CN117988849A - Control method, device, equipment and storage medium for step change of heading machine - Google Patents
Control method, device, equipment and storage medium for step change of heading machine Download PDFInfo
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- CN117988849A CN117988849A CN202410125661.0A CN202410125661A CN117988849A CN 117988849 A CN117988849 A CN 117988849A CN 202410125661 A CN202410125661 A CN 202410125661A CN 117988849 A CN117988849 A CN 117988849A
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- 238000000034 method Methods 0.000 title claims abstract description 73
- 230000008859 change Effects 0.000 title claims description 31
- 238000010276 construction Methods 0.000 claims abstract description 93
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 60
- 239000010959 steel Substances 0.000 claims abstract description 60
- 238000009412 basement excavation Methods 0.000 claims description 23
- 238000004590 computer program Methods 0.000 claims description 22
- 230000008878 coupling Effects 0.000 claims 2
- 238000010168 coupling process Methods 0.000 claims 2
- 238000005859 coupling reaction Methods 0.000 claims 2
- 238000011161 development Methods 0.000 abstract description 13
- 230000001276 controlling effect Effects 0.000 description 24
- 238000010586 diagram Methods 0.000 description 18
- 230000008569 process Effects 0.000 description 15
- 230000015572 biosynthetic process Effects 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
- 230000005641 tunneling Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
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- 230000003287 optical effect Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 239000002893 slag Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
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- 238000007906 compression Methods 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D1/00—Sinking shafts
- E21D1/03—Sinking shafts mechanically, e.g. by loading shovels or loading buckets, scraping devices, conveying screws
- E21D1/06—Sinking shafts mechanically, e.g. by loading shovels or loading buckets, scraping devices, conveying screws with shaft-boring cutters
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The embodiment of the application provides a control method, a device, equipment and a storage medium for changing steps of a development machine, wherein the method comprises the following steps: after the working mode of the heading machine is detected to be switched to a step-changing mode, the pushing oil cylinder and the supporting shoe assembly are retracted, the steel strand lifting assembly is controlled to lower the shield body to a set depth position, current pose information of the shield body is obtained, and the horizontal state and the centering state of the shield body are adjusted according to the pose information until the horizontal state and the centering state of the shield body meet construction conditions. The method improves the construction efficiency of the heading machine.
Description
Technical Field
The application belongs to the field of development machine construction, and particularly relates to a development machine step change control method, a development machine step change control device, development machine step change control equipment and a development machine storage medium.
Background
The shaft heading machine comprises a steel strand lifting assembly, a supporting shoe assembly, a propelling assembly, a measuring assembly and a control system which are arranged on the ground. The construction of the shaft heading machine comprises a plurality of links such as excavation, step change, slag discharge, support and the like.
Aiming at a large-scale vertical shaft excavator, the verticality of well formation of a vertical shaft and efficient and safe construction are important control indexes. At present, the step change process of the heading machine is mainly performed by manual operation, an operator approaches to the well wall by controlling the extension of a plurality of shoe supporting oil cylinders in a shoe supporting assembly, after the supporting pressure of each shoe supporting oil cylinder is increased to a preset threshold value, the extension of the shoe supporting oil cylinder is stopped, deviation data fed back by a measuring assembly are observed, the shoe supporting oil cylinders are repeatedly regulated according to the deviation data until the pose deviation of the heading machine is controlled within a certain range, and the step change process is completed.
In the step change process, the method for manually controlling the shoe supporting assembly to tightly support the well wall and the control effect are greatly influenced by manual operation, and the step change period is longer, so that the construction efficiency of the heading machine is lower.
Disclosure of Invention
The embodiment of the application relates to a control method, a device, equipment and a storage medium for changing steps of a development machine, which are used for solving the defect of lower construction efficiency of the development machine in the prior art.
In a first aspect, an embodiment of the present application provides a method for controlling a step change of a heading machine, where the heading machine includes a shield body and a steel strand lifting assembly, the steel strand lifting assembly is connected with the shield body, the shield body includes a thrust cylinder and a support shoe assembly, and the method includes:
retracting the propulsion cylinder and the support shoe assembly after detecting that the working mode of the heading machine is switched to a step-change mode;
Controlling the steel strand lifting assembly to lower the shield body to a position with a set depth;
And acquiring current pose information of the shield body, and adjusting the horizontal state and the centering state of the shield body according to the pose information until the horizontal state and the centering state of the shield body meet construction conditions.
In one possible implementation manner, the pose information includes a current radius, inclination information and a current center position of the shield body, and according to the pose information, the horizontal state and the centering state of the shield body are adjusted until the horizontal state and the centering state of the shield body meet construction conditions, including:
According to the current radius and the inclination information, adjusting the horizontal state of the shield body through the steel strand lifting assembly until the horizontal state meets construction conditions;
And adjusting the centering state of the shield body through the supporting shoe assembly according to the current radius and the current center position until the centering state meets construction conditions.
In one possible embodiment, the inclination information includes a horizontal inclination angle and a vertical inclination angle, and adjusting, by the steel strand lifting assembly, a horizontal state of the shield body according to the current radius and the inclination information until the horizontal state satisfies a construction condition, includes:
determining the horizontal adjustment amount of the steel strand lifting assembly according to the current radius and the horizontal inclination angle;
Determining a vertical adjustment amount of the steel strand lifting assembly according to the current radius and the vertical inclination angle;
And adjusting the horizontal state of the shield body according to the horizontal adjustment amount and the vertical adjustment amount until the horizontal state meets construction conditions.
