WO2023159913A1 - 掘进机的控制方法、装置、可读存储介质和掘进机 - Google Patents

掘进机的控制方法、装置、可读存储介质和掘进机 Download PDF

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Publication number
WO2023159913A1
WO2023159913A1 PCT/CN2022/117747 CN2022117747W WO2023159913A1 WO 2023159913 A1 WO2023159913 A1 WO 2023159913A1 CN 2022117747 W CN2022117747 W CN 2022117747W WO 2023159913 A1 WO2023159913 A1 WO 2023159913A1
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WO
WIPO (PCT)
Prior art keywords
swing speed
cutting arm
data set
value
cutting
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PCT/CN2022/117747
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English (en)
French (fr)
Inventor
刘洋
刘懿锋
白晓桐
赵永乐
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三一重型装备有限公司
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Publication of WO2023159913A1 publication Critical patent/WO2023159913A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present application relates to the technical field of automatic control, and in particular, relates to a control method, device, readable storage medium and roadheader for a roadheader.
  • the current sensor is usually used to detect the change of the motor current of the cutting arm, and then the swing speed of the cutting arm is estimated and controlled according to the motor current of the cutting arm.
  • This solution has low accuracy, and if the current sensor fails, the swing speed of the cutting arm cannot be estimated and controlled.
  • This application aims to solve at least one of the technical problems existing in the prior art or related art.
  • the first aspect of the present application proposes a method for controlling a boring machine.
  • the second aspect of the present application proposes a control device for a boring machine.
  • the third aspect of the present application provides a readable storage medium.
  • a fourth aspect of the present application proposes a boring machine.
  • a control method for a roadheader includes a fuselage, a cutting arm and an oil cylinder for driving the swing of the cutting arm.
  • the cutting arm is arranged on the fuselage.
  • the control method includes: obtaining the first data set detected by the first detection component, the first data set is used to indicate the working parameters of the cutting arm; determining the swing speed prediction value according to the first data set; obtaining the second data set detected by the second detection component The data set, the second data set is used to indicate the pose parameters of the fuselage; the target swing speed value is determined according to the swing speed prediction value and the second data set, and the cutting arm swing is controlled according to the target swing speed value.
  • the execution subject of the control method of the roadheader proposed in this application may be the control device of the roadheader.
  • the execution subject of the control method is the control device of the roadheader for an exemplary description.
  • the first data set is used to indicate the working parameters of the cutting arm, for example: the motor current of the cutting arm, the vibration acceleration of the cutting arm, the oil circuit pressure of the oil cylinder, and the like.
  • the second data set is used to indicate the pose parameters of the roadheader fuselage, such as: the heading angle offset of the fuselage, the pitch angle deflection of the fuselage, the lateral offset of the fuselage, and the longitudinal offset of the fuselage wait.
  • the control device acquires the first data set detected by the first detection component, and determines the predicted value of the swing speed according to the first data set.
  • the first detection component is composed of a plurality of sensors, which are respectively connected to the control device, The control device obtains the first data set through a plurality of sensors, and after obtaining the first data set, the control device estimates the swing speed of the cutting arm according to the corresponding working parameters of the cutting arm, so as to determine the predicted value of the swing speed of the cutting arm .
  • the control device acquires the second data set detected by the second detection component, and determines the target swing for controlling the swing of the cutting arm according to the second data set and the above predicted swing speed value. speed value.
  • the second detection component is also composed of a plurality of sensors, which are respectively connected to the control device. The control device acquires the second data set through the plurality of sensors. After acquiring the second data set, the control device calculates the The corresponding pose parameters of the cutting arm in the second data determine the target swing speed value, so that the cutting arm swings according to the target swing speed value.
  • the current sensor is usually used to detect the change of the motor current of the cutting arm, and then the swing speed of the cutting arm is estimated and controlled according to the motor current of the cutting arm.
  • This solution has low accuracy, and if the current sensor fails, the swing speed of the cutting arm cannot be estimated and controlled.
  • the control device determines the predicted value of the swing speed according to the first data set detected by the first detection component, and then determines the predicted value of the swing speed by combining the second data set detected by the second detection component with the predicted value of the swing speed
  • the target speed value wherein, the first data set is used to indicate the working parameters of the cutting arm, and the second data set is used to indicate the pose parameters of the fuselage, that is to say, in the technical solution of the application, the control device Two parameters, the working parameters of the cutting arm and the pose parameters of the body of the roadheader, estimate and control the swing speed of the cutting arm, which improves the accuracy of estimation and control of the swing speed of the cutting arm.
  • both the first data set and the second data set include more than one parameter. It can be seen that in the technical solution of the present application, a plurality of working parameters and roadheader parameters for detecting the cutting arm are included.
  • the sensor of the fuselage that is, when a sensor fails, it will not affect the estimation and control of the swing speed of the cutting arm, which ensures the safety and reliability of the roadheader.
  • the first data set includes the motor current of the cutting arm, the vibration acceleration of the cutting arm, and the oil circuit pressure of the oil cylinder;
  • the second data set includes the yaw angle offset of the fuselage, the pitch angle deflection of the fuselage amount, the lateral offset of the fuselage, and the longitudinal offset of the fuselage.
  • the first data set specifically includes the motor current of the cutting arm, the vibration acceleration of the cutting arm, and the oil circuit pressure of the oil cylinder. It should be noted that, according to the motor current of the cutting arm, the vibration acceleration of the cutting arm Any one of the working parameters of the cutting arm in the oil circuit pressure of the oil cylinder can determine the predicted value of the swing speed of the cutting arm.
  • the second data set specifically includes the heading angle offset of the body of the roadheader, the pitch angle deflection of the body of the roadheader, the lateral offset of the body of the roadheader and the longitudinal direction of the body of the roadheader
  • the step of determining the swing speed prediction value according to the first data set specifically includes: obtaining the first preset relation coefficient between the cutting load resistance and the cutting arm swing speed; determining the first preset relationship coefficient according to the motor current of the cutting arm; Cutting load resistance, according to the first cutting load resistance and the first preset relationship coefficient, determine the first swing speed prediction value; determine the second cutting load resistance according to the vibration acceleration of the cutting arm, and determine the second cutting load resistance according to the second cutting load resistance and The first preset relationship coefficient determines the second swing speed prediction value; the third cutting load resistance is determined according to the oil circuit pressure of the oil cylinder, and the third swing speed prediction is determined according to the third cutting load resistance and the first preset relationship coefficient value; determine the swing speed prediction value according to the first swing speed prediction value, the second swing speed prediction value, and the third swing speed prediction value.
  • the first preset relationship coefficient is a corresponding relationship coefficient between cutting load resistance and cutting arm swing speed.
  • the cutting load resistance can be calculated according to the working parameters of the cutting arm, and the predicted value of the swing speed of the cutting arm can be determined according to the corresponding relationship coefficient between the cutting load resistance and the swing speed of the cutting arm.
  • the specific steps for the control device to determine the swing speed prediction value according to the first data set are: the control device first obtains the first preset relationship coefficient between the cutting load resistance and the cutting arm swing speed, and then according to the first preset A plurality of cutting arm swing speed prediction values are determined by setting the relationship coefficient and multiple working parameters of the cutting arm.
  • the first preset relational coefficient is set according to equipment information and actual working conditions of the roadheader.
  • the control device determines the first cutting load resistance according to the motor current of the cutting arm in the first data set, and determines the first swing speed prediction value according to the first cutting load resistance and the first preset relationship coefficient;
  • the device determines the second cutting load resistance according to the vibration acceleration of the cutting arm in the first data set, and determines the second swing speed prediction value according to the second cutting load resistance and the first preset relationship;
  • the control device determines the second swing speed prediction value according to the first data set
  • the oil circuit pressure of the oil cylinder determines the third cutting load resistance, and determines the first swing speed prediction value according to the third cutting load resistance and the first preset relationship.
  • the control device After determining the first swing speed prediction value, the second swing speed prediction value, and the third swing speed prediction value according to the motor current of the cutting arm, the vibration acceleration of the cutting arm, and the oil circuit pressure of the oil cylinder, the control device It is also used to discriminate the first swing speed prediction value, the second swing speed prediction value and the third swing speed prediction value to determine the swing speed prediction value.
  • control device respectively determines three predictive values of the swing speed of the cutting arm through the motor current of the cutting arm, the vibration acceleration of the cutting arm, and the oil circuit pressure of the oil cylinder, and then determines the The final predicted value of the swing speed improves the accuracy of determining the predicted value of the swing speed.
  • the cutting arm specifically includes a cutting head
  • the step of determining the first cutting load resistance according to the motor current of the cutting arm specifically includes: obtaining the diameter of the cutting head, the motor speed value of the cutting arm, the cutting The input voltage of the motor of the cutting arm; the first cutting load resistance is determined according to the diameter of the cutting head, the motor speed of the cutting arm, the input voltage of the motor of the cutting arm and the motor current of the cutting arm.
  • the cutting arm includes a cutting head
  • the specific steps for the control device to determine the first cutting load resistance according to the motor current of the cutting arm are: the control device obtains the diameter of the cutting head, the motor of the cutting arm The rotational speed value, the input voltage of the motor of the cutting arm, and then calculate the first cutting load resistance according to the data of the above three aspects combined with the motor current of the cutting arm.
  • the diameter of the cutting head, the motor speed value of the cutting arm, and the input voltage of the motor of the cutting arm can all be determined according to the equipment information of the roadheader, which can be pre-stored in the storage device.
  • the control device acquires the diameter of the cutting head, the rotational speed value of the motor of the cutting arm, and the input voltage of the motor of the cutting arm from the storage device.
  • the step of determining the second cutting load resistance according to the vibration acceleration of the cutting arm specifically includes: obtaining a second preset relationship coefficient between the vibration acceleration of the cutting arm and the cutting load resistance; and cutting arm vibration acceleration to determine the second cutting load resistance.
  • the specific steps for the control device to determine the second cutting load resistance according to the vibration acceleration of the cutting arm are: the control device acquires the second preset relationship between the vibration acceleration of the cutting head cutting arm and the cutting load resistance coefficient, and then calculate the second cutting load resistance according to the second preset relationship coefficient combined with the vibration acceleration of the cutting arm.
  • the second preset relationship coefficient is set according to the equipment information of the roadheader and the actual working environment of the roadheader, and can be stored in the storage device in advance.
  • the control The device obtains the second preset relationship coefficient from the storage device, and then calculates the second cutting load resistance.
  • the step of determining the third cutting load resistance according to the oil circuit pressure of the oil cylinder specifically includes: determining the displacement of the piston in the oil cylinder according to the oil circuit pressure of the oil cylinder; obtaining the effective area of the cylinder cavity of the oil cylinder, the load pressure drop, The total mass of the load and the piston in the cylinder, the viscous damping coefficient of the load and the piston in the cylinder, the stiffness of the load spring; according to the effective area of the cylinder cavity, the load pressure drop, the total mass of the load and the piston in the cylinder, the load and the piston in the cylinder The viscous damping coefficient, the stiffness of the load spring and the displacement of the piston in the cylinder determine the third cut load resistance.
  • the specific steps for the control device to determine the third cutting load resistance according to the oil circuit pressure of the oil cylinder are: the control device determines the displacement of the piston in the oil cylinder according to the oil circuit pressure of the oil cylinder, and obtains the effective area of the cylinder cavity , the load pressure drop, the total mass of the load and the piston in the cylinder, the viscous damping coefficient of the load and the piston in the cylinder, the stiffness of the load spring and the displacement of the piston in the cylinder determine the third cut load resistance.
  • the cutting load resistance can be determined according to the equipment information of the roadheader and the actual working conditions of the roadheader.
  • control device is calculated according to the effective area of the cylinder chamber, the load pressure drop, the load and the total mass of the piston in the cylinder, the viscous damping coefficient of the load and the piston in the cylinder, the stiffness of the load spring and the displacement of the piston in the cylinder Third cut load resistance.
  • the step of determining the predicted swing speed value according to the first predicted swing speed value, the second predicted swing speed value, and the third predicted swing speed value specifically includes: If there is the same item in the value and the third swing speed prediction value, the predicted value of the same item is determined to be the swing speed prediction value; or in the first swing speed prediction value, the second swing speed prediction value, and the third swing speed prediction value In the case that all are different, determine the predicted value with the highest priority as the predicted value of the swing speed.
  • the specific steps for the control device to determine the final swing speed prediction value according to the three prediction values of the first swing speed prediction value, the second swing speed prediction value, and the third swing speed prediction value are as follows: if the first swing speed If there are identical items in the predicted value, the second predicted value of swing speed, and the predicted value of third swing speed, the predicted value of the same item is used as the final predicted value of swing speed, that is, the principle of "the minority obeys the majority" is followed. If the first predicted value of swing speed, the second predicted value of swing speed and the third predicted value of swing speed are all different, the predicted value with the highest priority is taken as the final predicted value of swing speed, which follows the principle of "priority protection".
  • the priority of the predicted value is determined according to the calculation source, that is, according to the motor current of the cutting arm, the vibration acceleration of the cutting arm and the oil circuit pressure of the oil cylinder, the motor current of the cutting arm, the vibration of the cutting arm.
