WO2024000826A1 - 掘进机控制方法及装置、掘进机 - Google Patents

掘进机控制方法及装置、掘进机 Download PDF

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Publication number
WO2024000826A1
WO2024000826A1 PCT/CN2022/118730 CN2022118730W WO2024000826A1 WO 2024000826 A1 WO2024000826 A1 WO 2024000826A1 CN 2022118730 W CN2022118730 W CN 2022118730W WO 2024000826 A1 WO2024000826 A1 WO 2024000826A1
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WIPO (PCT)
Prior art keywords
boring machine
current
tunnel boring
cutting
material conveying
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PCT/CN2022/118730
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English (en)
French (fr)
Inventor
刘洋
贺晓龙
尹力
高承兴
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三一重型装备有限公司
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Publication of WO2024000826A1 publication Critical patent/WO2024000826A1/zh

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    • 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
    • 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
    • E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30164—Workpiece; Machine component
    • 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 field of mechanical control technology, and in particular to a boring machine control method and device, and a boring machine.
  • boring machines have been widely used in scenarios such as coal mines, tunnels, and urban underground projects, and can perform operations such as cutting and shipping.
  • the cutting speed is mainly controlled through manual experience.
  • the cutting speed of the tunnel boring machine is unstable. Since the cutting speed will affect the conveying equipment of the tunnel boring machine, it often causes The failure of the tunnel boring machine's material conveying equipment reduces the efficiency of the cutting operation.
  • This application provides a tunnel boring machine control method and device, and a tunnel boring machine to solve the problem in the prior art that the cutting speed affects the tunnel boring machine's conveying equipment, which often causes the tunnel boring machine's feeding equipment to malfunction, resulting in cutting operations.
  • the defects of reduced efficiency can be improved to improve the efficiency of cutting operations.
  • This application provides a tunnel boring machine control method, including:
  • the cutting operation of the tunnel boring machine is controlled.
  • the target information of the at least one material conveying equipment includes: the current rotation speed of the second conveyor and an image used to characterize the material height on the conveyor belt of the second conveyor. ;
  • the control of the cutting operation of the tunnel boring machine based on the target information of the at least one material conveying equipment includes:
  • the movement speed of the cantilever cutting corresponding to the current flow rate of the feeding material is obtained;
  • the cantilever is controlled based on the movement speed of the cantilever during cutting corresponding to the current flow rate of the feeding material.
  • determining the current feeding flow rate of the conveyor belt based on the current rotation speed of the second conveyor and the image includes:
  • the current feeding flow rate of the conveyor belt is determined.
  • a boring machine control method provided according to this application also includes:
  • the cantilever cutting time corresponding to the current current data of the cutting motor is determined. the movement speed of the cantilever; control the cantilever according to the movement speed of the cantilever during cutting corresponding to the current current data of the cutting motor; and/or,
  • a boring machine control method provided according to this application also includes:
  • the at least one target equipment includes at least one of the material conveying equipment or the cutting motor of the tunnel boring machine;
  • the target device is controlled based on the current parameter value of the target device and the corresponding target value corresponding to the current change rate.
  • the target information of the at least one material conveying equipment includes the current rotation speed of the star wheel
  • Controlling the cutting operation of the tunnel boring machine based on the target information of the at least one material conveying equipment includes:
  • the target information of the at least one material conveying equipment includes the current rotation speed of the first conveyor
  • Controlling the cutting operation of the tunnel boring machine based on the target information of the at least one material conveying equipment includes:
  • At least one of the following operations is performed: control to pause the cutting motor of the tunnel boring machine; control to pause the cantilever of the tunnel boring machine; control the normal movement of the first conveyor Alternately run forward and reverse.
  • This application also provides a tunnel boring machine control device, including:
  • An acquisition module configured to acquire target information of at least one material conveying device of the tunnel boring machine, wherein the target information of the material conveying device is used to characterize the material conveying situation of the material conveying device;
  • a control module configured to control the cutting operation of the tunnel boring machine based on the target information of the at least one material conveying device.
  • This application also provides a boring machine, including a boring machine body and a controller, and the controller is used to execute any of the boring machine control methods described above.
  • an tunnel boring machine further includes: a first rotational speed sensor, and/or a second rotational speed sensor, and/or a third rotational speed sensor, and/or a vibration sensor, and/or a current sensor, and/or, image acquisition device;
  • the first rotation speed sensor is used to collect the rotation speed of the second conveyor
  • the second rotation speed sensor is used to collect the rotation speed of the star wheel
  • the third rotation speed sensor is used to collect the rotation speed of the first conveyor
  • the vibration sensor is used to collect vibration data of the tunnel boring machine
  • the current sensor is used to collect current data of the cutting motor of the tunnel boring machine
  • the image acquisition device is used to acquire images characterizing the material height on the conveyor belt of the second conveyor.
  • This application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor.
  • the processor executes the program, it implements control of the tunnel boring machine as described above. method.
  • This application also provides a non-transitory computer-readable storage medium on which a computer program is stored.
  • a computer program is stored on which a computer program is stored.
  • the computer program is executed by a processor, any one of the boring machine control methods described above is implemented.
  • the tunneling machine control method provided by this application can collect target information of at least one conveying equipment of the tunneling machine that can represent the feeding situation of the feeding equipment, and automatically control the tunneling machine based on the target information of the at least one feeding equipment.
  • the cutting operation does not require manual control, which improves the automation rate and can automatically adapt to the feeding situation of the material conveying equipment, thereby improving the stability and accuracy of the control of the cutting operation of the tunnel boring machine.
  • Figure 1 is one of the flow diagrams of the tunnel boring machine control method provided by this application.
  • Figure 2 is a schematic diagram of the scene of the binocular vision device provided by this application.
  • FIG. 3 is the second schematic flow chart of the tunnel boring machine control method provided by this application.
  • Figure 4 is the third schematic flow chart of the tunnel boring machine control method provided by this application.
  • Figure 5 is a schematic curve diagram of vibration data provided by this application.
  • Figure 6 is a schematic curve diagram of the current data provided by this application.
  • FIG. 7 is a schematic structural diagram of the tunnel boring machine control device provided by this application.
  • Figure 8 is a schematic structural diagram of an electronic device provided by this application.
  • boring machines have been widely used in scenarios such as coal mines, tunnels, and urban underground projects, and can perform operations such as cutting and shipping.
  • the cutting speed is mainly controlled through manual experience.
  • the cutting speed of the tunnel boring machine is unstable. Since the cutting speed will affect the conveying equipment of the tunnel boring machine, it often causes The failure of the tunnel boring machine's material conveying equipment reduces the efficiency of the cutting operation.
  • the material conveying equipment often fails due to overload, material overflow or material blockage.
