CN117780372A - Control method and device of tunneling equipment - Google Patents
Control method and device of tunneling equipment Download PDFInfo
- Publication number
- CN117780372A CN117780372A CN202311799552.9A CN202311799552A CN117780372A CN 117780372 A CN117780372 A CN 117780372A CN 202311799552 A CN202311799552 A CN 202311799552A CN 117780372 A CN117780372 A CN 117780372A
- Authority
- CN
- China
- Prior art keywords
- pose
- cutting device
- information
- tunneling
- tunneling equipment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005641 tunneling Effects 0.000 title claims abstract description 95
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000006870 function Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 238000003491 array Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Landscapes
- Operation Control Of Excavators (AREA)
Abstract
The disclosure provides a control method and device of tunneling equipment, and relates to the technical field of industrial equipment control. The method comprises the following steps: acquiring real-time pose information of a cutting device on tunneling equipment under space coordinates; comparing the real-time pose information with set pose information of the cutting device, and judging whether the cutting device deviates in pose; in response to the cutting device pose offset, the position of the tunneling equipment body is adjusted through the crawler, and the tunneling equipment body pose is adjusted through the shovel plate and the rear support, so that the cutting device is adjusted to the set pose. The real-time pose information and the set pose information of the cutting device are utilized to judge whether the tunneling equipment generates the machine body deviation or not, and whether cutting boundary errors exist or not. When the machine body is deviated, the cutting device is adjusted to the set pose for cutting by adjusting the machine body pose of the tunneling equipment, so that the error between the actual cutting boundary and the preset cutting boundary can be reduced.
Description
Technical Field
The disclosure relates to the technical field of industrial equipment control, in particular to a control method and device of tunneling equipment.
Background
In the tunneling process, due to the reasons of narrow tunneling space, severe environment, equipment vibration, coal and rock hardness and the like, the tunneling equipment body is often caused to deviate, and the automatic cutting boundary control error is large.
Disclosure of Invention
The present disclosure aims to solve, at least to some extent, one of the technical problems in the related art.
To this end, an embodiment of a first aspect of the present disclosure provides a control method of tunneling equipment, including:
acquiring real-time pose information of a cutting device on tunneling equipment under space coordinates;
comparing the real-time pose information with set pose information of the cutting device, and judging whether the pose of the cutting device deviates or not; the set pose information is determined according to the size of a design roadway;
and responding to the pose deviation of the cutting device, adjusting the position of the tunneling equipment body through a crawler belt, and adjusting the pose of the tunneling equipment body through a shovel plate and a rear support so as to adjust the cutting device to the set pose.
In some embodiments of the present disclosure, the acquiring the real-time pose of the tunneling device cutting apparatus under the spatial coordinates includes: detecting the space pose of the tunneling equipment under the geodetic coordinates by adopting a full-automatic total station and an inertial navigation element; detecting attitude information of the cutting device relative to the tunneling equipment by adopting a travel sensor and an angle sensor; and determining real-time pose information of the cutting device under the space coordinates according to the space pose of the tunneling device under the ground coordinates and the pose information of the cutting device relative to the tunneling device.
In some embodiments of the disclosure, the determining whether the cutting device is pose-shifted includes: calculating error information of the real-time pose information and the set pose information of the cutting device; and determining whether the cutting device is in pose offset based on the error information.
In some embodiments of the present disclosure, the adjusting the position of the body of the tunneling apparatus by the crawler, the adjusting the pose of the body of the tunneling apparatus by the shovel plate and the rear support, includes: based on the error information between the real-time pose information and the set pose information of the cutting device, the position of the tunneling equipment body is adjusted through the crawler, and the pose of the tunneling equipment body is adjusted through the shovel plate and the rear support.
An embodiment of a second aspect of the present disclosure provides a control device for tunneling equipment, including:
the acquisition module is used for acquiring real-time pose information of the cutting device on the tunneling equipment under the space coordinates;
the judging module is used for comparing the real-time pose information with the set pose information of the cutting device and judging whether the cutting device deviates in pose or not; the set pose information is determined according to the size of a design roadway;
and the control module is used for responding to the pose deviation of the cutting device, adjusting the position of the tunneling equipment body through the crawler belt, and adjusting the pose of the tunneling equipment body through the shovel plate and the rear support so as to adjust the cutting device to the set pose.
