A method and device for manufacturing support steel strips adapted to uneven roadway contours

Abstract

This invention discloses a method for manufacturing support steel strips adapted to uneven roadway contours, comprising the following steps: S1, after roadway cross-section excavation, acquiring three-dimensional data of the roadway cross-section; S2, performing data denoising processing on the acquired three-dimensional data of the roadway cross-section, and outputting denoised three-dimensional data of the roadway cross-section; S3, establishing a three-dimensional model of the roadway cross-section based on the denoised three-dimensional data of the roadway cross-section; S4, establishing a plane coordinate system of the roadway cross-section based on the three-dimensional model of the roadway cross-section, and marking the bending parameters of the steel strip in the plane coordinate system of the roadway cross-section; S5, setting one end of the steel strip as the origin of the coordinate system, and completing the bending operation of the steel strip according to the bending parameters; S6, numbering and marking the finished steel strips after the bending operation, and completing the roadway cross-section anchoring operation according to the numbering and marking order. This method can efficiently and accurately manufacture steel strips with a high degree of fit to the roadway contour, ensuring the quality of the anchoring operation and avoiding long-distance transportation of materials.

Description

Technical Field

[0001] This invention relates to the field of tunnel support technology, and in particular to a method and apparatus for manufacturing support steel strips adapted to the uneven contours of tunnels. Background Technology

[0002] Steel strips, as a support material, are widely used in mines, tunnels, roadways, and other projects requiring support and reinforcement. By using steel strips, multiple dispersed anchor bolts and cables can be connected to form an anchoring system, creating an integral load-bearing structure. At the same time, the preload of the anchor bolts and cables is diffused, increasing the range of preload action, improving the stress state of the surrounding rock, and significantly enhancing the support effect of the anchoring system. This provides a strong guarantee for efficient coal mine production, thus steel strips play an important role in roadway support operations.

[0003] In actual support operations, the roadway surface is often uneven due to geological conditions and tunneling disturbances. Straight steel strips are difficult to effectively adhere to uneven roadway surfaces. This results in some roadways lacking steel strip surface protection, leading to poor surface protection. Furthermore, due to mining stress, large deformations in the roadway can cause stress concentration in areas with poor contact with the surrounding rock, causing the steel strip to tear, affecting the overall integrity of the anchoring system and threatening the stability of the surrounding rock. Simultaneously, the steel strips currently used are typically mass-produced and standardized products with fixed lengths and widths. However, due to limitations imposed by geological conditions in some areas and poor roadway shaping, existing steel strips are prone to length mismatches during use, such as single strips being too long or multiple strips being spliced ​​together. These issues not only reduce construction efficiency but also pose certain safety risks to the stability of the surrounding rock. Summary of the Invention

[0004] To address the problems existing in the prior art, the present invention provides a method and apparatus for manufacturing support steel strips adapted to the uneven contours of roadways.

[0005] The technical solution of this invention is as follows: A method for manufacturing support steel strips adapted to uneven roadway contours includes the following steps: S1, after the tunnel cross-section excavation operation, collect three-dimensional data of the tunnel cross-section; S2 performs data denoising on the collected three-dimensional cross-sectional data of the tunnel and outputs the denoised three-dimensional cross-sectional data of the tunnel. S3, Based on the noise-reduced three-dimensional cross-sectional data of the tunnel, a three-dimensional model of the tunnel cross-section is established; S4. Based on the three-dimensional model of the tunnel cross section, establish a plane coordinate system for the tunnel cross section and mark the steel strip bending parameters in the plane coordinate system of the tunnel cross section. S5, set one end of the steel strip as the origin of the coordinate system, and complete the steel strip bending operation according to the steel strip bending parameters in sequence; S6. Number and mark the finished steel strips after bending, and complete the roadway cross-section anchoring operation according to the numbering and marking sequence.

[0006] Furthermore, three-dimensional data of the tunnel cross-section are obtained by scanning with a three-dimensional laser scanner. The three-dimensional data of the tunnel cross-section includes the arch width, arch height, and arch curvature of the tunnel cross-section.

[0007] Furthermore, the 3D laser scanner is configured as follows: the 3D laser scanner is located at the center of the tunnel cross-section; during the initial operation of the 3D laser scanner, its probe is perpendicular to the tunnel cross-section; the probe of the 3D laser scanner can be bent at a set angle; the scanning radius of the 3D laser scanner is ≥5m.

[0008] Furthermore, the three-dimensional data of the tunnel cross-section are denoised using a computer-built neural network model; the denoising process removes peaks and valleys and / or peak bottoms of less than 2 cm from the collected tunnel cross-section contour.

[0009] Furthermore, the steel strip bending parameters include bending coordinate points, bending width, and bending depth.

[0010] Furthermore, establishing the roadway cross-section plane coordinate system includes the following steps: a. Based on the three-dimensional model of the tunnel cross section, set the intersection of the arch and the sidewall as the origin of the coordinate system, the width of the arch as the X-axis, and the height of the arch as the Y-axis, and establish the tunnel cross section plane coordinate system in the computer. b. In the cross-sectional plane coordinate system of the tunnel, set the midpoint of the peak and valley and / or the bottom of the peak at the tunnel outline as the bending coordinate point; c. In the cross-sectional plane coordinate system of the tunnel, the width of the peak and / or the bottom of the peak is set as the bending width, and the depth of the peak and / or the bottom of the peak is set as the bending depth.

[0011] Furthermore, after the steel strip bending operation is completed, the portion of the steel strip that exceeds the arch width of the roadway cross section is removed so that the bent steel strip can completely fit the arch of the roadway.

[0012] Furthermore, the bending length deformation loss of the steel strip is set to 1.2-1.5.

[0013] Furthermore, length scale lines are set along the edge of the steel strip starting from the origin of the steel strip's coordinates.

[0014] Furthermore, a CNC bending machine is used to complete the bending operation; the steel strip is bent and fixed by a fixing device during the bending process.

[0015] A support steel strip fabrication device adapted to the uneven contours of roadways is disclosed. This device is used to implement the aforementioned method for fabricating support steel strips adapted to the uneven contours of roadways. The fabrication device includes a scanner, a bending machine, a traveling mechanism, a working platform, and a control device. The scanner is mounted on the working platform or the bending machine and is used to collect three-dimensional data of the roadway cross-section in real time, and transmit the data to the control device via an information transmission line. The bending machine is fixedly mounted on the working platform and connected to an external power source via a movable cable reel. The traveling mechanism is used to execute the work commands transmitted by the control device. The working platform is mounted on the traveling mechanism and fixedly connected to the traveling mechanism, moving synchronously with the traveling mechanism. The control device receives and processes the three-dimensional data of the roadway cross-section transmitted by the scanner, converts the three-dimensional data of the roadway cross-section into work commands, and drives and controls the bending machine and the traveling mechanism to operate.

[0016] Furthermore, the control device includes a microcontroller and a computer; the computer is mounted on the work platform; the microcontroller is installed inside the bending machine; the microcontroller and the computer transmit information via serial communication; the microcontroller is equipped with a data I / O module, a bending control module, and a traveling mechanism control module; the computer is equipped with a data noise reduction module, a data modeling module, and a bending coordinate module; the data I / O module is connected to the scanner via a serial port to receive data information transmitted by the scanner; the data noise reduction module is connected to the data I / O module to perform noise reduction processing on the data transmitted by the data I / O module and output noise-reduced three-dimensional cross-sectional data of the roadway; The data modeling module is connected to the data denoising module, and is used to receive the denoised 3D cross-sectional data of the roadway transmitted by the data denoising module, and further establish a 3D model of the roadway cross-section; the bending coordinate module is connected to the data modeling module, and is used to receive the 3D cross-sectional model of the roadway transmitted by the data modeling module, and calculate and output the coordinate data of the 3D cross-sectional model of the roadway; the bending control module is connected to the bending coordinate module, and is used to receive the coordinate data transmitted by the bending coordinate module, and is connected to the digital display bending machine through a serial port, and is used to output bending operation commands to the digital display bending machine; the traveling mechanism control module is connected to the traveling mechanism, and transmits forward, backward, and turning travel operation commands to the traveling mechanism.

[0017] Furthermore, the control device also includes a display screen, which is mounted on the bending machine and connected to the serial port of the microcontroller's output. The display screen is connected to the bending coordinate module and is used to receive the tunnel cross-section plane coordinate system transmitted by the bending coordinate module, and to display the coordinate data of the tunnel cross-section plane coordinate system and the bending parameter data.

[0018] The beneficial effects of this invention are as follows: 1. The support steel strip manufacturing method described in this invention uses a three-dimensional laser scanner to collect data on the target area of ​​the roadway. It has the advantages of high precision, high efficiency, high resolution, full data acquisition, and data in three-dimensional vector form. At the same time, the non-contact measurement method of the three-dimensional laser scanner allows personnel to directly collect three-dimensional data of the object surface without contacting the object being measured, reducing measurement risks and ensuring the safety of data acquisition operations.

[0019] 2. The support steel strip manufacturing method described in this invention uses a computer-built neural network model to denoise the collected three-dimensional model data of the roadway. It can adaptively learn and adjust parameters based on the three-dimensional data continuously output from production operations without manual adjustment. At the same time, it can also process and extract features from the input data to generate more effective data representations and more effectively handle missing and noisy data.

[0020] 3. The method for manufacturing support steel strips described in this invention establishes a tunnel outline model based on three-dimensional tunnel data. By representing the tunnel outline using the planar coordinates of the three-dimensional tunnel model, it can guide workers to manufacture steel strips with high efficiency and accuracy that closely match the tunnel outline, ensuring the quality of anchoring operations and protecting the personal and property safety of workers.

[0021] 4. The support steel strip manufacturing method and device described in this invention can more effectively improve the bending accuracy of operators by marking the edge of the steel strip. At the same time, by setting the microcontroller with the program inside the bending machine, it can complete the operation of accurately moving the work platform, carrying the bending raw materials synchronously, and semi-manual bending according to the actual needs of production, making the anchoring operation in the tunnel more efficient and avoiding long-distance transportation of materials. Attached Figure Description

[0022] Figure 1 : A schematic diagram of the steel strip manufacturing process in an exemplary embodiment of the present invention; Figure 2 : A schematic diagram of the steel strip manufacturing device in an exemplary embodiment of the present invention (1); Figure 3 : Schematic diagram of the steel strip manufacturing device in an exemplary embodiment of the present invention (2); Figure 4 : A schematic diagram of the steel strip manufacturing device in an exemplary embodiment of the present invention (3); Figure 5 : A schematic diagram of the steel strip structure in an exemplary embodiment of the present invention; Figure 6 : Schematic diagram of the control device in an exemplary embodiment of the present invention.

[0023] Symbol Explanation 1-Scanner, 2-Robotic arm, 3-Bending machine, 4-Walking mechanism, 5-Working platform, 6-Computer, 7-Display screen, 8-Data I / O module, 9-Bending control module, 10-Walking mechanism control module, 11-Data noise reduction module, 12-Data modeling module, 13-Bending coordinate module. Detailed Implementation

[0024] The present invention will now be described in detail with reference to the accompanying drawings and by way of embodiments.

[0025] As attached Figure 1-6 As shown in the figure, this embodiment describes a method for manufacturing a support steel strip adapted to the uneven contour of a roadway, including the following steps: S1, after the tunneling machine performs tunnel cross-section excavation on the target tunnel, it collects three-dimensional data of the tunnel cross-section of the target area that needs to be reinforced.

[0026] The three-dimensional data of the tunnel cross-section includes, but is not limited to, the arch width, arch height, and arch surface curvature of the tunnel cross-section.

[0027] As a preferred option: The three-dimensional data of the tunnel cross-section were obtained by scanning with a three-dimensional laser scanner.

