An earth excavation method for tunnel construction by the pipe roof method

Abstract

The present invention relates to the technical field of tunnel construction, and discloses a method for earthwork excavation in tunnel construction by the pipe roof method, including: determining the target earthwork excavation method for the tunnel according to geological parameters to determine the number of excavation processes for the tunnel, the sequence of excavation processes, the quantity of earthwork excavated in each excavation process, the number of excavation robots required for excavating each piece of earthwork, and the excavation coordinates of the excavation robots during the excavation of each piece of earthwork; taking the distance between the excavation coordinates of the excavation robot during the earthwork excavation in the previous excavation process and the excavation coordinates during the earthwork excavation in the subsequent excavation process to be less than or equal to the distance between the relative coordinates of the earthwork excavated in the previous excavation process in the tunnel excavation section and the relative coordinates of the earthwork excavated in the subsequent excavation process in the tunnel excavation section as a constraint condition, determining the construction path of each excavation robot, and enabling each excavation robot to complete the tunnel earthwork excavation along the determined construction path, so as to improve the earthwork excavation speed.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel construction, and particularly relates to a method for excavating tunnel soil by the pipe roof method. Background Technique

[0002] The development of urban underground space faces problems such as complex ground traffic, dense underground pipelines, many existing surrounding buildings, and complex geological conditions. During the engineering construction process, strict requirements are imposed on the deformation control of the ground surface, surrounding pipelines, and buildings. With the continuous development of urbanization construction, the shallow tunneling method has become the choice for the construction of more and more urban underground infrastructure.

[0003] The pipe roof method is to jack large-diameter steel pipes one by one on the tunnel construction section to form a pipe roof, and connect them by cutting and welding between the steel pipes or form an integral structure by using the ring beam structure inside the pipe roof to connect the steel pipes. Then, reinforced concrete is constructed in the connected space inside the steel pipes to form an integrated permanent support structure. Finally, the soil inside the tunnel is excavated. After the construction of the steel pipes is completed, it is necessary to carry out soil excavation and muck removal inside the tunnel. For different geological conditions, there are various excavation methods for the tunnel section. According to different excavation methods, the construction procedures and the number of equipment for soil excavation are also different.

[0004] Currently, soil excavation construction generally uses multiple excavators, and muck trucks are used to transport the muck to the outside of the tunnel. However, the construction organization of multiple excavators is chaotic, which greatly reduces the speed of soil excavation. Summary of the Invention

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

[0006] To solve the above technical problems, an embodiment of the present invention provides a method for excavating tunnel soil by the pipe roof method, including the following steps:

[0007] According to the geological parameters of the tunnel, determine the target soil excavation method of the tunnel; wherein, tunnels with different geological parameters correspond to different soil excavation methods;

[0008] According to the target soil excavation method of the tunnel, determine the number of excavation procedures of the tunnel, the order of excavation procedures, the amount of soil excavated in each excavation procedure, the number of excavation robots required for each piece of soil excavation, and the excavation coordinates of the excavation robots during each piece of soil excavation.

[0009] Taking the distance between the excavation coordinates of the excavation robot during the earth excavation in the previous excavation process and the excavation coordinates during the earth excavation in the subsequent excavation process to be less than or equal to the distance between the relative coordinates of the excavated earth in the tunnel excavation section in the previous excavation process and the relative coordinates of the excavated earth in the tunnel excavation section in the subsequent excavation process as a constraint condition, determine the construction path of each excavation robot;

[0010] Based on the pipe roof method, enable each excavation robot to complete the tunnel earth excavation along the determined construction path.

[0011] In some alternative embodiments, the determining the target earth excavation method of the tunnel according to the geological parameters of the tunnel includes:

[0012] Obtain the formation stability parameters of the tunnel under different geological parameters and different earth excavation methods;

[0013] According to the evolution law of the formation stability parameters under different geological parameters and different earth excavation methods, establish a mapping relationship between different geological parameters and different earth excavation methods of the tunnel;

[0014] Through the mapping relationship between different geological parameters and different earth excavation methods, determine the target earth excavation method corresponding to the current geological parameters of the tunnel.

[0015] In some alternative embodiments, the earth excavation methods at least include: full face method, bench method, middle diaphragm CD method, cross middle diaphragm CRD method, and double side drift method;

[0016] The geological parameters include: the buried depth and diameter of the tunnel, the density of the soil layer, elastic modulus, cohesion, internal friction angle, Poisson's ratio, and the groundwater level;

[0017] The formation stability parameters include: ground surface settlement, heading face displacement, displacement of pipelines around the tunnel, and heading face soil pressure.