  • personnel also need to be deployed to observe whether there are any faults in the conveying equipment in real time and to deal with related faults. The efficiency of the cutting operation is low.
  • the present application provides a boring machine control method, which can be executed by the boring machine or the software and/or hardware therein, for example, can be executed by a controller in the boring machine.
  • the boring machine control method can improve the efficiency of cutting operations. , detailed introduction below.
  • This embodiment provides a tunnel boring machine control method, as shown in Figure 1, which at least includes the following steps:
  • Step 101 Collect target information of at least one material conveying device of the tunnel boring machine, where the target information of the material conveying device is used to characterize the material conveying situation of the material conveying device.
  • Step 102 Control the cutting operation of the tunnel boring machine based on the target information of the at least one material conveying device.
  • the tunnel boring machine may include a star wheel, a first conveyor and a second conveyor.
  • the star wheel may send the cut material into the first conveyor and then discharge it through the second conveyor.
  • the star wheel, the first conveyor, and the second conveyor are all conveying equipment of the tunnel boring machine. These conveying equipment may be blocked, causing the conveying equipment to malfunction. This may be due to unreasonable control of the cutting operation. of.
  • the target information of the at least one conveying equipment may include: the current rotation speed of the second conveyor and the rotation speed used to characterize the second conveyor.
  • Image of the material height on the conveyor belt In practical applications, an image acquisition device may be provided, which is used to acquire images representing the material height on the conveyor belt of the second conveyor. This image can accurately reflect the material conveying situation on the conveyor belt, whether there is more material or less material.
  • the image acquisition device can be, but is not limited to, a binocular vision device.
  • the binocular vision device can collect binocular vision images and can obtain three-dimensional information. Of course, other image acquisition devices capable of acquiring three-dimensional information may also be used. As shown in Figure 2, taking the installation of a binocular vision device as an example, a binocular vision image above the conveyor belt of the second conveyor is collected, and an image used to characterize the material height on the conveyor belt of the second conveyor is obtained.
  • the image is a binocular vision image
  • the cutting operation of the tunnel boring machine is controlled based on the target information of the at least one material conveying device, as shown in Figure 3.
  • the specific implementation method may include:
  • Step 301 Determine the current feeding flow rate of the conveyor belt based on the current rotation speed of the second conveyor and the image.
  • determining the current feeding flow rate of the conveyor belt may specifically include:
  • the first step is to determine the area of the cross section of the current feeding material perpendicular to the conveyor belt based on the image.
  • the area of the cross section is obtained based on the integral of the material height at the upper surface point of the cross section.
  • the point of the current loading area perpendicular to the cross-section of the conveyor belt can be obtained, where the height of the cross-section away from the upper surface point of the conveyor belt can represent Material height, then, integrate the material height at the surface point on the section to get the area of the section.
  • the second step is to determine the current feeding flow rate of the conveyor belt based on the product of the cross-sectional area and the current rotation speed of the second conveyor.
  • the flow rate of the material on the conveyor belt can be reflected at the rotation speed of the second conveyor, thereby obtaining the current flow rate of the material on the conveyor belt.
  • the rotation speed of the second conveyor may be collected through a first rotation speed sensor provided on the second conveyor.
  • the first speed sensor can be a Hall speed sensor, which can collect the speed of the hydraulic motor corresponding to the second conveyor.
  • the current feeding flow rate of the conveyor belt can be obtained by processing only one section.
  • the amount of calculation is very small and can meet the real-time requirement.
  • weighing can also be achieved by combining the current flow rate of the material on the conveyor belt and the density of the material. The weighing value is obtained based on the product of the current flow rate of the material on the conveyor belt and the density of the material.
  • Step 302 Based on the preset corresponding relationship between the flow rate of the feeding material and the movement speed of the cantilever cutting of the tunnel boring machine, obtain the movement speed of the cantilever cutting corresponding to the current flow rate of the feeding material.
  • the preset corresponding relationship between the flow rate of feeding materials and the movement speed of the tunnel boring machine during cantilever cutting can be configured according to actual needs.
  • the movement speed of the cantilever cutting can be set to be smaller.
  • the movement speed of the cantilever cutting can be set to be larger.
  • the movement speed of the cantilever during cutting may include the rotation speed of the cantilever, and may also include the lifting speed of the cantilever.
  • Step 303 Control the cantilever based on the movement speed of the cantilever during cutting corresponding to the current feeding flow rate.
  • the current flow rate of the material is obtained.
  • the movement speed of the cantilever during cutting corresponding to the current feeding flow rate can be determined. Based on this, accurate control of the cantilever can be achieved to avoid overflow and other situations while ensuring efficient cutting operations. .
  • the target information of the at least one material conveying device includes the current rotation speed of the star wheel.
  • the specific implementation of controlling the cutting operation of the tunnel boring machine based on the target information of the at least one material conveying device may include: if the current rotation speed of the star wheel is less than or equal to the first threshold, execute At least one of the following operations: controlling and pausing the cutting motor of the tunneling machine; controlling and pausing the cantilever of the tunneling machine; controlling the forward and reverse rotation of the star wheel alternately.
  • the first threshold can be set according to the actual situation, and is not specifically limited here.
  • a second rotational speed sensor provided on the starwheel can be used to collect the current rotational speed of the starwheel.
  • the second rotation speed sensor can be a Hall rotation speed sensor, which can collect the rotation speed of the hydraulic motor corresponding to the star wheel.
  • the cutting motor of the tunnel boring machine can be controlled to be suspended, and the cantilever of the tunnel boring machine can also be controlled to be suspended to avoid If more serious material jams occur, the star wheel can also be controlled to run alternately in forward and reverse directions to automatically remove the material stuck on the star wheel, so that the transportation channel can be automatically and quickly cleared and restored, further improving the efficiency of cutting operations.
  • the target information of the at least one material conveying device includes the current rotation speed of the first conveyor.
  • the specific implementation of controlling the cutting operation of the tunnel boring machine based on the target information of the at least one conveying equipment may include: if the rotational speed of the first conveyor is less than or equal to the second threshold, execute At least one of the following operations: controlling and pausing the cutting motor of the tunneling machine; controlling and pausing the boom of the tunneling machine; controlling the first conveyor to alternately operate in forward and reverse directions.
  • the second threshold can be set according to the actual situation, and is not specifically limited here.
  • the rotation speed of the first conveyor can be used to reflect the material conveying situation of the first conveyor.
  • the current rotation speed of the first conveyor can be collected through a third rotation speed sensor provided on the first conveyor.
  • the third rotation speed sensor can be a Hall rotation speed sensor, which can collect the rotation speed of the hydraulic motor corresponding to the first conveyor.