  • the priorities of the acceleration and the oil circuit pressure of the oil cylinder are determined according to the actual working environment of the roadheader.
  • control device respectively determines three predictive values of the swing speed of the cutting arm according to the motor current of the cutting arm, the vibration acceleration of the cutting arm, and the oil circuit pressure of the oil cylinder, and follows the principle of “minority obeys the majority” and " The principle of "priority protection” determines the final predicted value of the swing speed from the three predicted values, which improves the accuracy of determining the predicted value of the swing speed.
  • the step of determining the target swing speed according to the predicted value of the swing speed and the second data set specifically includes: determining the predicted value of the heading angle offset of the fuselage, the predicted value of the pitch angle deflection of the fuselage according to the predicted value of the swing speed, Predicted value of fuselage lateral offset and predicted value of fuselage longitudinal offset; Confirm predicted value of fuselage yaw angle offset, predicted value of fuselage pitch angle deflection, predicted value of fuselage lateral offset and fuselage longitudinal Whether the offset prediction value matches the heading angle offset of the fuselage in the second dataset, the pitch angle deflection of the fuselage, the lateral offset of the fuselage, and the longitudinal offset of the fuselage in the second dataset; If any one of the predicted values matches the parameters in the second data set, the predicted swing speed value is determined as the target swing speed value.
  • the specific steps for the control device to determine the target swing speed according to the swing speed prediction value and the second data set are: the control device estimates the fuselage heading angle offset prediction value, the fuselage pitch angle The predicted value of the deflection, the predicted value of the lateral offset of the fuselage, and the predicted value of the longitudinal offset of the fuselage, that is, the pose parameters of the roadheader fuselage are predicted according to the predicted value of the swing speed.
  • the control device judges the predicted value of the fuselage heading angle offset, the fuselage pitch angle The predicted value of the deflection, the predicted value of the lateral offset of the fuselage, the predicted value of the longitudinal offset of the fuselage, and the offset of the heading angle of the fuselage, the deflection of the pitch angle of the fuselage, and the lateral deflection of the fuselage in the second data set Whether there is a match between the displacement and the longitudinal offset of the fuselage, if there is any one of the predicted values that matches the pose parameters in the second data set, then the above-mentioned swing speed predicted value is determined to be used to control the swing of the cutting arm target swing speed value.
  • the control device predicts the pose parameters of the body of the roadheader according to the predicted value of the swing speed, and then makes judgments based on the pose parameters of the second data set, and finally determines whether to use the predicted value of the swing speed as the target swing speed value , which improves the accuracy of the determined target swing speed value for controlling the swing of the cutting arm, thereby improving the safety and reliability of the roadheader operation.
  • a control device for a roadheader including: an acquisition unit, configured to acquire a first data set detected by a first detection component, and the first data set is used to indicate the work of the cutting arm Parameters; processing unit, used to determine the swing speed prediction value according to the first data set; the acquisition unit is also used to obtain the second data set detected by the second detection component, the second data set is used to indicate the pose parameters of the fuselage; processing The unit is also used to determine the target swing speed value according to the swing speed prediction value and the second data set, and control the cutting arm to swing according to the target swing speed value.
  • the first data set is used to indicate the working parameters of the cutting arm, for example: the motor current of the cutting arm, the vibration acceleration of the cutting arm, the oil circuit pressure of the oil cylinder, and the like.
  • the second data set is used to indicate the pose parameters of the roadheader fuselage, such as: the heading angle offset of the fuselage, the pitch angle deflection of the fuselage, the lateral offset of the fuselage, and the longitudinal offset of the fuselage wait.
  • the acquisition unit acquires the first data set detected by the first detection component, and the processing unit determines the predicted value of the swing speed according to the first data set.
  • the first detection component is composed of a plurality of sensors, which are respectively connected to the control device , the acquisition unit acquires the first data set through a plurality of sensors.
  • the processing unit estimates the swing speed of the cutting arm according to the corresponding working parameters of the cutting arm, so as to determine the swing speed prediction of the cutting arm value.
  • the acquisition unit is also used to obtain the second data set detected by the second detection component, and the processing unit is also used to Determine the target swing speed value for controlling the swing of the cutting arm.
  • the second detection component is also composed of a plurality of sensors, which are respectively connected to the control device, and the acquisition unit acquires the second data set through the plurality of sensors.
  • the processing unit calculates the The corresponding pose parameters of the cutting arm in the second data determine the target swing speed value, so that the cutting arm swings according to the target swing speed value.
  • the current sensor is usually used to detect the change of the motor current of the cutting arm, and then the swing speed of the cutting arm is estimated and controlled according to the motor current of the cutting arm.
  • This solution has low accuracy, and if the current sensor fails, the swing speed of the cutting arm cannot be estimated and controlled.
  • the processing unit determines the predicted value of the swing speed according to the first data set acquired by the acquisition unit, and then determines the target rotational speed value by combining the second data set acquired by the acquisition unit with the predicted value of the swing speed,
  • the first data set is used to indicate the working parameters of the cutting arm
  • the second data set is used to indicate the pose parameters of the fuselage. That is to say, in the technical solution of this application, the processing unit parameter and the pose parameter of the body of the roadheader estimate and control the swing speed of the cutting arm, which improves the accuracy of estimation and control of the swing speed of the cutting arm.
  • both the first data set and the second data set include more than one parameter.
  • a readable storage medium on which a program or instruction is stored, and when the program or instruction is executed by a processor, the roadheader control method as proposed in the first aspect of the present application is implemented. Therefore, the readable storage medium has all the beneficial effects of the roadheader control method proposed in the first aspect of the present application, which will not be repeated here.
  • a roadheader including: a fuselage; a cutting arm, arranged on the fuselage; an oil cylinder, connected with the cutting arm, used to drive the cutting arm to swing; the first detection The component is used to detect the first data set, and the first data set is used to indicate the working parameters of the cutting arm; the second detection component is used to detect the second data set, and the second data set is used to indicate the pose parameters of the fuselage ;
  • the above roadheader also includes the control device of the roadheader as proposed in the second aspect of the present application, and/or the readable storage medium as proposed in the third aspect of the present application. Therefore, the roadheader has the control device proposed in the second aspect of the application. All beneficial effects of the control device of the roadheader or the readable storage medium proposed in the third aspect of the present application will not be repeated here.
  • Fig. 1 shows one of the schematic flow charts of the control method of the roadheader according to the embodiment of the present application
  • Fig. 2 shows the second schematic flow diagram of the control method of the roadheader according to the embodiment of the present application
  • Fig. 3 shows the third schematic flow diagram of the control method of the roadheader according to the embodiment of the present application
  • Fig. 4 shows the fourth schematic flow diagram of the control method of the roadheader according to the embodiment of the present application
  • Fig. 5 shows the fifth schematic flow diagram of the control method of the roadheader according to the embodiment of the present application.
  • Fig. 6 shows the sixth schematic flow diagram of the control method of the roadheader according to the embodiment of the present application.
  • Fig. 7 shows the seventh schematic flow diagram of the control method of the roadheader according to the embodiment of the present application.
  • Fig. 8 shows a schematic block diagram of a control device of a roadheader according to an embodiment of the present application
  • Fig. 9 shows the schematic block diagram of the boring machine of the embodiment of the present application.
  • Fig. 10 shows a general flowchart of the control method of the roadheader according to the embodiment of the present application.
  • control method, device, readable storage medium and roadheader provided by the embodiments of the present application will be described in detail below through specific embodiments and application scenarios with reference to FIGS. 1 to 10 .
  • Fig. 1 shows a schematic flowchart of a control method for a roadheader according to an embodiment of the present application, wherein the control method includes the following steps.
  • Step S102 acquiring a first data set detected by the first detection component, where the first data set is used to indicate the working parameters of the cutting arm.
  • Step S104 determining a swing speed prediction value according to the first data set.
  • Step S106 acquiring a second data set detected by the second detection component, the second data set is used to indicate the pose parameters of the fuselage.
  • Step S108 determining a target swing speed value according to the swing speed predicted value and the second data set, and controlling the swing of the cutting arm according to the target swing speed value.
  • the execution subject of the control method of the roadheader proposed in this embodiment may be the control device of the roadheader.
  • the following description uses The execution subject of the control method is the control device of the roadheader for an exemplary description.
  • the first data set is used to indicate the working parameters of the cutting arm
  • the second data set is used to indicate the pose parameters of the body of the roadheader.
  • the control device acquires the first data set detected by the first detection component, and determines the predicted value of the swing speed according to the first data set.
  • the first detection component is composed of a plurality of sensors, which are respectively connected to the control device, The control device obtains the first data set through a plurality of sensors, and after obtaining the first data set, the control device estimates the swing speed of the cutting arm according to the corresponding working parameters of the cutting arm, so as to determine the predicted value of the swing speed of the cutting arm .
  • the control device acquires the second data set detected by the second detection component, and determines the target swing for controlling the swing of the cutting arm according to the second data set and the above predicted swing speed value. speed value.
  • the second detection component is also composed of a plurality of sensors, which are respectively connected to the control device. The control device acquires the second data set through the plurality of sensors. After acquiring the second data set, the control device calculates the The corresponding pose parameters of the cutting arm in the second data determine the target swing speed value, so that the cutting arm swings according to the target swing speed value.
  • the first data set specifically includes the motor current of the cutting arm, the vibration acceleration of the cutting arm, and the oil circuit pressure of the oil cylinder. It should be noted that, according to the motor current of the cutting arm, the cutting The predicted value of the swing speed of the cutting arm can be determined by any of the working parameters of the cutting arm in the vibration acceleration of the arm and the oil circuit pressure of the oil cylinder.
  • the second data set specifically includes the heading angle offset of the body of the roadheader, the pitch angle deflection of the body of the roadheader, the lateral offset of the body of the roadheader, and the The longitudinal offset of the fuselage of the aircraft, it should be noted that, according to the above-mentioned yaw angle offset of the fuselage, the pitch angle deflection of the fuselage, the lateral offset of the fuselage and the longitudinal offset of the fuselage
  • the pose parameters of the fuselage of any type of roadheader can be used to judge whether the above-mentioned swing speed prediction value is suitable as the target swing speed value for controlling the swing of the cutting arm.
  • the current sensor is usually used to detect the change of the motor current of the cutting arm, and then the swing speed of the cutting arm is estimated and controlled according to the motor current of the cutting arm.
  • This solution has low accuracy, and if the current sensor fails, the swing speed of the cutting arm cannot be estimated and controlled.
  • the control device determines the predicted value of the swing speed according to the first data set detected by the first detection component, and then determines the target rotational speed by combining the second data set detected by the second detection component with the predicted value of the swing speed Value, wherein, the first data set is used to indicate the working parameters of the cutting arm, and the second data set is used to indicate the pose parameters of the fuselage, that is to say, in this embodiment, the control device according to the working parameters of the cutting arm parameter and the pose parameter of the body of the roadheader estimate and control the swing speed of the cutting arm, which improves the accuracy of estimation and control of the swing speed of the cutting arm.
  • both the first data set and the second data set include more than one parameter.
  • a plurality of working parameters for detecting the cutting arm and the body of the roadheader are included.
  • the sensor that is, when a sensor fails, it will not affect the estimation and control of the swing speed of the cutting arm, which ensures the safety and reliability of the roadheader operation.
  • Fig. 2 shows a schematic flowchart of a control method of a roadheader according to an embodiment of the present application, wherein the control method includes the following steps.
  • Step S202 acquiring a first data set detected by the first detection component, where the first data set is used to indicate the working parameters of the cutting arm.
  • Step S204 obtaining a first preset relationship coefficient between cutting load resistance and cutting arm swing speed.
  • step S206 the first cutting load resistance is determined according to the motor current of the cutting arm, and the first swing speed prediction value is determined according to the first cutting load resistance and a first preset relationship coefficient.
  • Step S208 determining a second cutting load resistance according to the vibration acceleration of the cutting arm, and determining a second swing speed prediction value according to the second cutting load resistance and the first preset relationship coefficient.
  • Step S210 Determine the third cut-off load resistance according to the oil circuit pressure of the oil cylinder, and determine the third swing speed prediction value according to the third cut-off load resistance and the first preset relationship coefficient.
  • Step S212 determine the predicted swing speed value according to the first predicted swing speed value, the second predicted swing speed value, and the third predicted swing speed value.
  • Step S214 acquiring a second data set detected by the second detection component, the second data set is used to indicate the pose parameters of the fuselage.
  • Step S216 determining a target swing speed value according to the swing speed prediction value and the second data set, and controlling the swing of the cutting arm according to the target swing speed value.
  • the first preset relationship coefficient is a corresponding relationship coefficient between cutting load resistance and cutting arm swing speed.
  • the cutting load resistance can be calculated according to the working parameters of the cutting arm, and the predicted value of the swing speed of the cutting arm can be determined according to the corresponding relationship coefficient between the cutting load resistance and the swing speed of the cutting arm.
