Tunnel boring machine control method based on BIM deep planning

Abstract

The present invention relates to a tunnel boring machine control method based on BIM deep planning, which includes establishing a three-dimensional tunnel model according to geological data; collecting working conditions and mechanical parameters through actual operation; determining the contour of the working face through a laser locator, and generating measurement control elements in combination with the three-dimensional tunnel model; forming a BIM virtual tunnel face scene based on tunnel structure information, working conditions, mechanical parameters and measurement control elements; simulating the entire mechanical excavation operation construction process of a cycle section of the tunnel by using BIM technology, and judging the feasibility of intelligent instruction parameters and decision-making; conducting on-site control excavation construction tests, and judging the feasibility of intelligent control parameters and intelligent decision-making instructions again in dynamic on-site operations, adjusting parameters and improving the accuracy of simulation operations; simulating the mechanical excavation operation construction of the next cycle section of the tunnel by using BIM technology according to the optimized control instructions; and optimizing during implementation until the entire tunnel construction process is completed.

Description

Technical Field

[0001] The present invention belongs to the technical field of tunnel engineering automated construction, and specifically is a tunnel boring machine control method based on BIM in-depth planning. Background Art

[0002] With the research and application of mechanization, automation technology and computer control intelligent technology in the field of construction, in order to adapt to the harsh working environment of narrow underground space with high dust and low illumination, improve the safety factor of employees on the working face, improve the level of intelligent, mechanized and automated construction, reduce manual participation in control, and improve the accuracy of tunnel excavation, research on the intelligent cutting operation of this type of tunnel cantilever tunnel boring machine has become a technical problem that needs to be solved urgently.

[0003] To realize the intelligent control construction of cantilever tunnel boring, it is necessary to control the position and posture of the cantilever boring machine and the cutting head through GIS, BIM, intelligent sensor instrument perception, positioning and tracking; through computer software, based on data resources such as engineering parameters, geological information, construction condition parameters and mechanical parameters, simulate manual operation instructions are formed to realize intelligent control of construction operations. my country's invention patent application, publication number: CN112031874A, publication date: December 4, 2020, discloses a tunnel engineering automation monitoring and control method based on BIM technology, which is based on the automatic sensing positioning of sensors to realize the automatic control of tunnel boring machine construction.

[0004] The above scheme is mainly based on the positioning control of sensors, which has poor accuracy and is difficult to install. The sensors are easily damaged in tunnel working conditions, which directly affects the construction control of the tunnel boring machine. Summary of the invention

[0005] The present invention aims to solve the above problems, thereby providing a tunnel boring machine control method based on BIM deep planning.

[0006] The present invention solves the above-mentioned problem by adopting the following technical solution:

[0007] A tunnel boring machine control method based on BIM deep planning,

[0008] Step 1: Establish a 3D geological model based on BIM according to the geological structure; plan a tunnel in the 3D geological model;

[0009] Step 2: Import the physical and mechanical information of the geological structure into the three-dimensional geological model to establish a digital three-dimensional geological model; set the coordinate system in the digital three-dimensional geological model, and generate tunnel structure information in the form of a set of coordinate points, including the tunnel contour, direction, elevation, and cross-section excavation partition boundary;

[0010] Step 3: Collect working conditions and mechanical parameters: Select the test section for manual cutting operation, a) Collect the mechanical parameters of the roadheader: propulsion speed Vp, impact pressure Ph, propulsion pressure Pt, rotation pressure Pl, water pressure PW, water flow Qw and current power A; b) Collect the excavation working condition parameters of the roadheader: one-time cutting depth, cutting thickness, milling and excavation method and cutting speed; c) Collect the construction working condition parameters: roadheader posture, cutting head posture, cutting trajectory, cutting path and trajectory;

[0011] Step 4: Generate measurement control elements: During the manual cutting operation, the key path in the cutting process of the tunnel boring machine cantilever is spatially located in the coordinate system set in step 2 according to the position of the cutting head. The coordinate data of each key point collected is determined in the form of an array, and each coordinate data is converted into the extension and contraction records of the tunnel boring machine's rotary cylinder and lifting cylinder, thereby generating measurement control elements;

