Earth excavation method for tunnel constructed by pipe-roofing method

Abstract

The invention relates to the technical field of tunnel construction, and discloses a pipe-roofing-method construction tunnel earth excavation method which comprises the following steps: determining a target earth excavation mode of a tunnel according to geological parameters, determining the number of excavation procedures of the tunnel, the sequence of the excavation procedures, the number of earthworks excavated in each excavation procedure, the number of excavation robots required for excavation of each piece of earthwork and excavation coordinates of the excavation robots when each piece of earthwork is excavated; the distance between the excavation coordinate of the excavation robot during earth excavation in the previous excavation process and the excavation coordinate of the excavation robot during earth excavation in the next excavation process is calculated according to the distance between the excavation coordinate of the excavation robot during earth excavation in the next excavation process; the distance smaller than or equal to the distance between the relative coordinate of the earthwork excavated in the previous excavation procedure on the tunnel excavation section and the relative coordinate of the earthwork excavated in the next excavation procedure on the tunnel excavation section is used as a constraint condition, and the construction path of each excavation robot is determined; and each excavation robot completes tunnel earth excavation according to the determined construction path, so that the earth excavation speed is increased.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel construction, and in particular to a method for excavating earthwork in a tunnel using a pipe-curtain method. Background Art

[0002] The development of urban underground space faces the problems of complicated ground traffic, dense underground pipelines, many existing buildings around, and complex geological conditions. During the construction process, strict control of deformation of the surface, surrounding pipelines and buildings is required. With the continuous development of urbanization, shallow buried and dark excavation construction technology has become the choice of more and more urban underground infrastructure construction.

[0003] The pipe curtain method is to push large-diameter steel pipes one by one on the tunnel construction section to form a pipe curtain, and connect the steel pipes by cutting and welding or using the inner ring beam structure of the pipe curtain to connect the steel pipes to form an integral structure, and then construct reinforced concrete in the connecting space inside the steel pipe to form an integrated permanent support structure. Finally, the soil inside the tunnel is excavated. After the steel pipe construction is completed, the earthwork in the tunnel needs to be excavated and slag removed. According to different geological conditions, there are many ways to excavate the tunnel section. According to different excavation methods, the construction process and number of equipment for earthwork excavation are also different.

[0004] At present, earth excavation construction is generally carried out by multiple excavators, and the earth debris is transported to the outside of the tunnel by dump trucks. However, the construction organization of multiple excavators is chaotic, which greatly reduces the speed of earth excavation. Summary of the invention

[0005] The purpose of the present invention is to provide a method for excavating earth in a tunnel by using a pipe-roof method, which can improve the speed of excavating earth in a tunnel.

[0006] In order to solve the above technical problems, an embodiment of the present invention provides a method for excavating earthwork in a tunnel using a pipe-roof method, comprising the following steps: Determine the target earthwork excavation method of the tunnel according to the geological parameters of the tunnel; tunnels with different geological parameters correspond to different earthwork excavation methods; According to the target earthwork excavation method of the tunnel, determine the number of tunnel excavation processes, the order of the excavation processes, the amount of earthwork excavated in each excavation process, the number of excavation robots required for each earthwork excavation, and the excavation coordinates of the excavation robots when excavating each earthwork; The construction path of each excavating robot is determined based on the constraint condition that the distance between the excavation coordinates of the excavation robot when excavating earthwork in the previous excavation process and the excavation coordinates of the excavation robot when excavating earthwork in the next excavation process is less than or equal to the distance between the relative coordinates of the earthwork excavated in the previous excavation process and the relative coordinates of the earthwork excavated in the next excavation process in the tunnel excavation section; Based on the pipe-curtain method, each excavation robot completes tunnel excavation along a determined construction path.

[0007] In some optional embodiments, determining a target earth excavation method of the tunnel according to the geological parameters of the tunnel includes: Obtain the ground stability parameters of the tunnel under different geological parameters and different earth excavation methods; According to the evolution law of stratum stability parameters under different geological parameters and different earthwork excavation methods, the mapping relationship between different geological parameters of the tunnel and different earthwork excavation methods is established; Through the mapping relationship between different geological parameters and different earth excavation methods, the target earth excavation method corresponding to the current geological parameters of the tunnel is determined.