In one possible embodiment, the shoe supporting assembly includes a plurality of shoe supporting cylinders, and according to the current center position, the centering state of the shield body is adjusted by the shoe supporting assembly until the centering state meets the construction condition, including:
obtaining a design center position meeting construction conditions;
determining the horizontal deviation and the vertical deviation of the shield body according to the current center position and the design center position;
Determining the elongation of the plurality of shoe supporting cylinders according to the horizontal deviation, the vertical deviation and the current radius;
and adjusting the centering state of the shield body according to the elongation of the plurality of supporting shoe oil cylinders until the centering state meets the construction condition.
In one possible embodiment, adjusting the centering state of the shield body according to the elongation of the plurality of shoe supporting cylinders until the centering state meets the construction condition includes:
According to the elongation of the plurality of shoe supporting oil cylinders, adjusting the centering state of the shield body, and acquiring the tightening pressure of each shoe supporting oil cylinder and the updated center position of the shield body after adjustment;
judging whether the propping pressure of each propping shoe oil cylinder meets a preset threshold value or not, and whether the updated center position is in a region taking the designed center position as a circle center and a preset distance as a radius or not;
If yes, determining that the centering state meets construction conditions;
If not, determining the updating horizontal deviation and the updating vertical deviation of the shield body according to the updating center position and the design center position, determining the updating elongation of the plurality of shoe supporting oil cylinders according to the updating horizontal deviation, the updating vertical deviation and the current radius, and adjusting the centering state of the shield body according to the updating elongation of the plurality of shoe supporting oil cylinders until the centering state meets the construction condition.
In one possible embodiment, for any one of the shoe rams, determining an elongation of the shoe ram based on the horizontal offset, the vertical offset, and the current radius, comprising:
Acquiring an included angle and an excavation radius between the shoe supporting oil cylinder and the horizontal positive direction;
According to the horizontal deviation, the vertical deviation, the current radius, the excavation radius and the included angle between the shoe supporting cylinder and the horizontal positive direction, the elongation of the shoe supporting cylinder is calculated according to the following formula:
wherein L is elongation, R is excavation radius, deltaX is horizontal deviation, deltaY is vertical deviation, R is current radius, and theta is the included angle between the shoe supporting cylinder and the horizontal positive direction.
In one possible embodiment, controlling the steel strand lifting assembly to lower the shield body to a set depth position includes:
obtaining depth mileage information measured by a measuring component;
determining a set depth position according to the depth mileage information;
and controlling the steel strand lifting assembly to lower the shield body to the set depth position.
In a second aspect, an embodiment of the present application provides a control device for changing steps of a heading machine, where the heading machine includes a shield body and a steel strand lifting assembly, the steel strand lifting assembly is connected with the shield body, the shield body includes a thrust cylinder and a supporting shoe assembly, and the device includes:
The retraction module is used for retracting the propulsion oil cylinder and the supporting shoe assembly after detecting that the working mode of the heading machine is switched to a step-changing mode;
The control module is used for controlling the steel strand lifting assembly to lower the shield body to a set depth position;
the adjusting module is used for acquiring current pose information of the shield body, and adjusting the horizontal state and the centering state of the shield body according to the pose information until the horizontal state and the centering state of the shield body meet construction conditions.
In a possible implementation manner, the pose information includes a current radius, inclination information and a current center position of the shield body, and the adjusting module is specifically configured to:
According to the current radius and the inclination information, adjusting the horizontal state of the shield body through the steel strand lifting assembly until the horizontal state meets construction conditions;
And adjusting the centering state of the shield body through the supporting shoe assembly according to the current radius and the current center position until the centering state meets construction conditions.
In a possible embodiment, the tilt information includes a horizontal tilt angle and a vertical tilt angle, and the adjustment module is specifically configured to:
determining the horizontal adjustment amount of the steel strand lifting assembly according to the current radius and the horizontal inclination angle;
Determining a vertical adjustment amount of the steel strand lifting assembly according to the current radius and the vertical inclination angle;
And adjusting the horizontal state of the shield body according to the horizontal adjustment amount and the vertical adjustment amount until the horizontal state meets construction conditions.
In one possible embodiment, the shoe assembly includes a plurality of shoe cylinders, and the adjustment module is specifically configured to:
obtaining a design center position meeting construction conditions;
determining the horizontal deviation and the vertical deviation of the shield body according to the current center position and the design center position;
Determining the elongation of the plurality of shoe supporting cylinders according to the horizontal deviation, the vertical deviation and the current radius;
and adjusting the centering state of the shield body according to the elongation of the plurality of supporting shoe oil cylinders until the centering state meets the construction condition.
In one possible embodiment, the adjustment module is specifically configured to:
According to the elongation of the plurality of shoe supporting oil cylinders, adjusting the centering state of the shield body, and acquiring the tightening pressure of each shoe supporting oil cylinder and the updated center position of the shield body after adjustment;
judging whether the propping pressure of each propping shoe oil cylinder meets a preset threshold value or not, and whether the updated center position is in a region taking the designed center position as a circle center and a preset distance as a radius or not;
If yes, determining that the centering state meets construction conditions;
If not, determining the updating horizontal deviation and the updating vertical deviation of the shield body according to the updating center position and the design center position, determining the updating elongation of the plurality of shoe supporting oil cylinders according to the updating horizontal deviation, the updating vertical deviation and the current radius, and adjusting the centering state of the shield body according to the updating elongation of the plurality of shoe supporting oil cylinders until the centering state meets the construction condition.
In one possible implementation, for any one shoe cylinder, the adjusting module is specifically configured to:
Acquiring an included angle and an excavation radius between the shoe supporting oil cylinder and the horizontal positive direction;
According to the horizontal deviation, the vertical deviation, the current radius, the excavation radius and the included angle between the shoe supporting cylinder and the horizontal positive direction, the elongation of the shoe supporting cylinder is calculated according to the following formula:
wherein L is elongation, R is excavation radius, deltaX is horizontal deviation, deltaY is vertical deviation, R is current radius, and theta is the included angle between the shoe supporting cylinder and the horizontal positive direction.