In some embodiments of the present disclosure, the obtaining module is specifically configured to: detecting the space pose of the tunneling equipment under the geodetic coordinates by adopting a full-automatic total station and an inertial navigation element; detecting attitude information of the cutting device relative to the tunneling equipment by adopting a travel sensor and an angle sensor; and determining real-time pose information of the cutting device under the space coordinates according to the space pose of the tunneling device under the ground coordinates and the pose information of the cutting device relative to the tunneling device.
In some embodiments of the present disclosure, the determining module is specifically configured to: calculating error information of the real-time pose information and the set pose information of the cutting device; and determining whether the cutting device is in pose offset based on the error information.
In some embodiments of the present disclosure, the control module is specifically configured to: based on the error information between the real-time pose information and the set pose information of the cutting device, the position of the tunneling equipment body is adjusted through the crawler, and the pose of the tunneling equipment body is adjusted through the shovel plate and the rear support.
An embodiment of a third aspect of the present application provides an electronic device, including: a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored in the memory to implement the method of the first aspect.
An embodiment of a fourth aspect of the present application proposes a computer-readable storage medium, wherein computer-executable instructions are stored in the computer-readable storage medium, the computer-executable instructions being for implementing the method according to the first aspect.
According to the control method of the tunneling equipment, whether the tunneling equipment is subject to body deviation or not is judged by utilizing the real-time pose information and the set pose information of the cutting device on the tunneling equipment, and whether cutting boundary errors exist or not is judged. When the cutting device is deviated, the cutting device is adjusted to set pose for cutting by adjusting the position of the tunneling equipment body, so that the cutting device cuts according to a preset cutting range, and the error between an actual cutting boundary and a preset cutting boundary is reduced.
Additional aspects and advantages of the disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the disclosure.
Drawings
The foregoing and/or additional aspects and advantages of the present disclosure will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a schematic flow chart of a control method of tunneling equipment according to an embodiment of the disclosure;
fig. 2 is a schematic structural diagram of a control device of tunneling equipment according to an embodiment of the disclosure.
Detailed Description
Embodiments of the present disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present disclosure and are not to be construed as limiting the present disclosure.
The disclosure provides a control method and device of tunneling equipment. Specifically, a control method and apparatus of tunneling equipment according to embodiments of the present disclosure are described below with reference to the accompanying drawings.
Fig. 1 is a flow chart of a control method of tunneling equipment according to an embodiment of the disclosure. As shown in figure 1 of the drawings,
step 101, acquiring real-time pose information of a cutting device on tunneling equipment under space coordinates.
In some embodiments of the present disclosure, a fully automatic total station and inertial navigation element may be used to detect the spatial pose of the tunneling equipment in the geodetic coordinates, and a travel sensor and an angle sensor may be used to detect pose information of the cutting device relative to the tunneling equipment. And determining real-time pose information of the cutting device under the space coordinates according to the space pose of the tunneling device under the ground coordinates and the pose information of the cutting device relative to the tunneling device.
And 102, comparing the real-time pose information with set pose information of the cutting device, and judging whether the cutting device is deviated or not. The set pose information is determined according to the size of the design roadway.
The cutting boundary and the tunneling direction of the tunneling equipment are preset (namely, the size of a roadway is designed), and the set pose information of the cutting device can be determined based on the preset cutting boundary and the tunneling direction.
In one implementation, error information of the real-time pose information and set pose information of the cutting device may be calculated, and whether the cutting device is pose-shifted is determined based on the error information. Namely, whether a boundary error exists between the cutting boundary of the cutting device under the current pose and a preset cutting boundary.
And step 103, responding to the pose deviation of the cutting device, adjusting the position of the tunneling equipment body through the crawler, and adjusting the pose of the tunneling equipment body through the shovel plate and the rear support so as to adjust the cutting device to the set pose.
In a practical scenario, the attitude of the tunneling apparatus needs to be adjusted due to the severe environment and the limitation of the huge mention and the mechanical action of the tunneling apparatus. For example, when the cutting device is deviated in pose, cutting can be stopped, the position of the tunneling equipment body is adjusted through the crawler belt based on the error information (determining the amount of the tunneling equipment in pitching and rolling deviation) between the real-time pose information and the set pose information of the cutting device, and the pose of the tunneling equipment body is adjusted through the shovel plate and the rear support. The attitude of the tunneling equipment is adjusted, so that a cutting device on the tunneling equipment is controlled to cut according to a preset cutting range, the tunnel shape under the formed space is ensured, and the error is controlled within the minimum range.
