Intelligent underground space excavation and construction system based on AI and swarm robots

Abstract

The present invention relates to the field of tunnel technology, and specifically to an intelligent underground space excavation and construction system based on AI and swarm robots. The present invention comprises the following steps: S1, horizontal directional drilling of a center hole; S2, collecting digital twin data; S3, sending a semi-autonomous robot into a pipeline; S4, using a CNC numerical control mechanical arm to drill a precise hole chamber in the geology; S5, filling the chamber with suitable construction materials; S6, using a driven shield technology to transport the abandoned soil away from the construction site; S7, processing the tunnel wall. The present invention can improve the excavation efficiency, significantly reduce the development cost of the underground space, and realize an efficient and economical excavation process. At the same time, the trenchless construction technology is adopted, which greatly reduces the impact on the ground environment and effectively prevents the occurrence of geological damage, thereby ensuring the sustainability and environmental protection of the construction. The use of advanced construction technology can ensure the construction quality of the underground space and reduce safety hazards.

Description

Technical Field

[0001] The present invention relates to the field of tunnel technology, and in particular to an intelligent underground space excavation and construction system based on AI and swarm robots. Background Art

[0002] A tunnel is an engineering structure buried in the ground. It is a form of human utilization of underground space. Tunnels can be divided into traffic tunnels, hydraulic tunnels, municipal tunnels, mining tunnels, etc.

[0003] Traditional underground tunnel space excavation and construction methods, such as drilling, blasting, digging and pouring, have problems such as low efficiency, high cost, great impact on the environment, easy to cause geological damage, difficult to ensure construction quality and many safety hazards. In recent years, some new underground space excavation and construction methods such as micro tunnel boring machine (MTBM), shield method and drilling and blasting method have been developed.

[0004] However, existing technologies, such as the shield method and the drill and blast method, have high requirements on geological conditions and are used in soft rock or medium-hard rock respectively. The diameter of the tunnel excavated by the shield method is larger, while the drill and blast method is easy to affect the environment and the tunnel quality is relatively poor, posing a safety hazard and cannot be widely promoted for use. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent underground space excavation and construction system based on AI and swarm robots to solve the problems raised in the above background technology.

[0006] The purpose of the present invention can be achieved through the following technical solutions:

[0007] The intelligent underground space excavation and construction system based on AI and swarm robots includes the following steps:

[0008] S1, horizontal directional drilling of the center hole;

[0009] S2, collect digital twin data;

[0010] S3, sending the semi-autonomous robot into the pipeline;

[0011] S4, use CNC machine arms to drill precise holes in the geology;

[0012] S5. Filling the chamber with suitable construction materials;

[0013] S6. Use drive shield technology to transport spoil away from the construction site;

[0014] S7. Treat the tunnel wall.

[0015] Preferably, in step S1, before drilling the center hole, a geological survey is first conducted to determine the location of the underground hole to be drilled, and a drilling rig and a corresponding drill bit are set.

[0016] Preferably, in step S1, after drilling the center hole, marking material or paint is used to mark the area around the area to be drilled, and multiple holes of the same shape are drilled at the marked areas.

[0017] Preferably, in step S2, the sensor is first installed and then connected to the data acquisition system. By starting the data acquisition system, real-time data is collected from the sensors in the underground space, and the acquired data is stored in a special database to ensure effective monitoring and long-term recording of the underground environment.

[0018] Preferably, in step S3, the semi-autonomous robot is precisely placed in the pipeline, and then the robot is started and guided to reach the target position to perform survey and installation tasks.

[0019] Preferably, in step S4, the CNC numerical control robotic arm is first assembled and installed on the robot to achieve efficient integration, and then the CNC numerical control robotic arm is started and accurately guided to the target position to achieve positioning and control of the robotic arm.

[0020] Preferably, in step S5, the construction materials are first transported to the target cavity position, followed by filling of the construction materials, and then the cavity is precisely poured to form a permanent continuous structure.