  • the cutting motor of the tunnel boring machine can be controlled to be suspended, and the cantilever of the tunnel boring machine can also be controlled to be suspended.
  • the first conveyor can also be controlled to run alternately in forward and reverse directions, so that the transportation channel can be automatically and quickly cleared and restored, further improving the efficiency of the cutting operation.
  • the tunnel boring machine control method provided by this embodiment, as shown in Figure 4 may also include:
  • Step 401 Obtain the current parameter value and the corresponding current change rate of at least one target device; the at least one target device includes at least one of the feeding equipment or the cutting motor of the tunnel boring machine.
  • At least one target device in the boring machine can be monitored, and the at least one target device can reflect the load condition of the boring machine.
  • the at least one target device can include a star wheel, and can also include a first conveyor, It may also include a second conveyor, and it may also include a cutting motor.
  • obtaining the current parameter value and the current change rate of the preset parameter of at least one target device may include: obtaining the current rotation speed of the star wheel and the corresponding current change rate. , you can also get the current rotation speed of the first conveyor and the corresponding current change rate, you can also get the current feeding flow rate of the second conveyor and the corresponding current change rate, you can also get the current current data of the cutting motor and the corresponding current change rate.
  • the current change rate corresponding to the current parameter value of the target device can reflect the future change of the current parameter value. If the change is large, an overload situation may occur. Taking the current rotation speed of the first conveyor as an example, if the current change rate corresponding to the current rotation speed of the first conveyor is large, the current rotation speed of the first conveyor may increase quickly, resulting in overloading.
  • Step 402 Based on the preset corresponding relationship between the parameter value, change rate and target value of the target device, determine the target value corresponding to the current parameter value of the target device and the corresponding current change rate.
  • a tunnel boring machine load model is established based on actual needs, including: the corresponding relationship between the parameter value, change rate and target value of the target equipment for each target equipment.
  • the target value is the parameter value that needs to be adjusted. This target value prevents overload situations.
  • Step 403 Control the target device based on the current parameter value of the target device and the corresponding target value corresponding to the current change rate.
  • the current speed of the star wheel is a
  • the current change rate is b.
  • the star wheel speed can be adjusted. to the target value.
  • the current parameter value of the target device and the corresponding current change rate can be combined with the preset corresponding relationship between the parameter value, change rate and target value of the target device to obtain the current parameter value of the target device and the corresponding change rate.
  • the current change rate target value is used to adjust the target equipment to the target value in advance to avoid overload, thereby allowing the tunnel boring machine to maintain reasonable and efficient cutting operations.
  • the tunnel boring machine control method provided in this embodiment may also include:
  • the cantilever cutting time corresponding to the current current data of the cutting motor is determined. the movement speed of the cantilever; control the cantilever according to the movement speed of the cantilever during cutting corresponding to the current current data of the cutting motor; and/or,
  • a vibration sensor can be set up.
  • the vibration sensor is used to collect vibration data of the fuselage of the tunnel boring machine, such as vibration acceleration.
  • the curve shown in Figure 5 is the vibration acceleration corresponding to different times, and the dotted line is the early warning of vibration acceleration. value, if it exceeds the warning value of vibration acceleration, it will be overloaded.
  • the curve shown in Figure 6 is the current data corresponding to different times. Among them, the dark smooth curve is the actual response to the light curve.
  • the effective value is the effective current of the current doing work.
  • the dotted line is the warning value of the current data. If it exceeds the warning value of the current data, it is overloaded.
  • the current data in this embodiment may be effective values.
  • the vibration data and current data of the tunnel boring machine can reflect the load condition of the motor. Therefore, a cutting motor load model can be established based on the vibration data and current data.
  • the cutting motor load model includes the preset tunneling parameters.
  • the corresponding relationship between the current data of the cutting motor of the tunnel boring machine and the movement speed of the tunnel boring machine during cantilever cutting may also include the preset vibration data of the tunnel boring machine and the movement of the tunnel boring machine during cantilever cutting.
  • the corresponding relationship of speed may also include a preset corresponding relationship between the current data of the cutting motor of the tunnel boring machine and the footage speed, and may also include a preset correspondence between the vibration data of the tunnel boring machine and the footage speed.
  • the cutting motor load model is used, combined with the current current data of the cutting motor and the current vibration data of the tunnel boring machine, to find the appropriate footage speed and movement speed during cantilever cutting, thereby avoiding overload and vibration. Oversize, etc., so that the tunnel boring machine can maintain appropriate and efficient cutting operations.
  • the tunnel boring machine control device provided by the present application will be described below.
  • the tunnel boring machine control device described below and the tunnel boring machine control method described above may be mutually referenced.
  • the tunnel boring machine control device in this embodiment includes:
  • the acquisition module 701 is used to obtain the target information of at least one material conveying device of the tunnel boring machine, wherein the target information of the material conveying device is used to characterize the material conveying situation of the material conveying device;
  • the control module 702 is configured to control the cutting operation of the tunnel boring machine based on the target information of the at least one material conveying device.
  • the target information of the at least one conveying equipment includes: the current rotation speed of the second conveyor and an image used to characterize the material height on the conveying belt of the second conveyor;
  • the control module is specifically used for:
  • the movement speed of the cantilever cutting corresponding to the current flow rate of the feeding material is obtained;
  • the cantilever is controlled based on the movement speed of the cantilever during cutting corresponding to the current flow rate of the feeding material.
  • control module is specifically used to:
  • the current feeding flow rate of the conveyor belt is determined.
  • control module is also used to:
  • the cantilever cutting time corresponding to the current current data of the cutting motor is determined. the movement speed of the cantilever; control the cantilever according to the movement speed of the cantilever during cutting corresponding to the current current data of the cutting motor; and/or,
  • control module is also used to:
  • the at least one target equipment includes at least one of the material conveying equipment or the cutting motor of the tunnel boring machine;
  • the target device is controlled based on the current parameter value of the target device and the corresponding target value corresponding to the current change rate.
  • the target information of the at least one material conveying device includes the current rotation speed of the star wheel
  • the control module is specifically used for:
  • the target information of the at least one conveying device includes the current rotation speed of the first conveyor
  • the control module is specifically used for:
  • At least one of the following operations is performed: control to pause the cutting motor of the tunnel boring machine; control to pause the cantilever of the tunnel boring machine; control the normal movement of the first conveyor Alternately run forward and reverse.
  • this application also provides a boring machine, including a boring machine body and a controller.
  • the controller is used to execute the boring machine control method provided in any of the above embodiments.