By implementing the embodiment of the disclosure, whether the tunneling equipment is subject to body deviation or not and whether the tunneling equipment has a cutting boundary error is judged by utilizing the real-time pose information and the set pose information of the cutting device on the tunneling equipment. When the cutting device is deviated, the cutting device is adjusted to set pose for cutting by adjusting the position of the tunneling equipment body, so that the cutting device cuts according to a preset cutting range, and the error between an actual cutting boundary and a preset cutting boundary is reduced.
Fig. 2 is a schematic structural diagram of a control device of tunneling equipment according to an embodiment of the disclosure. As shown in fig. 2, the control device of the tunneling apparatus includes: an acquisition module 201, a judgment module 202 and a control module 203.
The acquiring module 201 is configured to acquire real-time pose information of a cutting device on tunneling equipment under spatial coordinates.
In some embodiments of the present disclosure, the obtaining module 201 is specifically configured to: detecting the space pose of tunneling equipment under the geodetic coordinates by adopting a full-automatic total station and an inertial navigation element; detecting attitude information of the cutting device relative to tunneling equipment by adopting a travel sensor and an angle sensor; and determining real-time pose information of the cutting device under the space coordinates according to the space pose of the tunneling device under the ground coordinates and the pose information of the cutting device relative to the tunneling device.
The judging module 202 is configured to compare the real-time pose information with set pose information of the cutting device, and judge whether the cutting device is deviated from the pose; the set pose information is determined according to the size of the design roadway.
In some embodiments of the present disclosure, the determining module 202 is specifically configured to: calculating error information of the real-time pose information and the set pose information of the cutting device; whether the cutting device is pose-shifted is determined based on the error information.
And the control module 203 is used for responding to the pose deviation of the cutting device, adjusting the position of the tunneling equipment body through the crawler, and adjusting the pose of the tunneling equipment body through the shovel plate and the rear support so as to adjust the cutting device to the set pose.
In some embodiments of the present disclosure, the control module 203 is specifically configured to: based on the error information between the real-time pose information and the set pose information of the cutting device, the position of the tunneling equipment body is adjusted through the crawler belt, and the pose of the tunneling equipment body is adjusted through the shovel plate and the rear support.
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
In order to achieve the above embodiments, the present application further proposes an electronic device including: a processor, and a memory communicatively coupled to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the methods provided by the previous embodiments.
In order to implement the above-mentioned embodiments, the present application also proposes a computer-readable storage medium in which computer-executable instructions are stored, which when executed by a processor are adapted to implement the methods provided by the foregoing embodiments.
In the foregoing descriptions of embodiments, descriptions of the terms "one embodiment," "some embodiments," "example," "particular example," or "some examples," etc., 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 are not necessarily directed 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. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (10)
1. The control method of the tunneling equipment is characterized by comprising the following steps of:
acquiring real-time pose information of a cutting device on tunneling equipment under space coordinates;
comparing the real-time pose information with set pose information of the cutting device, and judging whether the pose of the cutting device deviates or not; the set pose information is determined according to the size of a design roadway;
and responding to the pose deviation of the cutting device, adjusting the position of the tunneling equipment body through a crawler belt, and adjusting the pose of the tunneling equipment body through a shovel plate and a rear support so as to adjust the cutting device to the set pose.
2. The method of claim 1, wherein the acquiring the real-time pose of the ripper equipment cutting device in spatial coordinates comprises:
detecting the space pose of the tunneling equipment under the geodetic coordinates by adopting a full-automatic total station and an inertial navigation element;
detecting attitude information of the cutting device relative to the tunneling equipment by adopting a travel sensor and an angle sensor;
and determining real-time pose information of the cutting device under the space coordinates according to the space pose of the tunneling device under the ground coordinates and the pose information of the cutting device relative to the tunneling device.
3. The method of claim 1, wherein said determining whether the cutting device is pose offset comprises:
calculating error information of the real-time pose information and the set pose information of the cutting device;
and determining whether the cutting device is in pose offset based on the error information.
4. A method according to any one of claims 1 to 3, wherein said adjusting the fuselage position of the tunnelling equipment by means of tracks, the fuselage pose of the tunnelling equipment by means of a blade and a rear support, comprises:
based on the error information between the real-time pose information and the set pose information of the cutting device, the position of the tunneling equipment body is adjusted through the crawler, and the pose of the tunneling equipment body is adjusted through the shovel plate and the rear support.