[0021] Preferably, in step S7, the tunnel wall is waterproofed to prevent the interior of the tunnel from being affected by water penetration.

[0022] Beneficial effects of the present invention:

[0023] The present invention provides an intelligent underground space excavation and construction system, which integrates key components such as horizontal directional drilling machine, digital twin data collection system, semi-autonomous robot, CNC numerical control robot arm and intelligent structure. The system realizes efficient, intelligent, accurate and reliable underground space excavation and construction through precise drilling, real-time data collection, task execution in narrow space, precise carving and intelligent support structure. Through this innovative system, underground engineering can be more controllable and sustainable, providing advanced solutions for the development of underground space and promoting technological progress in the field of underground construction.

[0024] The present invention can improve excavation efficiency, significantly reduce the development cost of underground space, and realize an efficient and economical excavation process. At the same time, the trenchless construction technology is adopted, which greatly reduces the impact on the ground environment and effectively prevents the occurrence of geological damage, thereby ensuring the sustainability and environmental protection of the construction. The use of advanced construction technology can ensure the construction quality of the underground space and reduce safety hazards.

[0025] The present invention, combined with advanced construction technology, can effectively ensure the construction quality of underground space, minimize potential safety hazards, and provide a solid guarantee for the reliability of the project. At the same time, it has flexibility and can construct a variety of underground spaces according to different needs, providing greater customization and adaptability for the project. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 It is a schematic diagram of the process of the present invention;

[0028] Figure 2 is a schematic diagram of the drilling equipment used in step S1 of the present invention;

[0029] Figure 3 It is a schematic diagram of the operation pipeline of the autonomous robot of the present invention;

[0030] Figure 4 is a schematic diagram of the motion of the semi-autonomous robot of the present invention;

[0031] Figure 5 It is a schematic diagram of automatic anchoring of the robot in the present invention;

[0032] Figure 6 It is a schematic diagram of the staggered flipping motion of the robot in the present invention;

[0033] Figure 7 is a schematic diagram of the excavation of the mechanical arm in the present invention;

[0034] Figure 8 It is a schematic diagram of material filling in the present invention;

[0035] Fig. 9 It is a schematic diagram of the equipment for transporting waste away from the construction site in the present invention.

[0036] The reference numerals in the figures are as follows:

[0037] 21. Explosion-proof tire, 22. Tunnel superstructure, 23. Air hole, 24. Telescopic device, 25. Telescopic device, 31. Fixing device, 32. Telescopic head, 33. Rotating body, 34. Air hole, 35. Anchor nail, 41. Moving ring, 42. Internal shaft, 43. Rotatable bearing, 44. Signal device, 45. Smooth shell, 51. Left surrounding rock, 52. Robot arm opening, 53. Middle surrounding rock, 54. CNC robot arm, 55. Unexcavated part, 56. Right Side surrounding rock, 57, central shaft, 61, pipeline, 62, data acquisition and transmission equipment, 63, semi-autonomous robot, 64, emergency response system, 71, propulsion system, 72, drilling system, 81, first moving ring, 82, air hole, 83, internal shaft, 84, connecting device, 85, rotatable bearing, 86, rear main shaft body, 87, second moving ring, 91, already excavated chamber, 92, unexcavated rock mass, 93, grouting hole, 94, lower part of the excavated cavity. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] In the present invention, swarm robotics is a distributed robotic system consisting of a large number of simple and autonomous robots. These robots complete complex tasks by cooperating with each other. Each robot in the swarm robotic system has its own controller, and these controllers are coordinated through a wireless communication network, which makes the swarm robotic system have strong robustness and adaptability. Even if one or more robots fail, the system can continue to work normally. Each robot in the system can only perceive environmental information within a limited range around it, so it has strong autonomy and flexibility and can work in unknown or complex environments. Complex tasks are completed by cooperating with each other. This collaborative behavior is usually achieved through simple rules, but these simple rules can produce complex behaviors, so it can solve problems that traditional robotic systems cannot solve.