[0012] Step 5: Based on the tunnel structure information, working conditions, mechanical parameters and measurement control elements, the digital 3D geological model is converted into a BIM virtual tunnel face scene. The position and posture of the cantilever tunnel boring machine body and the position and posture of the cutting head in the tunnel are solved through spatial matrix transformation to clearly express the accurate position of the equipment and the main control unit in the tunnel. In the BIM virtual tunnel face scene, the database search algorithm is used to automatically match and generate intelligent control parameters and intelligent decision-making instructions.

[0013] Step 6: Use BIM technology to simulate the entire process of mechanical excavation operation in a tunnel cycle section, conduct virtual construction collision detection, and judge the feasibility of intelligent instruction parameters and decisions in dynamic operations, so as to optimize intelligent control parameters and intelligent decision instructions;

[0014] Step 7: On-site control of excavation construction test according to intelligent control parameters and intelligent decision instructions,

[0015] Step 8: In the dynamic on-site operation, the feasibility of intelligent control parameters and intelligent decision-making instructions is re-determined, parameters are adjusted and the accuracy of simulation calculations is improved, in-depth planning is completed and terminal intelligent excavation control instructions are generated;

[0016] Step 9: Based on the optimized control instructions, use BIM technology to simulate the mechanical excavation operation of the next cycle section of the tunnel;

[0017] Finally, repeat steps 6 to 9 to complete the entire tunnel construction process.

[0018] Compared with the prior art, the present invention using the above technical solution has the following beneficial effects:

[0019] This method provides a set of highly feasible intelligent control parameters and decision-making instructions for the tunnel boring machine, which solves the deviation problem between simulated construction and on-site actual operation; the positioning and orientation accuracy of the tunnel boring machine and the cutting head are high, and the tunnel boring machine control reference is permanent and reliable, which effectively improves the intelligence of tunnel boring construction and ensures the quality of tunnel forming.

[0020] Preferably, a further technical solution of the present invention is:

[0021] The coordinate data of key points collected in step 4 include: 1) Several laser locators are placed on the initial support surface of the excavated tunnel section. The laser locators are used to project lasers onto the working surface 1. The laser spot accurately projects the tunnel excavation contour control line, and the direction of the laser beam indicates the tunnel direction; 2) Any point is taken on the tunnel excavation contour line, tunnel centerline and measurement line, and a series of section boundary points are formed using curve fitting.

[0022] The intelligent decision-making instructions generated in step 5 above include:

[0023] Construction instruction module 1: Cutting motion control, using the planning algorithm to plan a reasonable cutting path and trajectory of the cutting part according to the tunnel parameters, cutting process and tunnel boring machine parameters; according to the trajectory of the cutting part and the planned path, the control amount of the cutting arm joint is calculated through the control algorithm, and then converted into a current signal through the D / A conversion module to control the electro-hydraulic proportional valve; the electro-hydraulic proportional valve is controlled based on the current data collected by the sensor to achieve adaptive cutting;

[0024] Construction instruction module 2: TBM and cutting head position and posture control. When the cantilever TBM is remotely controlled by human-machine interaction, the model parameters that need to be calibrated include virtual-real synchronization and sensor system. The former uses the posture parameters of the physical TBM to correct the posture of the TBM in the virtual scene in real time; the latter calibrates the relevant sensors, including the internal and external parameter calibration of the computer control system of the cutting part position perception and the initial calibration of the strapdown inertial navigation.

[0025] Construction instruction module three: positioning and tracking, through the three-dimensional laser scanning measurement acquisition, sensor processing and computer control system carried by the cantilevered tunnel boring machine, the laser locator laser beam and light spot arranged on the tunnel contour line are used as reference datum to achieve accurate measurement and positioning of the tunnel boring machine body posture in the tunnel and track and control the cutting motion trajectory of the tunnel boring machine.

[0026] The above geological structure data include the thickness of the covering layer, the condition of the bedrock, the location of the concealed fault and fracture zone, the occurrence, the quality of the rock formation, the classification of the engineering geological surrounding rock, the structural characteristics of the geological body, and the longitudinal wave velocity of the water-bearing structure and the lithological surrounding rock.

[0027] In the above step 2, the tunnel structure information includes a coordinate set of each point on the tunnel section, a coordinate set of the boundary points of the tunnel section partitions, and a set of each point of the tunnel section extending along the tunnel direction.

[0028] Specifically, the parameters that can be optimized through actual construction include: self-circulation feed, one-time cutting depth, section division and cutting sequence, cutting section swing speed and its changing method, cutting head rotation speed and its changing method.

[0029] Preferably, the cutting head moves according to the coordinates provided by the control instruction, and decelerates when approaching the next coordinate position. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of three-dimensional modeling of cantilever excavation of a tunnel according to the present invention;

[0031] Figure 2 It is a schematic diagram of the partition excavation and cutting path of the tunnel working face of the present invention;

[0032] Figure 3 It is a schematic diagram of positioning key points of the cutting path of the present invention.

[0033] In the figure: 1. working face; 2. cutting head; 3. roadheader; 4. tunnel; 5. laser locator; 6. computer control system; 7. light spot; 8. cutting path. DETAILED DESCRIPTION

[0034] The present invention is further described below in conjunction with embodiments, the purpose of which is only to better understand the content of the present invention. Therefore, the examples given do not limit the protection scope of the present invention.

[0035] Below, see Figure 1 , Figure 2 , the tunnel boring machine 3 control method based on BIM deep planning provided by the present invention is described in detail.

[0036] 1. Construction of three-dimensional geological model.

[0037] Understanding the surrounding rock geology is the primary condition for the selection of tunnel boom boring machine 3 and the in-depth planning of intelligent control excavation methods, and is the basic data for building a three-dimensional geological model. By consulting the preliminary geological survey data, the detailed geological survey is carried out on the basis of collecting regional geological structure, stratigraphic lithology, and hydrogeology. The detailed geological survey adopts a comprehensive geophysical method, and builds a three-dimensional geological model of the tunnel based on the comprehensive geophysical data of seismic survey refraction wave method, high-density electrical method, and ultrasonic logging method, and indicators such as surrounding rock lithology, occurrence, integrity, and [BQ] value. Specifically: a) The seismic refraction wave method is used to determine the thickness of the overburden layer, the undulation of the bedrock, the location and occurrence of the hidden fault and broken zone, and the evaluation of the rock mass quality and engineering geological surrounding rock classification. b) For the tunnel area with a large exploration depth and the judgment of geological structures such as broken zones and lithological contact zones, the high-density electrical method is used to interpret the structural characteristics of the underground geological body and the water-bearing structure. c) The ultrasonic logging method is used to accurately obtain the longitudinal wave velocity Vp of each lithology surrounding rock in the survey area.

[0038] like Figure 1 As shown in the figure, according to the tunnel size required by the project, a 3D geological model is established based on BIM technology, and the size of the 3D geological model is determined to be width × height × length = (6D + D + 6D) × (D + 6D) + 20D, where D is the equivalent circle diameter of the tunnel. The 3D geological model established in the above work mainly reflects the geological structure of Tunnel 4 and its surroundings.

[0039] Then, the geological data is imported and assigned in the above three-dimensional geological model. Specifically, geological geophysical exploration and drilling, rock physical and mechanical properties, stratum and geographic information data, and spatial coordinate data are added to the three-dimensional geological model, and a "digital three-dimensional geological model" is generated on the basis of the three-dimensional geological model. The digital three-dimensional geological model generated in this step can be used for calculations, construction production can be simulated, and the geological environment and production environment conditions can be accurately expressed.

[0040] 2. Establishment of the data database of cantilever excavation working condition parameters and collection of cantilever mechanical motion and cutting head action parameters.

[0041] A test section was selected for manual cutting operations, and the tunnel mechanical excavation working parameters, cutting process parameters, mechanical parameters of the manually operated cantilever tunnel boring machine, and mechanical motion and cutting head 2 action parameters were collected and organized to form a database.

[0042] 1) Start-up operation sequence: oil pump motor → start the second conveyor → start the first conveyor → start the star wheel → start the cutting head 2, which is the start-up sequence. When it is not necessary to start loading, the cutting motor can also be started after starting the oil pump motor.

[0043] 2) Slotting and expansion, refer to Figure 2As shown, excavation starts from the bottom of the middle section of the working face 1. The cutting head 2 drills 20 cm to perform the first slotting, and then the cutting head 2 swings 30 cm to the outside to complete the slot expansion movement. The cutting head 2 drills 20 cm to perform the second slotting, and the two cutting heads 2 swing 30 cm to the sides to complete the second slot expansion movement. The cutting head 2 drills 20 cm to perform the third slotting, and the two cutting heads 2 swing 300 mm to the sides to complete the third slot expansion movement.

[0044] 3) Cutting operation. After the groove cutting and expansion are completed, the cutting head Figure 2 The cutting path 8 and trajectory shown cuts and sweeps the tunnel cross section from the bottom from left to right and from bottom to top and shapes it in one go.

[0045] Sample collection of equipment parameters of cantilever tunnel boring machine 3: Mechanical parameters include propulsion speed Vp, impact pressure Ph, propulsion pressure Pt, rotation pressure Pl, water pressure PW, water flow Qw, and current power A.

[0046] Sample collection of milling and excavation working condition parameters: working condition parameters include one-time cutting depth, cutting thickness, milling and excavation method, and cutting speed.

[0047] 3. Measurement Control Elements

[0048] During the manual cutting operation, the key path in the cantilever cutting process of the tunnel boring machine 3 is spatially positioned in the coordinate system set in the second step according to the position of the cutting head 2. The coordinate data of each key point collected is determined in the form of an array, and each coordinate data is converted into a record of the extension and retraction amount of the rotary cylinder and the lifting cylinder of the tunnel boring machine 3, thereby generating a measurement control element.

[0049] Specifically, the excavation profile of the tunnel 4 is formed by controlling the rotation and spatial movement of the cutting boom. To provide basic reference information for the control process of automatic cutting, it is first necessary to complete the manual cutting process and record the information. When the operator controls the tunnel boring machine 3 to complete the cutting step and turn, there will be a certain amount of operation stagnation, that is, when the two sets of cylinder valve ports are closed at the same time, the coordinates of the stagnant position need to be recorded until the entire demonstration path is cut. When storing data for the manual demonstration path, the key path position is determined according to the telescopic amount of the rotary cylinder and the lifting cylinder of the cantilever tunnel boring machine 3, and the spatial coordinates are determined according to the cutting head 2, and the coordinate data of each key point collected is determined in array form.

[0050] 4. Import the tunnel 4 structure, working conditions and mechanical parameters and measurement control component elements to generate the BIM virtual tunnel face scene. Specifically,

[0051] First, import the tunnel structure components, such as Figure 1 , Figure 2 As shown in the figure, after the digital 3D geological model is created, the tunnel design structural component elements are imported, and the excavation design contour, direction, elevation and cross-section excavation partition boundary point set of tunnel 4 are used as element features. For example, the tunnel excavation contour line, tunnel centerline and any point of the survey line (Xi, Yi, Zii = 1, 2, ---n) are imported to form a series of cross-section boundary point positions using curve fitting, which clearly expresses the accurate position of tunnel 4 in the stratum.

[0052] Secondly, the measurement control component elements are introduced, and several laser locators 5 are set on the initial support surface of the excavated section of the tunnel 4, which are used for contour positioning, measurement and layout during the excavation of the tunnel 4 and for the guidance of the cantilever tunnel boring machine 3. Specifically, the total station and the laser pointer are combined for measurement and layout. No less than 5 200MW laser locators 5 are installed on the initial support arch, arch waist, side wall and other parts. The laser locators 5 are fixed on the inner side of the support steel frame with strong magnets. Connect the power supply and confirm that the power supply voltage should be within the range of AC or DC 24~260V. Adjustment of the horizontal displacement of the main machine: loosen the two locking screws on the upper part of the main machine and adjust the main machine to the ideal position of the connecting rod and then lock it. Laser coarse adjustment: longitudinally, loosen the two locking screws on the upper part of the main machine to adjust the optical path to the ideal position (at the middle waistline) in the longitudinal direction and lock it; transversely, loosen the transverse coarse adjustment hexagon socket set screws of the main machine to adjust the optical path to the ideal position (at the middle waistline) in the transverse direction and lock it. Fine-tuning: longitudinally, slightly loosen the transverse fine-tuning knob, the light spot needs to be upward, slowly loosen and tighten the longitudinal fine-tuning knob, the light spot needs to be downward, slowly loosen and tighten the longitudinal fine-tuning knob, until the laser spot 7 reaches the correct position; transversely, slightly loosen the longitudinal fine-tuning knob, the light spot faces left, slowly loosen the right and tighten the left, the light spot faces right, slowly loosen the left and tighten the right, until the light spot 7 reaches the correct position. The laser locator 5 is used to project the laser to the working surface 1, and the light spot 7 accurately projects the tunnel excavation contour control line. Based on the design geographic coordinate system of tunnel 4, the coordinate position Ga (Xa, Ya, Za, a=1,2,3--n) of each laser locator point arranged in tunnel 4 and the coordinate position Dm (Xm, Ym, Zm, m=1,2,3--n) of the laser point projected on the tunnel excavation surface Kx+xxx mileage can be determined by total station measurement. The laser points (Xm, Ym, Zm, m=1,2,3--n) of multiple laser locators 5 (Xa, Ya, Za, a=1,2,3--n) arranged in the tunnel 4 and the measuring point positions (Xs, Ys, Zs, s=1,2,3--n) of the three-dimensional scanner arranged on the equipment are used as the measurement control component elements. According to the light spot 7 of the laser locator, the position and posture of the cantilever tunnel boring machine 3 body and the position and posture of the cutting head 2 in the tunnel 4 are solved through the spatial matrix transformation, and the accurate position of the equipment and the main control unit in the tunnel 4 is clearly expressed.

[0053] The cantilever tunnel boring machine 3 is equipped with a data-image collector and a laser sensor, and position-displacement sensors are installed at key walking and moving parts such as the fuselage and the cutting part, which together with the computer control system and the laser locator 5 constitute a measurement and positioning system. Regarding the equipment position measurement, the data-image collector and laser sensor carried by the cantilever tunnel boring machine 3 and the laser locator measuring point G installed on the initial support section of the tunnel 4 are measurement control component elements. The equipment position can be accurately sensed through spatial matrix transformation and solution, that is, the coordinates of the N sensor measuring points S (Xb, Yb, Zb; b=1,2,3--n) installed in the equipment in the tunnel 4 can be known. Regarding the position and attitude measurement of the cantilever tunnel boring machine 3, the cutting part and the motion main control part, the S point data, the installation position of the key walking and moving parts such as the fuselage and the cutting part - the displacement sensor perception data are transmitted to the computer for processing. Combined with the established cantilever tunnel boring machine 3 fuselage posture solution model, the posture of the tunnel boring machine in the tunnel coordinate system can be solved to realize the position and attitude measurement of the cantilever tunnel boring machine 3, the cutting part and the motion main control part.

[0054] Based on BIM technology, the database search algorithm is used in the BIM virtual tunnel face scene to automatically match and generate intelligent control parameters and intelligent decision-making instructions. The instruction types include:

[0055] Construction instruction module 1: cutting motion control. According to the tunnel parameters, cutting process, tunnel boring machine parameters, etc., a reasonable cutting path 8 and trajectory of the cutting part is planned using a planning algorithm. According to the trajectory of the cutting part and the planned path, the control amount of the cutting arm joint is calculated by the control algorithm, and then converted into a current signal to control the electro-hydraulic proportional valve through the D / A conversion module. The electro-hydraulic proportional valve is controlled based on the current data collected by the sensor to achieve adaptive cutting.