[0008] In some optional embodiments, the earth excavation method includes at least: full section method, step method, middle partition wall CD method, cross middle partition wall CRD method and double side wall pilot pit method; The geological parameters include: the depth and diameter of the tunnel, the density, elastic modulus, cohesion, internal friction angle, Poisson's ratio and groundwater level of the soil layer; The ground stability parameters include: surface settlement, tunnel face displacement, displacement of pipelines around the tunnel, and tunnel face soil pressure.

[0009] In some optional embodiments, each of the excavating robots has multiple construction paths, and determining the construction path of each excavating robot includes: When the ground settlement and face displacement of the tunnel are minimized, the time required for each excavation robot to excavate one foot of earthwork in the tunnel along the determined construction path is obtained; With the goal of minimizing the time required for one-foot earth excavation in the tunnel, a target construction path of the excavating robot is selected from multiple construction paths of each excavating robot.

[0010] In some optional embodiments, each of the excavating robots has multiple construction paths, and determining the construction path of each excavating robot includes: A construction path with the shortest length is selected from multiple construction paths of each excavating robot as a target construction path of the excavating robot.

[0011] In some optional embodiments, the constraint condition is expressed by the following formula:

[0012] In the formula, ( x i1 , y i1) represents the excavation coordinates of the excavation robot during earth excavation in the previous excavation process, ( x （i+1）1 , y （i+1）1 ) represents the excavation coordinates of the excavation robot during earth excavation in the next excavation process, ( X i1 , Y i1 ) represents the relative coordinates of the earth excavated in the previous excavation process in the tunnel excavation section, ( X （i+1）1 , Y （i+1）1 ) represents the relative coordinates of the earth excavated in the subsequent excavation process in the tunnel excavation section.

[0013] In some optional embodiments, enabling each excavation robot to complete tunnel earth excavation according to the determined construction path includes: Simulate the excavation conditions in which each excavating robot excavates the tunnel earthwork along a determined construction path and each slag discharger transports the tunnel earthwork along a determined construction path, so as to predict the stratum stability parameters and pipe curtain stability parameters of the tunnel during the excavation and transportation process; wherein the number and construction paths of the slag dischargers are the same as the number and construction paths of the excavating robots; The excavation speed of the excavation robot and the slag discharge speed of the slag discharge equipment are determined by the stratum stability parameters and pipe curtain stability parameters of the tunnel during excavation and transportation; Each excavation robot is made to complete tunnel earth excavation according to a determined construction path and excavation speed, and each slag discharge equipment is made to complete soil and slag transportation according to a determined construction path and slag discharge speed.

[0014] In some optional embodiments, the pipe curtain stability parameter includes a degree of deformation of the pipe curtain prefabricated structure.

[0015] The tunnel excavation method using the pipe-roof method provided by the present invention has at least the following beneficial effects: In order to ensure the stability of the tunnel, there are corresponding earth excavation methods for different geological parameters of the tunnel. In the present invention, the appropriate earth excavation method is selected for the tunnel to be constructed through this characteristic. Under this earth excavation method, according to the number of tunnel excavation processes, the order of excavation processes, the amount of earth excavated in each excavation process, the number of excavation robots required for each earth excavation, and the excavation coordinates of the excavation robot when each earth excavation, the distance between the excavation coordinates of the excavation robot when excavating earth in the previous excavation process and the excavation coordinates of the excavation robot when excavating earth in the next excavation process is less than or equal to the distance between the relative coordinates of the earth excavated in the previous excavation process and the relative coordinates of the earth excavated in the next excavation process in the tunnel excavation section as a constraint condition, and the construction path of each excavation robot is determined. Therefore, each excavation robot can carry out tunnel earth excavation according to the corresponding construction path, the construction organization is clear, and the speed of tunnel earth excavation is effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] One or more embodiments are exemplarily described by the pictures in the corresponding drawings, and these exemplary descriptions do not constitute limitations on the embodiments.

[0017] Figure 1 It is a flow chart of a method for excavating earthwork in a tunnel using a pipe-roof method according to an embodiment of the present invention; Figure 2 is a schematic diagram of a numerical model provided according to an embodiment of the present invention; Figure 3 is a schematic diagram of an excavation process provided according to an embodiment of the present invention; Figure 4 It is a schematic diagram of a tunnel earthwork excavation and transportation collaborative control system based on the pipe-roof method provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the embodiments of the present invention, many technical details are proposed in order to enable the reader to better understand the present invention. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present invention can be implemented. The division of the following embodiments is for the convenience of description and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined and referenced with each other without contradiction.