  • the specific steps for the control device to determine the swing speed prediction value according to the first data set are: the control device first obtains the first preset relationship coefficient between the cutting load resistance and the cutting arm swing speed, and then according to the first preset A plurality of cutting arm swing speed prediction values are determined by setting the relationship coefficient and multiple working parameters of the cutting arm.
  • the first preset relational coefficient is set according to equipment information and actual working conditions of the roadheader.
  • the control device determines the first cutting load resistance according to the motor current of the cutting arm in the first data set, and determines the first swing speed prediction value according to the first cutting load resistance and the first preset relationship coefficient;
  • the device determines the second cutting load resistance according to the vibration acceleration of the cutting arm in the first data set, and determines the second swing speed prediction value according to the second cutting load resistance and the first preset relationship;
  • the control device determines the second swing speed prediction value according to the first data set
  • the oil circuit pressure of the oil cylinder determines the third cutting load resistance, and determines the first swing speed prediction value according to the third cutting load resistance and the first preset relationship.
  • the control device After determining the first swing speed prediction value, the second swing speed prediction value, and the third swing speed prediction value according to the motor current of the cutting arm, the vibration acceleration of the cutting arm, and the oil circuit pressure of the oil cylinder, the control device It is also used to discriminate the first swing speed prediction value, the second swing speed prediction value and the third swing speed prediction value to determine the swing speed prediction value.
  • control device respectively determines three predictive values of the swing speed of the cutting arm through the motor current of the cutting arm, the vibration acceleration of the cutting arm, and the oil circuit pressure of the oil cylinder, and then determines the The final predicted value of the swing speed improves the accuracy of determining the predicted value of the swing speed.
  • Fig. 3 shows a schematic flowchart of a control method of a roadheader according to an embodiment of the present application, wherein the control method includes the following steps.
  • Step S302 acquiring the first data set detected by the first detection component, the first data set is used to indicate the working parameters of the cutting arm.
  • Step S304 obtaining a first preset relationship coefficient between cutting load resistance and cutting arm swing speed.
  • Step S306 acquiring the diameter of the cutting head, the rotational speed value of the motor of the cutting arm, and the input voltage of the motor of the cutting arm.
  • Step S308 determine the first cutting load resistance according to the diameter of the cutting head, the motor speed of the cutting arm, the input voltage of the motor of the cutting arm and the motor current of the cutting arm, and determine the first cutting load resistance according to the first cutting load resistance and the second cutting load resistance.
  • a preset relationship coefficient is used to determine the first predicted swing speed value.
  • Step S310 determining a second cutting load resistance according to the vibration acceleration of the cutting arm, and determining a second swing speed prediction value according to the second cutting load resistance and the first preset relationship coefficient.
  • Step S312 Determine the third cut-off load resistance according to the oil circuit pressure of the oil cylinder, and determine the third swing speed prediction value according to the third cut-off load resistance and the first preset relationship coefficient.
  • Step S314 determining a predicted swing speed value according to the first predicted swing speed value, the second predicted swing speed value, and the third predicted swing speed value.
  • Step S316 acquiring a second data set detected by the second detection component, the second data set is used to indicate the pose parameters of the fuselage.
  • step S318 a target swing speed value is determined according to the swing speed predicted value and the second data set, and the cutting arm is controlled to swing according to the target swing speed value.
  • the cutting arm includes a cutting head
  • the control device determines the first cutting load resistance according to the motor current of the cutting arm.
  • the specific steps are: the control device obtains the diameter of the cutting head, the motor of the cutting arm The rotational speed value, the input voltage of the motor of the cutting arm, and then calculate the first cutting load resistance according to the data of the above three aspects combined with the motor current of the cutting arm.
  • the diameter of the cutting head, the motor speed value of the cutting arm, and the input voltage of the motor of the cutting arm can all be determined according to the equipment information of the roadheader, which can be pre-stored in the storage device.
  • the control device acquires the diameter of the cutting head, the rotational speed value of the motor of the cutting arm, and the input voltage of the motor of the cutting arm from the storage device.
  • the formula for calculating the first cutting load resistance according to the motor current of the cutting arm is as follows:
  • F1 is used to represent the first cutting load resistance
  • D is used to represent the diameter of the cutting head
  • I is used to represent the motor current of the cutting arm
  • U is used to represent the input voltage of the motor of the cutting arm
  • It is used to represent the power factor of the motor
  • n represents the number of pole pairs of the motor.
  • Fig. 4 shows a schematic flowchart of a control method for a roadheader according to an embodiment of the present application, wherein the control method includes the following steps.
  • Step S402 acquiring a first data set detected by the first detection component, where the first data set is used to indicate the working parameters of the cutting arm.
  • Step S404 obtaining a first preset relationship coefficient between cutting load resistance and cutting arm swing speed.
  • Step S406 determining the first cutting load resistance according to the motor current of the cutting arm, and determining a first swing speed prediction value according to the first cutting load resistance and a first preset relationship coefficient.
  • Step S408 obtaining a second preset relationship coefficient between the vibration acceleration of the cutting arm and the cutting load resistance.
  • Step S410 Determine the second cutting load resistance according to the second preset relationship coefficient and the vibration acceleration of the cutting arm, and determine the second swing speed prediction value according to the second cutting load resistance and the first preset relationship coefficient.
  • Step S412 Determine the third cut-off load resistance according to the oil circuit pressure of the oil cylinder, and determine the third swing speed prediction value according to the third cut-off load resistance and the first preset relationship coefficient.
  • Step S414 determining a predicted swing speed value according to the first predicted swing speed value, the second predicted swing speed value, and the third predicted swing speed value.
  • Step S416 acquiring a second data set detected by the second detection component, the second data set is used to indicate the pose parameters of the fuselage.
  • Step S4108 determining a target swing speed value according to the swing speed predicted value and the second data set, and controlling the swing of the cutting arm according to the target swing speed value.
  • the specific steps for the control device to determine the second cutting load resistance according to the vibration acceleration of the cutting arm are: the control device acquires the second preset relationship between the vibration acceleration of the cutting head cutting arm and the cutting load resistance coefficient, and then calculate the second cutting load resistance according to the second preset relationship coefficient combined with the vibration acceleration of the cutting arm.
  • the second preset relationship coefficient is set according to the equipment information of the roadheader and the actual working environment of the roadheader, and can be stored in the storage device in advance.
  • the control The device obtains the second preset relationship coefficient from the storage device, and then calculates the second cutting load resistance.
  • the formula for calculating the second cutting load resistance according to the vibration acceleration of the cutting arm is as follows:
  • F2 is used to represent the second cutting load resistance
  • k is used to represent the second preset relationship coefficient
  • ⁇ is used to represent the vibration acceleration of the cutting arm.
  • Fig. 5 shows a schematic flowchart of a control method for a roadheader according to an embodiment of the present application, wherein the control method includes the following steps.
  • Step S502 acquiring a first data set detected by the first detection component, where the first data set is used to indicate the working parameters of the cutting arm.
  • Step S504 obtaining a first preset relationship coefficient between cutting load resistance and cutting arm swing speed.
  • Step S506 determine the first cutting load resistance according to the motor current of the cutting arm, and determine the first swing speed prediction value according to the first cutting load resistance and the first preset relationship coefficient.
  • Step S508 determining a second cutting load resistance according to the vibration acceleration of the cutting arm, and determining a second predicted swing speed value according to the second cutting load resistance and the first preset relationship coefficient.
  • Step S510 determining the displacement of the piston in the oil cylinder according to the oil circuit pressure of the oil cylinder.
  • Step S512 obtaining the effective area of the cylinder cavity of the oil cylinder, the pressure drop of the load, the total mass of the load and the piston in the oil cylinder, the viscous damping coefficient of the load and the piston in the oil cylinder, and the stiffness of the load spring.
  • Step S514 according to the effective area of the cylinder cavity, the load pressure drop, the total mass of the load and the piston in the cylinder, the viscous damping coefficient of the load and the piston in the cylinder, the stiffness of the load spring and the displacement of the piston in the cylinder to determine the third cut Load resistance, and according to the third cutting load resistance and the first preset relationship coefficient, determine the third swing speed prediction value.
  • Step S516 determining a predicted swing speed value according to the first predicted swing speed value, the second predicted swing speed value, and the third predicted swing speed value.
  • Step S518, acquiring a second data set detected by the second detection component, where the second data set is used to indicate the pose parameters of the fuselage.
  • Step S520 determining a target swing speed value according to the swing speed predicted value and the second data set, and controlling the swing of the cutting arm according to the target swing speed value.
  • the specific steps for the control device to determine the third cutting load resistance according to the oil circuit pressure of the oil cylinder are: the control device determines the displacement of the piston in the oil cylinder according to the oil circuit pressure of the oil cylinder, and obtains the effective area of the cylinder cavity , the load pressure drop, the total mass of the load and the piston in the cylinder, the viscous damping coefficient of the load and the piston in the cylinder, the stiffness of the load spring and the displacement of the piston in the cylinder determine the third cut load resistance.
  • the cutting load resistance can be determined according to the equipment information of the roadheader and the actual working conditions of the roadheader.
  • control device calculates the third load according to the effective area of the cylinder chamber, the load pressure drop, the load and the total mass of the piston in the cylinder, the viscous damping coefficient of the load and the piston in the cylinder, the stiffness of the load spring and the displacement of the piston in the cylinder. Cut load resistance, the calculation formula is as follows:
  • F3 is used to represent the third cut load resistance
  • a k is used to represent the effective area of the cylinder chamber
  • PL is used to represent the load pressure drop
  • m t is used to represent the load and the total mass of the piston in the cylinder
  • B p is used to represent the load and the viscous damping coefficient of the piston in the cylinder
  • K is used to represent the stiffness of the load spring
  • t is used to represent the time
  • L is used to represent the displacement of the piston in the cylinder determined according to the oil circuit pressure of the cylinder .
  • Fig. 6 shows a schematic flowchart of the control method of the roadheader according to the embodiment of the present application, wherein the control method includes the following steps.
  • Step S602 acquiring a first data set detected by the first detection component, where the first data set is used to indicate the working parameters of the cutting arm.
  • Step S604 obtaining a first preset relationship coefficient between cutting load resistance and cutting arm swing speed.
  • Step S606 determining the first cutting load resistance according to the motor current of the cutting arm, and determining a first swing speed prediction value according to the first cutting load resistance and a first preset relationship coefficient.
  • Step S608 determining a second cutting load resistance according to the vibration acceleration of the cutting arm, and determining a second swing speed prediction value according to the second cutting load resistance and the first preset relationship coefficient.
  • Step S610 Determine the third cut-off load resistance according to the oil circuit pressure of the oil cylinder, and determine the third swing speed prediction value according to the third cut-off load resistance and the first preset relationship coefficient.
  • Step S612 in the case that the same item exists in the first swing speed prediction value, the second swing speed prediction value, and the third swing speed prediction value, determine that the predicted value of the same item is the swing speed prediction value; or at the first swing speed If the predicted value, the second predicted swing speed value, and the third predicted swing speed value are all different, the predicted value with the highest priority is determined to be the predicted swing speed value.
  • Step S614 acquire the second data set detected by the second detection component, the second data set is used to indicate the pose parameters of the fuselage.
  • Step S616 determining a target swing speed value according to the swing speed predicted value and the second data set, and controlling the swing of the cutting arm according to the target swing speed value.
  • the specific steps for the control device to determine the final swing speed prediction value according to the first swing speed prediction value, the second swing speed prediction value, and the third swing speed prediction value are as follows: if the first swing speed prediction value value, the second swing speed prediction value, and the third swing speed prediction value have the same item, then the predicted value of the same item is used as the final swing speed prediction value, that is, the principle of "minority obeys the majority" is followed. If the first predicted value of swing speed, the second predicted value of swing speed and the third predicted value of swing speed are all different, the predicted value with the highest priority is taken as the final predicted value of swing speed, which follows the principle of "priority protection".
  • the priority of the predicted value is determined according to the calculation source, that is, according to the motor current of the cutting arm, the vibration acceleration of the cutting arm and the oil circuit pressure of the oil cylinder, the motor current of the cutting arm, the vibration of the cutting arm.
  • the priorities of the acceleration and the oil circuit pressure of the oil cylinder are determined according to the actual working environment of the roadheader.
  • control device respectively determines three predictive values of the cutting arm swing speed according to the motor current of the cutting arm, the vibration acceleration of the cutting arm, and the oil circuit pressure of the oil cylinder, and follows the principle of “minority obeys the majority” and " The principle of "priority protection” determines the final predicted value of the swing speed from the three predicted values, which improves the accuracy of determining the predicted value of the swing speed.
  • Fig. 7 shows a schematic flowchart of the control method of the roadheader according to the embodiment of the present application, wherein the control method includes the following steps.
  • Step S702 acquiring a first data set detected by the first detection component, where the first data set is used to indicate the working parameters of the cutting arm.
  • Step S704 determining the predicted value of the swing speed according to the first data set.
  • Step S706 acquiring a second data set detected by the second detection component, the second data set is used to indicate the pose parameters of the fuselage.
