CN-122014304-A - Anchor rod positioning method, system and medium of tunneling and anchoring integrated machine based on attitude adjustment

CN122014304ACN 122014304 ACN122014304 ACN 122014304ACN-122014304-A

Abstract

The invention discloses a method, a system and a medium for positioning anchor rods of an excavating and anchoring integrated machine based on attitude adjustment, and relates to the technical field of underground engineering construction. And collecting the operation gesture data in real time, calling the first response analysis unit to respond in real time, and calling the second response analysis unit to analyze deviation and adjust gesture. The invention solves the technical problems of insufficient positioning precision and weak dynamic adjustment capability of the existing anchor rod positioning technology of the tunneling and anchoring integrated machine under the complex geological condition, and achieves the technical effects of improving the positioning precision and the operation safety of the tunneling and anchoring integrated machine in the complex geological environment through high-precision dynamic posture adjustment and real-time geological risk early warning.

Inventors

SANG SHENGYUAN
MA QIANG
CHEN MINGJUN
ZHAO PENGCHENG
LIU FENG
QIAO YANHUA
XIE GEHUI
LI JIANCHANG
MA KAI
ZHANG YANBIN
WANG XIAOKAI
JIA JIANWEI
ZHANG XUERUI
YANG YONG
WANG XIPENG

Assignees

中国煤炭科工集团太原研究院有限公司
山西天地煤机装备有限公司

Dates

Publication Date: 20260512
Application Date: 20251229

Claims (10)

1. The anchor rod positioning method of the tunneling and anchoring integrated machine based on posture adjustment is characterized by comprising the following steps of: Receiving a preset operation gesture time sequence of the tunneling and anchoring integrated machine and geological investigation characteristic distribution aiming at a preset operation area; Determining a positioning assembly configured by the tunneling and anchoring integrated machine, and performing geospatial response analysis on the positioning assembly to construct a first response analysis unit; executing geological risk response analysis aiming at the preset operation gesture time sequence and the geological investigation feature distribution, and constructing a second response analysis unit; Acquiring the operation gesture sensing data of the tunneling and anchoring integrated machine in real time by utilizing the positioning assembly, calling the first response analysis unit to respond in real time, and outputting actual operation gesture information; And calling the second response analysis unit to perform deviation analysis and posture adjustment on the actual operation posture information based on the preset operation posture time sequence.
2. The attitude adjustment-based anchor rod positioning method of an excavating and anchoring integrated machine according to claim 1, wherein the excavating and anchoring integrated machine comprises a tunneling unit and an anchoring unit, and the predetermined operation attitude timing comprises a cooperative alternate attitude timing of the tunneling unit and the anchoring unit.
3. The attitude adjustment-based anchor rod positioning method of an excavating and anchoring integrated machine according to claim 1, wherein determining a positioning assembly configured by the excavating and anchoring integrated machine, performing geospatial response analysis on the positioning assembly, and constructing a first response analysis unit, comprises: Extracting a plurality of positioning sensors within the positioning assembly; according to a plurality of sensor types of the plurality of positioning sensors, acquiring a plurality of groups of history sensing data sets and a plurality of corresponding history sensing correction labels in a history digging and anchoring scene; And building a graph structure by using the plurality of positioning sensors, and training the first response analysis unit by using the plurality of groups of history sensing data sets and the plurality of history sensing correction tags by using a graph neural network.
4. The method for positioning anchor rods of an excavating and anchoring integrated machine based on posture adjustment according to claim 3, wherein the step of establishing a graph structure by using the plurality of positioning sensors comprises the steps of: analyzing the sensing association relationship among the plurality of positioning sensors according to the plurality of groups of historical sensing data sets; and generating the graph structure by taking the plurality of positioning sensors as nodes and the sensing association relationship as an edge.
5. The attitude adjustment-based anchor rod positioning method of an excavating and anchoring integrated machine according to claim 3, wherein training the first response analysis unit using the plurality of sets of history sensing data sets and the plurality of history sensing correction tags with a graph neural network comprises: constructing a graph neural network according to the graph structure, and performing update correction relation training between adjacent nodes by adopting the plurality of groups of historical sensing data sets and the plurality of historical sensing correction labels to generate an initial response network; And based on the initial response network, continuing to execute coupling update training of a plurality of neighbor nodes under the same node by adopting the plurality of groups of historical sensing data sets and the plurality of historical sensing correction labels, and generating the first response analysis unit.
6. The attitude adjustment-based anchor rod positioning method of an excavating and anchoring integrated machine according to claim 1, wherein a geological risk response analysis is performed for the predetermined operation attitude timing and the geological survey feature distribution, and a second response analysis unit is constructed, comprising: invoking a risk calibration library, traversing the preset operation gesture time sequence and the geological investigation feature distribution, and matching any risk deviation feature set of geological investigation features at any position, wherein the risk calibration library comprises a group of historical operation gesture samples and a plurality of risk deviation features corresponding to the historical geological features; aiming at any risk deviation feature set, carrying out correction parameter matching by combining historical deviation correction data to generate any correction parameter set; And establishing a mapping relation among the geological investigation feature of any position, the risk deviation feature set and the correction parameter set, and constructing the second response analysis unit.
7. The attitude adjustment-based anchor rod positioning method of an excavating and anchoring integrated machine according to claim 1, wherein invoking the second response analysis unit to perform deviation analysis and attitude adjustment on the actual operation attitude information based on the predetermined operation attitude timing, comprises: Calculating an attitude deviation vector between the preset operation attitude time sequence and the actual operation attitude information; Judging whether the gesture deviation vector is in a preset deviation range or not, if not, inputting the gesture deviation vector into a correction parameter of which the matching deviation vector similarity of the second response analysis unit is larger than the preset similarity, and generating a target correction parameter; And carrying out posture adjustment control by using the target correction parameters.
8. The method for positioning an anchor rod of an all-in-one machine based on attitude adjustment according to claim 7, wherein before inputting the attitude deviation vector into the correction parameter of which the similarity of the matching deviation vector of the second response analysis unit is greater than a preset similarity, further comprises: performing attitude deviation fitting based on geological investigation feature distribution of a preset operation area and a preset operation attitude time sequence to generate an early warning deviation vector feature about a preset early warning event; judging whether the state deviation vector meets the characteristic of the early warning deviation vector, if so, generating early warning information and sending the early warning information to related staff.
9. Tunneling and anchoring all-in-one anchor rod positioning system based on attitude adjustment, and is characterized in that the system comprises: the system comprises a preset information receiving module, a control module and a control module, wherein the preset information receiving module is used for receiving a preset operation gesture time sequence of the tunneling and anchoring integrated machine and geological investigation characteristic distribution aiming at a preset operation area; The geological space response analysis module is used for determining a positioning assembly configured by the tunneling and anchoring integrated machine, carrying out geological space response analysis on the positioning assembly and constructing a first response analysis unit; the geological risk response analysis module is used for executing geological risk response analysis aiming at the preset operation gesture time sequence and the geological investigation characteristic distribution to construct a second response analysis unit; The real-time response module is used for acquiring the operation gesture sensing data of the tunneling and anchoring integrated machine in real time by utilizing the positioning assembly, calling the first response analysis unit to respond in real time and outputting actual operation gesture information; and the gesture deviation adjusting module is used for calling the second response analyzing unit to perform deviation analysis and gesture adjustment on the actual operation gesture information based on the preset operation gesture time sequence.
10. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the method according to any of claims 1 to 8.