5. A control device for a piece of ripping equipment, comprising:
the acquisition module is used for acquiring real-time pose information of the cutting device on the tunneling equipment under the space coordinates;
the judging module is used for comparing the real-time pose information with the set pose information of the cutting device and judging whether the cutting device deviates in pose or not; the set pose information is determined according to the size of a design roadway;
and the control module is used for responding to the pose deviation of the cutting device, adjusting the position of the tunneling equipment body through the crawler belt, and adjusting the pose of the tunneling equipment body through the shovel plate and the rear support so as to adjust the cutting device to the set pose.
6. The apparatus of claim 5, wherein the acquisition module is specifically configured to:
detecting the space pose of the tunneling equipment under the geodetic coordinates by adopting a full-automatic total station and an inertial navigation element;
detecting attitude information of the cutting device relative to the tunneling equipment by adopting a travel sensor and an angle sensor;
and determining real-time pose information of the cutting device under the space coordinates according to the space pose of the tunneling device under the ground coordinates and the pose information of the cutting device relative to the tunneling device.
7. The apparatus of claim 5, wherein the determining module is specifically configured to:
calculating error information of the real-time pose information and the set pose information of the cutting device;
and determining whether the cutting device is in pose offset based on the error information.
8. The apparatus according to any one of claims 5-7, wherein the control module is specifically configured to:
based on the error information between the real-time pose information and the set pose information of the cutting device, the position of the tunneling equipment body is adjusted through the crawler, and the pose of the tunneling equipment body is adjusted through the shovel plate and the rear support.
9. An electronic device, comprising: a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored in the memory to implement the method of any one of claims 1-4.
10. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the method of any one of claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311799552.9A CN117780372A (en) | 2023-12-25 | 2023-12-25 | Control method and device of tunneling equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311799552.9A CN117780372A (en) | 2023-12-25 | 2023-12-25 | Control method and device of tunneling equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117780372A true CN117780372A (en) | 2024-03-29 |
Family
ID=90388511
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311799552.9A Pending CN117780372A (en) | 2023-12-25 | 2023-12-25 | Control method and device of tunneling equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117780372A (en) |
-
2023
- 2023-12-25 CN CN202311799552.9A patent/CN117780372A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9008889B2 (en) | Method of controlling travel within travel system for unmanned vehicle and travel system for unmanned vehicle | |
| CN101522996B (en) | Control and method of control for an earthmoving system | |
| US10101740B2 (en) | Travel control device for work vehicle, and work vehicle | |
| CN108139755B (en) | Abnormality detection device for self-position estimation device, and vehicle | |
| US11829151B2 (en) | Construction-vehicle autonomous travel control device | |
| WO2017119517A1 (en) | Working-machine control system, working machine, and working-machine control method | |
| SE532431C2 (en) | Method and apparatus for determining a correspondence between a representation of an environment and said environment | |
| US9618338B2 (en) | Compensating for acceleration induced inclination errors | |
| CN102312452A (en) | Be used to have the improved grade control of the muck haulage system of higher machine speed | |
| US9199616B2 (en) | System and method for determining a ground speed of a machine | |
| JP2017016477A (en) | Work machine travel assist system and transport vehicle | |
| WO1998059119A1 (en) | Method for monitoring the work cycle of earth moving machinery during material removal | |
| US9494430B2 (en) | Positioning system implementing multi-sensor pose solution | |
| CN113454298B (en) | Working machine | |
| CN105783925A (en) | System and method for positioning drill jambo body | |
| CN117780372A (en) | Control method and device of tunneling equipment | |
| US5897603A (en) | Method for determining the relationship between the heading of a machine and the course of machine travel | |
| WO2009145694A1 (en) | Method and device for calculating the reliability of an estimated position | |
| JP6553702B2 (en) | Work machine control system, work machine, work machine control method and navigation controller | |
| EP4234819A1 (en) | Construction machine | |
| CN112557072B (en) | Calibration method and device for cantilever space degree of freedom of mining equipment | |
| JP6905007B2 (en) | Work machine control system, work machine, work machine control method and navigation controller | |
| KR102696731B1 (en) | Construction machinery | |
| US20220333339A1 (en) | Apparatus and method for grade control | |
| JP7484623B2 (en) | Stop instruction system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |