Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Planning execution control method for excavation path of multi-mode excavation machine
The invention discloses a planning execution control method for an excavation path of a multi-mode excavation machine. The method comprises the steps of establishing a positive kinematic model of multi-mode excavation heads; detecting a tunnel face rock mass type, and establishing a rock mass space model; planning the excavation path according to the rock mass space model; selecting the excavationheads in corresponding modes according to the rock mass types recorded by the rock mass space model; controlling the excavation heads to perform excavation according to the excavation path; and in the excavation process, according to rock mass type changes recorded by the rock mass space model, replacing the excavation heads in the corresponding modes, and continuing the excavation. The excavation path is planned by establishing the positive kinematic model and the rock mass space model, and the different excavation heads are replaced according to the different rock mass types, so that the structure is simple; the multi-mode excavation heads are flexibly switched, so that the execution efficiency and reliability are improved; and the automation degree is improved by adopting path planningand execution control, so that the labor intensity of personnel is reduced, safe and efficient tunnel excavation is realized, and the unmanned and intelligent degrees of intelligent tunnel construction are improved.
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。
Planning execution control method for excavation path of multi-mode excavation machine
The invention discloses a planning execution control method for an excavation path of a multi-mode excavation machine. The method comprises the steps of establishing a positive kinematic model of multi-mode excavation heads; detecting a tunnel face rock mass type, and establishing a rock mass space model; planning the excavation path according to the rock mass space model; selecting the excavationheads in corresponding modes according to the rock mass types recorded by the rock mass space model; controlling the excavation heads to perform excavation according to the excavation path; and in the excavation process, according to rock mass type changes recorded by the rock mass space model, replacing the excavation heads in the corresponding modes, and continuing the excavation. The excavation path is planned by establishing the positive kinematic model and the rock mass space model, and the different excavation heads are replaced according to the different rock mass types, so that the structure is simple; the multi-mode excavation heads are flexibly switched, so that the execution efficiency and reliability are improved; and the automation degree is improved by adopting path planningand execution control, so that the labor intensity of personnel is reduced, safe and efficient tunnel excavation is realized, and the unmanned and intelligent degrees of intelligent tunnel construction are improved.
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。
Planning execution control method for excavation path of multi-mode excavation machine
一种多模式掘建机开挖路径的规划执行控制方法
LIU FEIXIANG (Autor:in) / QIN NIANWEN (Autor:in) / XIAO ZHENGHANG (Autor:in) / TAN GUO (Autor:in) / LIU HONGTAO (Autor:in) / CHEN CONG (Autor:in) / ZENG TING (Autor:in)
17.07.2020
Patent
Elektronische Ressource
Chinesisch
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