  • Step S708 according to the predicted value of the swing speed, determine the predicted value of the offset of the heading angle of the fuselage, the predicted value of the deflection of the pitch angle of the fuselage, the predicted value of the lateral offset of the fuselage, and the predicted value of the longitudinal offset of the fuselage.
  • Step S710 confirming that the predicted value of the fuselage heading angle offset, the predicted value of the fuselage pitch angle deflection, the predicted value of the lateral offset of the fuselage, the predicted value of the longitudinal offset of the fuselage and the heading of the fuselage in the second data set Whether the angle offset, the pitch angle deflection of the fuselage, the lateral offset of the fuselage and the longitudinal offset of the fuselage match.
  • Step S712 if any one of the predicted values matches the parameters in the second data set, determine the predicted swing speed value as the target swing speed value.
  • the specific steps for the control device to determine the target swing speed according to the predicted value of the swing speed and the second data set are: the control device estimates the predicted value of the offset of the heading angle of the fuselage and the pitch angle of the fuselage according to the predicted value of the swing speed.
  • the predicted value of the deflection, the predicted value of the lateral offset of the fuselage, and the predicted value of the longitudinal offset of the fuselage, that is, the pose parameters of the roadheader fuselage are predicted according to the predicted value of the swing speed.
  • the control device judges the predicted value of the fuselage heading angle offset, the fuselage pitch angle The predicted value of the deflection, the predicted value of the lateral offset of the fuselage, the predicted value of the longitudinal offset of the fuselage, and the offset of the heading angle of the fuselage, the deflection of the pitch angle of the fuselage, and the lateral deflection of the fuselage in the second data set Whether there is a match between the displacement and the longitudinal offset of the fuselage, if there is any one of the predicted values that matches the pose parameters in the second data set, then the above-mentioned swing speed predicted value is determined to be used to control the swing of the cutting arm target swing speed value.
  • the control device predicts the pose parameters of the body of the roadheader according to the predicted value of the swing speed, and then makes a judgment based on the pose parameters of the second data set, and finally determines whether to use the predicted value of the swing speed as the target swing speed value , which improves the accuracy of the determined target swing speed value for controlling the swing of the cutting arm, thereby improving the safety and reliability of the roadheader operation.
  • Fig. 8 shows a schematic block diagram of the control device of the roadheader according to the embodiment of the present application, wherein the control device 800 of the roadheader includes: an acquisition unit 802, configured to acquire the first data set detected by the first detection component, the first The data set is used to indicate the working parameters of the cutting arm; the processing unit 804 is used to determine the swing speed prediction value according to the first data set; the acquisition unit 802 is also used to obtain the second data set detected by the second detection component, the second data The set is used to indicate the pose parameters of the fuselage; the processing unit 804 is also used to determine the target swing speed value according to the swing speed prediction value and the second data set, and control the swing of the cutting arm according to the target swing speed value.
  • the control device 800 of the roadheader includes: an acquisition unit 802, configured to acquire the first data set detected by the first detection component, the first The data set is used to indicate the working parameters of the cutting arm; the processing unit 804 is used to determine the swing speed prediction value according to the first data set; the acquisition unit 80
  • the first data set is used to indicate the working parameters of the cutting arm, for example: motor current of the cutting arm, vibration acceleration of the cutting arm, oil circuit pressure of the oil cylinder, and the like.
  • the second data set is used to indicate the pose parameters of the roadheader fuselage, such as: the heading angle offset of the fuselage, the pitch angle deflection of the fuselage, the lateral offset of the fuselage, and the longitudinal offset of the fuselage wait.
  • the acquisition unit 802 acquires the first data set detected by the first detection component, and the processing unit 804 determines the predicted value of the swing speed according to the first data set.
  • the device is connected, and the acquisition unit 802 acquires the first data set through multiple sensors.
  • the processing unit 804 estimates the swing speed of the cutting arm according to the working parameters of the corresponding cutting arm, so as to determine the cutting arm predicted swing speed.
  • the acquisition unit 802 is also used to acquire the second data set detected by the second detection component, and the processing unit 804 is also used to obtain the second data set detected by the second detection component.
  • the speed prediction value determines the target swing speed value for controlling the swing of the cutting arm.
  • the second detection component is also composed of a plurality of sensors, which are respectively connected to the control device.
  • the acquisition unit 802 acquires the second data set through the plurality of sensors.
  • the processing unit 804 predicts the value and the corresponding cutting arm pose parameters in the second data determine the target swing speed value, so that the cutting arm swings according to the target swing speed value.
  • the current sensor is usually used to detect the change of the motor current of the cutting arm, and then the swing speed of the cutting arm is estimated and controlled according to the motor current of the cutting arm.
  • This solution has low accuracy, and if the current sensor fails, the swing speed of the cutting arm cannot be estimated and controlled.
  • the processing unit 804 determines the predicted swing speed value according to the first data set acquired by the acquiring unit 802, and then determines the target rotational speed value by combining the second data set acquired by the acquiring unit 802 with the predicted swing speed value.
  • the first data set is used to indicate the working parameters of the cutting arm
  • the second data set is used to indicate the pose parameters of the fuselage
  • the processing unit 804 according to the working parameters of the cutting arm parameter and the pose parameter of the body of the roadheader estimate and control the swing speed of the cutting arm, which improves the accuracy of estimation and control of the swing speed of the cutting arm.
  • both the first data set and the second data set include more than one parameter.
  • a plurality of working parameters for detecting the cutting arm and the body of the roadheader are included.
  • the sensor that is, when a sensor fails, it will not affect the estimation and control of the swing speed of the cutting arm, which ensures the safety and reliability of the roadheader operation.
  • the acquisition unit 802 is also used to acquire the first preset relationship coefficient between the cutting load resistance and the cutting arm swing speed; processing Unit 804 is also used to determine the first cutting load resistance according to the motor current of the cutting arm, and determine the first swing speed prediction value according to the first cutting load resistance and the first preset relationship coefficient; determine the first swing speed prediction value according to the vibration acceleration of the cutting arm
  • the second cutting load resistance according to the second cutting load resistance and the first preset relationship coefficient, determine the second swing speed prediction value; determine the third cutting load resistance according to the oil circuit pressure of the cylinder, and determine the third cutting load resistance according to the third cutting load
  • the resistance and the first preset relationship coefficient determine the third predicted value of swing speed; the predicted value of swing speed is determined according to the first predicted value of swing speed, the second predicted value of swing speed and the third predicted value of swing speed.
  • the obtaining unit 802 is also used to obtain the diameter of the cutting head, the motor speed value of the cutting arm, the The input voltage of the motor of the cutting arm; the processing unit 804 is also used to determine the first cutting load resistance according to the diameter of the cutting head, the motor speed of the cutting arm, the input voltage of the motor of the cutting arm and the motor current of the cutting arm .
  • the obtaining unit 802 is also used to obtain a second preset relationship between the vibration acceleration of the cutting arm and the cutting load resistance coefficient; the processing unit 804 is also used to determine the second cutting load resistance according to the second preset relational coefficient and the vibration acceleration of the cutting arm.
  • the processing unit 804 is also used to determine the displacement of the piston in the oil cylinder according to the oil circuit pressure of the oil cylinder; the acquisition unit 802 It is also used to obtain the effective area of the cylinder chamber, the load pressure drop, the load and the total mass of the piston in the cylinder, the load and the viscous damping coefficient of the piston in the cylinder, and the stiffness of the load spring; the processing unit 804 is also used to The effective area, the load pressure drop, the total mass of the load and the piston in the cylinder, the viscous damping coefficient of the load and the piston in the cylinder, the stiffness of the load spring and the displacement of the piston in the cylinder determine the third cut load resistance.
  • the processing unit 804 is specifically configured to If the same item exists in the predicted value of swing speed, the second predicted value of swing speed, and the third predicted value of swing speed, the predicted value of the same item is determined to be the predicted value of swing speed; or in the first predicted value of swing speed, the second predicted value of swing speed If the predicted value and the third swing speed predicted value are all different, the predicted value with the highest priority is determined to be the swing speed predicted value.
  • the processing unit 804 is specifically configured to determine the fuselage heading angle offset predicted value according to the swing speed predicted value , the predicted value of fuselage pitch angle deflection, the predicted value of fuselage lateral offset and the predicted value of fuselage longitudinal offset; confirm the predicted value of fuselage heading angle deflection, the predicted value of fuselage pitch angle deflection, The predicted value of the lateral offset and the predicted value of the longitudinal offset of the fuselage are related to the heading angle offset of the fuselage in the second dataset, the pitch angle deflection of the fuselage, the lateral offset of the fuselage and Whether the longitudinal offset of the fuselage matches; in the case that any one of the predicted values matches the parameters in the second data set, the predicted swing speed value is determined as the target swing speed value.
  • a readable storage medium on which a program or instruction is stored, and when the program or instruction is executed by a processor, the method for controlling the roadheader as proposed in the above embodiment is realized. Therefore, the readable storage medium has all the beneficial effects of the method for controlling the roadheader proposed in the above-mentioned embodiments, which will not be repeated here.
  • Fig. 9 shows a schematic block diagram of a roadheader according to an embodiment of the present application, wherein the roadheader 900 includes: a fuselage 902; a cutting arm 904 arranged on the fuselage 902; an oil cylinder 906 connected with the cutting arm 904, Used to drive the cutting arm 904 to swing; the first detection component 908 is used to detect the first data set, and the first data set is used to indicate the working parameters of the cutting arm 904; the second detection component 910 is used to detect the second data set set, and the second data set is used to indicate the pose parameters of the fuselage 902.
  • the above-mentioned roadheader 900 also includes the roadheader control device 800 as proposed in the above-mentioned embodiment, and/or the readable storage medium 912 as proposed in the above-mentioned embodiment. All beneficial effects of the machine control device 800 or the readable storage medium 912 provided by the above-mentioned embodiments will not be repeated here.
  • the calculation layer obtains the motor current of the cutting arm, the vibration acceleration of the cutting arm and the oil circuit pressure of the oil cylinder in the working parameters of the roadheader and inputs them to the cutting machine respectively.
  • the cutting motor current analysis module, the cutting arm vibration acceleration analysis module and the oil cylinder oil circuit analysis module are analyzed, and the first swing speed prediction value, the second swing speed prediction value and the third swing speed prediction value are calculated respectively, and the above three Input the predicted value to the voter for voting, and the voter determines that the predicted value of the same item is the swing if there is the same item in the first predicted value of swing speed, the second predicted value of swing speed, and the third predicted value of swing speed.
  • Speed prediction value in the case that the first swing speed prediction value, the second swing speed prediction value, and the third swing speed prediction value are all different, determine the swing speed prediction value with the highest priority.
  • the voter sends the predicted value of the swing speed to the logical judgment layer for logical judgment.
  • the logical judgment layer includes the fuselage heading angle offset analysis module, the fuselage pitch angle deviation The analysis module, the lateral offset analysis module of the fuselage and the longitudinal offset analysis module of the fuselage are analyzed.
  • the logical judgment layer respectively estimates the predicted value of the heading angle offset of the fuselage, the predicted value of the pitch angle deflection of the fuselage, the predicted value of the lateral offset of the fuselage, and the predicted value of the longitudinal offset of the fuselage according to the predicted value of the swing speed. , which is to predict the pose parameters of the roadheader fuselage according to the swing speed prediction value. Then judge the predicted value of the fuselage heading angle offset, the predicted value of the fuselage pitch angle deflection, the predicted value of the lateral offset of the fuselage, and the predicted value of the longitudinal offset of the fuselage in the pose parameters of the predicted roadheader fuselage. Whether the yaw angle offset of the fuselage in the second data set, the pitch angle deflection of the fuselage, the lateral offset of the fuselage and the longitudinal offset of the fuselage match, determine the judgment result, and judge the result sent to the voter.
  • the voter determines the above predicted swing speed value as the target swing speed value for controlling the swing of the cutting arm.
  • connection can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediary.

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Abstract

一种掘进机的控制方法、装置、可读存储介质和掘进机，掘进机（900）包括机身（902）、截割臂（904）和用于驱动截割臂（904）摆动的油缸（906），截割臂（904）设置于机身（902）上，控制方法包括：获取第一检测组件（908）检测的第一数据集，第一数据集用于指示截割臂（904）的工作参数；根据第一数据集确定摆速预测值；获取第二检测组件（910）检测的第二数据集，第二数据集用于指示机身（902）的位姿参数；根据摆速预测值和第二数据集确定目标摆速值，并根据目标摆速值控制截割臂（904）摆动。通过上述技术方案，提高了截割臂的摆动速度估算和控制的准确性，进而保证了掘进机运行的安全性和可靠性。

Description

掘进机的控制方法、装置、可读存储介质和掘进机
相关申请的交叉引用
本申请要求于2022年02月25日提交的申请号为202210180549.8，名称为“掘进机的控制方法、装置、可读存储介质和掘进机”的中国专利申请的优先权，其通过引用方式全部并入本文。
技术领域
本申请涉及自动控制技术领域，具体而言，涉及一种掘进机的控制方法、装置、可读存储介质和掘进机。
背景技术
现有技术中，通常通过电流传感器检测截割臂电机电流的变化，然后根据截割臂电机电流对截割臂的摆动速度进行估算和控制。这种方案准确度较低，且如果电流传感器发生故障，则无法对截割臂的摆动速度进行估算和控制。
发明内容
本申请旨在至少解决现有技术或相关技术中存在的技术问题之一。
为此，本申请的第一个方面提出了一种掘进机的控制方法。
本申请的第二个方面提出了一种掘进机的控制装置。
本申请的第三个方面提出了一种可读存储介质。
本申请的第四个方面提出了一种掘进机。
有鉴于此，根据本申请的一个方面，提出了一种掘进机的控制方法，掘进机包括机身、截割臂和用于驱动截割臂摆动的油缸，截割臂设置于机身上，控制方法包括：获取第一检测组件检测的第一数据集，第一数据集用于指示截割臂的工作参数；根据第一数据集确定摆速预测值；获取第二检测组件检测的第二数据集，第二数据集用于指示机身的位姿参数；根据摆速预测值和第二数据集确定目标摆速值，并根据目标摆速值控制截割臂摆动。
需要说明的是，本申请所提出的掘进机的控制方法的执行主体可以是 掘进机的控制装置，为了更加清楚的对本申请提出的掘进机的控制方法进行说明，下面技术方案中以掘进机的控制方法的执行主体为掘进机的控制装置进行示例性说明。
在该技术方案中，第一数据集用于指示截割臂的工作参数，例如：截割臂的电机电流、截割臂振动加速度、油缸的油路压力等。第二数据集用于指示掘进机机身的位姿参数，例如：机身的航向角度偏移量、机身的俯仰角度偏转量、机身的横向偏移量和机身的纵向偏移量等。
具体地，控制装置获取第一检测组件检测的第一数据集，并根据第一数据集确定出摆速预测值，具体而言，第一检测组件由多个传感器组成，分别与控制装置连接，控制装置通过多个传感器获取第一数据集，在获取第一数据集后，控制装置根据对应的截割臂的工作参数估算截割臂的摆速，以确定出截割臂的摆速预测值。
进一步地，控制装置在确定截割臂的摆速预测值后，获取第二检测组件检测的第二数据集，根据第二数据集和上述摆速预测值确定出控制截割臂摆动的目标摆速值。可以理解的是，第二检测组件也由多个传感器组成，分别与控制装置连接，控制装置通过多个传感器获取第二数据集，在获取第二数据集后，控制装置根据摆速预测值和第二数据中的对应的截割臂的位姿参数确定出目标摆速值，以使截割臂按照该目标摆速值进行摆动。
现有技术中，通常通过电流传感器检测截割臂电机电流的变化，然后根据截割臂电机电流对截割臂的摆动速度进行估算和控制。这种方案准确度较低，且如果电流传感器发生故障，则无法对截割臂的摆动速度进行估算和控制。
因此，在本申请的技术方案中，控制装置根据通过第一检测组件检测的第一数据集确定出摆速预测值，然后通过第二检测组件检测的第二数据集结合摆速预测值确定出目标转速值，其中，第一数据集用于指示截割臂的工作参数，第二数据集用于指示机身的位姿参数，也就是说，在本申请的技术方案中，控制装置根据截割臂的工作参数、掘进机的机身的位姿参数两种参数对截割臂的摆动速度进行估算和控制，这提高了截割臂的摆动速度估算和控制的准确性。同时，可以理解的是，第一数据集和第二数据集均不止包括一种参数，由此可见，在本申请的技术方案中，包括多个用 于检测截割臂的工作参数和掘进机机身的传感器，即在某个传感器发生故障时，不会影响对截割臂摆动速度的估算和控制，保证了掘进机运行的安全性和可靠性。
此外，根据本申请的上述掘进机的控制方法，还可以具有以下附加技术特征。
在上述技术方案中，第一数据集包括截割臂的电机电流、截割臂振动加速度、油缸的油路压力；第二数据集包括机身的航向角度偏移量、机身的俯仰角度偏转量、机身的横向偏移量和机身的纵向偏移量。
在该技术方案中，第一数据集具体包括截割臂的电机电流、截割臂振动加速度、油缸的油路压力，需要说明的是，根据上述截割臂的电机电流、截割臂振动加速度、油缸的油路压力中任一种截割臂的工作参数均可确定出截割臂的摆速预测值。
进一步地，第二数据集具体包括掘进机的机身的航向角度偏移量、掘进机的机身的俯仰角度偏转量、掘进机的机身的横向偏移量和掘进机的机身的纵向偏移量，需要说明的是，根据上述机身的航向角度偏移量、机身的俯仰角度偏转量、机身的横向偏移量和机身的纵向偏移量中任一种掘进机的机身的位姿参数均可判断上述摆速预测值是否适合作为控制截割臂摆动的目标摆速值。
在上述技术方案中，根据第一数据集确定摆速预测值的步骤具体包括：获取截割负载阻力与截割臂摆速的第一预设关系系数；根据截割臂的电机电流确定第一截割负载阻力，根据第一截割负载阻力和第一预设关系系数，确定第一摆速预测值；根据截割臂振动加速度确定第二截割负载阻力，根据第二截割负载阻力和第一预设关系系数，确定第二摆速预测值；根据油缸的油路压力确定第三截割负载阻力，根据第三截割负载阻力和第一预设关系系数，确定第三摆速预测值；根据第一摆速预测值、第二摆速预测值、第三摆速预测值确定摆速预测值。
在该技术方案中，第一预设关系系数为截割负载阻力与截割臂摆速的对应关系系数。具体而言，根据截割臂的工作参数能够计算出截割负载阻力，根据截割负载阻力与截割臂摆速的对应关系系数能够确定出截割臂的摆动速度的预测值。
在该技术方案中，控制装置根据第一数据集确定摆速预测值的具体步骤为：控制装置首先获取截割负载阻力与截割臂摆速的第一预设关系系数，然后根据第一预设关系系数和截割臂的多个工作参数确定出多个截割臂摆速预测值。其中，第一预设关系系数根据掘进机的设备信息和实际工作情况设定。
具体地，控制装置根据第一数据集中的截割臂的电机电流确定第一截割负载阻力，并根据第一截割负载阻力和第一预设关系系数确定出第一摆速预测值；控制装置根据第一数据集中的截割臂振动加速度确定第二截割负载阻力，并根据第二截割负载阻力和第一预设关系确定出第二摆速预测值；控制装置根据第一数据集中的油缸的油路压力确定第三截割负载阻力，并根据第三截割负载阻力和第一预设关系确定出第一摆速预测值。
进一步地，在分别根据截割臂的电机电流、截割臂振动加速度、油缸的油路压力确定出第一摆速预测值、第二摆速预测值、第三摆速预测值后，控制装置还用于对第一摆速预测值、第二摆速预测值、第三摆速预测值进行判别，以确定出摆速预测值。
在该技术方案中，控制装置通过截割臂的电机电流、截割臂振动加速度、油缸的油路压力分别确定出三个截割臂摆速预测值，然后再根据这三个预测值确定出最终的摆速预测值，提高了确定摆速预测值的准确性。
在上述技术方案中，截割臂具体包括截割头，根据截割臂的电机电流确定第一截割负载阻力的步骤具体包括：获取截割头的直径、截割臂的电机转速值、截割臂的电机的输入电压；根据截割头的直径、截割臂的电机转速、截割臂的电机的输入电压和截割臂的电机电流确定第一截割负载阻力。
在该技术方案中，截割臂包括有截割头，控制装置根据截割臂的电机电流确定第一截割负载阻力的具体步骤为：控制装置获取截割头的直径、截割臂的电机转速值、截割臂的电机的输入电压三方面数据，然后根据上述三方面数据结合截割臂的电机电流计算得出第一截割负载阻力。
可以理解的是，截割头的直径、截割臂的电机转速值、截割臂的电机的输入电压均可以根据掘进机的设备信息确定，可以将其预先存储在存储装置中，在计算第一截割负载阻力时，控制装置从存储装置中获取截割头 的直径、截割臂的电机转速值、截割臂的电机的输入电压。
在上述技术方案中，根据截割臂振动加速度确定第二截割负载阻力的步骤具体包括：获取截割臂振动加速度与截割负载阻力的第二预设关系系数；根据第二预设关系系数和截割臂振动加速度确定第二截割负载阻力。
在该技术方案中，控制装置根据截割臂振动加速度确定第二截割负载阻力的具体步骤为，控制装置获取首先获取截割头截割臂振动加速度与截割负载阻力的第二预设关系系数，然后根据第二预设关系系数结合截割臂振动加速度计算得出第二截割负载阻力。
可以理解的是，第二预设关系系数是根据掘进机的设备信息和掘进机的实际工作环境设定的，可以将其预先存储在存储装置中，在计算第二截割负载阻力时，控制装置从存储装置中获取第二预设关系系数，进而计算得出第二截割负载阻力。
在上述技术方案中，根据油缸的油路压力确定第三截割负载阻力的步骤具体包括：根据油缸的油路压力确定油缸中活塞的位移量；获取油缸缸腔的有效面积、负载压降、负载和油缸中活塞的总质量、负载和油缸中活塞的粘性阻尼系数、负载弹簧的刚度；根据油缸缸腔的有效面积、负载压降、负载和油缸中活塞的总质量、负载和油缸中活塞的粘性阻尼系数、负载弹簧的刚度和油缸中活塞的位移量确定第三截割负载阻力。
在该技术方案中，控制装置根据油缸的油路压力确定第三截割负载阻力的具体步骤为，控制装置根据油缸的油路压力确定油缸中活塞的位移量，并获取油缸缸腔的有效面积、负载压降、负载和油缸中活塞的总质量、负载和油缸中活塞的粘性阻尼系数、负载弹簧的刚度和油缸中活塞的位移量确定第三截割负载阻力。
可以理解的是，油缸缸腔的有效面积、负载压降、负载和油缸中活塞的总质量、负载和油缸中活塞的粘性阻尼系数、负载弹簧的刚度和油缸中活塞的位移量确定第三截割负载阻力可以根据掘进机的设备信息和掘进机的实际工况确定。
进一步地，控制装置根据油缸缸腔的有效面积、负载压降、负载和油缸中活塞的总质量、负载和油缸中活塞的粘性阻尼系数、负载弹簧的刚度和油缸中活塞的位移量计算得出第三截割负载阻力。
在上述技术方案中，根据第一摆速预测值、第二摆速预测值、第三摆速预测值确定摆速预测值的步骤具体包括：在第一摆速预测值、第二摆速预测值、第三摆速预测值中存在相同项的情况下，确定相同项的预测值为摆速预测值；或在第一摆速预测值、第二摆速预测值、第三摆速预测值中均不相同的情况下，确定优先级最高的预测值为摆速预测值。
在该技术方案中，控制装置根据第一摆速预测值、第二摆速预测值、第三摆速预测值三个预测值确定最终的摆速预测值的具体步骤为，如果第一摆速预测值、第二摆速预测值、第三摆速预测值中存在相同项，则以相同项的预测值作为最终的摆速预测值，即遵循“少数服从多数”原则。如果第一摆速预测值、第二摆速预测值、第三摆速预测值中均不相同，则以优先级最高的预测值作为最终的摆速预测值，即遵循“优先保护”原则。
需要说明的是，预测值的优先级的高低根据计算来源确定，即根据截割臂的电机电流、截割臂振动加速度和油缸的油路压力确定，截割臂的电机电流、截割臂振动加速度和油缸的油路压力的优先级根据掘进机的实际工作环境确定。
在该技术方案中，控制装置通过根据截割臂的电机电流、截割臂振动加速度、油缸的油路压力分别确定出三个截割臂摆速预测值，遵循“少数服从多数”原则和“优先保护”原则从三个预测值确定出最终的摆速预测值，提高了确定摆速预测值的准确性。
在上述技术方案中，根据摆速预测值和第二数据集确定目标摆速的步骤具体包括：根据摆速预测值确定机身航向角度偏移量预测值、机身俯仰角度偏转量预测值、机身横向偏移量预测值和机身纵向偏移量预测值；确认机身航向角度偏移量预测值、机身俯仰角度偏转量预测值、机身横向偏移量预测值和机身纵向偏移量预测值与第二数据集中的第二数据集中机身的航向角度偏移量、机身的俯仰角度偏转量、机身的横向偏移量和机身的纵向偏移量是否匹配；在任一项预测值与第二数据集中的参数相匹配的情况下，将摆速预测值确定为目标摆速值。