In one possible implementation, the control module is specifically configured to:
obtaining depth mileage information measured by a measuring component;
determining a set depth position according to the depth mileage information;
and controlling the steel strand lifting assembly to lower the shield body to the set depth position.
In a third aspect, an embodiment of the present application provides an electronic device, including: a memory and a processor;
the memory stores computer program instructions;
The processor executes the computer program instructions stored in the memory to implement the method according to any one of the first aspects.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium having stored therein computer program instructions for implementing the method of any of the first aspects when the computer program instructions are executed by a processor.
In a fifth aspect, an embodiment of the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the method of any of the first aspects.
The embodiment of the application provides a control method, a device, equipment and a storage medium for changing steps of a development machine. Thus, in the step-changing process of the heading machine, the shield body does not need to be manually adjusted, the horizontal state and the centering state of the shield body can be automatically adjusted through pose information until construction conditions are met, the precision of attitude control of the shield body is improved, the verticality of shaft well formation is effectively ensured, and the construction efficiency of the heading machine is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the description below are some embodiments of the present application and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a development machine according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a heading machine according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart of a method for controlling step change of a heading machine according to an embodiment of the present application;
FIG. 4 is a schematic flow chart of another method for controlling step change of a heading machine according to an embodiment of the present application;
FIG. 5 is a schematic diagram of another construction of a heading machine according to an embodiment of the present disclosure;
FIG. 6 is a schematic flow chart of another method for controlling step change of the heading machine according to an embodiment of the application;
FIG. 7 is a schematic diagram of a construction of a further development machine according to an embodiment of the present application;
FIG. 8 is a schematic flow chart of another method for controlling step change of the heading machine according to an embodiment of the present application;
FIG. 9 is a schematic structural diagram of a control device for changing steps of a heading machine according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Specific embodiments of the present application have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that although the terms "first", "second", etc. are used to describe various information in the embodiments of the present application, the information should not be limited to these terms. These terms are only used to distinguish one type of information from another. Alternatively, the first information may also be referred to as second information, and similarly, the second information may also be referred to as first information, without departing from the scope of the application.
It should be understood that the terms "comprises" and "comprising" specify the presence of stated features, steps, operations, but do not preclude the presence, addition, or addition of one or more other features, steps, operations. The term "and/or" and the like as used herein may be construed as inclusive, or meaning any one or any combination. Alternatively, "a and/or B" means "any of the following: a, A is as follows; b, a step of preparing a composite material; a and B). In addition, the character "/" herein generally indicates that the front-rear association object is an "or" relationship.
Fig. 1 is a schematic diagram of a heading machine according to an embodiment of the present application. Referring to fig. 1, fig. 1 may include a heading machine 100, and heading machine 100 may include a steel strand lifting assembly 101, a shoe assembly 102, a propulsion assembly 103, a measurement assembly 104, and a control system 105. Wherein the strut assembly 102 and the propulsion assembly 103 may be disposed on the shield body.
The steel strand lifting assembly 101 may be disposed on the ground. The steel strand lifting assembly 101 may be connected to the shield body by a plurality of lifting cylinders via steel strands. The steel strand lifting assembly 101 can adjust the shield body pose according to pose data fed back by the measuring assembly 104.
The shoe assembly 102 may perform a tightening action against the borehole wall during the tunneling and the step change according to instructions issued by the control system 105.
Propulsion assembly 103 may include a propulsion cylinder and a push head. The pushing oil cylinder can push the pushing head to move so as to realize tunneling of the depth of the vertical shaft.
The measurement assembly 104 may include sensors positioned at various locations on the heading machine. The measurement assembly 104 may acquire data collected by various sensors to provide real-time angle, mileage, and bias information for the heading machine.
The control system 105 can collect and calculate data collected by each component and each sensor of the heading machine, and control the heading machine to execute the heading task.
The structure of the heading machine will be further described with reference to fig. 2.
Fig. 2 is a schematic structural diagram of a heading machine according to an embodiment of the present application. Referring to fig. 2, fig. 2 may include a steel strand lifting assembly 201, a shield 202, a shoe assembly 203, a measurement assembly 204, a borehole wall 205, and a control system 206.
The steel strand lifting assembly 201 may be located on the ground and connected to the shield 202 by four lifting cylinders via steel strands. In the process of executing the step-changing operation of the heading machine, the supporting shoe assembly 203 can execute the operation of supporting the well wall 205, the measuring assembly 204 can provide the real-time angle, mileage, deviation and other information for the control system 206, and the control system 206 gathers and calculates the data collected by the measuring assembly so as to realize the step-changing operation of the heading machine by controlling each assembly.
In the related art, the step change process of the heading machine takes manual operation as a main mode, an operator approaches to a well wall by controlling the extension of a plurality of shoe supporting oil cylinders in a shoe supporting assembly, after the supporting pressure of each shoe supporting oil cylinder is increased to a preset threshold value, the extension of the shoe supporting oil cylinder is stopped, deviation data fed back by a measuring assembly are observed, the shoe supporting oil cylinder is repeatedly regulated according to the deviation data until the pose deviation of the heading machine is controlled within a certain range, and the step change process is completed.
In the step change process, the method for manually controlling the shoe supporting assembly to tightly support the well wall and the control effect are greatly influenced by manual operation, and the step change period is longer, so that the construction efficiency of the vertical shaft heading machine is lower.
In order to solve the technical problems, the embodiment of the application provides a control method for changing steps of a heading machine, which comprises the steps of lowering a shield body to a set depth position by controlling a steel strand lifting assembly, acquiring current pose information of the shield body, and adjusting the horizontal state and the centering state of the shield body according to the pose information until the horizontal state and the centering state of the shield body meet construction conditions. Thus, in the step-changing process of the heading machine, the shield body does not need to be manually adjusted, the horizontal state and the centering state of the shield body can be automatically adjusted through pose information until construction conditions are met, the precision of attitude control of the shield body is improved, the verticality of shaft well formation is effectively ensured, and the construction efficiency of the heading machine is improved.