Description

Anchor rod positioning method, system and medium of tunneling and anchoring integrated machine based on attitude adjustment Technical Field The invention relates to the technical field of underground engineering construction, in particular to a method, a system and a medium for positioning an anchor rod of an excavating and anchoring integrated machine based on attitude adjustment. Background In underground engineering such as mines, tunnels, etc., the tunneling and anchoring integrated machine is widely applied to the excavation and supporting operation of tunnels or tunnels. However, the working environment of the machine usually has complex geological conditions, such as soft rock, fault, crack development and the like, which not only form challenges for the tunneling efficiency and safety of the tunneling and anchoring integrated machine, but also put higher requirements on the precision of the positioning of the anchor rod. The traditional method mainly relies on manual measurement and experience judgment, and has the problems of low positioning accuracy, difficulty in adapting to rapid change of geological conditions, excessive manual intervention and the like. With the continuous expansion of engineering scale and the improvement of construction precision requirements, the traditional method has difficulty in meeting the requirements of modern engineering. Disclosure of Invention The application provides a method, a system and a medium for positioning an anchor rod of an excavating and anchoring integrated machine based on attitude adjustment, which are used for solving the technical problems of insufficient positioning precision and weak dynamic adjustment capability of the existing anchor rod positioning technology of the excavating and anchoring integrated machine under complex geological conditions. The application provides an anchor rod positioning method of an all-in-one machine based on attitude adjustment, which comprises the steps of receiving a preset operation attitude time sequence of the all-in-one machine and geological investigation characteristic distribution aiming at a preset operation area, determining a positioning component configured by the all-in-one machine, performing geological space response analysis on the positioning component to construct a first response analysis unit, performing geological risk response analysis on the preset operation attitude time sequence and the geological investigation characteristic distribution to construct a second response analysis unit, acquiring operation attitude sensing data of the all-in-one machine in real time by using the positioning component, calling the first response analysis unit to perform real-time response, outputting actual operation attitude information, and calling the second response analysis unit to perform deviation analysis and attitude adjustment on the actual operation attitude information based on the preset operation attitude time sequence. The application provides an anchor rod positioning system of an all-in-one machine based on attitude adjustment, which comprises a preset information receiving module, a geospatial response analysis module and a attitude deviation adjustment module, wherein the preset information receiving module is used for receiving preset operation attitude time sequence of the all-in-one machine and geological investigation feature distribution aiming at a preset operation area, the geospatial response analysis module is used for determining a positioning component configured by the all-in-one machine, performing geospatial response analysis on the positioning component to construct a first response analysis unit, the geospatial risk response analysis module is used for performing geospatial risk response analysis aiming at the preset operation attitude time sequence and the geological investigation feature distribution to construct a second response analysis unit, and the real-time response module is used for acquiring operation attitude sensing data of the all-in-one machine in real time by utilizing the positioning component and calling the first response analysis unit to perform real-time response and outputting actual operation attitude information, and the attitude deviation adjustment module is used for calling the second response analysis unit to perform deviation analysis on the actual operation attitude information based on the preset operation attitude time sequence. In a third aspect of the present application, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of the first aspect. One or more technical schemes provided by the application have at least the following technical effects or advantages: The application provides a method, a system and a medium for positioning anchor rods of an excavating and anchoring integrated machine based on attitude adjustment, which relate to the t