Tunneling robot for tunneling and remote mobile terminal command system

Abstract

The invention discloses a tunneling robot for tunneling and a remote mobile terminal command system. The robot comprises a body tunneller of the tunneling robot, a sensing unit arranged on the tunneller, an intelligent decision-making unit and a control unit, wherein the sensing unit is communicatively connected with the intelligent decision-making unit, the intelligent decision-making unit is communicatively connected with the control unit, the sensing unit senses a current cycle in real time, the tunneller obtains tunneling operation data during the tunneling operation according to tunnelingparameter setting information, the intelligent decision-making unit receives the tunneling operation data sent by the sensing unit and generates tunneling parameter setting information of a next cycle according to a preset prediction algorithm, the tunneling operation data and desired tunneling effect prediction, and the control unit receives the information and controls the tunneller to executethe next cycle of the tunneling operation according to the tunneling parameter setting information. The robot can execute on-line monitoring, independent decision-making feedback control and unmannedtunneling operation in the tunneling process and achieves unmanned operation or remote control of the tunneller.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to an excavation robot and a remote mobile terminal command system for tunnel excavation. Background technique [0002] At present, my country is the second largest economy in the world, and there is a large demand for cross-domain allocation of water resources, hydropower development, and transportation construction. A batch of major infrastructure such as water conservancy and hydropower projects, railways, and highway transportation projects have started construction one after another, and tunnels are key construction control projects for water conservancy, hydropower, and transportation construction. [0003] The demand for roadheaders in my country's water conservancy and hydropower construction will explode. For example, the first phase of the planned South-to-North Water Diversion West Line project has a total length of 264km of deep-buried long tunnels, the longes...

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Problems solved by technology

[0007] In view of the construction problems of large faults, broken zones, high ground stress, rockbursts, water inrush and other unfavorable geological tunnel sections under complex geological conditions faced by tunnel construction at present, the relevant operation methods can only be guessed based on the human experience of the operators in the main control room Surrounding rock state parameters, relying on technical problems such as time-consuming and labor-intensive trials of different tunneling parameters, abnormal wear and tear of the cutterhead and cutter head, and damage to other key components of the roadheader, artificially control the actuators of the roadheader to implement the tunneling action belt The quality of the excavation construction in the future cannot meet the expectations and even cause major construction accidents

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