, the automatic cutting system 10 comprising: an acquisition module 110, configured to acquire a shape and a size of a roadway and an automatic cutting track; the positioning module 120 is used for establishing a cutting plane coordinate system and positioning the absolute coordinates of the cutting head; an editing module 130, configured to operate the cutting head according to the automatic cutting track, and generate a main cutting program through the demonstrator; the loading module 140 is used for compiling, storing and loading the cutting main program into the demonstrator; a verification module 150 for verifying the cutting main program; and the automatic cutting module 160 is used for controlling the heading machine to automatically cut the roadway according to the cutting main program.
The automatic cutting system 10 provided according to the present embodiment includes an acquisition module 110, a positioning module 120, an editing module 130, a loading module 140, a verification module 150, and an automatic cutting module 160. The acquisition module 110 is used for acquiring the shape and size of the roadway and the automatic cutting track. The positioning module 120 is used for establishing a cutting plane coordinate system and positioning the absolute coordinates of the cutting head. The editing module 130 is used for operating the cutting head according to the automatic cutting track, and generating a cutting main program through the demonstrator. The loading module 140 is used for compiling, saving and loading the cutting main program into the demonstrator. The verification module 150 is used for verifying the cutting main program. The automatic cutting module 160 is used for controlling the heading machine to automatically cut the roadway according to the cutting main program. According to the technical scheme, the cutting track can be edited in a self-defined mode according to the user and roadway conditions on site, efficiency is improved, programming and debugging time is shortened, and the use will of the user is improved.
As shown in fig. 11, an embodiment of a third aspect of the present application provides an automatic cutting device 50, including: the controller 510 is configured to receive a signal from an external sensor, and obtain a bottom layer program of a cutting arm of the heading machine; the inertial navigation module 520 is connected with the controller 510, and the inertial navigation module 520 comprises an inertial navigation system, a laser radar and an oil cylinder sensor, wherein the inertial navigation system is respectively connected with the laser radar and the oil cylinder sensor and is used for establishing a cutting plane coordinate system and determining coordinate values of a cutting position under the cutting plane coordinate system; and the demonstrator 530 is connected with the controller 510 and is used for acquiring the control instruction and calling the bottom program through the control instruction to realize the cutting action of the cutting arm.
The automatic cutting device 50 provided according to the present embodiment includes a controller 510, an inertial navigation module 520, and a teach pendant 530. The inertial navigation module 520 includes an inertial navigation system, a lidar, and a hydro-cylinder sensor, among others. The controller 510 receives external sensor signals for use by an inertial navigation system, which is combined with a laser radar and an oil cylinder sensor, and establishes a cutting plane coordinate system by adopting an algorithm, so as to position the absolute position of the cutting head in the coordinate system in real time. The controller 510 is used as a bottom main controller, and can receive signals and send control instructions to realize the motion control of the heading machine. The demonstrator 530 has a parameter setting and module programming function. The demonstrator 530 cooperates with the controller 510 to write control instructions in the demonstrator module, and the control instructions call the bottom program to realize the cutting action of the cutting arm, thereby realizing the automatic cutting of the self-defined track. By combining the demonstrator 530 with the controller 510, the cutting track can be edited in a field by user definition according to the user and roadway conditions, so that the efficiency is improved, the programming and debugging time is reduced, and the use will of the user is improved.
The external sensor comprises a displacement sensor, a vibration sensor, a rotating speed sensor, a voltage sensor, a pressure sensor or a temperature sensor.
As shown in fig. 7, an embodiment of a fourth aspect of the present application provides an automatic cutting system 20, comprising: the memory 300 and the processor 400, wherein the memory 300 stores a program or an instruction that can be executed on the processor 400, and the processor 400 implements the steps of the automatic cutting method according to any one of the embodiments of the first aspect when executing the program or the instruction, so that the technical effects of any one of the embodiments of the first aspect are provided, and are not repeated herein.
An embodiment of the fifth aspect of the present application provides a readable storage medium, on which a program or an instruction is stored, where the program or the instruction, when executed by a processor, implement the steps of the automatic cutting method according to any one of the embodiments of the first aspect, so that the technical effects of any one of the embodiments of the first aspect are provided, and are not described herein again.