The technical scheme shown in the application is described in detail by specific examples. It should be noted that the following embodiments may exist independently or may be combined with each other, and for the same or similar content, the description will not be repeated in different embodiments.
Fig. 3 is a schematic flow chart of a method for controlling step change of a heading machine according to an embodiment of the present application. The execution main body of the embodiment of the application can be a control system in a heading machine. The control system may be implemented by software, or may be implemented by a combination of software and hardware. Referring to fig. 3, the method includes:
s301, after the working mode of the heading machine is detected to be switched to a step-changing mode, the propulsion cylinder and the supporting shoe assembly are retracted.
The working modes of the heading machine can comprise an excavation mode, a step change mode, a slag discharging mode, a supporting mode and the like.
The step change mode can be a working mode that the tunneling machine needs to stop tunneling and change steps when a certain tunneling distance is finished or a certain engineering requirement is met.
The step change can be to maintain, overhaul and replace a cutter of the machine, or to adjust the machine parameters to adapt to new tunneling conditions.
The shoe assembly may include a plurality of shoe rams.
The working mode of the heading machine can be switched to the step-changing mode in response to clicking operation of a button corresponding to the step-changing mode by a user, and after the working mode of the heading machine is switched to the step-changing mode is detected, the propulsion cylinder and the supporting shoe assembly are retracted until the propulsion cylinder and the supporting shoe assembly are retracted to preset positions.
S302, controlling the steel strand lifting assembly to lower the shield body to a set depth position.
The set depth position may be a depth position at which the shield body determined by the measuring assembly is lowerable and a next excavation operation may be performed.
A plurality of lifting cylinders in the steel strand lifting assembly can be connected with the shield body, and the shield body can be lowered to a depth position through controlling the plurality of lifting cylinders.
Optionally, the steel strand lifting assembly may be controlled to lower the shield body to the set depth position by: obtaining depth mileage information measured by a measuring component; determining a set depth position according to the depth mileage information; and controlling the steel strand lifting assembly to lower the shield body to a set depth position.
For example, assuming that the depth mileage information is 4 meters, the current depth position is-10 meters, the set depth position is-14 meters according to the depth mileage information, and the steel strand lifting assembly is controlled to lower the shield body to-14 meters.
S303, current pose information of the shield body is obtained, and the horizontal state and the centering state of the shield body are adjusted according to the pose information until the horizontal state and the centering state of the shield body meet construction conditions.
The pose information may include a current radius of the shield body, tilt information, and a current center position.
The current radius can be the shield radius when the supporting boot component is in the retracted state. The inclination information may be used to indicate the inclination state of the shield body. The current center position may be position information corresponding to the current center point of the shield body.
The current pose information of the shield body can be obtained, the horizontal state of the shield body is adjusted according to the pose information until the horizontal state of the shield body meets the construction condition, and the centering state of the shield body is adjusted according to the pose information until the centering state of the shield body meets the construction condition.
Optionally, the horizontal state and the centering state of the shield body may be adjusted in the following manner until the horizontal state and the centering state of the shield body satisfy the construction conditions: according to the current radius and the inclination information, the horizontal state of the shield body is adjusted through the steel strand lifting assembly until the horizontal state meets the construction condition; and adjusting the centering state of the shield body through the supporting shoe assembly according to the current radius and the current center position until the centering state meets the construction condition.
According to the control method for changing steps of the heading machine, after the working mode of the heading machine is detected to be switched to the step changing mode, the pushing oil cylinder and the supporting shoe assembly are retracted, the steel strand lifting assembly is controlled to lower the shield body to the set depth position, current pose information of the shield body is obtained, and the horizontal state and the centering state of the shield body are adjusted according to the pose information until the horizontal state and the centering state of the shield body meet construction conditions. Thus, in the step-changing process of the heading machine, the shield body does not need to be manually adjusted, the horizontal state and the centering state of the shield body can be automatically adjusted through pose information until construction conditions are met, the precision of attitude control of the shield body is improved, the verticality of shaft well formation is effectively ensured, and the construction efficiency of the heading machine is improved.
Next, a process of adjusting the horizontal state of the shield body until the horizontal state of the shield body satisfies the construction condition is further explained with reference to fig. 4.
Fig. 4 is a schematic flow chart of another method for controlling step change of a heading machine according to an embodiment of the present application. On the basis of the above embodiment, see fig. 4, the method comprises:
S401, determining the horizontal adjustment amount of the steel strand lifting assembly according to the current radius and the horizontal inclination angle.
The steel strand lifting assembly can comprise four lifting cylinders, and the four lifting cylinders can be respectively distributed in the positive and negative directions of the horizontal direction and the positive and negative directions of the vertical direction of the vertical shaft.
Next, the position, horizontal direction, and vertical direction of the lift cylinder will be explained with reference to fig. 5.
Fig. 5 is a schematic structural diagram of another heading machine according to an embodiment of the present application. Referring to fig. 5, fig. 5 may include a lift cylinder, a horizontal virtual schematic line, and a vertical virtual schematic line.
The horizontal tilt angle may represent the angle of the shield body with respect to the horizontal.
The horizontal inclination angle can be used for determining the inclination direction in the horizontal direction, the corresponding target lifting oil cylinder is determined according to the inclination direction, the target distance between the edge of the shield body and the horizontal direction is determined according to the current radius and the horizontal inclination angle, and the horizontal adjustment amount of the target lifting oil cylinder in the steel strand lifting assembly is determined according to the target distance.
The inclined direction may be a direction corresponding to a downward inclined end of the shield body in the horizontal direction.