[0019] An embodiment of the present invention relates to a method for excavating earth in a tunnel using a pipe-curtain method. The implementation details of the method for excavating earth in a tunnel using the pipe-curtain method of this embodiment are described in detail below. The following content is only provided for ease of understanding and is not necessary for implementing this solution.

[0020] The specific process of the tunnel excavation method using the pipe-roof method in this embodiment can be as follows: Figure 1 As shown, including: Step 101, determining a target earth excavation method for the tunnel according to the geological parameters of the tunnel; wherein tunnels with different geological parameters correspond to different earth excavation methods.

[0021] Specifically, first, the stratum stability parameters of the tunnel under different geological parameters and different earth excavation methods are obtained. Then, according to the evolution law of the stratum stability parameters under different geological parameters and different earth excavation methods, the mapping relationship between the different geological parameters of the tunnel and the different earth excavation methods is established. Finally, through the mapping relationship between different geological parameters and different earth excavation methods, the target earth excavation method corresponding to the current geological parameters of the tunnel is determined.

[0022] Among them, the earthwork excavation methods of the tunnel include at least: full section method, step method, middle partition wall CD method, cross middle partition wall CRD method and double side wall pilot method. The geological parameters of the tunnel include: the buried depth of the tunnel Hedongjing , soil density , elastic modulus , Cohesion , internal friction angle , Poisson's ratio and groundwater level In addition, soil density is measured by the ring knife method (fine-grained soil), or the water injection method (coarse-grained soil), or the wax seal method (hard soil), and elastic modulus, cohesion, and internal friction angle are measured by triaxial compression test. The formation stability parameters include: surface settlement , face displacement , Pipeline displacement around the tunnel and soil pressure at the tunnel face In addition, the ground settlement, displacement of the tunnel face and displacement of pipelines around the tunnel are measured by soil displacement meters, the deformation of the prefabricated structure of the pipe curtain is measured by strain gauges, and the soil pressure on the tunnel face is measured by soil pressure gauges.

[0023] In one example, when establishing a mapping relationship between different geological parameters of a tunnel and different earthwork excavation methods based on the evolution law of the stratum stability parameters under different geological parameters and different earthwork excavation methods, firstly, the tunnel stratum stability parameters under different geological parameters and earthwork excavation methods are used to establish a pipe-curtain earthwork excavation numerical model with different geological parameters and different earthwork excavation methods, and then the evolution law of the stratum stability parameters under different geological parameters and different earthwork excavation methods is obtained. The numerical model established at this time is as follows: Figure 2 The parameters of the numerical model are shown in Table 1: Table 1 Parameters of the numerical model

[0024] In an example, in the mapping relationship between different geological parameters of the above-mentioned tunnel and different earth excavation methods, there is a mapping relationship between each geological parameter of the tunnel and multiple earth excavation methods. At this time, when determining the target earth excavation method corresponding to the current geological parameters of the tunnel, the earth excavation method with the highest safety is selected from the multiple earth excavation methods corresponding to the current geological parameters of the tunnel as the target earth excavation method.

[0025] Specifically, according to the evolution law of stratum stability parameters under different geological parameters and different earthwork excavation methods, a tunnel earthwork excavation sample library is established to clarify the mapping relationship between geological parameters and earthwork excavation methods. Then, the evolution law of stratum stability parameters under various geological parameters and various earthwork excavation methods in the sample library is used as samples, and 80% of the samples in the sample library are selected as training samples, and the remaining 20% ​​are selected as test samples. The cases in the sample library are trained. During the training process, for each geological parameter, the evolution law of stratum stability parameters when different earthwork excavation methods are used is predicted, so as to optimize the optimal earthwork excavation method for each geological parameter from a variety of different earthwork excavation methods. Among them, the machine learning algorithm takes the BP neural network algorithm as an example, and is optimized on the basis of the sample library, and a safe and economical earthwork excavation method (i.e., the optimal earthwork excavation method) is obtained through training.

[0026] The optimization process of BP neural network is: (1) Data preprocessing: ① The data is dimensionless, and the calculation formula is: ; In the formula, is the original data; is the average of the original data; is the original data after dimensionless conversion; is the standard deviation of the original data.