[0028] Further: To obtain accurate and comprehensive 3D cross-sectional data of the tunnel, the following parameters were set for the 3D laser scanner before the scanning operation: ① By adjusting the operating distance of relevant equipment, such as adjusting the travel distance of mobile devices, the 3D laser scanner can be positioned at the center of the tunnel cross-section; ② During the initial operation of the 3D laser scanner, its probe is perpendicularly aligned with the cross-section of the tunnel. ③ During the operation of the 3D laser scanner, by adjusting the operating angle of the relevant equipment, such as adjusting the robotic arm of the scanner bracket, the probe of the 3D laser scanner can be bent at any angle to scan the cross-section of the tunnel. ④ The scanning radius of the 3D laser scanner should be set to ≥5m.

[0029] S2: The collected three-dimensional cross-sectional data of the tunnel is transmitted to the computer. The computer's built-in neural network model is used to denoise the data, remove interference items from the data, and output the denoised three-dimensional cross-sectional data of the tunnel.

[0030] Data interference items refer to dust present in the tunnel, as well as peaks and valleys and / or peak bottoms of ≤2 cm in the tunnel cross-sectional profile.

[0031] As a preferred option: Data noise reduction can also be performed using a control device with a built-in microcontroller, specifically including the following steps: S201, The control device is equipped with a data I / O module, which is connected to the 3D laser scanner via a serial port to receive data information transmitted by the 3D laser scanner.

[0032] S202, the control device is equipped with a data noise reduction module, which operates based on a feedforward neural network model; the data noise reduction module is connected to the data I / O module and is used to perform noise reduction processing on the data transmitted by the data I / O module, and output the noise-reduced three-dimensional data of the roadway cross section.

[0033] The operating principle of the feedforward neural network model in this step can be briefly described as follows: the collected three-dimensional cross-sectional data of the roadway is used as the training set to train the neural network model. During the process of the neurons processing the input data, a data threshold is set, and the noise-reduced three-dimensional cross-sectional data of the roadway is output after removing peak and valley data of ≤2 cm and / or peak bottom data.

[0034] This step does not limit the structure of the feedforward neural network model. Therefore, you can choose a structure such as a BP neural network or a convolutional neural network based on the difficulty of training and the needs of actual production operations.

[0035] S3, based on the noise-reduced three-dimensional cross-sectional data of the tunnel, establish a three-dimensional model of the tunnel cross-section.

[0036] As a preferred option: The control device is equipped with a data modeling module, which operates based on 3D modeling software, such as ProE or SolidWorks. The data modeling module is connected to the data denoising module and is used to receive the denoised 3D cross-sectional data of the roadway transmitted by the data denoising module, and further establish a 3D model of the roadway cross-section.

[0037] S4, based on the 3D model of the tunnel cross-section, marks the bending parameters of the steel strip, thereby operating the bending machine to perform bending operations according to the bending parameters. The bending parameters include, but are not limited to, bending coordinate points, bending width, and bending depth.

[0038] The specific steps are as follows: S401, based on the three-dimensional model of the tunnel cross section, set the intersection of the arch and the sidewall as the origin of the coordinate system, the width of the arch as the X-axis, and the height of the arch as the Y-axis, and establish the tunnel cross section plane coordinate system in the computer. S402, in the cross-sectional plane coordinate system of the tunnel, the midpoint of the peak and valley and / or the bottom of the peak at the tunnel outline is set as the bending coordinate point; S403, in the cross-sectional plane coordinate system of the tunnel, the width of the peak and / or the bottom of the peak is set as the bending width, and the depth of the peak and / or the bottom of the peak is set as the bending depth.

[0039] As a preferred option: ① The control device is equipped with a bending coordinate module, which operates based on a coordinate conversion program. The bending coordinate module is connected to the data modeling module and is used to receive the three-dimensional model of the tunnel cross section transmitted by the data modeling module, and calculate and output the coordinate data of the three-dimensional model of the tunnel cross section.

[0040] ② The control device is equipped with a display screen, which can be either an LCD screen or an LED screen. This embodiment does not limit the specific type of display screen. The bending coordinate module is connected to the display screen, which is used to receive the tunnel cross-section plane coordinate system transmitted by the bending coordinate module and display the coordinate data of the tunnel cross-section plane coordinate system and bending coordinate points, etc.

[0041] S5 sets one end of the steel strip as the origin of the coordinate system and completes the steel strip bending operation according to the steel strip bending parameters.

[0042] After the steel strip bending operation is completed, the part of the steel strip that exceeds the width of the tunnel cross-section is removed so that the bent steel strip can completely fit the tunnel arch.

[0043] As a preferred option: ① The length of the steel strip should be set according to the established three-dimensional model of the tunnel cross section, and the length deformation loss caused by bending should be taken into account. The length deformation loss γ should be set to 1.2-1.5.

[0044] ②Starting from the origin of the steel strip's coordinates, length graduation lines are set along the edge of the steel strip. During the bending operation, workers perform bending operations according to the graduation lines on the steel strip and the bending parameters displayed on the screen, which can significantly improve bending accuracy and efficiency.

[0045] ③ The control device is equipped with a bending control module, which operates based on a bending control program written in a microcontroller; The bending control module is connected to the bending coordinate module and is used to receive the bending coordinate data transmitted by the bending coordinate module; The bending control module is connected to the digital display bending machine via a serial port. It outputs bending operation commands to the digital display bending machine and completes the semi-automatic bending operation of the steel strip by changing the operating parameters of the digital display bending machine, such as bending angle, bending speed, and bending stroke of the upper bending blade.

[0046] ④ Since steel strip bending is a continuous operation, and the profile of the tunnel cross-section is usually inclined to a smooth surface, and the working height of the tunnel is limited, a small CNC bending machine or a micro CNC bending machine can be used. For example, a small CNC bending machine produced by Ma'anshan Yamazaki Machinery Technology Co., Ltd. can be used. The specific model can be WC67Y-30T / 1600 small digital display bending machine, which is equipped with a TP10S servo type bending machine CNC system to further improve the accuracy and production efficiency of steel strip bending.

[0047] ⑤ During the bending process, a steel strip fixing device should be installed, such as a metal fixing plate near the lower bending die of the bending machine. During the bending operation, adjust the metal fixing plate to press down on the unbent area of ​​the steel strip. After the bending operation is completed, remove the metal fixing plate.

[0048] The metal fixing plate can be adjusted manually, for example, by connecting one end of the metal fixing plate to the bending machine shaft and fixing it with a fastening nut; it can also be fixed pneumatically or hydraulically, for example, by making the metal fixing plate parallel to the bending die, specifically parallel to the plane of the steel strip to be bent, and then using pneumatic or hydraulic force to push the metal fixing plate to press the steel strip.

[0049] S6. The finished steel strips that have completed the bending operation are numbered and marked, for example, by using serial numbers. The operators take the finished steel strips in sequence according to the serial numbers and complete the roadway section anchoring operation in sequence.

[0050] Based on the method for manufacturing support steel strips described in this embodiment, the present invention also describes a support steel strip manufacturing device adapted to the uneven contour of roadways, including a scanner, a bending machine, a traveling mechanism, a working platform, and a control device.

[0051] The scanner is set on the work platform or on the bending machine to collect three-dimensional cross-sectional data of the target area of ​​the tunnel in real time, and transmits the data to the control device through the information transmission line.

[0052] Preferably, the scanner is a 3D laser scanner with a robotic arm support for adjusting the scanning angle.

[0053] The bending machine is fixedly mounted on the work platform and connected to an external power source via a movable cable reel.

[0054] As a preferred option, the bending machine is a digital display bending machine, and further, a small or micro CNC bending machine is adopted.

[0055] The walking mechanism preferably adopts a tracked chassis, which is used to execute the operation commands transmitted by the control device and can complete walking operations such as forward, backward, and turning.

[0056] The work platform is mounted on and fixedly connected to the traveling mechanism, moving synchronously with it. A cast iron platform is preferred for this purpose, providing a workspace for the fixed installation of small or micro CNC bending machines. During use, the steel strip raw material is stored on the work platform, and the operator uses the bending machine to complete the bending operation.

[0057] The control device includes a microcontroller, a computer, and a display screen.

