阅读说明：本技术 一种多模式掘建机开挖路径的规划执行控制方法 (Planning execution control method for excavation path of multi-mode digging and building machine ) 是由 刘飞香 秦念稳 肖正航 谭果 刘洪涛 陈聪 曾婷 于 2020-06-08 设计创作，主要内容包括：本发明公开一种多模式掘建机开挖路径的规划执行控制方法,包括建立多模式挖头的正运动学模型；探测掌子面岩体类型,并建立岩体空间模型；根据岩体空间模型规划开挖路径；根据岩体空间模型记录的岩体类型选择对应模式的挖头；控制挖头按照开挖路径进行挖掘；挖掘过程中根据岩体空间模型记录的岩体类型变化,更换对应模式的挖头后继续挖掘。通过建立正运动学模型和岩体空间模型规划开挖路径,并根据不同岩体类型更换不同挖头,结构简单,多模式挖头灵活切换,提高执行效率和可靠性,采用路径规划和执行控制提高自动化程度,减少了人员劳动强度,实现安全高效的隧道掘建,提高隧道智能建造无人化和智能化程度。(The invention discloses a planning execution control method for an excavation path of a multi-mode digging machine, which comprises the steps of establishing a positive kinematics model of a multi-mode digging head; detecting the type of the face rock mass and establishing a rock mass space model; planning an excavation path according to the rock mass space model; selecting an excavating head in a corresponding mode according to the rock mass type recorded by the rock mass space model; controlling the digging head to dig according to the digging path; and in the excavation process, according to the change of the rock mass type recorded by the rock mass space model, the excavation is continued after the excavation head in the corresponding mode is replaced. The excavation path is planned by establishing the positive kinematics model and the rock mass space model, different excavation heads are replaced according to different rock mass types, the structure is simple, the multi-mode excavation heads are flexibly switched, the execution efficiency and reliability are improved, the automation degree is improved by adopting path planning and execution control, the labor intensity of personnel is reduced, the safe and efficient tunnel excavation is realized, and the unmanned and intelligent degrees of intelligent tunnel construction are improved.)

1. A planning execution control method for an excavation path of a multi-mode digging machine is characterized by comprising the following steps:

establishing a positive kinematics model of the multi-mode digging head;

detecting the type of the face rock mass and establishing a rock mass space model;

planning an excavation path according to the rock mass space model;

selecting the digging head in a corresponding mode according to the rock mass type recorded by the rock mass space model;

controlling the digging head to dig according to the digging path;

and in the excavation process, according to the change of the rock mass type recorded by the rock mass space model, the excavation is continued after the excavation head of the corresponding mode is replaced.

2. The method of claim 1, wherein the rock types include hard rock geology, soft soil geology and complex geology, and the bit comprises a drill and split bit corresponding to the hard rock geology, a bucket bit corresponding to the soft soil geology and a milling bit corresponding to the complex geology.

3. The method of claim 2, wherein the drilling and splitting head excavates from top to bottom, the bucket head excavates from top to bottom and returns from bottom to top, and the milling and digging head excavates from a center helix outward.

4. The method for planning and executing the control of the excavation path of the multi-mode excavator according to claim 1, wherein the establishing of the positive kinematic model of the multi-mode excavator head is specifically based on the lengths and the hinge positions of the oil cylinder and the connecting rod.

5. The method for planning and controlling the excavation path of the multi-mode excavator according to claim 1, wherein the step of establishing the rock space model comprises the steps of:

setting colors corresponding to different rock types to form unit cuboid blocks with different colors;

according to the detected distribution condition of each rock mass type, corresponding to the position of each rock mass type, splicing and building the unit cuboid blocks of each color into the rock mass space model, and determining the position coordinates of each unit cuboid block.

6. The method for planning and controlling the excavation path of the multi-mode excavator according to claim 1, wherein the step of establishing the rock space model comprises the steps of:

building an initial integral model, and dividing the initial integral model into a plurality of unit cuboid blocks which are spliced with each other;

setting colors corresponding to different rock types;

and dyeing the unit cuboid blocks at corresponding positions into corresponding colors according to the detected distribution condition of each rock mass type, forming a rock mass space model, and determining the position coordinates of each unit cuboid block.

