CN113914885A - Intelligent system of tunnel construction equipment - Google Patents
Intelligent system of tunnel construction equipment Download PDFInfo
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- CN113914885A CN113914885A CN202111204995.XA CN202111204995A CN113914885A CN 113914885 A CN113914885 A CN 113914885A CN 202111204995 A CN202111204995 A CN 202111204995A CN 113914885 A CN113914885 A CN 113914885A
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- E—FIXED CONSTRUCTIONS
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- 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/003—Linings or provisions thereon, specially adapted for traffic tunnels, e.g. with built-in cleaning devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/10—Lining with building materials with concrete cast in situ; Shuttering also lost shutterings, e.g. made of blocks, of metal plates or other equipment adapted therefor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/14—Lining predominantly with metal
- E21D11/18—Arch members ; Network made of arch members ; Ring elements; Polygon elements; Polygon elements inside arches
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/38—Waterproofing; Heat insulating; Soundproofing; Electric insulating
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
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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
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
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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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
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- E21D9/10—Making by using boring or cutting machines
- E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
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- E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42D—BLASTING
- F42D3/00—Particular applications of blasting techniques
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Abstract
The invention relates to the technical field of intelligent tunnel construction, in particular to an intelligent system of tunnel construction equipment, which comprises: intelligent system of tunnel construction equipment includes: the external communication network is used for being in communication connection with the Beidou; the intelligent production platform is used for intelligently controlling the tunnel construction equipment, and acquiring, designing and adjusting tunnel construction data; the intelligent construction site platform is used for building an intelligent production platform; and (5) reinforcing the base station by the roadbed at the hole. According to the invention, a BIM technology is used for building a tunnel structure digital model, the space coordinate of the tunnel structure is calculated, and meanwhile, through a three-dimensional laser scanning technology and a Beidou +5G technology of Beidou navigation, the single equipment calculates the space coordinate of the equipment, so that the operation position of the equipment is determined, unmanned or less-man operation is realized, and intelligent equipment for tunnel construction can be organically combined in the system, thereby forming a complete, safe and efficient tunnel construction system.
Description
Technical Field
The invention relates to the technical field of intelligent tunnel construction, in particular to an intelligent system of tunnel construction equipment.
Background
The Beidou navigation and 5G technology is born, and the intellectualization of many domestic industries shows explosive development. By taking the development of other industries as a reference, the high-risk industry of tunnel construction can realize less-humanization or unmanned operation by means of intelligent equipment. More tunnel practitioners can understand the possibility and feasibility of intellectualization, and a new idea is provided for project decision and equipment investment. With networking completion and communication 5G technical application of the Beidou navigation satellite in 10 months in 2020, various industries are rapidly developed in the field of intellectualization as tiger is added.
In the prior art, for example, Chinese patent numbers are: CN 106897813 a, "a large shield tunnel intelligent management system based on BIM and AI", includes: the time management subsystem is used for regulating and managing the whole construction progress and construction items; the BIM management subsystem is used for planning and managing space positions and access fields of materials and equipment; and the AI intelligent subsystem predicts resources required by future construction according to the study of the existing engineering and optimizes the resource allocation in advance. Compared with the prior art, the invention takes time as a main line, regulates and manages the whole construction progress, and prepares man-machine objects; on the basis of space, a BIM management subsystem is adopted to plan and manage materials, space positions of equipment and access; and the data is taken as the basis, the engineering information base is managed, and the data is taken as the learning resource of the AI intelligent subsystem, so that the intelligent level is continuously improved. The three are mutually independent and are linked through data, so that visual management and monitoring are convenient for the shield tunnel construction process, and the follow-up engineering is convenient to use the construction experience for reference.
However, in the prior art, the intelligent research of tunnel construction equipment just starts, only part of equipment is intelligentized and part of tunnel procedures are intelligentized, and no real unmanned and intelligentized whole production line is formed.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an intelligent system of tunnel construction equipment, which is characterized in that a BIM technology is applied to build a tunnel structure digital model and calculate the space coordinate of a tunnel structure, and meanwhile, the space coordinate of the equipment is calculated by a single device through a three-dimensional laser scanning technology and a Beidou +5G technology of Beidou navigation, so that the operation position of the equipment is determined, unmanned or less-man operation is realized, and the intelligent equipment for tunnel construction can be organically combined in the system to form a complete, safe and efficient tunnel construction system.