As shown in fig. 8, 9 and 10, according to the automatic cutting method provided by the embodiment of the application, on the basis of accurate positioning of the heading machine, a mode of combining a demonstrator with a controller is adopted, so that the on-site self-defined editing of cutting tracks according to the conditions of a user and a roadway can be realized, the efficiency is improved, the programming and debugging time is reduced, and the use will of the user is improved.
Specifically, the controller receives an external sensor signal for an inertial navigation system, the inertial navigation system is combined with a laser radar and an oil cylinder sensor, a cutting surface coordinate system is established by adopting an algorithm, and the absolute position of the cutting head in the coordinate system is positioned in real time. The controller is used as a bottom main controller and can receive signals and send control instructions to realize the motion control of the heading machine. The demonstrator has parameter setting and module program writing functions. The demonstrator is matched with the controller, control instructions (such as relative displacement instructions, absolute position movement formulation, receiving and transmitting signals and the like) are written in the demonstrator module, and the control instructions call the bottom program to realize the cutting action of the cutting arm, so that the automatic cutting of the self-defined track is realized.
Specifically, the heading machine is placed at any position of a roadway;
determining the shape and the size of a roadway and an automatic cutting track (based on the requirements of an ore party or the manual cutting habit of an operator);
placing the cutting head at any position to be cut, combining an inertial navigation system, a laser radar and an oil cylinder sensor, establishing a space coordinate system, and determining coordinate values of the cutting position under a cutting section coordinate system through an algorithm;
and writing a bottom layer program of the cutting arm action of the heading machine in the PLC controller for calling by the demonstrator. Wherein, the PLC controller is a programmable logic controller.
The manual operation cutting head is operated to run according to the envisaged cutting track, and meanwhile, in the program editing interface of the demonstrator, a running instruction is inserted into each inflection point, and the absolute coordinate value of the current cutting head is recorded. Until the cutting track is finally finished, the main program is correspondingly finished.
After the program editing is finished, compiling, storing and loading the program into a demonstrator, executing the program for one time from beginning to end by utilizing a debugging mode, and checking whether the program meets the expectations or not. After confirming the error, automatic cutting can be performed.
When the automatic cutting is performed, the instructions of the main logic are executed one by one, and each instruction in the main logic program is supported by a bottom layer program of the controller, so that the automatic cutting is realized according to a set track flow;
each instruction in the main logic of the demonstrator can be independently executed, and the instructions such as bottom sweeping, trimming and the like can be independently added and can be called when needed.
As shown in fig. 8, first, the machine is started up and the position of the heading machine is determined. And then setting the shape and the size of the roadway. And determining a cutting plane coordinate system and positioning the absolute coordinates of the gun head. The manual operation determines the cutting track and edits the cutting main program. And saving the program, compiling and loading the program into the demonstrator. Verifying whether the program settings are ideal. If desired, automatic cutting is performed.
As shown in fig. 9 and 10, fig. 9 is a schematic view of a custom cutting path, and A, B, C is a cutting path. Figure 10 is a schematic diagram of the determination of the position of the cutting head in a spatial coordinate system,，/>，，x 1 to the coordinates of the cutting head in the y-axis, x 2 To the coordinates of the cutting head in the x-axis, x 3 The coordinate of the cutting head in the z axis is P, the rotation coordinate of the cutting head, r, the length of the cutting arm, alpha, the rotation angle of the cutting head around the z axis, and beta, the rotation angle of the cutting head around the x axisDegree.
In summary, the beneficial effects of the embodiment of the application are:
1. the flexibility is strong, the cutting track can be flexibly written, and unnecessary repeated actions in the cutting process are reduced.
2. Development efficiency can be greatly improved, and programming and debugging time can be reduced.
3. The operability is strong, and man-machine interaction is facilitated. The track writing operation is simple.
4. The application range is wide. Multiple programs can be written in the same demonstrator, and a user can write and select a proper cutting process path according to the real-time condition of a roadway.
In this application, the terms "first," "second," "third," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more, unless expressly 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 terms in this application will be understood by those of ordinary skill in the art as the case may be.