[0058] in, The computer is fixedly installed on the work platform via an industrial computer cabinet. The microcontroller is installed inside the bending machine; The display screen is mounted on the bending machine and positioned near the top of the bending machine; The microcontroller and the computer transmit information via serial communication. The display screen is connected to the serial port of the microcontroller's output.

[0059] The microcontroller is configured with a data I / O module, a bending control module, and a walking mechanism control module. The computer is equipped with a data noise reduction module, a data modeling module, and a bending coordinate module.

[0060] The data I / O module connects to the scanner via a serial port and is used to receive data transmitted by the scanner. The data noise reduction module is connected to the data I / O module and is used to perform noise reduction processing on the data transmitted by the data I / O module, and output the noise-reduced three-dimensional data of the roadway cross section. The data modeling module is connected to the data denoising module. It is used to receive the denoised 3D cross-sectional data of the roadway transmitted by the data denoising module and further establish a 3D model of the roadway cross-section. The bending coordinate module is connected to the data modeling module. It is used to receive the three-dimensional model of the tunnel cross section transmitted by the data modeling module and calculate and output the coordinate data of the three-dimensional model of the tunnel cross section. The display screen is connected to the bending coordinate module and is used to receive the tunnel cross-section plane coordinate system transmitted by the bending coordinate module, and to display the coordinate data of the tunnel cross-section plane coordinate system and bending coordinate points, etc. The bending control module is connected to the bending coordinate module and is used to receive bending coordinate data transmitted by the bending coordinate module. The bending control module is also connected to the digital display bending machine through a serial port and is used to output bending operation instructions to the digital display bending machine.

[0061] The walking mechanism control module is connected to the walking mechanism and transmits walking operation commands such as forward, backward, and turning to the walking mechanism.

[0062] The foregoing has shown and described 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. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A method for manufacturing support steel strips adapted to the uneven contours of roadways, characterized in that, Includes the following steps: S1, after the tunnel cross-section excavation operation, collect three-dimensional data of the tunnel cross-section; S2 performs data denoising on the collected three-dimensional cross-sectional data of the tunnel and outputs the denoised three-dimensional cross-sectional data of the tunnel. S3, Based on the noise-reduced three-dimensional cross-sectional data of the tunnel, a three-dimensional model of the tunnel cross-section is established; S4. Based on the three-dimensional model of the tunnel cross section, establish a plane coordinate system for the tunnel cross section, and mark the steel strip bending parameters in the plane coordinate system of the tunnel cross section. The steel strip bending parameters include bending coordinate points, bending width, and bending depth. The establishment of the tunnel cross-section plane coordinate system includes the following steps: a. Based on the three-dimensional model of the tunnel cross section, set the intersection of the arch and the sidewall as the origin of the coordinate system, the width of the arch as the X-axis, and the height of the arch as the Y-axis, and establish the tunnel cross section plane coordinate system in the computer. b. In the cross-sectional plane coordinate system of the tunnel, set the midpoint of the peak and valley and / or the bottom of the peak at the tunnel outline as the bending coordinate point; c. In the cross-sectional plane coordinate system of the tunnel, the width of the peak and / or the bottom of the peak is set as the bending width, and the depth of the peak and / or the bottom of the peak is set as the bending depth; S5, set one end of the steel strip as the origin of the coordinate system, and complete the steel strip bending operation according to the steel strip bending parameters in sequence; S6. Number and mark the finished steel strips after bending, and complete the roadway cross-section anchoring operation according to the numbering and marking sequence.

2. The method for manufacturing a support steel strip adapted to the uneven contour of a roadway according to claim 1, characterized in that, The three-dimensional data of the tunnel cross-section is obtained by scanning with a three-dimensional laser scanner. The three-dimensional data of the tunnel cross-section includes the arch width, arch height, and arch curvature of the tunnel cross-section.

3. The method for manufacturing a support steel strip adapted to the uneven contour of a roadway according to claim 2, characterized in that, The 3D laser scanner is configured as follows: the 3D laser scanner is located at the center of the tunnel cross-section; during initial operation, the probe of the 3D laser scanner is perpendicular to the tunnel cross-section; the probe of the 3D laser scanner can be bent at a set angle; the scanning radius of the 3D laser scanner is ≥5m.