7. The planning execution control method of the excavation path of the multi-mode excavator according to any one of claims 5 or 6, wherein the step of continuing excavation after replacing the excavation head of the corresponding mode according to the change of the rock type recorded by the rock space model in the excavation process comprises the following steps:

continuously judging whether the rock mass type changes, and recording the current excavation position if the rock mass type changes;

after the equipment is withdrawn, replacing the corresponding digging head according to the changed rock type;

controlling the replaced digging head to move to the digging position recorded before replacement;

and controlling the digging head to continue digging.

8. The method for planning and executing the excavation path of the multi-mode excavator according to claim 7, wherein the step of continuously judging whether the rock mass type changes comprises the steps of:

synchronously simulating an excavation process according to the rock mass space model and the positive kinematics model;

judging whether the current unit cuboid block is consistent with the rock mass type represented by the previous unit cuboid block during simulated excavation;

if the rock types are inconsistent, the rock types are changed; if the rock mass types are consistent, the rock mass types are unchanged.

9. The method for planning and controlling the excavation path of the multi-mode excavator according to claim 8, wherein the recording of the current excavation position is specifically recording the position coordinates of the unit cuboid block at the change of the rock mass type, and moving to the recorded position coordinates when resetting.

10. The method for planning and controlling the excavation path of the multi-mode excavating machine according to claim 9, wherein the step of establishing the rock space model further comprises the following steps:

and detecting the rock mass type in real time, and modifying the rock mass space model in real time.

Technical Field

The invention relates to the field of digging, construction and excavation, in particular to a planning execution control method for an excavation path of a multi-mode digging machine.

Background

With the development of intelligent construction of tunnels, tunnel excavation is approaching to informatization, automation and less humanization more and more, the field of tunnel excavation at present mainly adopts a drilling and blasting method and a shield method, but the drilling and blasting method and the shield method respectively have suitable working conditions, and when surrounding rock conditions change greatly, flexible switching cannot be performed frequently, so that the construction efficiency is low, and the labor intensity of personnel is high.

Disclosure of Invention

The invention aims to provide a planning execution control method for an excavation path of a multi-mode excavating and constructing machine, which plans the excavation path by establishing a positive kinematics model and a rock mass space model and replaces different excavating heads according to different rock mass types, thereby improving the automation degree and the working efficiency.

In order to solve the technical problem, the invention provides a planning execution control method for an excavation path of a multi-mode digging machine, which comprises the following steps:

establishing a positive kinematics model of the multi-mode digging head;

detecting the type of the face rock mass and establishing a rock mass space model;

planning an excavation path according to the rock mass space model;

selecting the digging head in a corresponding mode according to the rock mass type recorded by the rock mass space model;

controlling the digging head to dig according to the digging path;

and in the excavation process, according to the change of the rock mass type recorded by the rock mass space model, the excavation is continued after the excavation head of the corresponding mode is replaced.

Preferably, the rock mass type includes hard rock geology, soft soil geology and complex geology, the digging head is including corresponding the brill of hard rock geology is split the digging head, is corresponding the bucket digging head of soft soil geology and corresponding the milling of complex geology is dug the head.

Preferably, the drill and split digging head excavates from top to bottom and resets from bottom to top, the bucket digging head excavates from top to bottom and resets from bottom to top, the milling and digging head excavates by the central spiral outdiffusion and resets from outside to inside.

Preferably, the establishing of the positive kinematics model of the multi-mode digging head is specifically to establish the positive kinematics model according to the lengths and the hinged positions of the oil cylinder and the connecting rod.

Preferably, the establishing of the rock mass space model comprises the following steps:

setting colors corresponding to different rock types to form unit cuboid blocks with different colors;

according to the detected distribution condition of each rock mass type, corresponding to the position of each rock mass type, splicing and building the unit cuboid blocks of each color into the rock mass space model, and determining the position coordinates of each unit cuboid block.