Alternatively, the level adjustment of the steel strand lifting assembly may be determined by the following formula:
D1＝r*sinβ1
where D 1 is the level adjustment, r is the current radius, and β 1 is the level tilt angle.
S402, determining the vertical adjustment amount of the steel strand lifting assembly according to the current radius and the vertical inclination angle.
The vertical tilt angle may represent the angle of the shield body with respect to the vertical.
The vertical inclination angle can be used for determining the inclination direction in the vertical direction, the corresponding target lifting oil cylinder is determined according to the inclination direction, the target distance between the edge of the shield body and the vertical direction is determined according to the current radius and the vertical inclination angle, and the vertical adjustment amount of the target lifting oil cylinder in the steel strand lifting assembly is determined according to the target distance.
The inclined direction may be a direction corresponding to a downward inclined end of the shield body in the vertical direction.
Alternatively, the vertical adjustment of the steel strand lifting assembly may be determined by the following formula:
D2＝r*sinβ2
where D 2 is the vertical adjustment, r is the current radius, and β 2 is the vertical tilt angle.
S403, adjusting the horizontal state of the shield body according to the horizontal adjustment amount and the vertical adjustment amount until the horizontal state meets the construction condition.
The horizontal state of the shield body can be adjusted through the corresponding lifting oil cylinder according to the horizontal adjustment amount and the vertical adjustment amount, whether the construction condition is met or not is judged by measuring the horizontal state of the adjusted shield body through the measuring component, if not, the updated current horizontal inclination angle and the updated current vertical inclination angle are obtained, the horizontal adjustment amount and the vertical adjustment amount are determined according to the current horizontal inclination angle and the current vertical inclination angle, and the horizontal state of the shield body is adjusted until the horizontal state meets the construction condition; if yes, determining that the horizontal state meets the construction condition.
The implementation content of each step in the embodiment of the present application may refer to the description of the corresponding step or operation in the above method embodiment, and repeated descriptions are omitted.
According to the control method for changing steps of the heading machine, the horizontal adjustment amount of the steel strand lifting assembly is determined according to the current radius and the horizontal inclination angle, the vertical adjustment amount of the steel strand lifting assembly is determined according to the current radius and the vertical inclination angle, and the horizontal state of the shield body is adjusted according to the horizontal adjustment amount and the vertical adjustment amount until the horizontal state meets construction conditions. Therefore, the shield body does not need to be manually adjusted, the horizontal state of the shield body can be automatically adjusted through pose information until construction conditions are met, accuracy of attitude control of the shield body is improved, perpendicularity of shaft well formation is effectively guaranteed, and construction efficiency of a heading machine is improved.
Next, a process of adjusting the centering state of the shield body until the centering state of the shield body satisfies the construction condition is further explained with reference to fig. 6.
Fig. 6 is a schematic flow chart of another method for controlling step change of the heading machine according to an embodiment of the present application. On the basis of the above embodiment, see fig. 6, the method comprises:
s601, obtaining a design center position meeting construction conditions.
The design center location may be a center point on the shaft cross section.
The design center position meeting the construction conditions can be obtained through the measuring assembly.
S602, determining horizontal deviation and vertical deviation of the shield body according to the current center position and the design center position.
The method comprises the steps of taking a design center position as an origin, taking a horizontal direction as an X axis, taking a vertical direction as a Y axis, establishing a plane rectangular coordinate system, determining a target coordinate corresponding to the current center position in the plane rectangular coordinate system, determining horizontal deviation between the target coordinate and the origin as horizontal deviation of a shield body, and determining vertical deviation between the target coordinate and the origin as vertical deviation of the shield body.
S603, determining the elongation of the plurality of shoe supporting cylinders according to the horizontal deviation, the vertical deviation and the current radius.
The plurality of shoe supporting oil cylinders can be uniformly distributed on the shield body, and included angles among the shoe supporting oil cylinders are the same.
For example, assume that there are 6 shoe cylinders, and the included angles between the shoe cylinders are all 60 degrees.
The elongation can be the length of the shoe supporting cylinder which needs to be elongated when the shoe supporting cylinder supports the well wall.
The excavation radius can be obtained, and the elongation of the plurality of shoe supporting cylinders is determined through a geometric relationship according to the horizontal deviation, the vertical deviation, the excavation radius and the current radius.
The excavation radius can be the radius length corresponding to the current excavated vertical shaft, the vertical shaft is a cylinder, the cross section is a circle, and the length of the radius in the circle is the excavation radius.
The way of calculating the elongation of the shoe cylinder by the geometric relationship with respect to any one of the plurality of shoe cylinders may include various ones, and is not limited herein.
The elongation of the shoe cylinder can be determined as follows: acquiring an included angle and an excavation radius of the supporting shoe oil cylinder in the positive direction of the horizontal shaft; according to the horizontal deviation, the vertical deviation, the current radius, the excavation radius and the included angle between the shoe supporting cylinder and the horizontal positive direction, the elongation of the shoe supporting cylinder is calculated through the following formula:
wherein L is elongation, R is excavation radius, deltax is horizontal deviation, deltay is vertical deviation, R is current radius, and theta is the included angle between the shoe supporting cylinder and the horizontal positive direction.
Next, with reference to fig. 7, a process of calculating the elongation of the shoe cylinder is exemplified for any one of the shoe cylinders.
Fig. 7 is a schematic structural diagram of another heading machine according to an embodiment of the present application. Referring to fig. 7, fig. 7 includes a current position of the shield body (solid circle 701), a current center position (P point), a current position of the support shoe cylinder (a position corresponding to a PM line segment), a design position of the shield body (dotted circle 702), a design center position (O point), a design position 703 of the support shoe cylinder, an included angle θ of the support shoe cylinder and a horizontal positive direction, an excavation radius R, a current radius R of the shield body, an elongation L of the support shoe cylinder (a length corresponding to a MN line segment), and a shaft wall 704. And establishing a coordinate system by taking the point O as an origin, and establishing a vertical deviation delta y (length corresponding to DP) of the point P and the point O and a horizontal deviation delta x (length corresponding to DO) of the point P and the point O.