在该技术方案中，控制装置根据摆速预测值和第二数据集确定目标摆速的具体步骤为，控制装置根据摆速预测值估算出机身航向角度偏移量预测值、机身俯仰角度偏转量预测值、机身横向偏移量预测值和机身纵向偏 移量预测值，即根据摆速预测值预测掘进机机身的位姿参数。
进一步地，在控制装置根据摆速预测值预测掘进机机身的位姿参数后，控制装置判断预测掘进机机身的位姿参数中的机身航向角度偏移量预测值、机身俯仰角度偏转量预测值、机身横向偏移量预测值和机身纵向偏移量预测值与第二数据集中的机身的航向角度偏移量、机身的俯仰角度偏转量、机身的横向偏移量和机身的纵向偏移量是否存在匹配项，如果存在任一项预测值与第二数据集中的位姿参数相匹配，则将上述摆速预测值确定为用于控制截割臂摆动的目标摆速值。
在该技术方案中，控制装置根据摆速预测值预测掘进机机身的位姿参数，然后结合第二数据集的位姿参数进行判断，最终确定出是否以摆速预测值作为目标摆速值，提高了确定出的用于控制截割臂摆动的目标摆速值的准确性，进而提高了掘进机运行的安全性和可靠性。
根据本申请的第二个方面，提出了一种掘进机的控制装置，包括：获取单元，用于获取第一检测组件检测的第一数据集，第一数据集用于指示截割臂的工作参数；处理单元，用于根据第一数据集确定摆速预测值；获取单元还用于获取第二检测组件检测的第二数据集，第二数据集用于指示机身的位姿参数；处理单元还用于根据摆速预测值和第二数据集确定目标摆速值，并根据目标摆速值控制截割臂摆动。
在该技术方案中，第一数据集用于指示截割臂的工作参数，例如：截割臂的电机电流、截割臂振动加速度、油缸的油路压力等。第二数据集用于指示掘进机机身的位姿参数，例如：机身的航向角度偏移量、机身的俯仰角度偏转量、机身的横向偏移量和机身的纵向偏移量等。
具体地，获取单元获取第一检测组件检测的第一数据集，处理单元根据第一数据集确定出摆速预测值，具体而言，第一检测组件由多个传感器组成，分别与控制装置连接，获取单元通过多个传感器获取第一数据集，在获取第一数据集后，处理单元根据对应的截割臂的工作参数估算截割臂的摆速，以确定出截割臂的摆速预测值。
进一步地，在处理单元确定截割臂的摆速预测值后，获取单元还用于获取第二检测组件检测的第二数据集，处理单元还用于根据第二数据集和上述摆速预测值确定出控制截割臂摆动的目标摆速值。可以理解的是，第 二检测组件也由多个传感器组成，分别与控制装置连接，获取单元通过多个传感器获取第二数据集，在获取第二数据集后，处理单元根据摆速预测值和第二数据中的对应的截割臂的位姿参数确定出目标摆速值，以使截割臂按照该目标摆速值进行摆动。
现有技术中，通常通过电流传感器检测截割臂电机电流的变化，然后根据截割臂电机电流对截割臂的摆动速度进行估算和控制。这种方案准确度较低，且如果电流传感器发生故障，则无法对截割臂的摆动速度进行估算和控制。
因此，在本申请的技术方案中，处理单元根据通过获取单元获取的第一数据集确定出摆速预测值，然后通过获取单元获取的第二数据集结合摆速预测值确定出目标转速值，其中，第一数据集用于指示截割臂的工作参数，第二数据集用于指示机身的位姿参数，也就是说，在本申请的技术方案中，处理单元根据截割臂的工作参数、掘进机的机身的位姿参数两种参数对截割臂的摆动速度进行估算和控制，这提高了截割臂的摆动速度估算和控制的准确性。同时，可以理解的是，第一数据集和第二数据集均不止包括一种参数，由此可见，在本申请的技术方案中，包括多个用于检测截割臂的工作参数和掘进机机身的传感器，即在某个传感器发生故障时，不会影响对截割臂摆动速度的估算和控制，保证了掘进机运行的安全性和可靠性。
根据本申请的第三个方面，提出了一种可读存储介质，其上存储有程序或指令，程序或指令被处理器执行时实现如本申请第一方面提出的掘进机的控制方法。因此，该可读存储介质具备本申请第一方面提出的掘进机的控制方法的全部有益效果，在此不再赘述。
根据本申请的第四个方面，提出了一种掘进机，包括：机身；截割臂，设置于机身上；油缸，与截割臂连接，用于驱动截割臂摆动；第一检测组件，用于检测第一数据集，第一数据集用于指示截割臂的工作参数；第二检测组件，用于检测第二数据集，第二数据集用于指示机身的位姿参数；
进一步地，上述掘进机还包括如本申请第二方面提出的掘进机的控制装置，和/或如本申请第三方面提出的可读存储介质，因此，该掘进机具备本申请第二方面提出的掘进机的控制装置或本申请第三方面提出的可读 存储介质的全部有益效果，在此不再赘述。
本申请的附加方面和优点将在下面的描述部分中变得明显，或通过本申请的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1示出了本申请实施例的掘进机的控制方法的流程示意图之一；
图2示出了本申请实施例的掘进机的控制方法的流程示意图之二；
图3示出了本申请实施例的掘进机的控制方法的流程示意图之三；
图4示出了本申请实施例的掘进机的控制方法的流程示意图之四；
图5示出了本申请实施例的掘进机的控制方法的流程示意图之五；
图6示出了本申请实施例的掘进机的控制方法的流程示意图之六；
图7示出了本申请实施例的掘进机的控制方法的流程示意图之七；
图8示出了本申请实施例的掘进机的控制装置的示意框图；
图9示出了本申请实施例的掘进机的示意框图；
图10示出了本申请实施例的掘进机的控制方法的总体流程框图。
具体实施方式
为了能够更清楚地理解本申请的上述目的、特征和优点，下面结合附图和具体实施方式对本申请进行进一步的详细描述。需要说明的是，在不冲突的情况下，本申请的实施例及实施例中的特征可以相互组合。
在下面的描述中阐述了很多具体细节以便于充分理解本申请，但是，本申请还可以采用其他不同于在此描述的其他方式来实施，因此，本申请的保护范围并不限于下面公开的具体实施例的限制。
下面结合图1至图10，通过具体的实施例及其应用场景对本申请实施例提供的掘进机的控制方法、装置、可读存储介质和掘进机进行详细地说明。
实施例一
图1示出了本申请实施例的掘进机的控制方法的流程示意图，其中，该控制方法包括下述步骤。
步骤S102，获取第一检测组件检测的第一数据集，第一数据集用于指示截割臂的工作参数。
步骤S104，根据第一数据集确定摆速预测值。
步骤S106，获取第二检测组件检测的第二数据集，第二数据集用于指示机身的位姿参数。
步骤S108，根据摆速预测值和第二数据集确定目标摆速值，并根据目标摆速值控制截割臂摆动。
需要说明的是，本实施例所提出的掘进机的控制方法的执行主体可以是掘进机的控制装置，为了更加清楚的对本实施例提出的掘进机的控制方法进行说明，下面叙述中以掘进机的控制方法的执行主体为掘进机的控制装置进行示例性说明。
在该实施例中，第一数据集用于指示截割臂的工作参数，第二数据集用于指示掘进机机身的位姿参数。
具体地，控制装置获取第一检测组件检测的第一数据集，并根据第一数据集确定出摆速预测值，具体而言，第一检测组件由多个传感器组成，分别与控制装置连接，控制装置通过多个传感器获取第一数据集，在获取第一数据集后，控制装置根据对应的截割臂的工作参数估算截割臂的摆速，以确定出截割臂的摆速预测值。
进一步地，控制装置在确定截割臂的摆速预测值后，获取第二检测组件检测的第二数据集，根据第二数据集和上述摆速预测值确定出控制截割臂摆动的目标摆速值。可以理解的是，第二检测组件也由多个传感器组成，分别与控制装置连接，控制装置通过多个传感器获取第二数据集，在获取第二数据集后，控制装置根据摆速预测值和第二数据中的对应的截割臂的位姿参数确定出目标摆速值，以使截割臂按照该目标摆速值进行摆动。
在该实施例中，具体地，第一数据集具体包括截割臂的电机电流、截割臂振动加速度、油缸的油路压力，需要说明的是，根据上述截割臂的电机电流、截割臂振动加速度、油缸的油路压力中任一种截割臂的工作参数均可确定出截割臂的摆速预测值。
在该实施例中，具体地，第二数据集具体包括掘进机的机身的航向角度偏移量、掘进机的机身的俯仰角度偏转量、掘进机的机身的横向偏移量 和掘进机的机身的纵向偏移量，需要说明的是，根据上述机身的航向角度偏移量、机身的俯仰角度偏转量、机身的横向偏移量和机身的纵向偏移量中任一种掘进机的机身的位姿参数均可判断上述摆速预测值是否适合作为控制截割臂摆动的目标摆速值。
现有技术中，通常通过电流传感器检测截割臂电机电流的变化，然后根据截割臂电机电流对截割臂的摆动速度进行估算和控制。这种方案准确度较低，且如果电流传感器发生故障，则无法对截割臂的摆动速度进行估算和控制。
因此，在本实施例中，控制装置根据通过第一检测组件检测的第一数据集确定出摆速预测值，然后通过第二检测组件检测的第二数据集结合摆速预测值确定出目标转速值，其中，第一数据集用于指示截割臂的工作参数，第二数据集用于指示机身的位姿参数，也就是说，在本实施例中，控制装置根据截割臂的工作参数、掘进机的机身的位姿参数两种参数对截割臂的摆动速度进行估算和控制，这提高了截割臂的摆动速度估算和控制的准确性。同时，可以理解的是，第一数据集和第二数据集均不止包括一种参数，由此可见，在本实施例中，包括多个用于检测截割臂的工作参数和掘进机机身的传感器，即在某个传感器发生故障时，不会影响对截割臂摆动速度的估算和控制，保证了掘进机运行的安全性和可靠性。
图2示出了本申请实施例的掘进机的控制方法的流程示意图，其中，该控制方法包括下述步骤。
步骤S202，获取第一检测组件检测的第一数据集，第一数据集用于指示截割臂的工作参数。
步骤S204，获取截割负载阻力与截割臂摆速的第一预设关系系数。
步骤S206，根据截割臂的电机电流确定第一截割负载阻力，根据第一截割负载阻力和第一预设关系系数，确定第一摆速预测值。
步骤S208，根据截割臂振动加速度确定第二截割负载阻力，根据第二截割负载阻力和第一预设关系系数，确定第二摆速预测值。
步骤S210，根据油缸的油路压力确定第三截割负载阻力，根据第三截割负载阻力和第一预设关系系数，确定第三摆速预测值。
步骤S212，根据第一摆速预测值、第二摆速预测值、第三摆速预测值 确定摆速预测值。
步骤S214，获取第二检测组件检测的第二数据集，第二数据集用于指示机身的位姿参数。
步骤S216，根据摆速预测值和第二数据集确定目标摆速值，并根据目标摆速值控制截割臂摆动。
在该实施例中，第一预设关系系数为截割负载阻力与截割臂摆速的对应关系系数。具体而言，根据截割臂的工作参数能够计算出截割负载阻力，根据截割负载阻力与截割臂摆速的对应关系系数能够确定出截割臂的摆动速度的预测值。
在该实施例中，控制装置根据第一数据集确定摆速预测值的具体步骤为：控制装置首先获取截割负载阻力与截割臂摆速的第一预设关系系数，然后根据第一预设关系系数和截割臂的多个工作参数确定出多个截割臂摆速预测值。其中，第一预设关系系数根据掘进机的设备信息和实际工作情况设定。
具体地，控制装置根据第一数据集中的截割臂的电机电流确定第一截割负载阻力，并根据第一截割负载阻力和第一预设关系系数确定出第一摆速预测值；控制装置根据第一数据集中的截割臂振动加速度确定第二截割负载阻力，并根据第二截割负载阻力和第一预设关系确定出第二摆速预测值；控制装置根据第一数据集中的油缸的油路压力确定第三截割负载阻力，并根据第三截割负载阻力和第一预设关系确定出第一摆速预测值。
进一步地，在分别根据截割臂的电机电流、截割臂振动加速度、油缸的油路压力确定出第一摆速预测值、第二摆速预测值、第三摆速预测值后，控制装置还用于对第一摆速预测值、第二摆速预测值、第三摆速预测值进行判别，以确定出摆速预测值。
在该实施例中，控制装置通过截割臂的电机电流、截割臂振动加速度、油缸的油路压力分别确定出三个截割臂摆速预测值，然后再根据这三个预测值确定出最终的摆速预测值，提高了确定摆速预测值的准确性。
图3示出了本申请实施例的掘进机的控制方法的流程示意图，其中，该控制方法包括下述步骤。
步骤S302，获取第一检测组件检测的第一数据集，第一数据集用于指 示截割臂的工作参数。
步骤S304，获取截割负载阻力与截割臂摆速的第一预设关系系数。
步骤S306，获取截割头的直径、截割臂的电机转速值、截割臂的电机的输入电压。
步骤S308，根据截割头的直径、截割臂的电机转速、截割臂的电机的输入电压和截割臂的电机电流确定第一截割负载阻力，并根据第一截割负载阻力和第一预设关系系数，确定第一摆速预测值。
步骤S310，根据截割臂振动加速度确定第二截割负载阻力，根据第二截割负载阻力和第一预设关系系数，确定第二摆速预测值。