[0027] ② Compress the data to between [0, 1], and the calculation formula is: ; In the formula, are the maximum and minimum values ​​after dimensionlessness respectively; It is dimensionless and compressed data.

[0028] (2) Determine the number of network layers and neurons: Select a single hidden layer neural network, the number of input layers is 1, the number of hidden layers is 1; Assume the input layer has nodes, and the hidden layer has nodes, and the output layer has nodes.

[0029] Assume that the input of the neural network is ,in, are respectively the tunnel depth, tunnel diameter, soil elastic modulus, and soil internal friction angle, namely, is 4.

[0030] Number of hidden layer nodes Calculation method: ,Right now: ; The actual output is ,Right now is 2, where are the number of excavation processes and the amount of earth excavated each time, respectively. The expected output is , is the number of excavation steps expected to be output, The desired output is the amount of earth excavated each time.

[0031] (3) Select activation function: Select the Sigmoid function, the function expression is: ; (4) Learning process: ① Hidden layer nodes Input value ,set up is the input layer node number, is the hidden layer node number, is the number of the output layer node. Input value It can be expressed as: ; In the formula, The input layer node To the hidden layer nodes The weight of Represents any set of training sample data.

[0032] ②Hidden layer output value : ; In the formula, The input layer node To the hidden layer nodes The connection weight of is the hidden layer node The threshold value, is the activation function.

[0033] ③Actual output value of the output layer , hidden layer output After the transfer function mapping of the output layer, the output layer node is obtained Output , expressed as: ; In the formula, Represents the hidden layer nodes To the output layer node The connection weight of Output layer node The threshold value, is the activation function.

[0034] The actual output value of the output layer The error is: ; ④Revised model: The weights and thresholds of the modified model are: ; In the formula, The hidden layer nodes of the modified model To the output layer node The connection weight of To correct the input layer node of the model To the hidden layer nodes The connection weight of is the learning rate, is the gradient value of the output layer neuron, is the gradient value of the hidden layer neuron, To correct the output layer node of the model The threshold value, The hidden layer nodes of the modified model The threshold value.

[0035] ⑤Calculate the global error of the network, assuming that the number of samples is , and the first The sample in The expected output value of each node is , No. The sample in The actual output value of the node is ,but The error of the sample data is: ; Before the sample data training is completed, the above steps ②~⑤ are run repeatedly until the accuracy error requirements are met.

[0036] Step 102, according to the target earthwork excavation method of the tunnel, determine the number of tunnel excavation processes, the order of the excavation processes, the amount of earth excavated in each excavation process, the number of excavation robots required for each earthwork excavation, and the excavation coordinates of the excavation robots when excavating each earthwork.

[0037] Step 103, determines the construction path of each excavation robot with the constraint condition that the distance between the excavation coordinates of the excavation robot when excavating earth in the previous excavation process and the excavation coordinates when excavating earth in the next excavation process is less than or equal to the distance between the relative coordinates of the earth excavated in the previous excavation process in the tunnel excavation section and the relative coordinates of the earth excavated in the next excavation process in the tunnel excavation section.

[0038] Specifically, after determining the target earth excavation method corresponding to the current geological parameters of the tunnel, the number of excavation robots required for excavating each piece of earth in the tunnel and the initial coordinates of each excavation robot are determined according to the target earth excavation method of the tunnel; and according to the target earth excavation method of the tunnel, the number of excavation processes of the tunnel, the order of all excavation processes, the amount of earth excavated in each excavation process, and the excavation coordinates of the excavation robot during each earth excavation are determined; then, based on the initial coordinates of each excavation robot, the excavation coordinates of the excavation robot during earth excavation, and the order of all excavation processes, multiple movable paths (i.e., multiple construction paths) for each excavation robot are determined.

[0039] In one example, when determining the construction path of each excavation robot, the movable path with the shortest length among the multiple movable paths of each excavation robot is used as the construction path of the excavation robot under the target earth excavation mode (i.e., the final construction path), and the construction paths of all excavation robots under the target earth excavation mode are the construction paths of the tunnel under the target earth excavation mode.

[0040] Among them, each movable path of each mining robot (that is, the above constraints) satisfies the following conditions:

[0041] This formula indicates that for any two adjacent excavation processes among multiple excavation processes, the moving distance of the excavation robot is less than or equal to the distance between the two excavated earthworks, that is, the robot only moves between the excavated earthworks.