4. The method for manufacturing a support steel strip adapted to the uneven contour of a roadway according to claim 1, characterized in that, The noise reduction process is performed on the three-dimensional data of the tunnel cross-section using a computer-built neural network model; the noise reduction process removes peaks and valleys and / or peak bottoms of ≤2 cm in the collected tunnel cross-section contour.

5. The method for manufacturing a support steel strip adapted to the uneven contour of a roadway according to claim 1, characterized in that, After the steel strip bending operation is completed, the part of the steel strip that exceeds the width of the tunnel cross-section is removed so that the bent steel strip can completely fit the tunnel arch.

6. A method for manufacturing a support steel strip adapted to the uneven contour of a roadway according to claim 5, characterized in that, The bending length deformation loss of the steel strip is set to 1.2-1.

5.

7. A method for manufacturing a support steel strip adapted to the uneven contour of a roadway according to claim 6, characterized in that, Starting from the origin of the steel strip's coordinates, length scale lines are set along the edge of the steel strip.

8. A method for manufacturing a support steel strip adapted to the uneven contour of a roadway according to claim 5, characterized in that, The bending operation is completed using a CNC bending machine; the steel strip is bent and fixed by a fixing device during the bending process.

9. A support steel strip fabrication device adapted to the uneven contour of a roadway, the device being used to implement the method described in any one of claims 1-8, characterized in that, The manufacturing apparatus includes a scanner, a bending machine, a walking mechanism, a work platform, and a control device; The scanner is set on the work platform or bending machine to collect three-dimensional data of the tunnel cross section in real time and transmit the data to the control device through the information transmission line. The bending machine is fixedly mounted on the work platform and connected to an external power source via a movable cable reel; The walking mechanism is used to execute the work instructions transmitted by the control device; The work platform is mounted on the walking mechanism and is fixedly connected to the walking mechanism, moving synchronously with the walking mechanism; The control device receives and processes the three-dimensional cross-sectional data of the tunnel transmitted by the scanner, and converts the three-dimensional cross-sectional data of the tunnel into operation instructions to drive and control the bending machine and the traveling mechanism.

10. The support steel strip fabrication device adapted to the uneven contour of a roadway according to claim 9, characterized in that, The control device includes a microcontroller and a computer; the computer is mounted on the work platform; the microcontroller is mounted inside the bending machine; the microcontroller and the computer transmit information via serial communication. The microcontroller is equipped with a data I / O module, a bending control module, and a walking mechanism control module; the computer is equipped with a data noise reduction module, a data modeling module, and a bending coordinate module. The data I / O module is connected to the scanner via a serial port and is used to receive data information transmitted by the scanner; The data noise reduction module is connected to the data I / O module and is used to perform noise reduction processing on the data transmitted by the data I / O module, and output the noise-reduced three-dimensional data of the roadway cross section. The data modeling module is connected to the data denoising module and is used to receive the denoised three-dimensional data of the roadway cross section transmitted by the data denoising module, and further establish a three-dimensional model of the roadway cross section. The bending coordinate module is connected to the data modeling module and is used to receive the three-dimensional model of the tunnel cross section transmitted by the data modeling module, and calculate and output the coordinate data of the three-dimensional model of the tunnel cross section. The bending control module is connected to the bending coordinate module and is used to receive the coordinate data transmitted by the bending coordinate module. It is also connected to the digital display bending machine through a serial port and is used to output bending operation instructions to the digital display bending machine. The walking mechanism control module is connected to the walking mechanism and transmits walking operation commands such as forward, backward, and turning to the walking mechanism.

11. A support steel strip fabrication device adapted to uneven roadway contours according to claim 9 or 10, characterized in that, The control device also includes a display screen, which is mounted on the bending machine and connected to the serial port of the microcontroller's output. The display screen is connected to the bending coordinate module and is used to receive the tunnel cross-section plane coordinate system transmitted by the bending coordinate module, and to display the coordinate data and bending parameter data of the tunnel cross-section plane coordinate system.

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