  • the tunnel boring machine may further include: a first rotational speed sensor connected to the controller, and/or a second rotational speed sensor, and/or a third rotational speed sensor, and/or a vibration sensor, and /or, current sensor, and/or, image acquisition device;
  • the first rotation speed sensor is used to collect the rotation speed of the second conveyor
  • the second rotation speed sensor is used to collect the rotation speed of the star wheel
  • the third rotation speed sensor is used to collect the rotation speed of the first conveyor
  • the vibration sensor is used to collect vibration data of the tunnel boring machine
  • the current sensor is used to collect current data of the cutting motor of the tunnel boring machine
  • the image acquisition device is used to acquire images characterizing the material height on the conveyor belt of the second conveyor.
  • the image acquisition device may be a binocular vision device.
  • Figure 8 illustrates a schematic diagram of the physical structure of an electronic device.
  • the electronic device may include: a processor (processor) 810, a communication interface (Communications Interface) 820, a memory (memory) 830 and a communication bus 840.
  • the processor 810, the communication interface 820, and the memory 830 complete communication with each other through the communication bus 840.
  • the processor 810 can call logical instructions in the memory 830 to execute a boring machine control method, which method includes:
  • the cutting operation of the tunnel boring machine is controlled.
  • the above-mentioned logical instructions in the memory 830 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product.
  • the technical solution of the present application is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code. .
  • the present application also provides a computer program product.
  • the computer program product includes a computer program stored on a non-transitory computer-readable storage medium.
  • the computer program includes program instructions. When the program instructions are read by a computer, When executed, the computer can execute the boring machine control method provided by each of the above methods.
  • the method includes:
  • the cutting operation of the tunnel boring machine is controlled.
  • this application also provides a non-transitory computer-readable storage medium on which a computer program is stored.
  • the computer program is implemented when executed by the processor to execute the boring machine control methods provided above.
  • the method includes:
  • the cutting operation of the tunnel boring machine is controlled.
  • the device embodiments described above are only illustrative.
  • the units described as separate components may or may not be physically separated.
  • the components shown as units may or may not be physical units, that is, they may be located in One location, or it can be distributed across multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Persons of ordinary skill in the art can understand and implement the method without any creative effort.
  • each embodiment can be implemented by software plus a necessary general hardware platform, and of course, it can also be implemented by hardware.