Preferably, the establishing of the rock mass space model comprises the following steps:

building an initial integral model, and dividing the initial integral model into a plurality of unit cuboid blocks which are spliced with each other;

setting colors corresponding to different rock types;

and dyeing the unit cuboid blocks at corresponding positions into corresponding colors according to the detected distribution condition of each rock mass type, forming a rock mass space model, and determining the position coordinates of each unit cuboid block.

Preferably, in the excavation process, according to the change of the rock mass type recorded by the rock mass space model, the excavation is continued after the excavation head of the corresponding mode is replaced, and the excavation method comprises the following steps:

continuously judging whether the rock mass type changes, and recording the current excavation position if the rock mass type changes;

after the equipment is withdrawn, replacing the corresponding digging head according to the changed rock type;

controlling the replaced digging head to move to the digging position recorded before replacement;

and controlling the digging head to continue digging.

Preferably, the continuously judging whether the rock mass type changes comprises the following steps:

synchronously simulating an excavation process according to the rock mass space model and the positive kinematics model;

judging whether the current unit cuboid block is consistent with the rock mass type represented by the previous unit cuboid block during simulated excavation;

if the rock types are inconsistent, the rock types are changed; if the rock mass types are consistent, the rock mass types are unchanged.

Preferably, the recording of the current excavation position is specifically to record the position coordinate of the unit cuboid block at the rock mass type change, and the current excavation position is moved to the recorded position coordinate during resetting.

Preferably, the method further comprises the following steps after the rock mass space model is established:

and detecting the rock mass type in real time, and modifying the rock mass space model in real time.

The invention provides a planning execution control method for an excavation path of a multi-mode digging machine, which comprises the steps of establishing positive kinematics models of excavation heads in multiple modes; detecting the type of the face rock mass and establishing a rock mass space model; planning an excavation path according to the rock mass space model; selecting an excavating head in a corresponding mode according to the rock mass type recorded by the rock mass space model; controlling the digging head to dig according to the digging path; and in the excavation process, according to the change of the rock mass type recorded by the rock mass space model, the excavation is continued after the excavation head in the corresponding mode is replaced.

The excavation path is planned by establishing the positive kinematics model and the rock mass space model, different excavation heads are replaced according to different rock mass types, the scheme structure is simple, the multi-mode excavation heads are flexibly switched, the execution efficiency and reliability are improved, the automation degree is improved by adopting path planning and execution control, the labor intensity of personnel is reduced, the safe and efficient tunnel excavation is realized, and the unmanned and intelligent degrees of intelligent tunnel construction are improved.

Drawings

Fig. 1 is a schematic structural diagram of a drilling and splitting head according to an embodiment of a planning execution control method provided in the present invention;

FIG. 2 is a schematic diagram of a forward kinematics model of a drill wedge head in an embodiment of a planning execution control method provided by the present invention;

FIG. 3 is a schematic view of a spatial model of hard rock geology in one embodiment of the planning execution control method provided by the present invention;

FIG. 4 is a schematic structural diagram of a bucket head according to an embodiment of the planning execution control method of the present invention;

FIG. 5 is a schematic representation of a positive kinematics model of a bucket head in an embodiment of a method of planning execution control in accordance with the present invention;

fig. 6 is a schematic diagram of a soft soil geology spatial model in an embodiment of the planning execution control method provided in the present invention;

FIG. 7 is a schematic structural diagram of a milling head according to an embodiment of the planning execution control method of the present invention;

FIG. 8 is a schematic view of a forward kinematic model of a milling head in an embodiment of a planning execution control method according to the present invention;

fig. 9 is a schematic diagram of a space model of complex geology in an embodiment of the planning execution control method provided in the present invention.

Detailed Description

The core of the invention is to provide a planning execution control method for the excavation path of the multi-mode digging machine, which plans the excavation path by establishing a positive kinematics model and a rock mass space model and replaces different digging heads according to different rock mass types, thereby improving the automation degree and the working efficiency.