In order to achieve the purpose, the invention provides the following technical scheme:
intelligent system of tunnel construction equipment includes:
the external communication network is used for being in communication connection with the Beidou;
the intelligent production platform is used for intelligently controlling the tunnel construction equipment, and acquiring, designing and adjusting tunnel construction data;
the intelligent construction site platform is used for building an intelligent production platform;
the system comprises an opening roadbed enhancement base station, a data transmission unit and a data transmission unit, wherein the opening roadbed enhancement base station is used for enhancing signals of data transmitted by tunnel construction;
the in-tunnel high-precision base station is used for ensuring the signal intensity in the tunnel and realizing the function of the Internet of things of tunnel construction equipment;
the intelligent production platform includes:
the drill jumbo is used for drilling and blasting and anchor rod construction;
the explosive charging trolley is used for automatically charging explosives into the blast hole of the tunnel;
the top finding robot is used for removing pumice and debris on the rock surface of the top of the tunnel;
the slag loading and conveying equipment is used for conveying the rocks and soil mined in the tunnel out of the tunnel;
the arch center mounting trolley is used for assisting high-altitude work such as arch center mounting, net piece mounting and the like in a tunnel;
the concrete spraying hand is used for carrying out guniting operation on the rock surface in the tunnel;
the self-propelled inverted arch trestle is used for supporting a tunnel top rock wall and a tunnel side wall;
the automatic waterproof plate/steel bar laying trolley is used for laying a waterproof steel plate and structural steel bars in a tunnel;
the intelligent lining trolley is used for concrete lining construction of the inner wall of the tunnel;
the intelligent maintenance trolley is used for forming a closed space on the surface of concrete in the tunnel and preserving heat and moisture of the concrete.
Further, drill jumbo, powder charge platform truck, the robot of looking for the top, dress sediment fortune sediment equipment, bow member installation platform truck, concrete spraying hand, self-propelled inverted arch landing stage, the automatic platform truck of laying of waterproof board reinforcing bar, intelligent lining platform truck and intelligent maintenance platform truck all include data acquisition and transmission module, data acquisition and transmission module are used for equipment reception control information and outside transmission acquisition information.
Further, the drill jumbo includes cloth hole picture and track planning module, big arm automatic positioning module, automatic drilling module, the real-time deviation of drill boom and surpass undermining control module, multimachine collaborative operation interconnection mutual control module, tunnel profile laser scanning module and bores and survey synchronous control module, wherein:
the hole distribution diagram and track planning module is used for providing a positioning standard for automatic hole distribution and drilling through laser guidance;
the large arm automatic positioning module is used for automatically positioning the large arm to adjust the excavating depth, angle and direction;
the automatic drilling module is used for automatically drilling holes and holes in the tunnel;
the drill boom real-time deviation rectifying and over-under-digging control module is used for adjusting the digging and drilling depth, angle and direction of the drill boom in real time;
the multi-machine cooperative operation interconnection and mutual control module is used for mutually connecting a plurality of drilling jumbo and jointly cooperating with excavation work;
the tunnel contour surface laser scanning module is used for scanning and identifying characteristic obstacles through a tunnel contour, and drilling and excavating;
the drilling and measuring synchronous control module is used for synchronously measuring data of aperture and extension direction when drilling in the tunnel, and is convenient for adjusting the drilling.
Furthermore, the hole distribution diagram and track planning module, the large arm automatic positioning module, the automatic drilling module, the drill arm real-time deviation correction and super under-excavation control module, the multi-machine cooperative operation interconnection mutual control module, the tunnel profile laser scanning module and the drilling measurement synchronous control module are all in bidirectional signal connection with the data acquisition and transmission module.
Further, bow member installation platform truck includes total powerstation orientation module, tunnel profile surface laser scanning module, visual monitoring module, transports bow member module, parameter setting module and construction log module automatically, wherein:
the total station positioning module is used for calculating the coordinates of the vehicle body through a total station and by applying a geometric algorithm, realizing automatic positioning and converting the coordinates into mileage information;
the tunnel profile surface laser scanning module is used for identifying characteristic obstacles through tunnel profile scanning, realizing super under-excavation analysis by matching with a design profile and guiding manual processing of an under-excavation surface before arch erection, and scanning data to participate in obstacle avoidance operation;
the visual monitoring module is used for visually monitoring information such as the positions of the arm support and the arch frame in the manual arch erecting process;
the automatic arch conveying module is used for automatically conveying the arch to a design position according to arch construction design data, so that subsequent fixing and welding are facilitated;
the parameter setting module is used for sensor calibration, alarm threshold value and control parameter setting, fault information checking and the like, can be operated in an upper computer in a centralized manner, and has the functions of arch frame construction design data design and importing;
and the construction log module is used for recording construction data such as arch erecting time, arch centering position and the like corresponding to each construction cycle and automatically generating a construction log.
Furthermore, the total station positioning module, the tunnel profile laser scanning module, the visual monitoring module, the automatic conveying arch module, the parameter setting module and the construction log module are all in bidirectional signal connection with the data acquisition and transmission module.
Further, the concrete spraying hand comprises a three-dimensional laser scanning positioning module, a three-dimensional scanning model reconstruction module, an arch frame identification module, an automatic path planning module and an intelligent spraying module, wherein:
the three-dimensional laser scanning positioning module is used for realizing the rapid positioning of the whole machine in the tunnel through the vehicle-mounted three-dimensional laser scanner;
the three-dimensional scanning model reconstruction module is used for analyzing the overbreak and underbreak of the tunnel outline and reconstructing the three-dimensional model of the tunnel before and after spraying;
the arch center identification module is used for accurately identifying the characteristics and the position of an arch center;
the automatic path planning module is used for automatically planning paths according to different excavation methods;
the intelligent injection module is used for controlling the switching between intelligent injection and manual remote control injection.
Furthermore, the three-dimensional laser scanning positioning module, the three-dimensional scanning model reconstruction module, the arch frame identification module, the automatic path planning module and the intelligent injection module are all in bidirectional signal connection with the data acquisition and transmission module.
Advantageous effects
Compared with the known public technology, the technical scheme provided by the invention has the following beneficial effects:
1. the intelligent system of the tunnel construction equipment adopts intelligent equipment for construction, the face operation is less humanized or unmanned, the occurrence of serious accidents caused by crowd death and crowd injury can be reduced, the labor supply and demand problems can be solved, more high-quality young people are willing to join the tunnel construction industry, and the healthy development of the industry is promoted.
2. The intelligent system for tunnel construction equipment disclosed by the invention is characterized in that a BIM technology is applied, a tunnel structure digital model is built, the space coordinate of a tunnel structure is calculated, and meanwhile, the space coordinate of the equipment is calculated by a single piece of equipment through a three-dimensional laser scanning technology and a Beidou +5G technology of Beidou navigation, so that the operation position of the equipment is determined, unmanned or less-man operation is realized, and the intelligent equipment for tunnel construction can be organically combined in the system to form a complete, safe and efficient tunnel construction system.
Drawings
FIG. 1 is a system diagram of an intelligent system for tunnel construction equipment;
FIG. 2 is a system diagram of an intelligent production platform in the intelligent system of tunnel construction equipment;
FIG. 3 is a system diagram of a drill jumbo in the intelligent system of tunnel construction equipment;
FIG. 4 is a system diagram of an arch installation trolley in the intelligent system of tunnel construction equipment;
fig. 5 is a system diagram of a concrete sprayer in the intelligent system of the tunnel construction equipment.
Illustration of the drawings: 1. connecting a communication network; 2. an intelligent worksite platform; 3. an intelligent production platform; 4. a hole roadbed reinforcing base station; 5. a high-precision base station in the hole; 30. drilling a jumbo; 31. a powder charging trolley; 32. a top finding robot; 33. slag loading and conveying equipment; 34. an arch center mounting trolley; 35. a concrete sprayer; 36. a self-propelled inverted arch trestle; 37. the waterproof board/steel bar is automatically paved with a trolley; 38. intelligent lining trolley; 39. an intelligent maintenance trolley; 308. a data acquisition and transmission module; 301. a hole distribution diagram and track planning module; 302. an automatic positioning module of the big arm; 303. an automatic drilling module; 304. the drilling boom real-time deviation rectifying and undermining control module; 305. a multi-machine cooperative operation interconnection and mutual control module; 306. a tunnel profile surface laser scanning module; 307. a drilling and testing synchronous control module; 340. a total station positioning module; 341. a tunnel profile surface laser scanning module; 342. a visual monitoring module; 343. an automatic transfer arch module; 344. a parameter setting module; 345. a construction log module; 350. a three-dimensional laser scanning positioning module; 351. a three-dimensional scanning model reconstruction module; 352. an arch frame identification module; 353. a path automatic planning module; 354. the intelligent injection module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The present invention will be further described with reference to the following examples.
Example 1
Referring to fig. 1 to 5, an intelligent system for tunnel construction equipment includes:
the external communication network 1 is used for being in communication connection with the Beidou;
the intelligent production platform 3 is used for intelligently controlling the tunnel construction equipment, and acquiring, designing and adjusting tunnel construction data;
the intelligent construction site platform 2 is used for building an intelligent production platform 3;
the tunnel portal roadbed reinforcing base station 4 is used for reinforcing data signals transmitted by tunnel construction;
the in-tunnel high-precision base station 5 is used for ensuring the signal intensity in the tunnel and realizing the function of the Internet of things of tunnel construction equipment;
the intelligent production platform 3 comprises:
the drill jumbo 30 is used for drilling and blasting and anchor rod construction, and the drill jumbo 30 is used for drilling and blasting; the explosive charging trolley 31 is used for automatically charging explosives into the blast hole of the tunnel; the top finding robot 32, the top finding robot 32 is used for removing pumice and debris on the rock surface of the top of the tunnel; the slag loading and conveying equipment 33 is used for conveying the rocks and soil mined in the tunnel out of the tunnel; the arch center mounting trolley 34 is used for assisting high-altitude work such as arch center mounting, mesh mounting and the like in a tunnel, and the arch center mounting trolley 34 is used for assisting high-altitude work; the concrete spraying hand 35 is used for carrying out guniting operation on the rock surface in the tunnel; the self-propelled inverted arch trestle 36 is used for supporting a tunnel top rock wall and a tunnel side wall; the waterproof board/steel bar automatic laying trolley 37, wherein the waterproof board/steel bar automatic laying trolley 37 is used for laying waterproof steel plates and structural steel bars in the tunnel; the intelligent lining trolley 38, wherein the intelligent lining trolley 38 is used for concrete lining construction of the inner wall of the tunnel; and the intelligent maintenance trolley 39 is used for forming a closed space on the surface of the concrete in the tunnel and insulating and moisturizing the concrete.
During implementation, firstly, the intelligent production platform 2 is built by using the intelligent construction site platform 3, the designed BIM digital model is designed, the construction BIM digital model is built, and the construction live-action map is generated. And extending the Beidou +5G communication network system to carry out in-hole time service and position service. The general communication base station can not meet the application in the tunnel, the tunnel opening roadbed reinforcing base station 4 is arranged to reinforce the signal of data transmitted by tunnel construction, and the high-precision base station 5 in the tunnel ensures the signal intensity in the tunnel, and the function of the Internet of things of tunnel construction equipment is realized.
The equipment configuration is implemented step by step: firstly, four devices, namely a drill jumbo 30, a top finding robot 32, a slag loading and conveying device 33 and a concrete spraying hand 35, are used for completing preliminary intellectualization.
And in the second step, on the basis of the first step, equipment of a charging trolley 31, an arch installing trolley 34 and an intelligent lining trolley 38 is added.
And thirdly, adding a self-propelled inverted arch trestle 36 and a waterproof board/steel bar automatic laying trolley 37 on the basis of the second step.
The rock drilling trolley 30, the charging trolley 31, the top finding robot 32, the slag loading and conveying equipment 33, the arch installing trolley 34, the concrete spraying hand 35, the self-propelled inverted arch trestle 36, the waterproof plate/steel bar automatic laying trolley 37, the intelligent lining trolley 38 and the intelligent maintenance trolley 39 all comprise a data acquisition and transmission module 308, and the data acquisition and transmission module 308 is used for receiving control information and transmitting acquisition information to the outside.
The drill jumbo 30 comprises a hole layout drawing and track planning module 301, a boom automatic positioning module 302, an automatic drilling module 303, a boom real-time deviation correcting and super-undermining control module 304, a multi-machine cooperative operation interconnection mutual control module 305, a tunnel profile laser scanning module 306 and a drilling and measurement synchronous control module 307, wherein:
the hole distribution diagram and track planning module 301 is used for providing a positioning standard for automatic hole distribution and drilling through laser guidance; the boom automatic positioning module 302 is used for automatically positioning the boom to adjust the excavation depth, angle and direction; the automatic drilling module 303 is used for automatically drilling holes and holes in the tunnel; the drill boom real-time deviation rectifying and undermining control module 304 is used for adjusting the excavation drilling depth, angle and direction of the drill boom in real time; the multi-machine cooperative operation interconnection and mutual control module 305 is used for mutual connection among a plurality of drilling jumbo 30 and is matched with excavation work together; the tunnel profile surface laser scanning module 306 is used for scanning and identifying characteristic obstacles through a tunnel profile, and drilling and excavating; the drilling measurement synchronous control module 307 is used for synchronously measuring data of the aperture and the extending direction during drilling in the tunnel, so that the drilling can be conveniently adjusted.
The hole distribution diagram and track planning module 301, the boom automatic positioning module 302, the automatic drilling module 303, the drill boom real-time deviation correction and super under-excavation control module 304, the multi-machine cooperative operation interconnection and mutual control module 305, the tunnel profile laser scanning module 306 and the drilling and measurement synchronous control module 307 are all in bidirectional signal connection with the data acquisition and transmission module 308.
The arch installing trolley 34 includes a total station positioning module 340, a tunnel profile laser scanning module 341, a visual monitoring module 342, an automatic arch transporting module 343, a parameter setting module 344 and a construction log module 345, wherein:
the total station positioning module 340 is used for calculating the coordinates of the vehicle body through a total station and by applying a geometric algorithm, realizing automatic positioning and converting the coordinates into mileage information; the tunnel profile surface laser scanning module 341 is configured to identify a characteristic obstacle through tunnel profile scanning, implement overbreak analysis by matching with a design profile, guide manual processing of an underbreak surface before arch erection, and participate in obstacle avoidance operation by scanning data; the visual monitoring module 342 is used for visually monitoring information such as the positions of the arm support and the arch center in the manual arch erecting process; the automatic arch conveying module 343 is used for automatically conveying the arch to a design position according to the arch construction design data, so as to facilitate subsequent fixing and welding; the parameter setting module 344 is used for sensor calibration, alarm threshold value and control parameter setting, fault information checking and the like, can be operated in an upper computer in a centralized manner, and has the functions of arch frame construction design data design and importing; the construction log module 345 is configured to record construction data such as arch erecting time and arch position corresponding to each construction cycle, and automatically generate a construction log.
The total station positioning module 340, the tunnel profile laser scanning module 341, the visual monitoring module 342, the automatic transporting arch module 343, the parameter setting module 344 and the construction log module 345 are all in bidirectional signal connection with the data acquisition and transmission module 308.
The concrete sprayer 35 comprises a three-dimensional laser scanning positioning module 350, a three-dimensional scanning model reconstruction module 351, an arch frame identification module 352, an automatic path planning module 353 and an intelligent spraying module 354, wherein:
the three-dimensional laser scanning positioning module 350 is used for realizing the rapid positioning of the whole machine in the tunnel through the vehicle-mounted three-dimensional laser scanner; the three-dimensional scanning model reconstruction module 351 is used for analyzing the overbreak and underbreak of the tunnel outline and reconstructing the three-dimensional model of the tunnel before and after spraying; the arch identification module 352 is used to accurately identify the characteristics and position of the arch; the automatic path planning module 353 is used for automatically planning paths according to different excavation methods; the intelligent spray module 354 is used to control the switching between intelligent spray and manual remote spray. The three-dimensional laser scanning positioning module 350, the three-dimensional scanning model reconstruction module 351, the arch identification module 352, the path automatic planning module 353 and the intelligent injection module 354 are all in bidirectional signal connection with the data acquisition and transmission module 308.