The included angle theta between the shoe supporting oil cylinder and the horizontal positive direction is in the range of 0-theta-pi, and the formula is adopted And calculating to obtain the elongation L of the shoe supporting cylinder.
S604, adjusting the centering state of the shield body according to the elongation of the plurality of supporting shoe oil cylinders until the centering state meets the construction condition.
The method comprises the steps of adjusting the centering state of a shield body according to the elongation of a plurality of support shoe cylinders, judging whether the centering state meets construction conditions, if not, acquiring an updated center position of the shield body after adjustment, calculating the elongation of the plurality of support shoe cylinders according to the updated center position, and adjusting the centering state of the shield body until the centering state meets the construction conditions; if yes, determining that the centering state meets the construction condition.
The implementation content of each step in the embodiment of the present application may refer to the description of the corresponding step or operation in the above method embodiment, and repeated descriptions are omitted.
According to the control method for changing steps of the heading machine, the horizontal adjustment amount of the steel strand lifting assembly is determined according to the current radius and the horizontal inclination angle, the vertical adjustment amount of the steel strand lifting assembly is determined according to the current radius and the vertical inclination angle, and the horizontal state of the shield body is adjusted according to the horizontal adjustment amount and the vertical adjustment amount until the horizontal state meets construction conditions. Therefore, the shield body does not need to be manually adjusted, the centering state of the shield body can be automatically adjusted through pose information until construction conditions are met, accuracy of attitude control of the shield body is improved, perpendicularity of shaft well formation is effectively guaranteed, and construction efficiency of a heading machine is improved.
Next, a process (S604) of adjusting the centering state of the shield body until the centering state satisfies the construction condition according to the elongation of the plurality of shoe cylinders will be explained further with reference to fig. 8.
Fig. 8 is a schematic flow chart of another method for controlling step change of the heading machine according to an embodiment of the present application. On the basis of the above embodiment, see fig. 8, the method includes:
S801, adjusting the centering state of the shield body according to the elongation of the plurality of supporting shoe oil cylinders, and acquiring the supporting pressure of each supporting shoe oil cylinder and the updated center position of the shield body after adjustment.
The tightening pressure can be the pressure corresponding to the tightening degree of the shoe supporting oil cylinder on the well wall.
According to the elongation of the plurality of shoe supporting oil cylinders, the elongation degree of each shoe supporting oil cylinder is determined so as to adjust the centering state of the shield body, and the tightening pressure of each shoe supporting oil cylinder and the updated center position of the adjusted shield body are obtained.
S802, judging whether the propping pressure of each propping shoe cylinder meets a preset threshold value or not, and whether the updated center position is in a region taking the designed center position as the center of a circle and the preset distance as the radius or not.
If yes, executing S803;
if not, S804 is performed.
The preset threshold may be a preset pressure value. The region with the designed center position as the center and the preset distance as the radius may be determined in advance according to the construction allowable error.
The updated center position may be the center position of the shield body after the shield body centering state is adjusted.
S803, determining that the centering state meets the construction condition.
The construction conditions may include that the center position of the shield body is within an error range, and the strut compression force of each strut cylinder satisfies a preset threshold.
S804, determining an updating horizontal deviation and an updating vertical deviation of the shield body according to the updating center position and the design center position, determining updating elongation of the plurality of supporting shoe cylinders according to the updating horizontal deviation, the updating vertical deviation and the current radius, and adjusting the centering state of the shield body according to the updating elongation of the plurality of supporting shoe cylinders until the centering state meets the construction condition.
The method comprises the steps of determining an updating horizontal deviation and an updating vertical deviation of a shield body according to an updating center position and a design center position, determining updating elongation of a plurality of supporting shoe cylinders according to the updating horizontal deviation, the updating vertical deviation and the current radius, determining an elongation adjustment value according to the updating elongation of each supporting shoe cylinder and the last determined elongation, and adjusting the stretching degree of the corresponding supporting shoe cylinder according to each elongation adjustment value so as to adjust the centering state of the shield body until the centering state meets construction conditions.
The implementation content of each step in the embodiment of the present application may refer to the description of the corresponding step or operation in the above method embodiment, and repeated descriptions are omitted.
According to the control method for changing steps of the heading machine, provided by the embodiment, the centering state of the shield body is adjusted according to the elongation of the plurality of support shoe oil cylinders, the support tightening pressure of each support shoe oil cylinder and the updated center position after the adjustment of the shield body are obtained, whether the support tightening pressure of each support shoe oil cylinder meets a preset threshold value is judged, whether the updated center position is in an area taking the designed center position as a circle center and the preset distance as a radius is judged, and if yes, the centering state is confirmed to meet construction conditions; if not, determining the updating horizontal deviation and the updating vertical deviation of the shield body according to the updating center position and the design center position, determining the updating elongation of the plurality of supporting shoe oil cylinders according to the updating horizontal deviation, the updating vertical deviation and the current radius, and adjusting the centering state of the shield body according to the updating elongation of the plurality of supporting shoe oil cylinders until the centering state meets the construction condition. Therefore, the shield body does not need to be manually adjusted, the centering state of the shield body can be automatically adjusted through pose information until construction conditions are met, accuracy of attitude control of the shield body is improved, perpendicularity of shaft well formation is effectively guaranteed, and construction efficiency of a heading machine is improved.