步骤S312，根据油缸的油路压力确定第三截割负载阻力，根据第三截割负载阻力和第一预设关系系数，确定第三摆速预测值。
步骤S314，根据第一摆速预测值、第二摆速预测值、第三摆速预测值确定摆速预测值。
步骤S316，获取第二检测组件检测的第二数据集，第二数据集用于指示机身的位姿参数。
步骤S318，根据摆速预测值和第二数据集确定目标摆速值，并根据目标摆速值控制截割臂摆动。
在该实施例中，截割臂包括有截割头，控制装置根据截割臂的电机电流确定第一截割负载阻力的具体步骤为：控制装置获取截割头的直径、截割臂的电机转速值、截割臂的电机的输入电压三方面数据，然后根据上述三方面数据结合截割臂的电机电流计算得出第一截割负载阻力。
可以理解的是，截割头的直径、截割臂的电机转速值、截割臂的电机的输入电压均可以根据掘进机的设备信息确定，可以将其预先存储在存储装置中，在计算第一截割负载阻力时，控制装置从存储装置中获取截割头的直径、截割臂的电机转速值、截割臂的电机的输入电压。
具体地，根据截割臂的电机电流计算第一截割负载阻力的公式如下所示：
Figure PCTCN2022117747-appb-000001
在上述公式中，F1用于表示第一截割负载阻力，D用于表示截割头的直径，I用于表示截割臂的电机电流，U用于表示截割臂的电机的输入电 压，
Figure PCTCN2022117747-appb-000002
用于表示电机功率因数，n表示电机极对数。
图4示出了本申请实施例的掘进机的控制方法的流程示意图，其中，该控制方法包括下述步骤。
步骤S402，获取第一检测组件检测的第一数据集，第一数据集用于指示截割臂的工作参数。
步骤S404，获取截割负载阻力与截割臂摆速的第一预设关系系数。
步骤S406，根据截割臂的电机电流确定第一截割负载阻力，根据第一截割负载阻力和第一预设关系系数，确定第一摆速预测值。
步骤S408，获取截割臂振动加速度与截割负载阻力的第二预设关系系数。
步骤S410，根据第二预设关系系数和截割臂振动加速度确定第二截割负载阻力，并根据第二截割负载阻力和第一预设关系系数，确定第二摆速预测值。
步骤S412，根据油缸的油路压力确定第三截割负载阻力，根据第三截割负载阻力和第一预设关系系数，确定第三摆速预测值。
步骤S414，根据第一摆速预测值、第二摆速预测值、第三摆速预测值确定摆速预测值。
步骤S416，获取第二检测组件检测的第二数据集，第二数据集用于指示机身的位姿参数。
步骤S418，根据摆速预测值和第二数据集确定目标摆速值，并根据目标摆速值控制截割臂摆动。
在该实施例中，控制装置根据截割臂振动加速度确定第二截割负载阻力的具体步骤为，控制装置获取首先获取截割头截割臂振动加速度与截割负载阻力的第二预设关系系数，然后根据第二预设关系系数结合截割臂振动加速度计算得出第二截割负载阻力。
可以理解的是，第二预设关系系数是根据掘进机的设备信息和掘进机的实际工作环境设定的，可以将其预先存储在存储装置中，在计算第二截割负载阻力时，控制装置从存储装置中获取第二预设关系系数，进而计算得出第二截割负载阻力。
具体地，根据截割臂振动加速度计算第二截割负载阻力的公式如下所 示：
F2＝kα 2
在上述公式中，F2用于表示第二截割负载阻力，k用于表示第二预设关系系数，α用于表示截割臂振动加速度。
图5示出了本申请实施例的掘进机的控制方法的流程示意图，其中，该控制方法包括下述步骤。
步骤S502，获取第一检测组件检测的第一数据集，第一数据集用于指示截割臂的工作参数。
步骤S504，获取截割负载阻力与截割臂摆速的第一预设关系系数。
步骤S506，根据截割臂的电机电流确定第一截割负载阻力，根据第一截割负载阻力和第一预设关系系数，确定第一摆速预测值。
步骤S508，根据截割臂振动加速度确定第二截割负载阻力，根据第二截割负载阻力和第一预设关系系数，确定第二摆速预测值。
步骤S510，根据油缸的油路压力确定油缸中活塞的位移量。
步骤S512，获取油缸缸腔的有效面积、负载压降、负载和油缸中活塞的总质量、负载和油缸中活塞的粘性阻尼系数、负载弹簧的刚度。
步骤S514，根据油缸缸腔的有效面积、负载压降、负载和油缸中活塞的总质量、负载和油缸中活塞的粘性阻尼系数、负载弹簧的刚度和油缸中活塞的位移量确定第三截割负载阻力，并根据第三截割负载阻力和第一预设关系系数，确定第三摆速预测值。
步骤S516，根据第一摆速预测值、第二摆速预测值、第三摆速预测值确定摆速预测值。
步骤S518，获取第二检测组件检测的第二数据集，第二数据集用于指示机身的位姿参数。
步骤S520，根据摆速预测值和第二数据集确定目标摆速值，并根据目标摆速值控制截割臂摆动。
在该实施例中，控制装置根据油缸的油路压力确定第三截割负载阻力的具体步骤为，控制装置根据油缸的油路压力确定油缸中活塞的位移量，并获取油缸缸腔的有效面积、负载压降、负载和油缸中活塞的总质量、负载和油缸中活塞的粘性阻尼系数、负载弹簧的刚度和油缸中活塞的位移量 确定第三截割负载阻力。
可以理解的是，油缸缸腔的有效面积、负载压降、负载和油缸中活塞的总质量、负载和油缸中活塞的粘性阻尼系数、负载弹簧的刚度和油缸中活塞的位移量确定第三截割负载阻力可以根据掘进机的设备信息和掘进机的实际工况确定。
进一步地，控制装置根据油缸缸腔的有效面积、负载压降、负载和油缸中活塞的总质量、负载和油缸中活塞的粘性阻尼系数、负载弹簧的刚度和油缸中活塞的位移量计算第三截割负载阻力，计算公式如下所示：
Figure PCTCN2022117747-appb-000003
在上述公式中，F3用于表示第三截割负载阻力，A k用于表示油缸缸腔的有效面积，P L用于表示负载压降，m t用于表示负载和油缸中活塞的总质量，B p用于表示负载和油缸中活塞的粘性阻尼系数，K用于表示负载弹簧的刚度，t用于表示时间，L用于表示根据油缸的油路压力确定出的油缸中活塞的位移量。
图6示出了本申请实施例的掘进机的控制方法的流程示意图，其中，该控制方法包括下述步骤。
步骤S602，获取第一检测组件检测的第一数据集，第一数据集用于指示截割臂的工作参数。
步骤S604，获取截割负载阻力与截割臂摆速的第一预设关系系数。
步骤S606，根据截割臂的电机电流确定第一截割负载阻力，根据第一截割负载阻力和第一预设关系系数，确定第一摆速预测值。
步骤S608，根据截割臂振动加速度确定第二截割负载阻力，根据第二截割负载阻力和第一预设关系系数，确定第二摆速预测值。
步骤S610，根据油缸的油路压力确定第三截割负载阻力，根据第三截割负载阻力和第一预设关系系数，确定第三摆速预测值。
步骤S612，在第一摆速预测值、第二摆速预测值、第三摆速预测值中存在相同项的情况下，确定相同项的预测值为摆速预测值；或在第一摆速预测值、第二摆速预测值、第三摆速预测值中均不相同的情况下，确定优先级最高的预测值为摆速预测值。
步骤S614，获取第二检测组件检测的第二数据集，第二数据集用于指 示机身的位姿参数。
步骤S616，根据摆速预测值和第二数据集确定目标摆速值，并根据目标摆速值控制截割臂摆动。
在实施例中，控制装置根据第一摆速预测值、第二摆速预测值、第三摆速预测值三个预测值确定最终的摆速预测值的具体步骤为，如果第一摆速预测值、第二摆速预测值、第三摆速预测值中存在相同项，则以相同项的预测值作为最终的摆速预测值，即遵循“少数服从多数”原则。如果第一摆速预测值、第二摆速预测值、第三摆速预测值中均不相同，则以优先级最高的预测值作为最终的摆速预测值，即遵循“优先保护”原则。
需要说明的是，预测值的优先级的高低根据计算来源确定，即根据截割臂的电机电流、截割臂振动加速度和油缸的油路压力确定，截割臂的电机电流、截割臂振动加速度和油缸的油路压力的优先级根据掘进机的实际工作环境确定。
在该实施例中，控制装置通过根据截割臂的电机电流、截割臂振动加速度、油缸的油路压力分别确定出三个截割臂摆速预测值，遵循“少数服从多数”原则和“优先保护”原则从三个预测值确定出最终的摆速预测值，提高了确定摆速预测值的准确性。
图7示出了本申请实施例的掘进机的控制方法的流程示意图，其中，该控制方法包括下述步骤。
步骤S702，获取第一检测组件检测的第一数据集，第一数据集用于指示截割臂的工作参数。
步骤S704，根据第一数据集确定摆速预测值。
步骤S706，获取第二检测组件检测的第二数据集，第二数据集用于指示机身的位姿参数。
步骤S708，根据摆速预测值确定机身航向角度偏移量预测值、机身俯仰角度偏转量预测值、机身横向偏移量预测值和机身纵向偏移量预测值。
步骤S710，确认机身航向角度偏移量预测值、机身俯仰角度偏转量预测值、机身横向偏移量预测值和机身纵向偏移量预测值与第二数据集中的机身的航向角度偏移量、机身的俯仰角度偏转量、机身的横向偏移量和机身的纵向偏移量是否匹配。
步骤S712，在任一项预测值与第二数据集中的参数相匹配的情况下，将摆速预测值确定为目标摆速值。
在该实施例中，控制装置根据摆速预测值和第二数据集确定目标摆速的具体步骤为，控制装置根据摆速预测值估算出机身航向角度偏移量预测值、机身俯仰角度偏转量预测值、机身横向偏移量预测值和机身纵向偏移量预测值，即根据摆速预测值预测掘进机机身的位姿参数。
进一步地，在控制装置根据摆速预测值预测掘进机机身的位姿参数后，控制装置判断预测掘进机机身的位姿参数中的机身航向角度偏移量预测值、机身俯仰角度偏转量预测值、机身横向偏移量预测值和机身纵向偏移量预测值与第二数据集中的机身的航向角度偏移量、机身的俯仰角度偏转量、机身的横向偏移量和机身的纵向偏移量是否存在匹配项，如果存在任一项预测值与第二数据集中的位姿参数相匹配，则将上述摆速预测值确定为用于控制截割臂摆动的目标摆速值。
在该实施例中，控制装置根据摆速预测值预测掘进机机身的位姿参数，然后结合第二数据集的位姿参数进行判断，最终确定出是否以摆速预测值作为目标摆速值，提高了确定出的用于控制截割臂摆动的目标摆速值的准确性，进而提高了掘进机运行的安全性和可靠性。
实施例二
图8示出了本申请实施例的掘进机的控制装置的示意框图，其中，该掘进机的控制装置800包括：获取单元802，用于获取第一检测组件检测的第一数据集，第一数据集用于指示截割臂的工作参数；处理单元804，用于根据第一数据集确定摆速预测值；获取单元802还用于获取第二检测组件检测的第二数据集，第二数据集用于指示机身的位姿参数；处理单元804还用于根据摆速预测值和第二数据集确定目标摆速值，并根据目标摆速值控制截割臂摆动。
在该实施例中，第一数据集用于指示截割臂的工作参数，例如：截割臂的电机电流、截割臂振动加速度、油缸的油路压力等。第二数据集用于指示掘进机机身的位姿参数，例如：机身的航向角度偏移量、机身的俯仰角度偏转量、机身的横向偏移量和机身的纵向偏移量等。
具体地，获取单元802获取第一检测组件检测的第一数据集，处理单 元804根据第一数据集确定出摆速预测值，具体而言，第一检测组件由多个传感器组成，分别与控制装置连接，获取单元802通过多个传感器获取第一数据集，在获取第一数据集后，处理单元804根据对应的截割臂的工作参数估算截割臂的摆速，以确定出截割臂的摆速预测值。
进一步地，在处理单元804确定截割臂的摆速预测值后，获取单元802还用于获取第二检测组件检测的第二数据集，处理单元804还用于根据第二数据集和上述摆速预测值确定出控制截割臂摆动的目标摆速值。可以理解的是，第二检测组件也由多个传感器组成，分别与控制装置连接，获取单元802通过多个传感器获取第二数据集，在获取第二数据集后，处理单元804根据摆速预测值和第二数据中的对应的截割臂的位姿参数确定出目标摆速值，以使截割臂按照该目标摆速值进行摆动。
现有技术中，通常通过电流传感器检测截割臂电机电流的变化，然后根据截割臂电机电流对截割臂的摆动速度进行估算和控制。这种方案准确度较低，且如果电流传感器发生故障，则无法对截割臂的摆动速度进行估算和控制。
因此，在本实施例中，处理单元804根据通过获取单元802获取的第一数据集确定出摆速预测值，然后通过获取单元802获取的第二数据集结合摆速预测值确定出目标转速值，其中，第一数据集用于指示截割臂的工作参数，第二数据集用于指示机身的位姿参数，也就是说，在本实施例中，处理单元804根据截割臂的工作参数、掘进机的机身的位姿参数两种参数对截割臂的摆动速度进行估算和控制，这提高了截割臂的摆动速度估算和控制的准确性。同时，可以理解的是，第一数据集和第二数据集均不止包括一种参数，由此可见，在本实施例中，包括多个用于检测截割臂的工作参数和掘进机机身的传感器，即在某个传感器发生故障时，不会影响对截割臂摆动速度的估算和控制，保证了掘进机运行的安全性和可靠性。