[0042] In the formula, Indicates the excavation coordinates of the excavation robot during earth excavation in the previous excavation process. It represents the excavation coordinates of the excavation robot during earth excavation in the next excavation process. Indicates the relative coordinates of the earth excavated in the previous excavation process in the tunnel excavation section. It indicates the relative coordinates of the earth excavated in the subsequent excavation process in the tunnel excavation section.

[0043] In the specific implementation, it is assumed that the target excavation method has a total of There are three excavation processes, each of which has If the earthwork is constructed simultaneously, the relative coordinates of each excavated earthwork in the tunnel excavation section are as follows: The first excavation process: ; Second excavation process: ; … The kth excavation process: ; … The nth excavation process: .

[0044] Under the target excavation mode, the first step is to determine the number of excavation robots required for each earthwork excavation according to the target excavation mode. For example, the number of excavation robots is determined as , then the number of excavation robots required for each earthwork excavation is The second step is to determine the target excavation method. The coordinates of the mining robot, such as The road excavation process includes The number of robots required for excavating each block of earth is , let the numbers be ,but The initial coordinates of the mining robots are: The coordinates of , The coordinates of , …, The coordinates of Similarly, During the construction process, The excavation coordinates of the excavation robot are: The coordinates of , The coordinates of , …, The coordinates of The third step is to determine the movable path set of the excavation robot according to the excavation process of the target excavation method. For example, after the previous excavation process is completed, The excavation robots are evenly assigned to the next excavation process. In the earthwork, let the set of movable paths of each excavating robot (i.e., multiple movable paths of each excavating robot) be , where each movable path satisfies the above formula. The fourth step is to select the movable path with the shortest length in the movable path set as the planning path, that is, the construction path of the excavator robot .

[0045] In a specific example, the CD method is used to excavate and two excavation robots are selected to illustrate the above construction path determination process: In CD excavation, there are 6 excavation processes in each cycle, and each process has 1 earthwork construction. The schematic diagram of the excavation process is as follows: Figure 3 As shown in the figure, the relative coordinates of each excavated earth in the tunnel excavation section are: The first excavation process: ; Second excavation process: ; The third excavation process: ; The fourth excavation process: ; The fifth excavation process: ; The sixth excavation process: .

[0046] In the CD excavation method, the first step is to determine the number of excavation robots required for each earthwork excavation according to the excavation method. For example, if the number of excavation robots is determined to be 2 according to the quantitative evaluation results, then the number of excavation robots required for each earthwork excavation is 2. The second step is to determine the coordinates of the two excavation robots according to the excavation method. For example, There is one earthwork being constructed at the same time in the road excavation process. The number of robots required for each earthwork excavation is 2. Let the robots be numbered as follows: , , then the initial coordinates of the two mining robots are: The coordinates of , No. During the construction of the first process, the excavation coordinates of the excavation robot are The third step is to determine the set of movable paths of the excavation robot according to the excavation process. For example, after the previous excavation process is completed, the excavation robot moves to the earthwork of the next excavation process. Let the set of movable paths of each excavation robot (that is, the multiple movable paths of each excavation robot) be , where each movable path satisfies the above formula. The fourth step is to select the movable path with the shortest length in the movable path set as the planning path, that is, the construction path of the excavator robot .

[0047] In one example, after determining the target earthwork excavation method corresponding to the current geological parameters of the tunnel, the number of intelligent excavation robots and the construction path required for the tunnel under the target earthwork excavation method are first determined with the highest tunnel construction safety, highest efficiency and lowest cost as the goal. That is, according to the determined earthwork excavation method, considering the construction efficiency and cost, a quantitative evaluation of the earthwork excavation effect is performed to determine the number of excavation robots and the construction path that are safe, efficient and cost-effective.

[0048] Among them, the quantitative evaluation method of earth excavation effect is as follows:

[0049]

[0050]

[0051] In the formula, For the earthwork excavation construction effect, To achieve the best earthwork excavation effect, The total time required for a single excavation robot to perform one-foot earth excavation. is the number of mining robots, for The time required for an excavator robot to excavate one meter of earthwork. The cost of excavating one foot of earthwork. The surface settlement caused by one advance of earthwork excavation. It is the displacement of the tunnel face caused by one advance of earth excavation.