  • the computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., including a number of instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments.

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Abstract

公开了一种掘进机控制方法，包括：采集掘进机的至少一个输料设备的目标信息，其中，输料设备的目标信息用于表征输料设备的输料情况；基于至少一个输料设备的目标信息，控制掘进机的截割作业；还公开了使用该控制方法的装置、掘进机；解决了现有技术中截割速度会影响掘进机的输料设备，经常会造成掘进机的输料设备的故障，导致截割作业的效率降低的问题，同时提升了自动化率，可以自动适应输料设备的输料情况，从而可以提升掘进机的截割作业的控制的稳定性和准确性。

Description

掘进机控制方法及装置、掘进机
相关申请的交叉引用
本申请要求于2022年6月30日提交的申请号为2022107729727，发明名称为“掘进机控制方法及装置、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
本申请涉及机械控制技术领域，尤其涉及一种掘进机控制方法及装置、掘进机。
背景技术
目前，掘进机已经在煤矿、隧道和城市地下工程等场景中得到广泛应用，能够进行截割和装运等作业。但是，现有技术中，掘进机在进行截割作业时，主要通过人工经验控制截割速度，掘进机的截割速度不稳定，由于截割速度会影响掘进机的输料设备，经常会造成掘进机的输料设备的故障，导致截割作业的效率降低。
发明内容
本申请提供一种掘进机控制方法及装置、掘进机，用以解决现有技术中截割速度会影响掘进机的输料设备，经常会造成掘进机的输料设备的故障，导致截割作业的效率降低的缺陷，实现截割作业的效率的提升。
本申请提供一种掘进机控制方法，包括：
采集掘进机的至少一个输料设备的目标信息，其中，所述输料设备的目标信息用于表征所述输料设备的输料情况；
基于所述至少一个输料设备的目标信息，控制所述掘进机的截割作业。
根据本申请提供的一种掘进机控制方法，所述至少一个输料设备的目标信息，包括：第二运输机的当前转速和用于表征所述第二运输机的输料皮带上的料高的图像；
所述基于所述至少一个输料设备的目标信息，控制所述掘进机的截割 作业，包括：
基于所述第二运输机的当前转速和所述图像，确定所述输料皮带当前上料的流量；
基于预设的上料的流量与所述掘进机的悬臂截割时的运动速度的对应关系，得到所述当前上料的流量对应的所述悬臂截割时的运动速度；
基于所述当前上料的流量对应的所述悬臂截割时的运动速度，对所述悬臂进行控制。
根据本申请提供的一种掘进机控制方法，所述基于所述第二运输机的当前转速和所述图像，确定所述输料皮带当前上料的流量，包括：
基于所述图像确定当前上料垂直于所述输料皮带的截面的面积；
基于所述截面的面积与所述第二运输机的当前转速的乘积，确定所述输料皮带当前上料的流量。
根据本申请提供的一种掘进机控制方法，还包括：
基于预设的所述掘进机的截割电机的电流数据与所述掘进机的悬臂截割时的运动速度的对应关系，确定所述截割电机的当前电流数据对应的所述悬臂截割时的运动速度；按照所述截割电机的当前电流数据对应的所述悬臂截割时的运动速度，控制所述悬臂；和/或，
基于预设的所述掘进机的振动数据与所述掘进机的悬臂截割时的运动速度的对应关系，确定所述掘进机的当前振动数据对应的所述悬臂截割时的运动速度；按照所述掘进机的当前振动数据对应的所述悬臂截割时的运动速度，控制所述悬臂；和/或，
基于预设的所述掘进机的截割电机的电流数据与进尺速度的对应关系，确定所述截割电机的当前电流数据对应的进尺速度；按照所述截割电机的当前电流数据对应的进尺速度，控制所述掘进机的截割作业；和/或，
基于预设的所述掘进机的振动数据与进尺速度的对应关系，确定所述掘进机的当前振动数据对应的进尺速度；按照所述掘进机的当前振动数据对应的进尺速度，控制所述掘进机的截割作业。
根据本申请提供的一种掘进机控制方法，还包括：
获取至少一个目标设备的当前参数值及对应的当前变化率；所述至少一个目标设备包括至少一个所述输料设备或者所述掘进机的截割电机；
基于预设的所述目标设备的参数值、变化率与目标值的对应关系，确定所述目标设备的当前参数值及对应的当前变化率所对应的目标值；
基于所述目标设备的当前参数值及对应的当前变化率所对应的目标值，控制所述目标设备。
根据本申请提供的一种掘进机控制方法，所述至少一个输料设备的目标信息包括星轮的当前转速；
所述基于所述至少一个输料设备的目标信息，控制所述掘进机的截割作业，包括：
若所述星轮的当前转速小于或者等于第一阈值，执行以下至少一种操作：控制暂停所述掘进机的截割电机；控制暂停所述掘进机的悬臂；控制所述星轮正向和反向交替运转。
根据本申请提供的一种掘进机控制方法，所述至少一个输料设备的目标信息包括第一运输机的当前转速；
所述基于所述至少一个输料设备的目标信息，控制所述掘进机的截割作业，包括：
若所述第一运输机的当前转速小于或者等于第二阈值，执行以下至少一种操作：控制暂停所述掘进机的截割电机；控制暂停所述掘进机的悬臂；控制所述第一运输机正向和反向交替运转。
本申请还提供一种掘进机控制装置，包括：
获取模块，用于获取掘进机的至少一个输料设备的目标信息，其中，所述输料设备的目标信息用于表征所述输料设备的输料情况；
控制模块，用于基于所述至少一个输料设备的目标信息，控制所述掘进机的截割作业。
本申请还提供一种掘进机，包括掘进机本体和控制器，控制器用于执行如以上任一种所述的掘进机控制方法。
根据本申请提供的一种掘进机，还包括：第一转速传感器，和/或，第二转速传感器，和/或，第三转速传感器，和/或，振动传感器，和/或，电流传感器，和/或，图像采集装置；
所述第一转速传感器用于采集第二运输机的转速；
所述第二转速传感器用于采集星轮的转速；
所述第三转速传感器用于采集第一运输机的转速；
所述振动传感器用于采集所述掘进机的振动数据；
所述电流传感器用于采集所述掘进机的截割电机的电流数据；
所述图像采集装置用于采集用于表征所述第二运输机的输料皮带上的料高的图像。
本申请还提供一种电子设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现如上述任一种所述掘进机控制方法。
本申请还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现如上述任一种所述掘进机控制方法。
本申请提供的掘进机控制方法，可以采集掘进机的至少一个输料设备的能够表征输料设备的输料情况的目标信息，基于该至少一个输料设备的目标信息，来自动控制掘进机的截割作业，无需人工控制，提升了自动化率，可以自动适应输料设备的输料情况，从而可以提升掘进机的截割作业的控制的稳定性和准确性。
附图说明
为了更清楚地说明本申请或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请提供的掘进机控制方法的流程示意图之一；
图2是本申请提供的双目视觉装置的场景示意图；
图3是本申请提供的掘进机控制方法的流程示意图之二；
图4是本申请提供的掘进机控制方法的流程示意图之三；
图5是本申请提供的振动数据的曲线示意图；
图6是本申请提供的电流数据的曲线示意图；
图7是本申请提供的掘进机控制装置的结构示意图；