This relates to the implementation of tunnel construction equipment intelligent system application in tunnel construction includes:
intelligent construction technology for tunnel construction by drilling and blasting method
Intelligent optimization of tunnel surrounding rock identification and excavation supporting parameters
1. And accumulating a database corresponding to the surrounding rock grade and the equipment drilling parameter through drilling parameters of a lead drilling machine, a drilling trolley and the like, establishing a relation model between the surrounding rock mechanical parameter and the drilling parameter, and judging the rock mass state in real time. A three-dimensional model of a rock mass of the tunnel face is built by utilizing tunnel face shooting or high-precision three-dimensional scanning, structural parameters of integrity of the rock mass are identified through a machine learning intelligent algorithm, states of the rock mass are quantitatively described in cooperation with mechanical parameters of the rock mass, classification of the rock mass is achieved, the rock mass is objectively classified, and disputes are prevented from changing.
2. Through rock mass grade parameter identification in the drilling process and through accumulated statistical analysis of a large amount of construction data, the reasonability and the economical efficiency of design parameters are judged, a suggestion basis is provided for subsequent blasting hole distribution, charging parameter optimization, support grade selection, support parameter design optimization and the like, and expert system software is developed according to the related knowledge, experience and rules to provide construction guidance suggestions. On the one hand, the safety and the quality of construction are guaranteed, on the other hand, the construction cost is reduced, and the construction efficiency is improved.
(II) intelligent equipment for drilling and blasting construction and intelligent construction
1. Measurement positioning technology and system development: the construction equipment is quickly and automatically positioned by combining various positioning methods such as a total station, laser measurement and ultra-bandwidth positioning technology, the positioning error of a host is in centimeter level, the positioning error of an arm support tail end actuating mechanism is in decimeter level, and the tunnel excavation axis is fully ensured and the tunnel overexcavation is prevented.
2. Automatic arm support control and path planning: establishing a geometric model and a kinematic model of construction mechanical equipment, solving the posture of a target position and automatically issuing an action command to realize smooth and accurate control; and planning a boom movement path, and having a boom collision detection and obstacle avoidance algorithm to ensure safe construction.
3. Analyzing overbreak and undermining and identifying characteristics: the intelligent equipment carries a three-dimensional laser scanning system, three-dimensional scanning of the tunnel face and the tunnel wall is implemented in multiple stages of excavation, blasting, preliminary bracing and the like, an overbreak analysis algorithm is developed according to a designed section, arch frame characteristics are extracted, and a three-dimensional model is constructed and used for content such as unmanned driving, construction progress management, quality evaluation and the like.
4. Information construction: the tunnel construction equipment can record operation parameters in real time, produce construction logs including drilling logs, guniting logs and the like, and is used for establishing an equipment parameter database to provide a basis for construction management and equipment parameter optimization.
(III) drilling and blasting construction intelligent management platform and intelligent analysis
1. The tunnel multi-source data internet of things communication technology comprises the following steps: the tunnel multi-source data internet-of-things communication network is constructed aiming at tunnel complex environment and severe working conditions, multi-source data such as equipment operation parameters, image video data, three-dimensional point cloud information and structure monitoring data are collected, and the multi-source data are stably transmitted to a platform server database in real time through the network.
2. Explosion construction intelligent management platform: the method comprises the steps of researching and providing a standardized storage and analysis method of tunnel construction multi-source data, mining the operation rule of equipment under different geological conditions by utilizing a big data technology, developing a tunnel construction intelligent management platform, realizing sharing and visual display of data through the platform, realizing safety risk management, quality management, progress management and cost management of drilling and blasting construction, and serving all participants of tunnel construction.
Intelligent technology for shield tunnel construction
The soil bin visualization system comprises: the improvement state of the muck is evaluated through a soil bin visualization technology, and engineering accidents such as unreasonable tunneling parameters, mud cake formation on a cutter head and the like caused by poor muck improvement effect are avoided.
(II) a cutter head state real-time monitoring system: the cutter state monitoring system for the cutter head is carried, so that the cutter state can be monitored in real time, the adverse conditions of abnormal damage, excessive abrasion and the like of the cutter are avoided, and safe and smooth tunneling is guaranteed.