[0052] It indicates the time and cost required for one advance earthwork excavation under the premise of certain surface settlement and face displacement. It means that when the surface settlement and face displacement are minimized, the time required for one advance of earth excavation is the shortest and the cost is the lowest.

[0053] Therefore, the highest safety, highest efficiency and lowest cost in tunnel construction specifically means that when the surface settlement and face displacement of the tunnel are minimized, the time required for one advance of earth excavation is the shortest and the cost is the lowest.

[0054] Based on this, since each excavation robot has multiple construction paths, when determining the construction path of each excavation robot as mentioned above, in another example, specifically when the surface settlement and face displacement of the tunnel are minimized, the time required for each excavation robot to carry out one advance of earth excavation in the tunnel is obtained when the tunnel is excavated according to the determined construction path. Then, with the goal of minimizing the time required for one advance of earth excavation in the tunnel, the target construction path of the excavation robot is selected from the multiple construction paths of each excavation robot.

[0055] Step 104 , based on the pipe-roof method, enables each excavation robot to complete tunnel earth excavation along a determined construction path.

[0056] In one example, the excavation robot is responsible for excavation in tunnel construction, and the slag discharge equipment is responsible for transporting slag in tunnel construction. The two work together to complete the excavation and transportation of tunnel earthwork according to the above-determined target construction plan (i.e., the target excavation method and the number of excavation robots and the construction path under the target excavation method). By simulating the excavation conditions in which each excavation robot excavates tunnel earthwork according to a determined construction path and each slag discharge equipment transports tunnel soil and slag according to a determined construction path, the stratum stability parameters and pipe curtain stability parameters of the tunnel during the excavation and transportation process can be predicted. Then, the excavation speed of the excavation robot and the slag discharge speed of the slag discharge equipment are determined based on the stratum stability parameters and pipe curtain stability parameters of the tunnel during the excavation and transportation process, so that each excavation robot completes the tunnel excavation according to the determined construction path and excavation speed, and each slag discharge equipment completes the transportation of soil and slag according to the determined construction path and slag discharge speed. Among them, the pipe curtain stability parameters include the deformation degree of the pipe curtain prefabricated structure .

[0057] It can be understood that when excavating and transporting earth in a tunnel in the above manner, the excavation speed of the excavation robot can be matched with the slag discharge speed of the slag discharge equipment, thereby ensuring construction safety.

[0058] In this embodiment, in order to ensure the stratum stability of the tunnel, there are corresponding earth excavation methods for different geological parameters of the tunnel. According to this characteristic, a suitable earth excavation method is selected for the tunnel to be constructed. Under this earth excavation method, according to the number of tunnel excavation processes, the order of excavation processes, the amount of earth excavated in each excavation process, the number of excavation robots required for each earth excavation, and the excavation coordinates of the excavation robot when excavating each earth, the distance between the excavation coordinates of the excavation robot when excavating earth in the previous excavation process and the excavation coordinates of the excavation robot when excavating earth in the next excavation process is less than or equal to the distance between the relative coordinates of the earth excavated in the previous excavation process and the relative coordinates of the earth excavated in the next excavation process in the tunnel excavation section as a constraint condition, the construction path of each excavation robot is determined. Therefore, each excavation robot can perform tunnel earth excavation according to the corresponding construction path, the construction organization is clear, and the tunnel earth excavation speed is effectively improved.

[0059] Another embodiment of the present invention relates to a tunnel earthwork excavation and transportation collaborative control system based on the pipe curtain method. The implementation details of the tunnel earthwork excavation and transportation collaborative control system based on the pipe curtain method of this embodiment are specifically described below. The following content is only for the convenience of understanding the implementation details provided, and is not necessary for the implementation of this solution. The schematic diagram of the tunnel earthwork excavation and transportation collaborative control based on the pipe curtain method of this embodiment can be as follows Figure 4 As shown, it includes: an intelligent excavation robot (i.e., the excavation robot of the above embodiment), intelligent slag discharge equipment (i.e., the slag discharge equipment of the above embodiment), a monitoring system, and an earthwork excavation and transportation collaborative control platform.