[0018] In some alternative embodiments, there are multiple construction paths for each excavation robot, and the determining the construction path of each excavation robot includes:

[0019] Under the condition of the minimum ground surface settlement and heading face displacement of the tunnel, obtain the time required for the tunnel to carry out one footage of earth excavation when each excavation robot conducts the tunnel earth excavation along the determined construction path;

[0020] Taking the minimum time required for the tunnel to carry out one footage of earth excavation as the goal, select the target construction path of the excavation robot from the multiple construction paths of each excavation robot.

[0021] In some alternative embodiments, there are multiple construction paths for each excavation robot, and determining the construction path for each excavation robot includes:

[0022] Selecting the construction path with the minimum length from the multiple construction paths of each excavation robot as the target construction path of the excavation robot.

[0023] In some alternative embodiments, the constraint condition is represented by the following formula:

[0024]

[0025] In the formula, ( x i1 , y i1 ) represents the excavation coordinates of the excavation robot during the earth excavation in the previous excavation process, ( x （i+1）1 , y （i+1）1 ) represents the excavation coordinates of the excavation robot during the earth excavation in the next excavation process, ( X i1 , Y i1 ) represents the relative coordinates of the excavated soil in the tunnel excavation section during the previous excavation process, ( X （i+1）1 , Y （i+1）1 ) represents the relative coordinates of the excavated soil in the tunnel excavation section during the next excavation process.

[0026] In some alternative embodiments, making each excavation robot complete the tunnel earth excavation along the determined construction path includes:

[0027] Simulating the excavation working conditions of each excavation robot for tunnel earth excavation along the determined construction path and each muck removal equipment for tunnel muck transportation along the determined construction path to predict the formation stability parameters and pipe curtain stability parameters of the tunnel during the excavation and transportation process; wherein, the number and construction path of the muck removal equipment are the same as those of the excavation robot;

[0028] Determining the excavation speed of the excavation robot and the muck removal speed of the muck removal equipment based on the formation stability parameters and pipe curtain stability parameters of the tunnel during the excavation and transportation process;

[0029] Making each excavation robot complete the tunnel earth excavation along the determined construction path and excavation speed, and making each muck removal equipment complete the muck transportation along the determined construction path and muck removal speed.

[0030] In some alternative embodiments, the pipe curtain stability parameter includes the deformation degree of the pipe curtain prefabricated structure.

[0031] The method for excavating tunnel soil by the pipe roof method provided by the present invention has at least the following beneficial effects:

[0032] In order to ensure the stratum stability of the tunnel, there are corresponding soil excavation methods for different geological parameters of the tunnel. In the present invention, this characteristic is used to select a suitable soil excavation method for the tunnel to be constructed. Under this soil excavation method, according to the number of excavation processes of the tunnel, the order of excavation processes, the quantity of soil excavated in each excavation process, the number of excavation robots required for excavating each piece of soil, and the excavation coordinates of the excavation robots during the excavation of each piece of soil, with the distance between the excavation coordinates of the excavation robots during the excavation of the soil in the previous excavation process and the excavation coordinates during the excavation of the soil in the subsequent excavation process being less than or equal to the distance between the relative coordinates of the soil excavated in the previous excavation process in the tunnel excavation section and the relative coordinates of the soil excavated in the subsequent 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 carry out tunnel soil excavation according to the corresponding construction path, the construction organization is clear, and the tunnel soil excavation speed is effectively improved. Description of the Drawings

[0033] One or more embodiments are illustrated by way of example in the pictures in the corresponding drawings, and these exemplary illustrations do not limit the embodiments.

[0034] Figure 1 is a flowchart of a method for excavating tunnel soil by the pipe roof method according to an embodiment of the present invention;

[0035] Figure 2 is a schematic diagram of a numerical model according to an embodiment of the present invention;

[0036] Figure 3 is a schematic diagram of an excavation process according to an embodiment of the present invention;

[0037] Figure 4 is a schematic diagram of a tunnel soil excavation and transportation collaborative control system based on the pipe roof method according to an embodiment of the present invention. Detailed Embodiments

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those of ordinary skill in the art can understand that in the embodiments of the present invention, many technical details are provided to help readers better understand the present invention. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present invention can still be implemented. The following division of each embodiment is for convenience of description and should not constitute any limitation on the specific implementation manner of the present invention. Each embodiment can be combined and cross-referenced with each other on the premise of no contradiction.