(III) measuring the mass, the volume and the temperature of the muck state: and the state of the muck is monitored in real time, the dynamic balance of the footage and the unearthing of the tunnel face is kept, the tunnel face is prevented from collapsing and sinking to the ground, and the safety and the stability of the tunnel face are ensured.
(IV) a shield tail clearance measuring system: the segment assembling quality is monitored in real time, the gap between the shield tail and the segment is calibrated and measured through a machine vision technology, and segment type selection and assembling quality are optimized.
(V) the soil bin pressure setting and tunneling parameter optimizing technology: and judging the change of geological conditions according to the change of the operation parameters of the equipment, and giving a set value of the pressure of the soil bin by combining survey data.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (8)
1. Intelligent system of tunnel construction equipment, its characterized in that includes:
the external communication network (1), the external communication network (1) is used for being in communication connection with the Beidou;
the intelligent production platform (3) is used for intelligently controlling the tunnel construction equipment, and acquiring, designing and adjusting tunnel construction data;
the intelligent construction site platform (2), wherein the intelligent construction site platform (2) is used for building an intelligent production platform (3);
the tunnel portal roadbed enhancement base station (4) is used for enhancing signals of data transmitted by tunnel construction;
the in-tunnel high-precision base station (5) is used for ensuring the signal intensity in the tunnel and realizing the function of the Internet of things of tunnel construction equipment;
the intelligent production platform (3) comprises:
the drill jumbo (30), the drill jumbo (30) is used for taking charge of drilling and blasting, anchor rod construction;
the explosive charging trolley (31) is used for automatically charging explosives into the blast hole of the tunnel;
a top finding robot (32), wherein the top finding robot (32) is used for removing pumice and debris on the rock surface of the top of the tunnel;
the slag loading and conveying equipment (33) is used for conveying the rocks and soil mined in the tunnel out of the tunnel;
the arch center mounting trolley (34), the arch center mounting trolley (34) is used for assisting high-altitude work such as arch center mounting, mesh mounting and the like in a tunnel;
the concrete spraying hand (35) is used for carrying out guniting operation on the rock surface in the tunnel;
a self-propelled inverted arch trestle (36), the self-propelled inverted arch trestle (36) being used for supporting a tunnel top rock wall and a tunnel side wall;
the automatic waterproof board/steel bar laying trolley (37) is used for laying waterproof steel plates and structural steel bars in the tunnel, and the automatic waterproof board/steel bar laying trolley (37) is used for laying waterproof steel plates and structural steel bars in the tunnel;
the intelligent lining trolley (38), wherein the intelligent lining trolley (38) is used for concrete lining construction of the inner wall of the tunnel;
and the intelligent maintenance trolley (39) is used for forming a closed space on the surface of the concrete in the tunnel, and insulating and moisturizing the concrete.
2. The intelligent system of tunnel construction equipment of claim 1, wherein: rock drilling platform truck (30), powder charge platform truck (31), give for a change robot (32), dress sediment fortune sediment equipment (33), bow member installation platform truck (34), concrete spraying hand (35), self-propelled inverted arch landing stage (36), automatic platform truck (37) of laying of waterproof board reinforcing bar, intelligent lining cutting platform truck (38) and intelligent maintenance platform truck (39) all include data acquisition and transmission module (308), data acquisition and transmission module (308) are used for equipment reception control information and outside transmission acquisition information.
3. The intelligent system of tunnel construction equipment of claim 1, wherein: the drill jumbo (30) comprises a hole distribution diagram and track planning module (301), a large arm automatic positioning module (302), an automatic drilling module (303), a drill boom real-time deviation correction and super-undermining control module (304), a multi-machine cooperative operation interconnection mutual control module (305), a tunnel profile laser scanning module (306) and a drilling and measurement synchronous control module (307), wherein:
the hole distribution diagram and track planning module (301) is used for providing a positioning standard for automatic hole distribution and drilling through laser guidance;
the large arm automatic positioning module (302) is used for automatically positioning the large arm to adjust the excavating depth, angle and direction;
the automatic drilling module (303) is used for automatically drilling holes and holes in the tunnel;
the drill boom real-time deviation rectifying and over-under-digging control module (304) is used for adjusting the digging and drilling depth, angle and direction of the drill boom in real time;
the multi-machine cooperative operation interconnection and mutual control module (305) is used for mutually connecting a plurality of rock drilling trolleys (30) and jointly matching excavation work;
the tunnel contour surface laser scanning module (306) is used for scanning and identifying characteristic obstacles through a tunnel contour, and drilling and excavating;
the drilling and measuring synchronous control module (307) is used for synchronously measuring data of the aperture and the extending direction during drilling in the tunnel, and is convenient for adjusting the drilling.