Fig. 9 is a schematic structural diagram of a control device for changing steps of a heading machine according to an embodiment of the present application. Referring to fig. 9, the apparatus 900 includes a retraction module 901, a control module 902, and an adjustment module 903, wherein,
A retraction module 901 for retracting the propulsion cylinder and the prop shoe assembly after detecting that the working mode of the heading machine is switched to a step-change mode;
The control module 902 is configured to control the steel strand lifting assembly to lower the shield body to a set depth position;
The adjusting module 903 is configured to obtain current pose information of the shield body, and adjust a horizontal state and an intermediate state of the shield body according to the pose information until the horizontal state and the intermediate state of the shield body meet construction conditions.
In a possible implementation manner, the pose information includes a current radius, inclination information and a current center position of the shield body, and the adjusting module 903 is specifically configured to:
According to the current radius and the inclination information, adjusting the horizontal state of the shield body through the steel strand lifting assembly until the horizontal state meets construction conditions;
And adjusting the centering state of the shield body through the supporting shoe assembly according to the current radius and the current center position until the centering state meets construction conditions.
In one possible implementation, the tilt information includes a horizontal tilt angle and a vertical tilt angle, and the adjustment module 903 is specifically configured to:
determining the horizontal adjustment amount of the steel strand lifting assembly according to the current radius and the horizontal inclination angle;
Determining a vertical adjustment amount of the steel strand lifting assembly according to the current radius and the vertical inclination angle;
And adjusting the horizontal state of the shield body according to the horizontal adjustment amount and the vertical adjustment amount until the horizontal state meets construction conditions.
In one possible embodiment, the shoe assembly includes a plurality of shoe rams, and the adjustment module 903 is specifically configured to:
obtaining a design center position meeting construction conditions;
determining the horizontal deviation and the vertical deviation of the shield body according to the current center position and the design center position;
Determining the elongation of the plurality of shoe supporting cylinders according to the horizontal deviation, the vertical deviation and the current radius;
and adjusting the centering state of the shield body according to the elongation of the plurality of supporting shoe oil cylinders until the centering state meets the construction condition.
In one possible implementation, the adjustment module 903 is specifically configured to:
According to the elongation of the plurality of shoe supporting oil cylinders, adjusting the centering state of the shield body, and acquiring the tightening pressure of each shoe supporting oil cylinder and the updated center position of the shield body after adjustment;
judging whether the propping pressure of each propping shoe oil cylinder meets a preset threshold value or not, and whether the updated center position is in a region taking the designed center position as a circle center and a preset distance as a radius or not;
If yes, determining that the centering state meets construction conditions;
If not, determining the updating horizontal deviation and the updating vertical deviation of the shield body according to the updating center position and the design center position, determining the updating elongation of the plurality of shoe supporting oil cylinders according to the updating horizontal deviation, the updating vertical deviation and the current radius, and adjusting the centering state of the shield body according to the updating elongation of the plurality of shoe supporting oil cylinders until the centering state meets the construction condition.
In one possible implementation, for any one shoe jack, the adjustment module 903 is specifically configured to:
Acquiring an included angle and an excavation radius between the shoe supporting oil cylinder and the horizontal positive direction;
According to the horizontal deviation, the vertical deviation, the current radius, the excavation radius and the included angle between the shoe supporting cylinder and the horizontal positive direction, the elongation of the shoe supporting cylinder is calculated according to the following formula:
wherein L is elongation, R is excavation radius, deltaX is horizontal deviation, deltaY is vertical deviation, R is current radius, and theta is the included angle between the shoe supporting cylinder and the horizontal positive direction.
In one possible implementation, the control module 902 is specifically configured to:
obtaining depth mileage information measured by a measuring component;
determining a set depth position according to the depth mileage information;
and controlling the steel strand lifting assembly to lower the shield body to the set depth position.
Fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 10, the electronic device 1000 may include: memory 1001, processor 1002, transceiver 1003.
Memory 1001 is used to store program instructions;
The processor 1002 is configured to execute the program instructions stored in the memory, so as to cause the electronic device 20 to execute any of the above-described control methods for changing steps of the heading machine.
The transceiver 1003 may include: a transmitter and/or a receiver. The transmitter may also be referred to as a transmitter, a transmit port, a transmit interface, or the like, and the receiver may also be referred to as a receiver, a receive port, a receive interface, or the like. The memory 1001, the processor 1002, and the transceiver 1003 are illustratively interconnected by a bus 1004.
The application also provides a chip, wherein a computer program is stored on the chip, and when the computer program is executed by the chip, the control method for changing the steps of the heading machine is realized, and the corresponding content and effect can be referred to the embodiment part of the method and is not repeated.
The application also provides a chip module, a computer program is stored on the chip module, when the computer program is executed by the chip module, the control method for changing steps of the heading machine is realized, and the corresponding content and effect can refer to the embodiment part of the method and is not repeated.
The embodiment of the application also provides a computer program product which can be executed by a processor, and when the computer program product is executed, the control method for changing steps of the heading machine can be realized.
The control device, the electronic device, the computer readable storage medium and the computer program product for changing steps of the development machine in the embodiment of the application can execute the technical scheme shown in the embodiment of the control method for changing steps of the development machine, and the implementation principle and the beneficial effects are similar, and are not repeated here.
All or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a readable memory. The program, when executed, performs steps including the method embodiments described above; and the aforementioned memory (storage medium) includes: read-only memory (ROM), random-access memory (random access memory, RAM), flash memory, hard disk, solid state disk, magnetic tape (MAGNETIC TAPE), floppy disk (floppy disk), optical disk (optical disk), and any combination thereof.
Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processing unit of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processing unit of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various modifications and variations can be made to the embodiments of the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the embodiments of the present application fall within the scope of the claims and the equivalents thereof, the present application is also intended to include such modifications and variations.