In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," and the like indicate an orientation or a positional relationship based on that shown in the drawings, and are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the apparatus or module in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
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 foregoing is merely a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and variations may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (9)
1. An automatic cutting method for customizing a cutting trajectory of a heading machine, the heading machine including a cutting head, the automatic cutting method comprising:
acquiring the shape and size of a roadway and an automatic cutting track;
establishing a cutting plane coordinate system, and positioning the absolute coordinates of a cutting head;
operating the cutting head according to the automatic cutting track, and generating a cutting main program through a demonstrator at the same time;
compiling, storing and loading the cutting main program into the demonstrator;
verifying the cutting main program;
controlling the heading machine to automatically cut the roadway according to the cutting main program;
the operation of the cutting head according to the automatic cutting track, and the generation of a cutting main program through a demonstrator at the same time, comprises the following steps:
writing a bottom layer program of the cutting arm action of the heading machine in a controller;
and operating the cutting head according to the automatic cutting track, inserting an operation instruction at each inflection point in a program editing interface of the demonstrator, and recording the absolute coordinate value of the current cutting head.
2. The automatic cutting method according to claim 1, wherein the establishing a cutting face coordinate system, locating absolute coordinates of a cutting head, comprises:
the cutting head is placed at any cutting position, a space coordinate system is established through an inertial navigation system, a laser radar and an oil cylinder sensor, and coordinate values of the cutting position under a cutting plane coordinate system are determined through an algorithm.
3. The automatic cutting method according to claim 1, wherein the operating the cutting head according to the automatic cutting trajectory while generating a cutting main program through a teach pendant, further comprises:
judging whether the automatic cutting track is ended or not;
if yes, the cutting main program is edited.
4. The automatic cutting method according to any one of claims 1 to 3, wherein the verifying the cutting main routine includes:
executing the cutting main program once through a debugging mode;
judging whether the main cutting program is correct or not;
if so, automatic cutting can be performed.
5. An automatic cutting system for customizing a cutting trajectory of a heading machine, the heading machine including a cutting head, the automatic cutting system comprising:
the acquisition module is used for acquiring the shape and the size of the roadway and the automatic cutting track;
the positioning module is used for establishing a cutting face coordinate system and positioning the absolute coordinates of the cutting head;
the editing module is used for operating the cutting head according to the automatic cutting track and generating a cutting main program through the demonstrator;
the loading module is used for compiling, storing and loading the cutting main program into the demonstrator;
the verification module is used for verifying the cutting main program;
the automatic cutting module is used for controlling the heading machine to automatically cut the roadway according to the cutting main program;
the operation of the cutting head according to the automatic cutting track, and the generation of a cutting main program through a demonstrator at the same time, comprises the following steps:
writing a bottom layer program of the cutting arm action of the heading machine in a controller;
and operating the cutting head according to the automatic cutting track, inserting an operation instruction at each inflection point in a program editing interface of the demonstrator, and recording the absolute coordinate value of the current cutting head.
6. An automatic cutting device, comprising:
the controller is used for receiving signals of an external sensor and acquiring a bottom layer program of the cutting arm action of the heading machine;
the inertial navigation module is connected with the controller and comprises an inertial navigation system, a laser radar and an oil cylinder sensor, and the inertial navigation system is respectively connected with the laser radar and the oil cylinder sensor and is used for establishing a cutting plane coordinate system and determining coordinate values of a cutting position under the cutting plane coordinate system;
the demonstrator is connected with the controller and is used for acquiring a control instruction and calling a bottom program through the control instruction to realize the cutting action of the cutting arm;
writing a bottom layer program of the cutting arm action of the heading machine in the controller;
and operating the cutting head according to the automatic cutting track, inserting an operation instruction at each inflection point in a program editing interface of the demonstrator, and recording the absolute coordinate value of the current cutting head.
7. The automatic cutting device according to claim 6, wherein,
the external sensor comprises one or a combination of the following: displacement sensor, vibration sensor, rotational speed sensor, voltage sensor, pressure sensor and temperature sensor.
8. An automatic cutting system, comprising:
a memory (300) and a processor (400), wherein the memory (300) has stored thereon a program or instructions executable on the processor (400), the processor (400) implementing the steps of the automatic cutting method according to any of claims 1 to 4 when executing the program or instructions.
9. A readable storage medium having stored thereon a program or instructions, which when executed by a processor, implement the steps of the automatic cutting method according to any one of claims 1 to 4.
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