图8是本申请提供的电子设备的结构示意图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请中的附图，对本申请中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
目前，掘进机已经在煤矿、隧道和城市地下工程等场景中得到广泛应用，能够进行截割和装运等作业。但是，现有技术中，掘进机在进行截割作业时，主要通过人工经验控制截割速度，掘进机的截割速度不稳定，由于截割速度会影响掘进机的输料设备，经常会造成掘进机的输料设备的故障，导致截割作业的效率降低。
掘进机在截割作业时，输料设备经常因为过载、溢料或者堵料而故障。截割作业时，除掘进机的驾驶员外，还需要配备人员实时观察输料设备是否有故障，并且处理相关故障，截割作业的效率低下。
为此，本申请提供一种掘进机控制方法，可以由掘进机或其中的软件和/或硬件执行，例如可以由掘进机中的控制器执行，该掘进机控制方法可以提高截割作业的效率，下面进行详细介绍。
本实施例提供一种掘进机控制方法，如图1所示，至少包括如下步骤：
步骤101、采集掘进机的至少一个输料设备的目标信息，其中，所述输料设备的目标信息用于表征所述输料设备的输料情况。
步骤102、基于所述至少一个输料设备的目标信息，控制所述掘进机的截割作业。
其中，掘进机中可以包括星轮、第一运输机和第二运输机，星轮可以将截割的料送入第一运输机，再经第二运输机排出。星轮、第一运输机、第二运输机都是掘进机的输料设备，这些输料设备可能会出现堵料等情况，导致输料设备发生故障，这可能是因为截割作业的控制不合理导致的。本实施例中，可以采集掘进机的至少一个输料设备的能够表征输料设备的输料情况的目标信息，基于该至少一个输料设备的目标信息，来自动控制掘进机的截割作业，无需人工控制，提升了自动化率，可以自动适应输料设 备的输料情况，从而可以提升掘进机的截割作业的控制的稳定性和准确性。
若至少一个输料设备中包括第二运输机，那么，在示例性实施例中，所述至少一个输料设备的目标信息，可以包括：第二运输机的当前转速和用于表征所述第二运输机的输料皮带上的料高的图像。实际应用中，可以设置图像采集装置，该图像采集装置用于采集表征所述第二运输机的输料皮带上的料高的图像。该图像能够准确反映输料皮带上的输料情况，料多还是料少。该图像采集装置可以但不限于为双目视觉装置，双目视觉装置可以采集双目视觉图像，能够获取到三维信息。当然，也可以是采用其它的能够获取到三维信息的图像采集装置。如图2所示，以设置双目视觉装置为例，采集第二运输机的输料皮带上方的双目视觉图像，得到用于表征所述第二运输机的输料皮带上的料高的图像。
相应的，所述图像为双目视觉图像，所述基于所述至少一个输料设备的目标信息，控制所述掘进机的截割作业，如图3所示，其具体实现方式可以包括：
步骤301、基于所述第二运输机的当前转速和所述图像，确定所述输料皮带当前上料的流量。
示例性的，基于所述第二运输机的当前转速和所述图像，确定所述输料皮带当前上料的流量，具体可以包括：
第一步、基于所述图像确定当前上料垂直于所述输料皮带的截面的面积，所述截面的面积是基于所述截面上表面点的料高的积分得到的。
以上述双目视觉图像为例，通过双目视觉图像，可以获取当前上料垂直于所述输料皮带的截面的面积的点，其中，该截面远离输料皮带的上表面点的高度可以表征料高，然后，对截面上表面点的料高进行积分，即可得到该截面的面积。
第二步、基于所述截面的面积与所述第二运输机的当前转速的乘积，确定所述输料皮带当前上料的流量。
通过一个截面的面积，结合第二运输机的转速，即可反映在该第二运输机的转速下，输料皮带上料的流量，从而得到输料皮带当前上料的流量。实施中，可以通过设置在第二运输机上的第一转速传感器来采集第二运输机的转速。该第一转速传感器可以为霍尔转速传感器，可以采集第二运输 机对应的液压马达的转速。
本实施例中，仅通过一个截面的处理，就可以得到输料皮带当前上料的流量，计算量很小，可以满足实时性的需求。
另外，还可以结合输料皮带当前上料的流量和料的密度，来实现称重，基于输料皮带当前上料的流量和料的密度的乘积，获得称重值。
步骤302、基于预设的上料的流量与所述掘进机的悬臂截割时的运动速度的对应关系，得到所述当前上料的流量对应的所述悬臂截割时的运动速度。
实际应用中，可以根据实际需求，配置预设的上料的流量与所述掘进机的悬臂截割时的运动速度的对应关系。上料的流量较大时，则可能会出现溢料、堵料，可以设置悬臂截割时的运动速度较小，上料的流量较小时，则可以设置悬臂截割时的运动速度较大。这里，悬臂截割时的运动速度可以包括悬臂的回转速度，还可以包括悬臂的升降速度。
步骤303、基于所述当前上料的流量对应的所述悬臂截割时的运动速度，对所述悬臂进行控制。
本实施例中，通过采集掘进机的第二运输机的输料皮带的图像第二运输机的转速和用于表征所述第二运输机的输料皮带上的料高的图像，得到当前上料的流量，从而能够准确反映第二运输机的输料皮带上的输料情况，料多还是料少，结合预设的上料的流量与所述掘进机的悬臂截割时的运动速度的对应关系，从而可以确定出所述当前上料的流量对应的所述悬臂截割时的运动速度，基于此，实现对悬臂的准确控制，避免出现溢料等情况的同时，又能保证截割作业的高效进行。
若至少一个输料设备中包括星轮，那么，在示例性实施例中，所述至少一个输料设备的目标信息包括星轮的当前转速。相应的，所述基于所述至少一个输料设备的目标信息，控制所述掘进机的截割作业，其具体实现方式可以包括：若所述星轮的当前转速小于或者等于第一阈值，执行以下至少一种操作：控制暂停所述掘进机的截割电机；控制暂停所述掘进机的悬臂；控制所述星轮正向和反向交替运转。
其中，第一阈值可以根据实际情况设置，此处不做具体限定。
实际应用中，若星轮被大块料卡住，即卡料，星轮的转速会比较小， 因此，可以通过星轮的转速来反映星轮的输料情况。实施中，可以通过设置在星轮上的第二转速传感器用于采集星轮的当前转速。该第二转速传感器可以为霍尔转速传感器，可以采集星轮对应的液压马达的转速。
本实施例中，当星轮的当前转速小于或者等于第一阈值时，认为可能出现了卡料，这时可以控制暂停掘进机的截割电机，还可以控制暂停所述掘进机的悬臂，避免造成更严重的卡料，还可以控制所述星轮正向和反向反复交替运转，自动去除星轮上卡住的料，从而使得运输通道自动快速疏通恢复，进一步提高了截割作业的效率。当然，当星轮的当前转速大于第一阈值时，则可以停止控制所述星轮正向和反向反复交替运转，重新启动掘进机的悬臂，还可以重新启动掘进机的截割电机，从而自动恢复截割作业。
若至少一个输料设备中包括第一运输机，那么，在示例性实施例中，所述至少一个输料设备的目标信息包括第一运输机的当前转速。相应的，所述基于所述至少一个输料设备的目标信息，控制所述掘进机的截割作业，其具体实现方式可以包括：若所述第一运输机的转速小于或者等于第二阈值，执行以下至少一种操作：控制暂停所述掘进机的截割电机；控制暂停所述掘进机的悬臂；控制所述第一运输机正向和反向交替运转。
其中，第二阈值可以根据实际情况设置，此处不做具体限定。
实际应用中，若第一运输机因超负荷堵料，第一运输机的转速会比较小，因此，可以通过第一运输机的转速来反映第一运输机的输料情况。可以通过设置在第一运输机上的第三转速传感器用于采集第一运输机的当前转速。该第三转速传感器可以为霍尔转速传感器，可以采集第一运输机对应的液压马达的转速。
本实施例中，当第一运输机的当前转速小于或者等于第二阈值时，认为可能出现了堵料，这时可以控制暂停掘进机的截割电机，还可以控制暂停所述掘进机的悬臂，避免造成更严重的堵料，还可以控制所述第一运输机正向和反向反复交替运转，从而使得运输通道自动快速疏通恢复，进一步提高了截割作业的效率。当然，当第一运输机的当前转速大于第二阈值时，则可以停止控制第一运输机正向和反向反复交替运转，重新启动掘进机的悬臂，还可以重新启动掘进机的截割电机，从而自动恢复截割作业。