[0056] Construction instruction module 2: position and posture control of the tunnel boring machine 3 and the cutting head 2. When the cantilever tunnel boring machine 3 is remotely controlled by human-machine interaction, the model parameters that need to be calibrated include virtual-real synchronization and the sensor system. The former uses the posture and other parameters of the physical tunnel boring machine 3 to correct the posture of the tunnel boring machine 3 in the virtual scene in real time to ensure virtual synchronization and provide technical support for remote virtual control; the latter calibrates related sensors, including the internal and external parameter calibration of the cutting part position perception control system and the initial calibration of the strapdown inertial navigation.

[0057] Construction instruction module three: positioning and tracking. The three-dimensional laser scanning measurement acquisition, sensor processing and computer control system 6 carried by the cantilevered tunnel boring machine 3 uses the laser locator laser beam and light spot 7 arranged on the tunnel contour line as a reference benchmark to achieve accurate measurement and positioning of the tunnel boring machine 3 in the tunnel and track and control the cutting motion trajectory of the tunnel boring machine 3.

[0058] Cutting operation planning and design

[0059] 1) Cutting operation path planning

[0060] Combination Figure 3 According to the tunnel excavation section, combined with the manual cutting operation, the n sets of collected data are fitted to form straight line segments and arc segments. The cutting head 2 designed by the present invention is designed to cut the path horizontally in a one-stop manner and turn upward, such as Figure 3 As shown, the line connecting the line segments from A1 to B1, from B1 to B2, from B2 to A2, from A2 to A3 ... is the planned path of the cutting head 2 during the cutting operation.

[0061] 2) Cutting operation control procedure

[0062] The data of the path calculated and planned in the software and the manually demonstrated path (including the milling and excavation construction sequence, coordinate data of key points of the cutting movement, interval time, swing speed and acceleration of the cutting part, deceleration and stagnation data when approaching the cross-sectional contour and turning, equipment parameter samples, operating conditions parameters, etc.) are fitted using digital twin technology, and the processed data is the automatic cutting operation control program planned in the preliminary design.

[0063] 5. Based on BIM virtual construction simulation and collision detection,

[0064] The construction simulation software is driven by physical quantities such as virtual operation control system instructions and decisions and data to establish a 3D animation virtual face excavation. The constructed three-dimensional virtual tunnel face scene is associated with the 3D animation virtual face excavation and the time dimension is added to achieve the simulation of the dynamic construction process. BIM technology is used to simulate the entire process of mechanical excavation operation of a cycle section of the tunnel, and collision detection is performed on the virtual construction environment (geological conditions, tunnel space), motion relationship (tunnel section boundary and contour, cantilever tunnel boring machine position, laser locator 5 and laser point position, sensor position), motion sequence (tunnel boring machine movement, cutting head movement), etc. In the dynamic operation, the feasibility of construction control instructions and decisions is directly judged, construction simulation collision and optimization are carried out, parameters are adjusted, the accuracy of simulation calculations is improved, in-depth planning is completed, and terminal intelligent excavation control instructions are generated.

[0065] 6. Conduct on-site control of tunneling construction tests based on intelligent control parameters and intelligent decision-making instructions. In dynamic on-site operations, the feasibility of intelligent control parameters and intelligent decision-making instructions is re-judged, parameters are adjusted and the accuracy of simulation operations is improved, in-depth planning is completed and terminal intelligent tunneling excavation control instructions are generated.

[0066] Construction parameter setting. The operator sets the construction parameter settings through the control panel. The parameters mainly include: ① Tunnel section shape, section size, tunnel direction, tunnel milling construction start and end mileage; ② Cutting process, cycle footage, one-time cutting depth, division and cutting sequence, etc.; Cutting section swing speed and change method, cutting head speed and change method, etc.; ③ Position control identification parameters, tunnel space coordinates, laser locator coordinates; ④ Cantilever TBM posture position. The initial posture of the fuselage centerline and the tunnel centerline coordinates, the cutting head coordinates and the centerline coordinate vector value, cutting head parameters, etc.