[0040] Digital twin: A digital twin is a virtual model that is associated with a physical entity (such as a device, machine, or building) and updates the state and behavior of the physical entity in real time. This model is updated to reflect changes in the actual object, facilitating real-time monitoring, prediction, and decision support.

[0041] Horizontal Directional Drilling (HDD) Technology: Horizontal Directional Drilling (HDD) technology is a trenchless construction method that aims to accurately lay pipelines, cables and other facilities in the horizontal direction underground without the need for traditional surface excavation. This technology uses drilling equipment to survey the target area, set up the drilling rig and install the drill bit to complete the horizontal drilling, and then achieves high efficiency and minimizes surface disturbance in underground projects through adaptive hole expansion and precise layout of target pipelines or cables. HDD technology is widely used in projects such as urban pipeline laying and traffic tunnel construction, reducing the impact on the environment and traffic, and showing significant environmental protection and high efficiency advantages.

[0042] The intelligent underground space excavation and construction system based on AI and swarm robots includes the following steps:

[0043] Step S1, horizontal directional drilling of the center hole:

[0044] Horizontal directional drilling (HDD) is a trenchless construction technology. First, a geological survey is conducted before construction to determine the location where the underground holes need to be drilled, and a drilling rig and corresponding drill bit are set up. Then, the drilling rig uses the drill bit to accurately drill a hole in the ground. The depth and diameter of the drill are determined according to the specifications of the pipeline. After the drilling is completed, the area around the required drilling is marked with marking materials or paint. Finally, multiple holes of the same shape are drilled at the marked locations, and the holes are drilled in a circle.

[0045] like Figure 1 When drilling, drilling equipment is used for drilling, and the drilling equipment includes: a propulsion system 71 and a drilling system 72.

[0046] The propulsion system 71 is connected to the drilling system 72 and is used to push the drill rod and the drill bit forward so as to perform continuous drilling operations underground.

[0047] The drilling system 72 includes a drill bit for drilling underground, and a drill rod system that connects and transmits torque and rotational power.

[0048] Step S2: Collect digital twin data:

[0049] Digital twin data is collected to provide access reference for scientific research. First, the sensors are installed, and then the connection with the data acquisition system is implemented. By starting the data acquisition system, real-time data is collected from the sensors in the underground space, and the acquired data is stored in the database to ensure effective monitoring and long-term recording of the underground environment.

[0050] like Figure 3 , Figure 3It is a schematic diagram of the autonomous robot operation pipeline of the present invention, including a pipeline 61 and an emergency response system 64 connected to the pipeline, the emergency response system 64 is connected to a data acquisition and transmission device 62, and there is a semi-autonomous robot 63 in the pipeline.

[0051] Pipe 61: It is convenient for the robot to move in the pipe 61, and each direction contains multiple pipes 61;

[0052] Data collection and transmission equipment 62: It carries sensors to collect real-time data and transmits the data to the ground control center through a communication system. Such real-time data helps to make timely decisions and optimize the management and operation of underground projects;

[0053] Semi-autonomous robot 63: can enter narrow underground spaces and perform survey and measurement tasks;

[0054] Emergency response system 64: When an emergency or accident occurs, the semi-autonomous robot 63 can be used as an emergency response tool to enter the dangerous area for detection, rescue or other necessary actions to ensure the safety of personnel.

[0055] like Figure 4 The semi-autonomous robot 63 includes an internal shaft 42 , a moving ring 41 and a rotatable bearing 43 are arranged at both ends of the internal shaft 42 , and a smooth shell 45 is arranged in the pipe 61 .

[0056] Mobile ring 41: flips over and rotates to avoid another autonomous robot 63 when encountering it;

[0057] Internal shaft 42: controls the movement of the autonomous robot;

[0058] Rotatable bearing 43: facilitates the rotation of the moving ring 41;

[0059] Signal device 44: for enhancing the signal of the robot in underground areas where the signal is sparse;

[0060] Smooth shell 45 : It is convenient for the robot to slide and move in the smooth shell 45 .