Claims (10)
1. The utility model provides a control method of entry driving machine step change, its characterized in that, entry driving machine includes shield body and steel strand wires hoisting assembly, steel strand wires hoisting assembly with the shield body coupling, the shield body includes propulsion hydro-cylinder and props boots subassembly, the method includes:
retracting the propulsion cylinder and the support shoe assembly after detecting that the working mode of the heading machine is switched to a step-change mode;
Controlling the steel strand lifting assembly to lower the shield body to a position with a set depth;
And acquiring current pose information of the shield body, and adjusting the horizontal state and the centering state of the shield body according to the pose information until the horizontal state and the centering state of the shield body meet construction conditions.
2. The method of claim 1, wherein the pose information includes a current radius, tilt information, and a current center position of the shield body, and adjusting the horizontal state and the centered state of the shield body according to the pose information until the horizontal state and the centered state of the shield body satisfy a construction condition comprises:
According to the current radius and the inclination information, adjusting the horizontal state of the shield body through the steel strand lifting assembly until the horizontal state meets construction conditions;
And adjusting the centering state of the shield body through the supporting shoe assembly according to the current radius and the current center position until the centering state meets construction conditions.
3. The method of claim 2, wherein the inclination information includes a horizontal inclination angle and a vertical inclination angle, and adjusting the horizontal state of the shield body by the strand lifting assembly according to the current radius and the inclination information until the horizontal state satisfies a construction condition comprises:
determining the horizontal adjustment amount of the steel strand lifting assembly according to the current radius and the horizontal inclination angle;
Determining a vertical adjustment amount of the steel strand lifting assembly according to the current radius and the vertical inclination angle;
And adjusting the horizontal state of the shield body according to the horizontal adjustment amount and the vertical adjustment amount until the horizontal state meets construction conditions.
4. The method of claim 2, wherein the shoe assembly includes a plurality of shoe rams, and adjusting the centering state of the shield body by the shoe assembly based on the current center position until the centering state meets a construction condition, comprising:
obtaining a design center position meeting construction conditions;
determining the horizontal deviation and the vertical deviation of the shield body according to the current center position and the design center position;
Determining the elongation of the plurality of shoe supporting cylinders according to the horizontal deviation, the vertical deviation and the current radius;
and adjusting the centering state of the shield body according to the elongation of the plurality of supporting shoe oil cylinders until the centering state meets the construction condition.
5. The method of claim 4, wherein adjusting the centering state of the shield body according to the elongation of the plurality of shoe cylinders until the centering state meets a construction condition comprises:
According to the elongation of the plurality of shoe supporting oil cylinders, adjusting the centering state of the shield body, and acquiring the tightening pressure of each shoe supporting oil cylinder and the updated center position of the shield body after adjustment;
judging whether the propping pressure of each propping shoe oil cylinder meets a preset threshold value or not, and whether the updated center position is in a region taking the designed center position as a circle center and a preset distance as a radius or not;
If yes, determining that the centering state meets construction conditions;
If not, determining the updating horizontal deviation and the updating vertical deviation of the shield body according to the updating center position and the design center position, determining the updating elongation of the plurality of shoe supporting oil cylinders according to the updating horizontal deviation, the updating vertical deviation and the current radius, and adjusting the centering state of the shield body according to the updating elongation of the plurality of shoe supporting oil cylinders until the centering state meets the construction condition.
6. The method of claim 4 or 5, wherein determining an elongation of the shoe cylinder based on the horizontal deviation, the vertical deviation, and the current radius for any one shoe cylinder comprises:
Acquiring an included angle and an excavation radius between the shoe supporting oil cylinder and the horizontal positive direction;
According to the horizontal deviation, the vertical deviation, the current radius, the excavation radius and the included angle between the shoe supporting cylinder and the horizontal positive direction, the elongation of the shoe supporting cylinder is calculated according to the following formula:
wherein L is elongation, R is excavation radius, deltaX is horizontal deviation, deltaY is vertical deviation, R is current radius, and theta is the included angle between the shoe supporting cylinder and the horizontal positive direction.
7. The method of any one of claims 1-6, wherein controlling the strand lifting assembly to lower the shield to a set depth position comprises:
obtaining depth mileage information measured by a measuring component;
determining a set depth position according to the depth mileage information;
and controlling the steel strand lifting assembly to lower the shield body to the set depth position.
8. The utility model provides a controlling means that entry driving machine traded step, its characterized in that, entry driving machine includes shield body and steel strand wires hoisting assembly, steel strand wires hoisting assembly with shield body coupling, the shield body includes propulsion hydro-cylinder and props boots subassembly, the device includes:
The retraction module is used for retracting the propulsion oil cylinder and the supporting shoe assembly after detecting that the working mode of the heading machine is switched to a step-changing mode;
The control module is used for controlling the steel strand lifting assembly to lower the shield body to a set depth position;
the adjusting module is used for acquiring current pose information of the shield body, and adjusting the horizontal state and the centering state of the shield body according to the pose information until the horizontal state and the centering state of the shield body meet construction conditions.
9. An electronic device, comprising: memory, processor, and transceiver;
wherein the memory stores computer program instructions;
The processor executes computer program instructions stored in the memory to implement a method of controlling the step change of a heading machine as claimed in any one of claims 1 to 7.
10. A computer readable storage medium having stored therein computer program instructions for implementing a method of controlling a step change of a heading machine as claimed in any one of claims 1 to 7 when the computer program instructions are executed by a processor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410125661.0A CN117988849A (en) | 2024-01-29 | 2024-01-29 | Control method, device, equipment and storage medium for step change of heading machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410125661.0A CN117988849A (en) | 2024-01-29 | 2024-01-29 | Control method, device, equipment and storage medium for step change of heading machine |
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| CN202410125661.0A Pending CN117988849A (en) | 2024-01-29 | 2024-01-29 | Control method, device, equipment and storage medium for step change of heading machine |
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