进一步地，在该实施例中，在根据第一数据集确定摆速预测值的步骤中，获取单元802还用于获取截割负载阻力与截割臂摆速的第一预设关系系数；处理单元804还用于根据截割臂的电机电流确定第一截割负载阻力，根据第一截割负载阻力和第一预设关系系数，确定第一摆速预测值；根据截割臂振动加速度确定第二截割负载阻力，根据第二截割负载阻力和第一 预设关系系数，确定第二摆速预测值；根据油缸的油路压力确定第三截割负载阻力，根据第三截割负载阻力和第一预设关系系数，确定第三摆速预测值；根据第一摆速预测值、第二摆速预测值、第三摆速预测值确定摆速预测值。
进一步地，在该实施例中，在根据截割臂的电机电流确定第一截割负载阻力的步骤中，获取单元802还用于获取截割头的直径、截割臂的电机转速值、截割臂的电机的输入电压；处理单元804还用于根据截割头的直径、截割臂的电机转速、截割臂的电机的输入电压和截割臂的电机电流确定第一截割负载阻力。
进一步地，在该实施例中，在根据截割臂振动加速度确定第二截割负载阻力的步骤中，获取单元802还用于获取截割臂振动加速度与截割负载阻力的第二预设关系系数；处理单元804还用于根据第二预设关系系数和截割臂振动加速度确定第二截割负载阻力。
进一步地，在该实施例中，在根据油缸的油路压力确定第三截割负载阻力的步骤中，处理单元804还用于根据油缸的油路压力确定油缸中活塞的位移量；获取单元802还用于获取油缸缸腔的有效面积、负载压降、负载和油缸中活塞的总质量、负载和油缸中活塞的粘性阻尼系数、负载弹簧的刚度；处理单元804还用于根据油缸缸腔的有效面积、负载压降、负载和油缸中活塞的总质量、负载和油缸中活塞的粘性阻尼系数、负载弹簧的刚度和油缸中活塞的位移量确定第三截割负载阻力。
进一步地，在该实施例中，在根据第一摆速预测值、第二摆速预测值、第三摆速预测值确定摆速预测值的步骤中，处理单元804具体用于在第一摆速预测值、第二摆速预测值、第三摆速预测值中存在相同项的情况下，确定相同项的预测值为摆速预测值；或在第一摆速预测值、第二摆速预测值、第三摆速预测值中均不相同的情况下，确定优先级最高的预测值为摆速预测值。
进一步地，在该实施例中，在根据摆速预测值和第二数据集确定目标摆速值的步骤中，处理单元804具体用于根据摆速预测值确定机身航向角度偏移量预测值、机身俯仰角度偏转量预测值、机身横向偏移量预测值和机身纵向偏移量预测值；确认机身航向角度偏移量预测值、机身俯仰角度 偏转量预测值、机身横向偏移量预测值和机身纵向偏移量预测值与第二数据集中的第二数据集中机身的航向角度偏移量、机身的俯仰角度偏转量、机身的横向偏移量和机身的纵向偏移量是否匹配；在任一项预测值与第二数据集中的参数相匹配的情况下，将摆速预测值确定为目标摆速值。
实施例三
根据本申请的第三个实施例，提出了一种可读存储介质，其上存储有程序或指令，程序或指令被处理器执行时实现如上述实施例提出的掘进机的控制方法。因此，该可读存储介质具备上述实施例提出的掘进机的控制方法的全部有益效果，在此不再赘述。
实施例四
图9示出了本申请实施例的掘进机的示意框图，其中，该掘进机900包括：机身902；截割臂904，设置于机身902上；油缸906，与截割臂904连接，用于驱动截割臂904摆动；第一检测组件908，用于检测第一数据集，第一数据集用于指示截割臂904的工作参数；第二检测组件910，用于检测第二数据集，第二数据集用于指示机身902的位姿参数。
进一步地，上述掘进机900还包括如上述实施例提出的掘进机的控制装置800，和/或如上述实施例提出的可读存储介质912，因此，该掘进机900具备上述实施例提出的掘进机的控制装置800或上述实施例提出的可读存储介质912的全部有益效果，在此不再赘述。
实施例五
本实施例结合图10对本申请提出的掘进机的控制方法进行示例性说明。
如图10所示，在该实施例提出的掘进机的控制方法，计算层获取掘进机的工作参数中的截割臂的电机电流、截割臂振动加速度和油缸的油路压力分别输入至截割电机电流分析模块、截割臂振动加速度分析模块和油缸油路分析模块进行分析，分别计算出第一摆速预测值、第二摆速预测值和第三摆速预测值，并将上述三种预测值输入至表决器中进行表决，表决器在第一摆速预测值、第二摆速预测值、第三摆速预测值中存在相同项的情况下，确定相同项的预测值为摆速预测值；在第一摆速预测值、第二摆速预测值、第三摆速预测值中均不相同的情况下，确定优先级最高的预测 值为摆速预测值。
进一步地，确定出摆速预测值后，表决器将摆速预测值发送至逻辑判断层进行逻辑判断，具体地，逻辑判断层包括机身航向角度偏移量分析模块、机身俯仰角度偏转量分析模块、机身的横向偏移量分析模块和机身的纵向偏移量分析模块进行分析。
具体地，逻辑判断层根据摆速预测值分别估算出机身航向角度偏移量预测值、机身俯仰角度偏转量预测值、机身横向偏移量预测值和机身纵向偏移量预测值，即根据摆速预测值预测掘进机机身的位姿参数。然后判断预测掘进机机身的位姿参数中的机身航向角度偏移量预测值、机身俯仰角度偏转量预测值、机身横向偏移量预测值和机身纵向偏移量预测值与第二数据集中的机身的航向角度偏移量、机身的俯仰角度偏转量、机身的横向偏移量和机身的纵向偏移量是否相匹配，确定出判断结果，并将判断结果发送至表决器。
在确认判断结果中存在任一项预测值与第二数据集中的位姿参数相匹配的情况下，表决器则将上述摆速预测值确定为用于控制截割臂摆动的目标摆速值。
在本说明书的描述中，术语“第一”、“第二”仅用于描述的目的，而不能理解为指示或暗示相对重要性，除非另有明确的规定和限定；术语“连接”、“安装”、“固定”等均应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本说明书的描述中，术语“一个实施例”、“一些实施例”、“具体实施例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或实例。而且，描述的具体特征、结构、材料或特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
另外，本申请各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾 或无法实现时应当认为这种技术方案的结合不存在，也不在本申请要求的保护范围之内。
以上仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (11)

  1. 一种掘进机的控制方法，所述掘进机包括机身、截割臂和用于驱动所述截割臂摆动的油缸，所述截割臂设置于所述机身上，其中，所述控制方法包括：
    获取第一检测组件检测的第一数据集，所述第一数据集用于指示所述截割臂的工作参数；
    根据所述第一数据集确定摆速预测值；
    获取第二检测组件检测的第二数据集，所述第二数据集用于指示所述机身的位姿参数；
    根据所述摆速预测值和所述第二数据集确定目标摆速值，并根据所述目标摆速值控制所述截割臂摆动。
  2. 根据权利要求1所述的掘进机的控制方法，其中，
    所述第一数据集包括所述截割臂的电机电流、截割臂振动加速度、所述油缸的油路压力；
    所述第二数据集包括所述机身的航向角度偏移量、所述机身的俯仰角度偏转量、所述机身的横向偏移量和所述机身的纵向偏移量。
  3. 根据权利要求2所述的掘进机的控制方法，其中，所述根据所述第一数据集确定摆速预测值，具体包括：
    获取截割负载阻力与截割臂摆速的第一预设关系系数；
    根据所述截割臂的电机电流确定第一截割负载阻力，根据所述第一截割负载阻力和所述第一预设关系系数，确定第一摆速预测值；
    根据所述截割臂振动加速度确定第二截割负载阻力，根据所述第二截割负载阻力和所述第一预设关系系数，确定第二摆速预测值；
    根据所述油缸的油路压力确定第三截割负载阻力，根据所述第三截割负载阻力和所述第一预设关系系数，确定第三摆速预测值；
    根据所述第一摆速预测值、所述第二摆速预测值、所述第三摆速预测值确定所述摆速预测值。
  4. 根据权利要求3所述的掘进机的控制方法，其中，所述截割臂包括截割头，所述根据所述截割臂的电机电流确定第一截割负载阻力，具体包括：
    获取所述截割头的直径、所述截割臂的电机转速值、所述截割臂的电机的输入电压；
    根据所述截割头的直径、所述截割臂的电机转速、所述截割臂的电机的输入电压和所述截割臂的电机电流确定所述第一截割负载阻力。
  5. 根据权利要求3所述的掘进机的控制方法，其中，所述根据所述截割臂振动加速度确定第二截割负载阻力，具体包括：
    获取所述截割臂振动加速度与截割负载阻力的第二预设关系系数；
    根据所述第二预设关系系数和所述截割臂振动加速度确定所述第二截割负载阻力。
  6. 根据权利要求3所述的掘进机的控制方法，其中，所述根据所述油缸的油路压力确定第三截割负载阻力，具体包括：
    根据所述油缸的油路压力确定所述油缸中活塞的位移量；
    获取油缸缸腔的有效面积、负载压降、负载和油缸中活塞的总质量、负载和油缸中活塞的粘性阻尼系数、负载弹簧的刚度；
    根据所述油缸缸腔的有效面积、所述负载压降、所述负载和油缸中活塞的总质量、所述负载和油缸中活塞的粘性阻尼系数、负载弹簧的刚度和所述油缸中活塞的位移量确定所述第三截割负载阻力。
  7. 根据权利要求3所述的掘进机的控制方法，其中，所述根据所述第一摆速预测值、所述第二摆速预测值、所述第三摆速预测值确定所述摆速预测值，具体包括：
    在所述第一摆速预测值、所述第二摆速预测值、所述第三摆速预测值中存在相同项的情况下，确定相同项的预测值为所述摆速预测值；或
    在所述第一摆速预测值、所述第二摆速预测值、所述第三摆速预测值中均不相同的情况下，确定优先级最高的预测值为所述摆速预测值。
  8. 根据权利要求2所述的掘进机的控制方法，其中，所述根据所述摆速预测值和所述第二数据集确定目标摆速值，具体包括：
    根据所述摆速预测值确定机身航向角度偏移量预测值、机身俯仰角度偏转量预测值、机身横向偏移量预测值和机身纵向偏移量预测值；
    确认所述机身航向角度偏移量预测值、所述机身俯仰角度偏转量预测值、所述机身横向偏移量预测值和所述机身纵向偏移量预测值与所述 第二数据集中的所述第二数据集中所述机身的航向角度偏移量、所述机身的俯仰角度偏转量、所述机身的横向偏移量和所述机身的纵向偏移量是否匹配；
    在任一项预测值与第二数据集中的参数相匹配的情况下，将所述摆速预测值确定为目标摆速值。
  9. 一种掘进机的控制装置，所述掘进机包括机身、截割臂和用于驱动所述截割臂摆动的油缸，所述截割臂设置于所述机身上，其中，所述控制装置包括：
    获取单元，用于获取第一检测组件检测的第一数据集，所述第一数据集用于指示所述截割臂的工作参数；
    处理单元，用于根据所述第一数据集确定摆速预测值；
    所述获取单元还用于获取第二检测组件检测的第二数据集，第二数据集用于指示所述机身的位姿参数；
    所述处理单元还用于根据所述摆速预测值和所述第二数据集确定目标摆速值，并根据所述目标摆速值控制截割臂摆动。
  10. 一种可读存储介质，其中，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如权利要求1至8中任一项所述的掘进机的控制方法的步骤。
  11. 一种掘进机，包括：
    机身；
    截割臂，设置于所述机身上；
    油缸，与所述截割臂连接，用于驱动所述截割臂摆动；
    第一检测组件，用于检测第一数据集，所述第一数据集用于指示所述截割臂的工作参数；
    第二检测组件，用于检测第二数据集，所述第二数据集用于指示所述机身的位姿参数；
    如权利要求9所述的掘进机的控制装置；和/或
    如权利要求10所述的可读存储介质。
PCT/CN2022/117747 2022-02-25 2022-09-08 掘进机的控制方法、装置、可读存储介质和掘进机 WO2023159913A1 (zh)

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