[0061] Step S3: Send the semi-autonomous robot into the pipeline to perform survey, installation and other tasks:

[0062] The semi-autonomous robot is precisely placed in the pipeline, then started and guided to the target position. Once activated, the semi-autonomous robot performs multiple tasks, including survey and installation. This series of processes achieves efficient management and operation of the interior of the pipeline through the precise control and task execution of the semi-autonomous robot.

[0063] like Figure 4 The robot is provided with a fixing device 31, a telescopic head 32, a rotating body 33, an air hole 34 and an anchoring nail 35:

[0064] Fixing device 31: used to connect the entire structure together;

[0065] Telescopic head 32: used to drive anchor nails and fix them on the pipe body and the rock formation;

[0066] The rotating body 33 is used to rotate out and form a circle with the lower part after the robot moves to the fixed position, drive the anchor nail 35 into the rock, and then leave;

[0067] The air hole 34 is used to remove the gas and heat generated during the movement of the robot;

[0068] The anchor nails 35 are used to anchor the whole structure to the bottom of the surrounding rock to fix the pipe body.

[0069] Step S4, using a CNC robot arm to carve a precise chamber in the geology;

[0070] First, the CNC robot arm was assembled and installed on the robot for efficient integration. Then, the CNC robot arm was started and accurately guided to the target position to achieve positioning and control of the robot arm. As the robot arm started, its different directions and extensions were controlled to perform precise excavation in different directions in the geology, creating a chamber structure that met the engineering requirements.

[0071] like Figure 6 The robot is provided with a first moving ring 81, an air hole 82, an internal shaft 83, a connecting device 84, a rotatable bearing 85, a rear main shaft body 86 and a second moving ring 87:

[0072] A first movable ring 81, the first movable ring 81 is in a closed state;

[0073] The air hole 82 is used to remove the gas and heat generated during the movement;

[0074] An internal shaft 83 for controlling the movement of the autonomous robot;

[0075] A connecting device 84 for connecting the front end and the rear end of the autonomous robot;

[0076] A rotatable bearing 85 facilitates the rotation of the mobile ring;

[0077] The rear spindle body 86 is the main moving part and can rotate independently;

[0078] The second moving ring 87 is in an open state.

[0079] like Figure 7 , Figure 7 is a schematic diagram of the excavation of the mechanical arm in the present invention, Figure 7It includes left surrounding rock 51, mechanical arm opening 52, middle surrounding rock 53, CNC mechanical arm 54, unexcavated part 55, right surrounding rock 56 and central shaft 57;

[0080] The left surrounding rock 51 is solid rock and is located on the left side that needs to be excavated;

[0081] The mechanical arm opening 52 is used for the CNC mechanical arm to extend;

[0082] The middle side surrounding rock 53 is solid rock and is located at the middle side that needs to be excavated;

[0083] CNC robot arm 54 is a mechanical device that can automatically perform various tasks through pre-set programs;

[0084] The unexcavated portion 55 is the rock mass to be excavated;

[0085] The right surrounding rock 56 is solid rock and is located on the right side that needs to be excavated;

[0086] The central shaft 57 is used to control the forward, backward, left and right movement of the robot arm around the opening, and to control the extension amount of the robot arm.

[0087] Step S5, filling the chamber with suitable construction materials and casting into a permanent continuous structure;

[0088] First, the construction materials need to be transported to the target cavity location, followed by filling of the construction materials. Subsequently, the cavity is precisely poured to form a permanent continuous structure. This series of processes realizes the structural formation of the underground space through rigorous material transportation, precise filling and professional pouring, providing a solid foundation for the reliability and durability of the project.