在示例性实施例中，本实施例提供的掘进机控制方法，如图4所示，还可以包括：
步骤401、获取至少一个目标设备的当前参数值及对应的当前变化率；所述至少一个目标设备包括至少一个所述输料设备或者所述掘进机的截割电机。
实际应用中，可以对掘进机中的至少一个目标设备进行监控，该至少一个目标设备可以反映掘进机的负载情况，示例性的，至少一个目标设备可以包括星轮，还可以包括第一运输机，还可以包括第二运输机，还可以包括截割电机，那么，获取至少一个目标设备的预设参数的当前参数值和当前变化率，则可以包括：获取星轮的当前转速及对应的当前变化率，还可以获取第一运输机的当前转速及对应的当前变化率，还可以获取第二运输机的当前上料的流量及对应的当前变化率，还可以获取截割电机的当前电流数据及对应的当前变化率，还可以获取掘进机的当前振动数据及对应的当前变化率。其中，目标设备的当前参数值对应的当前变化率，能够反映当前参数值未来的变化情况。如果变化较大，则可能会出现过载的情况。以第一运输机的当前转速举例来说，若第一运输机的当前转速对应的当前变化率较大，则第一运输机的当前转速可能会很快增大，导致过载。
步骤402、基于预设的所述目标设备的参数值、变化率与目标值的对应关系，确定所述目标设备的当前参数值及对应的当前变化率所对应的目标值。
本步骤中，结合目标设备的响应时间，根据实际需求建立了掘进机负载模型，包括：每个目标设备的目标设备的参数值、变化率与目标值的对应关系。其中，目标值是需要调整到的参数值。该目标值可以防止过载的情况。
步骤403、基于所述目标设备的当前参数值及对应的当前变化率所对应的目标值，控制所述目标设备。
举例来说，星轮的当前转速为a，当前变化率是b，这时，有很快增大的趋势，为了避免星轮的转速过大而过载，可以将星轮的转速进行调整，调整至目标值。
本实施例中，可以结合目标设备的当前参数值及对应的当前变化率， 预设的所述目标设备的参数值、变化率与目标值的对应关系，来得到目标设备当前参数值及对应的当前变化率的目标值，从而预先将目标设备调整至目标值，避免出现过载的情况，从而使得掘进机保持合理高效的截割作业。
在示例性实施例中，本实施例提供的掘进机控制方法还可以包括：
基于预设的所述掘进机的截割电机的电流数据与所述掘进机的悬臂截割时的运动速度的对应关系，确定所述截割电机的当前电流数据对应的所述悬臂截割时的运动速度；按照所述截割电机的当前电流数据对应的所述悬臂截割时的运动速度，控制所述悬臂；和/或，
基于预设的所述掘进机的振动数据与所述掘进机的悬臂截割时的运动速度的对应关系，确定所述掘进机的当前振动数据对应的所述悬臂截割时的运动速度；按照所述掘进电机的当前振动数据对应的所述悬臂截割时的运动速度，控制所述悬臂；和/或，
基于预设的所述掘进机的截割电机的电流数据与进尺速度的对应关系，确定所述截割电机的当前电流数据对应的进尺速度；按照所述截割电机的当前电流数据对应的进尺速度，控制所述掘进机的截割作业；和/或，
基于预设的所述掘进机的振动数据与进尺速度的对应关系，确定所述掘进机的当前振动数据对应的进尺速度；按照所述掘进机的当前振动数据对应的进尺速度，控制所述掘进机的截割作业。
实施中，可以设置振动传感器，该振动传感器用于采集掘进机的机身的振动数据，例如振动加速度，如图5所示的曲线为不同时刻对应的振动加速度，其中的虚线为振动加速度的预警值，超过该振动加速度的预警值，则过载。还可以设置电流传感器，该电流传感器用于采集截割电机的电流数据，如图6所示的曲线为不同时刻对应的电流数据，其中，深色的平滑的曲线是对浅色的曲线的实际值处理后的有效值，有效值是电流做功的有效电流，其中的虚线为电流数据的预警值，超过该电流数据的预警值，则过载。本实施例中的电流数据可以为有效值。
实际应用中，掘进机的振动数据和电流数据都可以反映电机的负载情况，因此，可以基于振动数据和电流数据来建立截割电机负载模型，该截割电机负载模型包括预设的所述掘进机的截割电机的电流数据与所述掘 进机的悬臂截割时的运动速度的对应关系，还可以包括预设的所述掘进机的振动数据与所述掘进机的悬臂截割时的运动速度的对应关系，还可以包括预设的所述掘进机的截割电机的电流数据与进尺速度的对应关系，还可以包括预设的所述掘进机的振动数据与进尺速度的对应关系。本实施例中，通过该截割电机负载模型，结合截割电机的当前电流数据和掘进机的当前振动数据，来找到合适的进尺速度和悬臂截割时的运动速度，从而可以避免过载、振动过大等情况，使得掘进机保持在合适的高效的截割作业。
下面对本申请提供的掘进机控制装置进行描述，下文描述的掘进机控制装置与上文描述的掘进机控制方法可相互对应参照。
如图7所示，本实施例掘进机控制装置，包括：
获取模块701，用于获取掘进机的至少一个输料设备的目标信息，其中，所述输料设备的目标信息用于表征所述输料设备的输料情况；
控制模块702，用于基于所述至少一个输料设备的目标信息，控制所述掘进机的截割作业。
在示例性实施例中，所述至少一个输料设备的目标信息，包括：第二运输机的当前转速和用于表征所述第二运输机的输料皮带上的料高的图像；
控制模块具体用于：
基于所述第二运输机的当前转速和所述图像，确定所述输料皮带当前上料的流量；
基于预设的上料的流量与所述掘进机的悬臂截割时的运动速度的对应关系，得到所述当前上料的流量对应的所述悬臂截割时的运动速度；
基于所述当前上料的流量对应的所述悬臂截割时的运动速度，对所述悬臂进行控制。
在示例性实施例中，控制模块具体用于：
基于所述图像确定当前上料垂直于所述输料皮带的截面的面积；
基于所述截面的面积与所述第二运输机的当前转速的乘积，确定所述输料皮带当前上料的流量。
在示例性实施例中，控制模块还用于：
基于预设的所述掘进机的截割电机的电流数据与所述掘进机的悬臂 截割时的运动速度的对应关系，确定所述截割电机的当前电流数据对应的所述悬臂截割时的运动速度；按照所述截割电机的当前电流数据对应的所述悬臂截割时的运动速度，控制所述悬臂；和/或，
基于预设的所述掘进机的振动数据与所述掘进机的悬臂截割时的运动速度的对应关系，确定所述掘进机的当前振动数据对应的所述悬臂截割时的运动速度；按照所述掘进机的当前振动数据对应的所述悬臂截割时的运动速度，控制所述悬臂；和/或，
基于预设的所述掘进机的截割电机的电流数据与进尺速度的对应关系，确定所述截割电机的当前电流数据对应的进尺速度；按照所述截割电机的当前电流数据对应的进尺速度，控制所述掘进机的截割作业；和/或，
基于预设的所述掘进机的振动数据与进尺速度的对应关系，确定所述掘进机的当前振动数据对应的进尺速度；按照所述掘进机的当前振动数据对应的进尺速度，控制所述掘进机的截割作业。
在示例性实施例中，控制模块还用于：
获取至少一个目标设备的当前参数值及对应的当前变化率；所述至少一个目标设备包括至少一个所述输料设备或者所述掘进机的截割电机；
基于预设的所述目标设备的参数值、变化率与目标值的对应关系，确定所述目标设备的当前参数值及对应的当前变化率所对应的目标值；
基于所述目标设备的当前参数值及对应的当前变化率所对应的目标值，控制所述目标设备。
在示例性实施例中，所述至少一个输料设备的目标信息包括星轮的当前转速；
控制模块具体用于：
若所述星轮的当前转速小于或者等于第一阈值，执行以下至少一种操作：控制暂停所述掘进机的截割电机；控制暂停所述掘进机的悬臂；控制所述星轮正向和反向交替运转。
在示例性实施例中，所述至少一个输料设备的目标信息包括第一运输机的当前转速；
控制模块具体用于：
若所述第一运输机的当前转速小于或者等于第二阈值，执行以下至少 一种操作：控制暂停所述掘进机的截割电机；控制暂停所述掘进机的悬臂；控制所述第一运输机正向和反向交替运转。