In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1 to 9, fig. 1 is a schematic structural diagram of a drill splitting head according to an embodiment of a planning execution control method provided by the present invention; FIG. 2 is a schematic diagram of a forward kinematics model of a drill wedge head in an embodiment of a planning execution control method provided by the present invention; FIG. 3 is a schematic view of a spatial model of hard rock geology in one embodiment of the planning execution control method provided by the present invention; FIG. 4 is a schematic structural diagram of a bucket head according to an embodiment of the planning execution control method of the present invention; FIG. 5 is a schematic representation of a positive kinematics model of a bucket head in an embodiment of a method of planning execution control in accordance with the present invention; fig. 6 is a schematic diagram of a soft soil geology spatial model in an embodiment of the planning execution control method provided in the present invention; FIG. 7 is a schematic structural diagram of a milling head according to an embodiment of the planning execution control method of the present invention; FIG. 8 is a schematic view of a forward kinematic model of a milling head in an embodiment of a planning execution control method according to the present invention; fig. 9 is a schematic diagram of a space model of complex geology in an embodiment of the planning execution control method provided in the present invention.

The invention discloses a planning execution control method of a multi-mode digging machine excavation path, wherein an excavation part of the multi-mode digging machine comprises a base, a large arm 4 capable of stretching and retracting is hinged at the front end of the base, a large arm yaw oil cylinder and a large arm pitching oil cylinder are connected at the rear ends of the base and the large arm 4 and are used for driving the large arm 4 to perform yaw motion and pitching motion, the front end of the large arm 4 is connected with an excavation head through a connecting rod mechanism, the excavation head has multiple modes and corresponds to different rock body types, an excavation head pitching oil cylinder is arranged between the connecting rod mechanism and the large arm 4 and is used for driving the excavation head to perform pitching motion, and the excavation head can perform up-and-down, left-and-right and front-and.

The planning execution control method comprises the following steps:

and establishing positive kinematic models of the digging head in various modes. The excavating device comprises three modes of excavating heads, namely a drilling and splitting excavating head 1, a bucket excavating head 2 and a milling and excavating head 3, wherein the drilling and splitting excavating head 1 adopts a mode of combining a gang drill and a hydraulic splitting rod, and a positive kinematics model of each excavating head is established according to the lengths and hinged positions of an oil cylinder, a connecting rod and an excavating part. The three models correspond to the large arm and the connecting rod, the partial structures of the large arm and the connecting rod are consistent, the structures of the digging head are replaced, the rod piece is represented by a straight line, and the articulated shaft is represented by a quadrangle.

And detecting the type of the face rock mass and establishing a rock mass space model. Through geological detection, the rock mass type of face department is obtained, wherein, the rock mass type includes hard rock geology, soft soil geology and complex geology, and brill is split digging head 1 and is used for excavating the hard rock geology, and bucket digging head 2 is used for excavating the soft soil geology, and milling digging head 3 is used for excavating the complex geology, and the complex geology is the geology that has both soft soil and soft rock. The rock mass types can be further subdivided, and more types of digging head structures are correspondingly arranged, which are all within the protection scope of the invention.

And planning an excavation path according to the rock mass space model. The tunnel is planned according to actual needs such as tunnel use, length and capacity, the rock mass space model can reflect geology of each place, the rock mass space model can be fully considered in planning, and conditions such as excavation difficulty and supporting difficulty are considered in planning of the path.

The digging head of the corresponding mode is selected according to the rock mass type recorded by the rock mass space model, namely, when the hard rock geology is recorded, the digging head 1 is split by a drill, when the soft soil geology is recorded, the digging head 2 is adopted by a bucket, and when the composite geology is recorded, the digging head 3 is adopted by a milling machine.