[0060] Among them, the intelligent excavation robot is used for earthwork excavation construction and has positioning and monitoring functions. There are several intelligent excavation robots, all equipped with positioning systems, perception systems, image recording systems, control systems and communication systems. They can upload the excavation position coordinates, the excavation position stratum environment and the excavation process images in real time to the earthwork excavation and transportation collaborative control platform, and adjust the construction parameters (such as excavation speed) according to the construction instructions issued by the earthwork excavation and transportation collaborative control platform.

[0061] Intelligent slag discharge equipment is used to transport the excavated slag out of the tunnel and has a monitoring function. The intelligent slag discharge equipment can be in the form of a slag discharge belt conveyor, a scraper conveyor, etc., equipped with a weight sensor for real-time monitoring of the slag discharge speed, a visual recognition system and a communication system, which can monitor and upload the slag status in real time, and adjust the construction parameters (such as slag discharge speed) according to the construction instructions issued by the earthwork excavation and transportation collaborative control platform.

[0062] The monitoring system is used to monitor the stability of the stratum and the pipe curtain, and upload the data in real time. The monitoring system includes soil displacement meters, strain gauges, soil pressure gauges, etc., and can upload the monitoring data in real time to the earthwork excavation and transportation collaborative control platform.

[0063] The earthwork excavation and transportation collaborative control platform is used to receive and analyze the data uploaded by the excavation robot, slag discharge equipment and monitoring system, optimize the process and send instructions after algorithm calculation, and collaboratively control the construction of the excavation robot and slag discharge equipment. Specifically, the stratum stability parameters of the tunnel under different geological parameters and earthwork excavation methods of the tunnel are obtained based on the pipe curtain method during tunnel construction; according to the evolution law of the stratum stability parameters under different geological parameters and earthwork excavation methods, the mapping relationship between different geological parameters of the tunnel and different earthwork excavation methods is established; through the mapping relationship between different geological parameters and different earthwork excavation methods, the target earthwork excavation method corresponding to the current geological parameters of the tunnel is determined, and the number of excavation robots and construction paths required for the tunnel under the target earthwork excavation method are determined to form a target construction plan for the tunnel; after the excavation robot and slag discharge equipment collaboratively complete the earthwork excavation of the tunnel with the target construction plan, the excavation speed of the excavation robot and the slag discharge speed of the slag discharge equipment are adjusted in real time by monitoring the stability of the tunnel soil during the excavation process, so that the excavation speed matches the slag discharge speed.

[0064] In one example, the earthwork excavation and transportation collaborative control platform includes a simulation module, a data processing module, an optimization module, a decision-making module, and a communication module. The simulation module has a built-in pipe-curtain earthwork excavation case library, which can perform numerical simulations of different excavation conditions under different stratum parameters; the data processing module can analyze the stability of the stratum under different excavation conditions, and make real-time predictions of the stability of the stratum ahead in combination with the data uploaded by the monitoring system, providing a basis for the selection of slag discharge parameters and the optimization of the path of the excavation robot; the optimization module trains tunnel earthwork excavation samples based on machine learning algorithms, screens the optimal earthwork excavation method under different geological parameters, and optimizes the construction parameters in combination with the real-time information uploaded by the excavation robot, slag discharge equipment, and monitoring system during the construction process; the decision-making module formulates the construction parameters of earthwork excavation and transportation and issues instructions based on the construction parameter optimization results; the communication module realizes the information transmission between the control platform and the excavation robot, slag discharge equipment, and monitoring system.

[0065] It is not difficult to find that this embodiment is a system embodiment corresponding to the above method embodiment, and this embodiment can be implemented in conjunction with the above method embodiment. The relevant technical details and technical effects mentioned in the above embodiment are still valid in this embodiment, and in order to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied in the above embodiment.

[0066] Those skilled in the art can understand that the above embodiments are specific embodiments of the present invention, and in practical applications, various changes can be made to them in form and detail without departing from the spirit and scope of the embodiments of the present invention. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of the present invention, so the protection scope of the embodiments of the present invention shall be based on the scope defined in the claims.

