CN-121976815-A - Control method, device, equipment and program product of heading machine

CN121976815ACN 121976815 ACN121976815 ACN 121976815ACN-121976815-A

Abstract

The application discloses a control method, device, equipment and program product of a tunneling machine, which comprise the steps of collecting geological data of a first geological region, analyzing the geological data of the first geological region to obtain a geological analysis result aiming at the first geological region, adjusting the first tunneling track into a second tunneling track under the condition that the geological analysis result indicates that the first geological region comprises a geological abnormal region, wherein the surrounding region of the second tunneling track does not comprise the geological abnormal region, and controlling the tunneling machine to execute cutting operation based on the second tunneling track. Therefore, the defect that the heading machine blindly enters into the geological abnormal region due to the automatic execution of the fixed preset program is overcome, the mechanical fault risk of the heading machine is obviously reduced, the potential safety hazard possibly caused by the geological abnormal region is avoided, and the heading machine can autonomously cope with the randomness and complexity change of the underground geological environment under the condition of little manual direct intervention.

Inventors

YANG WENMING
FAN HOUSHI
YU FEI
WANG JIANJUN
YANG XIAOBO
HUANG ZHENGWEI
HUANG JIE
PEI BOBO

Assignees

郑州煤矿机械集团有限责任公司

Dates

Publication Date: 20260505
Application Date: 20260401

Claims (10)

1. A method of controlling a heading machine, the method comprising: Collecting geological data of a first geological region, wherein the first geological region is a surrounding region of a first tunneling track; Analyzing the geological data of the first geological region to obtain a geological analysis result aiming at the first geological region; when the geological analysis result indicates that the first geological region comprises a geological abnormal region, the first tunneling track is adjusted to be a second tunneling track, and the surrounding region of the second tunneling track does not comprise the geological abnormal region; and controlling the heading machine to execute cutting operation based on the second tunneling track.
2. The method according to claim 1, wherein the method further comprises: determining the first tunneling track according to exemplary tunneling data including standard exemplary data for the heading machine to perform the cutting operation.
3. The method of claim 2 wherein said exemplary tunneling data includes physical movement data of said heading machine or control data of said heading machine collected during standard demonstration of said cutting operation performed by said heading machine.
4. The method of claim 1, wherein the geological anomaly region comprises a geological formation anomaly region, a water-rich disaster-causing region, or a coal seam occurrence morphology anomaly region.
5. The method of claim 1, wherein analyzing the geological data of the first geological region comprises: preprocessing the geological data of the first geological region, wherein the preprocessing comprises one or more of data screening processing, data noise reduction processing or data calibration processing.
6. The method of claim 1, wherein the acquiring geological data of the first geological region comprises: And acquiring geological data of the first geological region by using a geological detection module, wherein the geological data of the first geological region comprises geophysical prospecting response data fed back by the first geological region, and the geological detection module comprises an electromagnetic induction detection unit and/or an electromagnetic wave reflection detection unit.
7. A method according to claim 2 or 3, characterized in that the method further comprises: during the process of controlling the heading machine to execute cutting operation based on the second tunneling track, collecting physical motion data of the heading machine and/or control data of the heading machine; Updating the exemplary tunneling data.
8. A control device for a heading machine, the device comprising: the acquisition module is used for acquiring geological data of a first geological region, and the first geological region is a surrounding region of the first tunneling track; The analysis module is used for analyzing the geological data of the first geological region to obtain a geological analysis result aiming at the first geological region; the adjusting module is used for adjusting the first tunneling track to a second tunneling track when the geological analysis result indicates that the first geological region comprises a geological abnormal region, and the surrounding region of the second tunneling track does not comprise the geological abnormal region; And the control module is used for controlling the heading machine to execute cutting operation based on the second tunneling track.
9. A computing device, the computing device comprising a processor and a memory: The memory is used for storing a computer program; The processor is configured to perform the method of any one of claims 1 to 7 according to the computer program.
10. A computer program product containing instructions that, when run on a computing device, cause the computing device to perform the method of any of claims 1 to 7.

Description

Control method, device, equipment and program product of heading machine Technical Field The present application relates to the field of engineering, and in particular, to a control method, apparatus, device, and program product for a heading machine. Background The heading machine is a key mechanical device for breaking rock, collecting materials and realizing roadway propulsion in underground engineering, mining and tunnel construction. During practical application, the development machine can crush the rock mass through the cutting module and transport the material out through the transporting module. The operation of heading machines is typically highly dependent on manual field monitoring and manual control. For example, operators often need close range handling equipment, resulting in long term exposure to harsh operating conditions of high dust, low illumination, and high vibration. The operation mode not only ensures that the labor intensity of operators is extremely high, but also ensures that the operators face potential safety hazards such as gas outburst, roof collapse and the like under special scenes such as mining and the like. Therefore, in order to improve the working environment and to increase the safety, a tunneling work may be performed using an automatic tunneling machine, aiming at realizing an automatic operation of the apparatus through a preset program or a remote control. However, due to the extreme randomness and complexity of the working environment, the effect of the automatic heading machine in performing the heading operation is still poor compared with manual operation with abundant experience. Disclosure of Invention The embodiment of the application provides a control method of a heading machine, which is used for improving the effect of the heading machine on executing heading operation. Furthermore, the embodiment of the application also provides a corresponding device, equipment, a computer readable storage medium and a computer program product. In a first aspect, an embodiment of the application provides a control method of a heading machine, which includes collecting geological data of a first geological region, wherein the first geological region is a surrounding region of a first heading track, analyzing the geological data of the first geological region to obtain a geological analysis result aiming at the first geological region, adjusting the first heading track to be a second heading track under the condition that the geological analysis result indicates that the first geological region comprises a geological abnormal region, and controlling the heading machine to execute cutting operation based on the second heading track. In one possible embodiment, the method further comprises determining the first tunneling trajectory from exemplary tunneling data including standard exemplary data of the cutting operation performed by the heading machine. In one possible embodiment, the exemplary tunneling data includes physical movement data of the tunneling machine or control data of the tunneling machine acquired during a standard demonstration of the tunneling machine performing the cutting operation. In one possible embodiment, the geological anomaly region includes a geological formation anomaly region, a water-rich disaster-causing hazard region, or a coal seam occurrence morphology anomaly region. In one possible implementation, analyzing the geological data of the first geological region includes preprocessing the geological data of the first geological region, the preprocessing including one or more of a data filtering process, a data denoising process, or a data calibration process. In one possible embodiment, acquiring the geological data of the first geological region includes acquiring the geological data of the first geological region with a geological detection module including geophysical response data fed back by the first geological region, the geological detection module including an electromagnetic induction detection unit and/or an electromagnetic wave reflection detection unit. In one possible embodiment, the method further comprises collecting physical movement data of the heading machine and/or control data of the heading machine during the control of the heading machine to perform the cutting operation based on the second heading track, and updating the exemplary heading data. The embodiment of the application also provides a control device of the heading machine, which comprises an acquisition module, an analysis module and an adjustment module, wherein the acquisition module is used for acquiring geological data of a first geological region, the first geological region is a surrounding region of a first heading track, the analysis module is used for analyzing the geological data of the first geological region to obtain a geological analysis result aiming at the first geological region, the adjustment module is used for adjusting the first heading t