And controlling the digging head to dig according to the digging path, and after the selected digging head is installed, beginning to dig according to the digging path. The specific excavation mode is as follows: the drill and wedge digging head digs from top to bottom, the bucket digging head digs from top to bottom and resets from bottom to top, and the milling digging head digs from the center helix to the outside, and can also adapt to the adjustment of digging mode. In fig. 1, 4 and 7, a dotted line is a working path one of the excavation head, a solid line is a working path two of the excavation head, in fig. 2, 5 and 8, structures in a dotted line frame are positive kinematic models of structures such as a common large arm 4, an oil cylinder and the like, in fig. 3, 6 and 9, a block with an upper end of a section line inclined to the right is an excavated rock mass, a block with an upper end of the section line inclined to the left is an unearthed rock mass, and an arrow indicates an excavation direction.

And in the excavation process, according to the change of the rock mass type recorded by the rock mass space model, the excavation is continued after the excavation head in the corresponding mode is replaced. Due to the fact that the geological condition is complex and cannot be unchanged, when the geological condition changes, different digging heads can be replaced to continue digging.

The excavation path is planned by establishing the positive kinematics model and the rock mass space model, and different excavation heads are replaced according to different rock mass types, so that the structure is simple, the multi-mode excavation heads are flexibly switched, the execution efficiency and reliability are improved, the automation degree is improved by adopting path planning and execution control, the labor intensity of personnel is reduced, the safe and efficient tunnel excavation is realized, and the unmanned and intelligent degrees of intelligent tunnel construction are improved.

The method for establishing the rock mass space model comprises the following steps:

the unit cuboid blocks of different colors are formed by setting the colors corresponding to different rock body types, and in the embodiment, the unit cuboid blocks of three colors are arranged to represent three geologies respectively.

According to the distribution condition of each detected rock mass type, corresponding to the position of each rock mass type, splicing and building the unit cuboid blocks of each color into a rock mass space model, and determining the position coordinates of each unit cuboid block.

Or adopt other modes to establish rock mass space model, including the step:

and building an initial integral model, and dividing the initial integral model into a plurality of unit cuboid blocks which are spliced with each other.

And setting the corresponding colors of different rock types.

And dyeing the unit cuboid blocks at the corresponding positions into corresponding colors according to the detected distribution condition of each rock mass type, forming a rock mass space model, and determining the position coordinates of each unit cuboid block.

The overall size of the rock mass space model is determined according to the size of a tunnel to be excavated, and the unit cuboid blocks can adopt cuboids of 1.5m × 1.5m × 1m, or the size of the cuboids can be adjusted, or hexagonal prisms, triangular prisms and the like can be adopted as the unit blocks, and the rock mass space model is within the protection scope of the invention.

On the basis of the planning execution control method provided by each specific embodiment, the excavation process comprises the following steps of replacing the excavation head with the corresponding mode and continuing excavation according to the rock mass type change recorded by the rock mass space model:

continuously judging whether the rock type changes, specifically, synchronously simulating the excavation process according to the rock space model and the positive kinematics model, namely, the actual excavation is consistent with the simulated excavation, so that the excavation state can be simulated in real time; judging whether the rock mass type represented by the current unit cuboid block and the previous unit cuboid block is consistent or not in the process of simulating excavation, namely judging whether the rock mass type of the current area to be excavated is consistent with the rock mass type of the area excavated before; if the rock types are inconsistent, the rock types are changed; if the rock mass types are consistent, the rock mass types are not changed.

If the current excavation position changes, recording the current excavation position, specifically, recording the position coordinates of the unit cuboid blocks at the rock mass type change position, and recording the position coordinates of the unit cuboid blocks at the rock mass type change position, namely recording the equipment pause position after geological change, because the simulation excavation is synchronously performed in the actual excavation.

And after the equipment is withdrawn, the corresponding digging head is replaced according to the changed rock mass type.

And controlling the replaced digging head to move to the recorded digging position before replacement, namely simulating digging through an algorithm, and moving the digging head to the position coordinate recorded during suspension. And controlling the digging head to continue digging.

Further, the method also comprises the steps of detecting the rock type in real time and modifying the rock space model in real time after the rock space model is established.

The planning execution control method for the excavation path of the multi-mode digging machine provided by the invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.