[0039] An embodiment of the present invention relates to a method for excavating tunnel soil by the pipe roof method. The implementation details of the method for excavating tunnel soil by the pipe roof method in this embodiment will be specifically described below. The following content is only the implementation details provided for easy understanding and is not necessary for implementing this solution.

[0040] The specific process of the method for excavating tunnel soil by the pipe roof method in this embodiment can be as Figure 1 shown and includes:

[0041] Step 101: Determine the target soil excavation method for the tunnel according to the geological parameters of the tunnel. Among them, tunnels with different geological parameters correspond to different soil excavation methods.

[0042] Specifically, first, obtain the formation stability parameters of the tunnel under different geological parameters and different soil excavation methods. Then, according to the evolution law of the formation stability parameters under different geological parameters and different soil excavation methods, establish the mapping relationship between different geological parameters and different soil excavation methods of the tunnel. Finally, through the mapping relationship between different geological parameters and different soil excavation methods, determine the target soil excavation method corresponding to the current geological parameters of the tunnel.

[0043] Among them, the soil excavation methods of the tunnel at least include: full face method, bench method, middle diaphragm CD method, cross middle diaphragm CRD method, and double side drift method. The geological parameters of the tunnel include: the buried depth and the hole diameter , the density of the soil layer , the elastic modulus , the cohesion , the internal friction angle , the Poisson's ratio , and the groundwater level . In addition, the soil layer density is measured by the ring knife method (fine-grained soil), or the water injection method (coarse-grained soil), or the wax sealing method (hard soil). The elastic modulus, cohesion, and internal friction angle are measured by the triaxial compression test. The formation stability parameters include: ground surface settlement , heading face displacement , pipeline displacement around the tunnel and the face soil pressure . In addition, the ground settlement, the face displacement, and the pipeline displacement around the tunnel are measured by soil displacement gauges, the deformation of the pipe-roof precast structure is measured by strain gauges, and the face soil pressure is measured by soil pressure gauges.

[0044] In one example, when establishing the mapping relationship between different geological parameters and different earthwork excavation methods of the tunnel according to the evolution law of the formation stability parameters under different geological parameters and different earthwork excavation methods, first, a numerical model of pipe-roof earthwork excavation with different geological parameters and different earthwork excavation methods of the tunnel is established based on the formation stability parameters of the tunnel under different geological parameters and earthwork excavation methods, and then the evolution law of the formation stability parameters under different geological parameters and different earthwork excavation methods is obtained. The numerical model established at this time is shown as Figure 2 shown, and the parameters of the numerical model are shown in Table 1:

[0045] Table 1 Parameters of the numerical model

[0046]

[0047] In one example, in the mapping relationship between different geological parameters and different earthwork excavation methods of the above tunnel, there is a mapping relationship between each geological parameter of the tunnel and multiple earthwork excavation methods. At this time, when determining the target earthwork excavation method corresponding to the current geological parameter of the tunnel, specifically, the earthwork excavation method with the highest safety factor is selected from the multiple earthwork excavation methods corresponding to the current geological parameter of the tunnel as the target earthwork excavation method.

[0048] Specifically, according to the evolution law of the formation stability parameters under different geological parameters and different earthwork excavation methods, an earthwork excavation sample library of the tunnel is established to clarify the mapping relationship between geological parameters and earthwork excavation methods. Then, taking the evolution laws of the formation stability parameters under multiple different geological parameters and multiple different earthwork excavation methods in the sample library as samples, and selecting 80% of the samples in the sample library as training samples, and the remaining 20% as test samples, the cases in the sample library are trained. During the training process, for each geological parameter, the evolution law of the formation stability parameters when different earthwork excavation methods are adopted is predicted, so as to optimize and obtain the optimal earthwork excavation method for each geological parameter from multiple different earthwork excavation methods accordingly. 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 to obtain a safe and economical earthwork excavation method (i.e., the optimal earthwork excavation method) through training.

[0049] And the optimization process of the BP neural network is as follows:

[0050] (1) Data preprocessing:

[0051] ①Data dimensionless, the calculation formula is:

[0052] ;

[0053] In the formula, is the original data; is the average of the original data; is the original data after dimensionless; is the standard deviation of the original data.

[0054] ②Compress the data to between [0, 1], the calculation formula is:

[0055] ;

[0056] In the formula, are the maximum and minimum values after dimensionless respectively; is the data after dimensionless and compression.