Claims

1. A method for excavating earthwork in a tunnel using a pipe-roof method, characterized in that: include: Determine the target earthwork excavation method of the tunnel according to the geological parameters of the tunnel; tunnels with different geological parameters correspond to different earthwork excavation methods; According to the target earthwork excavation method of the tunnel, determine the number of tunnel excavation processes, the order of the excavation processes, the amount of earthwork excavated in each excavation process, the number of excavation robots required for each earthwork excavation, and the excavation coordinates of the excavation robots when excavating each earthwork; The construction path of each excavating robot is determined based on the constraint condition that the distance between the excavation coordinates of the excavation robot when excavating earthwork in the previous excavation process and the excavation coordinates of the excavation robot when excavating earthwork in the next excavation process is less than or equal to the distance between the relative coordinates of the earthwork excavated in the previous excavation process and the relative coordinates of the earthwork excavated in the next excavation process in the tunnel excavation section; Based on the pipe-curtain method, each excavation robot completes tunnel excavation along a determined construction path.

2. The method for excavating earthwork in a tunnel using the pipe-roof method according to claim 1, characterized in that: Determining the target earthwork excavation method of the tunnel according to the geological parameters of the tunnel includes: Obtain the ground stability parameters of the tunnel under different geological parameters and different earth excavation methods; According to the evolution law of stratum stability parameters under different geological parameters and different earthwork excavation methods, the mapping relationship between different geological parameters of the tunnel and different earthwork excavation methods is established; Through the mapping relationship between different geological parameters and different earth excavation methods, the target earth excavation method corresponding to the current geological parameters of the tunnel is determined.

3. The method for excavating earthwork in a tunnel using the pipe-roof method according to claim 2, characterized in that: The earth excavation methods include at least: full section method, step method, middle partition wall CD method, cross middle partition wall CRD method and double side wall pilot pit method; The geological parameters include: the depth and diameter of the tunnel, the density, elastic modulus, cohesion, internal friction angle, Poisson's ratio and groundwater level of the soil layer; The ground stability parameters include: surface settlement, tunnel face displacement, displacement of pipelines around the tunnel, and tunnel face soil pressure.

4. The method for excavating earthwork in a tunnel using the pipe-roof method according to claim 3, characterized in that: Each excavating robot has multiple construction paths, and determining the construction path of each excavating robot includes: When the ground settlement and face displacement of the tunnel are minimized, the time required for each excavation robot to excavate one foot of earthwork in the tunnel along the determined construction path is obtained; With the goal of minimizing the time required for one-foot earth excavation in the tunnel, a target construction path of the excavating robot is selected from multiple construction paths of each excavating robot.

5. The method for excavating earthwork in a tunnel using the pipe-roof method according to claim 1, characterized in that: Each excavating robot has multiple construction paths, and determining the construction path of each excavating robot includes: A construction path with the shortest length is selected from multiple construction paths of each excavating robot as a target construction path of the excavating robot.

6. The method for excavating earthwork in a tunnel using the pipe-roof method according to claim 1, characterized in that: The constraint condition is expressed by the following formula: ； In the formula, ( x i1 , y i1 ) represents the excavation coordinates of the excavation robot during earth excavation in the previous excavation process, ( x （i+1）1 , y （i+1）1 ) represents the excavation coordinates of the excavation robot during earth excavation in the next excavation process, ( X i1 , Y i1 ) represents the relative coordinates of the earth excavated in the previous excavation process in the tunnel excavation section, ( X （i+1）1 , Y （i+1）1 ) represents the relative coordinates of the earth excavated in the subsequent excavation process in the tunnel excavation section.

7. The method for excavating earthwork in a tunnel using the pipe-roof method according to claim 1, characterized in that: The method of enabling each excavation robot to complete tunnel earth excavation according to a determined construction path includes: Simulate the excavation conditions in which each excavating robot excavates the tunnel earthwork along a determined construction path and each slag discharger transports the tunnel earthwork along a determined construction path, so as to predict the stratum stability parameters and pipe curtain stability parameters of the tunnel during the excavation and transportation process; wherein the number and construction paths of the slag dischargers are the same as the number and construction paths of the excavating robots; The excavation speed of the excavation robot and the slag discharge speed of the slag discharge equipment are determined by the stratum stability parameters and pipe curtain stability parameters of the tunnel during excavation and transportation; Each excavation robot is made to complete tunnel earth excavation according to a determined construction path and excavation speed, and each slag discharge equipment is made to complete soil and slag transportation according to a determined construction path and slag discharge speed.

8. The method for excavating earthwork in a tunnel using the pipe-roof method according to claim 7, characterized in that: The pipe-roof stability parameter includes the degree of deformation of the pipe-roof prefabricated structure.

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