[0067] Automatic cutting operation. The operator inputs the construction parameters through the human-machine interface, and the equipment computer control system 6 displays the cutting head trajectory, the body position trajectory and the cutting progress according to the pre-designed program, and displays the speed, range, start and stop direction of the automatic control cutting mechanism. After starting the automatic program, the cantilever tunneling machine 3 completes the entire cutting operation, displays the position and remaining amount of the cutting head 2 on the planned trajectory in real time, and automatically cuts the tunnel section reasonably in a way that meets the requirements of the preset plan.

[0068] The cutting control is planned in the computer control system 6, and some coordinate points in the intelligent control system are the control parameters for the movement of the cutting head 2. After starting the intelligent control program for the automatic cutting operation, the computer control system 6 can accurately control the movement of the cutting part. For example, within a certain time t, the cutting part moves from point A to point B according to the designed trajectory. At the same time, the human-machine interface of the tunnel boring machine displays the position and remaining amount of the cutting part on the planned trajectory in real time until the entire cutting operation is completed. When the deviation between the actual coordinates of the cutting part movement and the theoretical coordinate point of the design center exceeds the set error (for example, the set vector value deviation is 50mm), the computer control system 6 issues an alarm prompting that human intervention is required, and the operator operates the cantilever tunnel boring machine 3 to automatically control and adjust the posture according to the prompt.

[0069] 7. According to the optimized control instructions, use BIM technology to simulate the mechanical excavation construction of the next cycle section of the tunnel. Repeat the above control instruction optimization steps to complete the whole process of tunnel construction. Through the tunnel intelligent control excavation process test, summarize the feasibility of the intelligent control instructions and decisions of the tunnel boring machine, simulate the deviation problems between construction and on-site operation, the positioning and orientation accuracy of the tunnel boring machine 3 and the cutting head 2, the tunnel forming quality, etc.; summarize and accumulate experience through the test results, improve the cantilever tunneling intelligent control instructions and on-site off-machine operation human-computer interaction, and transform the results into practical applications.

[0070] The above description is only a preferred feasible embodiment of the present invention, and does not limit the scope of rights of the present invention. All equivalent changes made using the contents of the present specification and its drawings are included in the scope of rights of the present invention.

Claims

1. A tunnel boring machine control method based on BIM deep planning, Step 1: Establish a 3D geological model based on BIM according to the geological structure; plan a tunnel in the 3D geological model; Step 2: Import the physical and mechanical information of the geological structure into the three-dimensional geological model to establish a digital three-dimensional geological model; A coordinate system is set in the digital 3D geological model, and the tunnel contour, direction, elevation and cross-section excavation partition boundary are generated into tunnel structure information in the form of a set of coordinate points; Features: Step 3: Collect working conditions and mechanical parameters: Select the test section for manual cutting operation, a) Collect the mechanical parameters of the roadheader: propulsion speed Vp, impact pressure Ph, propulsion pressure Pt, rotation pressure Pl, water pressure PW, water flow Qw and current power A; b) Collect the excavation working condition parameters of the roadheader: one-time cutting depth, cutting thickness, milling and excavation method and cutting speed; c) Collect the construction working condition parameters: roadheader posture, cutting head posture, cutting trajectory, cutting path and trajectory; Step 4: Generate measurement control elements: During the manual cutting operation of the test section, the key path in the cantilever cutting process of the roadheader is spatially located in the coordinate system set in step 2 according to the position of the cutting head. The coordinate data of each key point collected is determined in the form of an array, and each coordinate data is converted into the extension and contraction records of the rotary cylinder and the lifting cylinder of the roadheader, thereby generating measurement control elements; Step 5: Based on the tunnel structure information, working conditions, mechanical parameters and measurement control elements, the digital 3D geological model is converted into a BIM virtual tunnel face scene. The position and posture of the cantilever tunnel boring machine body and the position and posture of the cutting head in the tunnel are solved through spatial matrix transformation to clearly express the accurate position of the equipment and the main control unit in the tunnel. In the BIM virtual tunnel face scene, the database search algorithm is used to automatically match and generate intelligent control parameters and intelligent decision-making instructions. Step 6: Use BIM technology to simulate the entire process of mechanical excavation operation in a tunnel cycle section, conduct virtual construction collision detection, and judge the feasibility of intelligent instruction parameters and decisions in dynamic operations, so as to optimize intelligent control parameters and intelligent decision instructions; Step 7: On-site control of excavation construction test according to intelligent control parameters and intelligent decision instructions, Step 8: In the dynamic on-site operation, the feasibility of intelligent control parameters and intelligent decision-making instructions is re-determined, parameters are adjusted and the accuracy of simulation calculations is improved, in-depth planning is completed and terminal intelligent excavation control instructions are generated; Step 8: Based on the optimized control instructions, use BIM technology to simulate the mechanical excavation operation of the next cycle section of the tunnel; Finally, repeat steps 6 to 8 to complete the entire tunnel construction process.