[0057] (2)Determine the number of network layers and neurons:

[0058] Select a single-hidden-layer neural network, the number of layers of the input layer is 1, and the number of layers of the hidden layer is 1;

[0059] Suppose the input layer has nodes, the hidden layer has nodes, and the output layer has nodes.

[0060] Suppose the input of the neural network is , where are the tunnel buried depth, tunnel diameter, soil elastic modulus, and soil internal friction angle respectively, that is is 4.

[0061] Number of hidden layer nodes Calculation method: , that is: ;

[0062] The actual output is , that is is 2, where are the number of excavation processes and the amount of soil excavated each time respectively, and the expected output is , is the expected number of excavation processes of the output, is the expected amount of soil excavated each time of the output.

[0063] (3)Select the activation function:

[0064] Select the Sigmoid function, and its function expression is:

[0065] ;

[0066] (4)Learning process:

[0067] ① Input value of the hidden layer node Let be the input layer node number, be the hidden layer node number, be the output layer node number. The input value of the hidden layer node can be expressed as: ;

[0068] ;

[0069] In the formula, is the weight from the input layer node to the hidden layer node , represents any set of training sample data.

[0070] ② Output value of the hidden layer:

[0071] ;

[0072] In the formula, is the connection weight from the input layer node to the hidden layer node , is the threshold of the hidden layer node , is the activation function.

[0073] ③ Actual output value of the output layer. The output of the hidden layer is mapped by the transfer function of the output layer to obtain the output of the output layer node , which is expressed as:

[0074] ;

[0075] In the formula, represents the connection weight from the hidden layer node to the output layer node , is the threshold of the output layer node , is the activation function.

[0076] The error of the actual output value of the output layer is:

[0077] ;

[0078] ④ Correction model:

[0079] The weights and thresholds of the correction model are:

[0080] ;

[0081] In the formula, is the connection weight from the hidden layer node to the output layer node of the correction model, is the connection weight from the input layer node to the hidden layer node of the correction model, is the learning rate, is the gradient value of the output layer neuron, is the gradient value of the hidden layer neuron, is the threshold of the output layer node of the correction model, is the threshold of the hidden layer node of the correction model.

[0082] ⑤ Calculate the global error of the network. Assume the number of samples is , and the expected output value of the th sample at the th node is , and the actual output value of the th sample at the th node is , then the error of the sample data is:

[0083] ;

[0084] Before the sample data training is completed, loop through the above ②~⑤ until the accuracy error requirement is met.

[0085] Step 102, according to the target earthwork excavation method of the tunnel, determine the number of tunnel excavation processes, the sequence of excavation processes, the amount of earthwork excavated in each excavation process, the number of excavation robots required for each piece of earthwork excavation, and the excavation coordinates of the excavation robots during each piece of earthwork excavation.

[0086] Step 103: Determine the construction path of each excavation robot with the constraint that the distance between the excavation coordinates of the excavation robot during earth excavation in the previous excavation process and the excavation coordinates during earth excavation in the next excavation process is less than or equal to the distance between the relative coordinates of the excavated earth in the tunnel excavation section in the previous excavation process and the relative coordinates of the excavated earth in the tunnel excavation section in the next excavation process.

[0087] Specifically, after determining the target earth excavation method corresponding to the current geological parameters of the tunnel, according to the target earth excavation method of the tunnel, determine the number of excavation robots required for each piece of earth excavation in the tunnel and the initial coordinates of each excavation robot; and according to the target earth excavation method of the tunnel, determine the number of excavation processes in the tunnel, the order of all excavation processes, the quantity of earth excavated in each excavation process, and the excavation coordinates of the excavation robot during each earth excavation; then, according to the initial coordinates of each excavation robot, the excavation coordinates of the excavation robot during earth excavation, and the order of all excavation processes, determine multiple movable paths (i.e., multiple construction paths) for each excavation robot.

[0088] In one example, when determining the construction path of each excavation robot, the movable path with the minimum length among the multiple movable paths of each excavation robot is used as the construction path (i.e., the final construction path) of the excavation robot under the target earth excavation method, and the construction paths of all excavation robots under the target earth excavation method are the construction paths of the tunnel under the target earth excavation method.

[0089] Among them, each movable path of each excavation robot (i.e., the above-mentioned constraint condition) satisfies the following conditions:

[0090]

[0091] This formula means 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 these two excavated earths, that is, the robot only moves between the excavated earths.