[0089] Figure 8 is a schematic diagram of material filling of the present invention, Figure 8 It includes an excavated chamber 91, an unexcavated rock mass 92, a grouting hole 93, and a lower portion 94 of the excavated chamber;

[0090] The already dug chamber 91 is the upper part of the cavity;

[0091] The unexcavated rock mass 92 is on both sides of the rock mass;

[0092] Grouting holes 93, one above and one below, are used to inject grout into the excavated cavity from two directions;

[0093] The lower part 94 of the excavated cavity is injected with grout from the grouting hole 93 to the lower part.

[0094] Step S6: using the drive shield technology to transport the waste soil away from the construction site;

[0095] By starting the drive shield and transporting the spoil away from the construction site in an orderly manner, the spoil is crushed by the device and loaded into the waste transport vehicle for transport out of the tunnel, ensuring the progress of the underground tunnel project. At the same time, the efficient operation of the drive shield provides solid support for the transportation of waste.

[0096] like Fig. 9 , Fig. 9 is a schematic diagram of equipment for transporting waste away from a construction site in the present invention, Fig. 9 The tunnel comprises a blast-proof tire 21, a tunnel superstructure 22, air holes 23, a telescopic device 24 and a shoveling device 25:

[0097] Vehicles may encounter various sharp objects on the construction site, and tires usually need to have certain explosion-proof performance. The explosion-proof tire 21 is used to prevent leakage caused by sharp objects damaging the tire;

[0098] The tunnel superstructure 22 is the upper part of the tunnel that has been opened;

[0099] Hole 23. In order to reduce the impact of dust on workers and the environment during excavation, the vehicle may be equipped with a spray system to settle or suppress dust by spraying water mist or other chemicals;

[0100] The telescopic device 24 is used to push the shovel device 25 to dig;

[0101] The shoveling device 25 is made of a sharp object and is used to shovel waste away from the construction site like a transport vehicle.

[0102] Step S7: Process the tunnel wall.

[0103] The tunnel wall was reinforced to improve its stability and strength. Subsequently, the tunnel wall was waterproofed and protective measures such as waterproof layer were adopted to ensure that the interior of the tunnel was protected from water penetration, paving the way for its lifelong use.

[0104] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. Intelligent underground space excavation and construction system based on AI and swarm robots, characterized by: The following steps are involved: S1, horizontal directional drilling of the center hole; S2, collect digital twin data; S3, sending the semi-autonomous robot into the pipeline; S4, use CNC machine arms to drill precise holes in the geology; S5. Filling the chamber with suitable construction materials; S6. Use drive shield technology to transport spoil away from the construction site; S7, processing tunnel wall; In the step S1, before drilling the center hole, a geological survey is first conducted to determine the location of the underground hole to be drilled, and a drilling rig and a corresponding drill bit are set; In the step S1, after drilling the center hole, a marking material or paint is used to mark the area around the area to be drilled, and multiple holes of the same shape are drilled at the marked area; Punch holes in a circle around the perimeter; In step S2, the sensor is first installed, and then connected to the data acquisition system. By starting the data acquisition system, real-time data is collected from the sensors in the underground space, and the acquired data is stored in a special database to ensure effective monitoring and long-term recording of the underground environment. In step S3, the semi-autonomous robot is precisely placed in the pipeline, and then the robot is started and guided to reach the target position to perform the survey and installation tasks; In the step S4, the CNC numerical control robot arm is first assembled, and the CNC numerical control robot arm is installed on the robot to achieve efficient integration, and then the CNC numerical control robot arm is started and accurately guided to the target position to achieve positioning and control of the robot arm; In the step S5, the construction materials are first transported to the target cavity position, and then filled with the construction materials. After that, the cavity is precisely poured to form a permanent continuous structure.

2. The intelligent underground space excavation and construction system based on AI and swarm robots according to claim 1 is characterized in that: In step S7, waterproofing is performed on the tunnel wall to prevent the interior of the tunnel from being affected by water penetration.

Images