基于同样的构思，本申请还提供一种掘进机，包括掘进机本体和控制器，控制器用于执行如以上任一实施例所提供的掘进机控制方法。
在示例性实施例中，掘进机中还可以包括：与控制器连接的第一转速传感器，和/或，第二转速传感器，和/或，第三转速传感器，和/或，振动传感器，和/或，电流传感器，和/或，图像采集装置；
所述第一转速传感器用于采集第二运输机的转速；
所述第二转速传感器用于采集星轮的转速；
所述第三转速传感器用于采集第一运输机的转速；
所述振动传感器用于采集所述掘进机的振动数据；
所述电流传感器用于采集所述掘进机的截割电机的电流数据；
所述图像采集装置用于采集用于表征所述第二运输机的输料皮带上的料高的图像。
图像采集装置可以为双目视觉装置。
图8示例了一种电子设备的实体结构示意图，如图8所示，该电子设备可以包括：处理器(processor)810、通信接口(Communications Interface)820、存储器(memory)830和通信总线840，其中，处理器810，通信接口820，存储器830通过通信总线840完成相互间的通信。处理器810可以调用存储器830中的逻辑指令，以执行掘进机控制方法，该方法包括：
采集掘进机的至少一个输料设备的目标信息，其中，所述输料设备的目标信息用于表征所述输料设备的输料情况；
基于所述至少一个输料设备的目标信息，控制所述掘进机的截割作业。
此外，上述的存储器830中的逻辑指令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动 硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
另一方面，本申请还提供一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，计算机能够执行上述各方法所提供的掘进机控制方法，该方法包括：
采集掘进机的至少一个输料设备的目标信息，其中，所述输料设备的目标信息用于表征所述输料设备的输料情况；
基于所述至少一个输料设备的目标信息，控制所述掘进机的截割作业。
又一方面，本申请还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现以执行上述各提供的掘进机控制方法，该方法包括：
采集掘进机的至少一个输料设备的目标信息，其中，所述输料设备的目标信息用于表征所述输料设备的输料情况；
基于所述至少一个输料设备的目标信息，控制所述掘进机的截割作业。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通 技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (10)

  1. 一种掘进机控制方法，包括：
    采集掘进机的至少一个输料设备的目标信息，其中，所述输料设备的目标信息用于表征所述输料设备的输料情况；
    基于所述至少一个输料设备的目标信息，控制所述掘进机的截割作业。
  2. 根据权利要求1所述的掘进机控制方法，其中，所述至少一个输料设备的目标信息，包括：第二运输机的当前转速和用于表征所述第二运输机的输料皮带上的料高的图像；
    所述基于所述至少一个输料设备的目标信息，控制所述掘进机的截割作业，包括：
    基于所述第二运输机的当前转速和所述图像，确定所述输料皮带当前上料的流量；
    基于预设的上料的流量与所述掘进机的悬臂截割时的运动速度的对应关系，得到所述当前上料的流量对应的所述悬臂截割时的运动速度；
    基于所述当前上料的流量对应的所述悬臂截割时的运动速度，对所述悬臂进行控制。
  3. 根据权利要求2所述的掘进机控制方法，其中，所述基于所述第二运输机的当前转速和所述图像，确定所述输料皮带当前上料的流量，包括：
    基于所述图像确定当前上料垂直于所述输料皮带的截面的面积；
    基于所述截面的面积与所述第二运输机的当前转速的乘积，确定所述输料皮带当前上料的流量。
  4. 根据权利要求1所述的掘进机控制方法，还包括：
    基于预设的所述掘进机的截割电机的电流数据与所述掘进机的悬臂截割时的运动速度的对应关系，确定所述截割电机的当前电流数据对应的所述悬臂截割时的运动速度；按照所述截割电机的当前电流数据对应的所述悬臂截割时的运动速度，控制所述悬臂；和/或，
    基于预设的所述掘进机的振动数据与所述掘进机的悬臂截割时的运 动速度的对应关系，确定所述掘进机的当前振动数据对应的所述悬臂截割时的运动速度；按照所述掘进机的当前振动数据对应的所述悬臂截割时的运动速度，控制所述悬臂；和/或，
    基于预设的所述掘进机的截割电机的电流数据与进尺速度的对应关系，确定所述截割电机的当前电流数据对应的进尺速度；按照所述截割电机的当前电流数据对应的进尺速度，控制所述掘进机的截割作业；和/或，
    基于预设的所述掘进机的振动数据与进尺速度的对应关系，确定所述掘进机的当前振动数据对应的进尺速度；按照所述掘进机的当前振动数据对应的进尺速度，控制所述掘进机的截割作业。
  5. 根据权利要求1所述的掘进机控制方法，还包括：
    获取至少一个目标设备的当前参数值及对应的当前变化率；所述至少一个目标设备包括至少一个所述输料设备或者所述掘进机的截割电机；
    基于预设的所述目标设备的参数值、变化率与目标值的对应关系，确定所述目标设备的当前参数值及对应的当前变化率所对应的目标值；
    基于所述目标设备的当前参数值及对应的当前变化率所对应的目标值，控制所述目标设备。
  6. 根据权利要求1至5任一项所述的掘进机控制方法，其中，所述至少一个输料设备的目标信息包括星轮的当前转速；
    所述基于所述至少一个输料设备的目标信息，控制所述掘进机的截割作业，包括：
    若所述星轮的当前转速小于或者等于第一阈值，执行以下至少一种操作：控制暂停所述掘进机的截割电机；控制暂停所述掘进机的悬臂；控制所述星轮正向和反向交替运转。
  7. 根据权利要求1至5任一项所述的掘进机控制方法，其中，所述至少一个输料设备的目标信息包括第一运输机的当前转速；
    所述基于所述至少一个输料设备的目标信息，控制所述掘进机的截割作业，包括：
    若所述第一运输机的当前转速小于或者等于第二阈值，执行以下至 少一种操作：控制暂停所述掘进机的截割电机；控制暂停所述掘进机的悬臂；控制所述第一运输机正向和反向交替运转。
  8. 一种掘进机控制装置，包括：
    获取模块，用于获取掘进机的至少一个输料设备的目标信息，其中，所述输料设备的目标信息用于表征所述输料设备的输料情况；
    控制模块，用于基于所述至少一个输料设备的目标信息，控制所述掘进机的截割作业。
  9. 一种掘进机，包括掘进机本体和控制器，控制器用于执行如权利要求1至7任一项所述的掘进机控制方法。
  10. 根据权利要求9所述的掘进机，还包括：第一转速传感器，和/或，第二转速传感器，和/或，第三转速传感器，和/或，振动传感器，和/或，电流传感器，和/或，图像采集装置；
    所述第一转速传感器用于采集第二运输机的转速；
    所述第二转速传感器用于采集星轮的转速；
    所述第三转速传感器用于采集第一运输机的转速；
    所述振动传感器用于采集所述掘进机的振动数据；
    所述电流传感器用于采集所述掘进机的截割电机的电流数据；
    所述图像采集装置用于采集用于表征所述第二运输机的输料皮带上的料高的图像。
PCT/CN2022/118730 2022-06-30 2022-09-14 掘进机控制方法及装置、掘进机 WO2024000826A1 (zh)

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