[0092] In the formula, represents the excavation coordinates of the excavation robot during earth excavation in the previous excavation process, represents the excavation coordinates of the excavation robot during earth excavation in the next excavation process, represents the relative coordinates of the excavated earth in the tunnel excavation section in the previous excavation process, represents the relative coordinates of the excavated earth in the tunnel excavation section in the next excavation process.

[0093] In the specific implementation, assume that the target excavation method has excavation processes in each cycle, and each process has If the earthwork of each block is constructed simultaneously, the relative coordinates of the excavated earthwork of each block in the tunnel excavation section are as follows:

[0094] The first excavation process: ;

[0095] The second excavation process: ;

[0096] …

[0097] The k-th excavation process: ;

[0098] …

[0099] The n-th excavation process: .

[0100] In this target excavation method, in the first step, determine the number of excavation robots required for each block of earthwork according to the target excavation method. For example, according to the quantitative evaluation result, the number of excavation robots is determined to be , then the number of excavation robots required for each block of earthwork is . In the second step, determine the coordinates of excavation robots according to the target excavation method. For example, in the th excavation process, there are blocks of earthwork constructed simultaneously, and the number of robots required for each block of earthwork is . Let the numbers be respectively, then the initial coordinates of excavation robots are: The coordinate of is The coordinate of , …, The coordinate of . Similarly, when the th process is under construction, the excavation coordinates of excavation robots are: The coordinate of is The coordinate of , …, The coordinate of . In the third step, determine the set of movable paths of the excavation robots according to the excavation process of the target excavation method. For example, after the previous excavation process is completed, divide excavation robots evenly among the blocks of earthwork in the next excavation process. Let the set of movable paths of each excavation robot (i.e., multiple movable paths of each excavation robot) be , where each movable path satisfies the above formula. In the fourth step, select the movable path with the minimum length from the set of movable paths as the planned path, that is, the construction path of the excavation robot. .

[0101] In a specific example, taking the excavation by the CD method and using 2 excavation robots for construction as an example to illustrate the above process of determining the construction path:

[0102] There are 6 excavation processes in each cycle of the CD method excavation, and there is 1 piece of earthwork construction for each process. The schematic diagram of the excavation process is as shown in Figure 3 . The relative coordinates of each piece of excavated earthwork in the tunnel excavation section are:

[0103] The first excavation process: ;

[0104] The second excavation process: ;

[0105] The third excavation process: ;

[0106] The fourth excavation process: ;

[0107] The fifth excavation process: ;

[0108] The sixth excavation process: .

[0109] In the CD method excavation mode, in the first step, determine the number of excavation robots required for each piece of 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 result, then the number of excavation robots required for each piece of earthwork excavation is 2. In the second step, determine the coordinates of the 2 excavation robots according to the excavation method. For example, in the th excavation process, there is 1 piece of earthwork under construction at the same time, and the number of robots required for each piece of earthwork excavation is 2. Let the numbers be , , then the initial coordinates of the 2 excavation robots are: The coordinate of is , and when constructing the th process, the excavation coordinates of the excavation robot are . In the third step, 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, multiple movable paths of each excavation robot) be , where each movable path satisfies the above formula. In the fourth step, select the movable path with the minimum length from the set of movable paths as the planned path, that is, the construction path of the excavation robot. .

[0110] In one example, after determining the target earthwork excavation method corresponding to the current geological parameters of the tunnel, first, with the highest tunnel construction safety, highest efficiency, and lowest cost as the goals, determine the number of intelligent excavation robots required for the tunnel and the construction path under the target earthwork excavation method. That is, according to the determined earthwork excavation method, considering construction efficiency and cost, conduct a quantitative evaluation of the earthwork excavation effect, and determine the number of excavation robots and the construction path with high construction safety, high efficiency, and reasonable cost.

[0111] Among them, the quantitative evaluation method of the earthwork excavation effect is as follows:

[0112]

[0113]

[0114]

[0115] In the formula, is the earthwork excavation construction effect, is the optimal earthwork excavation construction effect, is the total time required for a single excavation robot to conduct an advance earthwork excavation, is the number of excavation robots, is the time required for excavation robots to conduct an advance earthwork excavation, is the cost required for an advance earthwork excavation, is the ground settlement generated by an advance earthwork excavation,

[0116] represents the time and cost required for an advance earthwork excavation on the premise that the ground settlement and the face displacement are certain, represents that under the condition of the minimum ground settlement and face displacement, the time required for an advance earthwork excavation is the shortest and the cost is the lowest.