4. The intelligent system of tunnel construction equipment of claim 3, wherein: the hole distribution diagram and track planning module (301), the large arm automatic positioning module (302), the automatic drilling module (303), the drill arm real-time deviation rectifying and super-under-digging control module (304), the multi-machine cooperative operation interconnection mutual control module (305), the tunnel profile laser scanning module (306) and the drilling and measurement synchronous control module (307) are all in bidirectional signal connection with the data acquisition and transmission module (308).
5. The intelligent system of tunnel construction equipment of claim 1, wherein: the arch installing trolley (34) comprises a total station positioning module (340), a tunnel profile surface laser scanning module (341), a visual monitoring module (342), an automatic arch conveying module (343), a parameter setting module (344) and a construction log module (345), wherein:
the total station positioning module (340) is used for calculating the coordinates of the vehicle body through the total station by using a geometric algorithm, realizing automatic positioning and converting the coordinates into mileage information;
the tunnel profile surface laser scanning module (341) is used for identifying characteristic obstacles through tunnel profile scanning, realizing super under-excavation analysis by matching with a design profile and guiding manual processing of an under-excavation surface before arch erection, and scanning data participates in obstacle avoidance operation;
the visual monitoring module (342) is used for visually monitoring the positions of the arm support, the arch center and other information in the manual arch erecting process;
the automatic arch conveying module (343) is used for automatically conveying the arch to a design position according to arch construction design data, so that subsequent fixing and welding are facilitated;
the parameter setting module (344) is used for sensor calibration, alarm threshold value and control parameter setting, fault information checking and the like, can be operated in an upper computer in a centralized manner, and has the functions of arch frame construction design data design and importing;
and the construction log module (345) is used for recording construction data such as arch erecting time, arch centering position and the like corresponding to each construction cycle and automatically generating a construction log.
6. The intelligent system of tunnel construction equipment of claim 5, wherein: the total station positioning module (340), the tunnel profile laser scanning module (341), the visual monitoring module (342), the automatic conveying arch module (343), the parameter setting module (344) and the construction log module (345) are all in bidirectional signal connection with the data acquisition and transmission module (308).
7. The intelligent system of tunnel construction equipment of claim 1, wherein: the concrete sprayer (35) comprises a three-dimensional laser scanning positioning module (350), a three-dimensional scanning model reconstruction module (351), an arch frame identification module (352), a path automatic planning module (353) and an intelligent spraying module (354), wherein:
the three-dimensional laser scanning positioning module (350) is used for realizing the rapid positioning of the whole machine in the tunnel through a vehicle-mounted three-dimensional laser scanner;
the three-dimensional scanning model reconstruction module (351) is used for analyzing the overbreak and underexcavation of the tunnel outline and reconstructing the three-dimensional model of the tunnel before and after spraying;
the arch frame identification module (352) is used for accurately identifying the characteristics and the position of an arch frame;
the automatic path planning module (353) is used for automatically planning paths according to different excavation methods;
the intelligent injection module (354) is used for controlling the switching between intelligent injection and manual remote control injection.
8. The intelligent system of tunnel construction equipment of claim 7, wherein: the three-dimensional laser scanning positioning module (350), the three-dimensional scanning model reconstruction module (351), the arch frame identification module (352), the path automatic planning module (353) and the intelligent injection module (354) are all in bidirectional signal connection with the data acquisition and transmission module (308).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117231307A (en) * | 2023-10-26 | 2023-12-15 | 重庆交通建设(集团)有限责任公司 | Tunnel monitoring system based on multi-frequency signals |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117231307A (en) * | 2023-10-26 | 2023-12-15 | 重庆交通建设(集团)有限责任公司 | Tunnel monitoring system based on multi-frequency signals |
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