2. The tunnel boring machine control method based on BIM deep planning according to claim 1 is characterized by: The coordinate data of key points collected in step 4 include: 1) Several laser locators are placed on the initial support surface of the excavated tunnel section. The laser locators are used to project lasers onto the working surface 1. The laser spot accurately projects the tunnel excavation contour control line, and the direction of the laser beam indicates the tunnel direction; 2) Any point is taken on the tunnel excavation contour line, tunnel centerline and measurement line, and a series of section boundary points are formed using curve fitting.

3. The tunnel boring machine control method based on BIM deep planning according to claim 2 is characterized in that: The intelligent decision-making instructions generated in step 5 include: Construction instruction module 1: Cutting motion control, using the planning algorithm to plan a reasonable cutting path and trajectory of the cutting part according to the tunnel parameters, cutting process and tunnel boring machine parameters; according to the trajectory of the cutting part and the planned path, the control amount of the cutting arm joint is calculated through the control algorithm, and then converted into a current signal through the D / A conversion module to control the electro-hydraulic proportional valve; the electro-hydraulic proportional valve is controlled based on the current data collected by the sensor to achieve adaptive cutting; Construction instruction module 2: TBM and cutting head position and posture control. When the cantilever TBM is remotely controlled by human-machine interaction, the model parameters that need to be calibrated include virtual-real synchronization and sensor system. The former uses the posture parameters of the physical TBM to correct the posture of the TBM in the virtual scene in real time; the latter calibrates the relevant sensors, including the internal and external parameter calibration of the computer control system of the cutting part position perception and the initial calibration of the strapdown inertial navigation. Construction instruction module three: positioning and tracking, through the three-dimensional laser scanning measurement acquisition, sensor processing and control computer system carried by the cantilevered tunnel boring machine, the laser locator laser beam and light spot arranged on the tunnel contour line are used as reference datum to achieve accurate measurement and positioning of the tunnel boring machine body posture in the tunnel and track and control the cutting motion trajectory of the tunnel boring machine.

4. The tunnel boring machine control method based on BIM deep planning according to claim 1 is characterized in that: The geological structure data include the thickness of the cover layer, the condition of the bedrock, the location of the hidden fault and fracture zone, the occurrence, the quality of the rock formation, the classification of the engineering geological surrounding rock, the structural characteristics of the geological body, and the longitudinal wave velocity of the water-bearing structure and the lithological surrounding rock.

5. The tunnel boring machine control method based on BIM deep planning according to claim 1 is characterized by: In step 2, the tunnel structure information includes a set of coordinates of each point on the tunnel section, a set of coordinates of the boundary points of the tunnel section partitions, and a set of points extending along the tunnel section.

6. The tunnel boring machine control method based on BIM deep planning according to claim 1, characterized in that: The parameters that can be optimized through actual construction are: self-circulation feed, one-time cutting depth, section division and cutting sequence, cutting section swing speed and its changing method, cutting head speed and its changing method.

7. The tunnel boring machine control method based on BIM deep planning according to claim 1 is characterized by: The cutting head moves according to the coordinates provided by the control command, and slows down when approaching the next coordinate position.

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