[0117] Therefore, the highest tunnel construction safety, highest efficiency, and lowest cost specifically refer to: when the ground settlement and the face displacement of the tunnel are the smallest, the time required for an advance earthwork excavation is the shortest and the cost is the lowest.

[0118] Based on this, since there are multiple construction paths for each excavation robot, when determining the construction path of each excavation robot as described above, in another example, specifically when the ground settlement and face displacement of the tunnel are minimized, the time required for the tunnel to excavate one footage of soil is obtained when each excavation robot excavates the tunnel soil according to the determined construction path. Then, with the goal of minimizing the time required for the tunnel to excavate one footage of soil, the target construction path of the excavation robot is selected from the multiple construction paths of each excavation robot.

[0119] Step 104: Based on the pipe roof method, each excavation robot completes the tunnel soil excavation according to the determined construction path.

[0120] In one example, the excavation robot is responsible for the excavation in tunnel construction, and the muck removal equipment is responsible for the transportation of muck in tunnel construction. The two cooperate to complete the tunnel soil excavation and transportation according to the determined target construction plan (i.e., the target excavation method, the number of excavation robots, and the construction path under the target excavation method). By simulating the excavation conditions where each excavation robot excavates the tunnel soil according to the determined construction path and each muck removal equipment transports the tunnel muck according to the determined construction path, the formation stability parameters and pipe roof stability parameters of the tunnel during the excavation and transportation process can be predicted. Then, based on the formation stability parameters and pipe roof stability parameters of the tunnel during the excavation and transportation process, the excavation speed of the excavation robot and the muck removal speed of the muck removal equipment are determined, so that each excavation robot completes the tunnel soil excavation according to the determined construction path and excavation speed, and each muck removal equipment completes the muck transportation according to the determined construction path and muck removal speed. Among them, the pipe roof stability parameters include the deformation degree of the prefabricated pipe roof structure. .

[0121] It can be understood that when the tunnel soil excavation and transportation are carried out in the above manner, the excavation speed of the excavation robot can be matched with the muck removal speed of the muck removal equipment, thus ensuring construction safety.

[0122] In this embodiment, in order to ensure the formation stability of the tunnel, there are corresponding earthwork excavation methods for different geological parameters of the tunnel. Based on this characteristic, a suitable earthwork excavation method is selected for the tunnel to be constructed. Under this earthwork excavation method, according to the number of excavation processes of the tunnel, the sequence of excavation processes, the quantity of earthwork excavated in each excavation process, the number of excavation robots required for each piece of earthwork excavation, and the excavation coordinates of the excavation robots during each piece of earthwork excavation, with the distance between the excavation coordinates of the excavation robots during earthwork excavation in the previous excavation process and those during earthwork excavation in the subsequent excavation process being less than or equal to the distance between the relative coordinates of the earthwork excavated in the previous excavation process in the tunnel excavation section and the relative coordinates of the earthwork excavated in the subsequent 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 carry out tunnel earthwork excavation according to the corresponding construction path, with clear construction organization, effectively improving the speed of tunnel earthwork excavation.

[0123] Another embodiment of the present invention relates to a tunnel earthwork excavation and transportation collaborative control system based on the pipe roof method. The implementation details of the tunnel earthwork excavation and transportation collaborative control system based on the pipe roof method in this embodiment will be specifically described below. The following content is only the implementation details provided for convenient understanding and is not necessary for implementing this solution. The schematic diagram of the tunnel earthwork excavation and transportation collaborative control based on the pipe roof method in this embodiment can be as Figure 4 shown, including: intelligent excavation robots (i.e., the excavation robots in the above embodiment), intelligent slag removal equipment (i.e., the slag removal equipment in the above embodiment), a monitoring system, and an earthwork excavation and transportation collaborative control platform.

[0124] Among them, the intelligent excavation robots are used for earthwork excavation construction and have positioning and monitoring functions. There are several intelligent excavation robots, all of which are equipped with a positioning system, a perception system, an image recording system, a control system, and a communication system. They can upload the real-time excavation position coordinates, the formation environment at the excavation position, and the images during the excavation process to the earthwork excavation and transportation collaborative control platform, and adjust the construction parameters (such as the excavation speed) according to the construction instructions issued by the earthwork excavation and transportation collaborative control platform.

[0125] The intelligent slag removal equipment is used to transport the excavated muck to the outside of the tunnel and has a monitoring function. The intelligent slag removal equipment can be in the form of a slag removal belt conveyor, a scraper conveyor, etc. It is equipped with a weight sensor for real-time monitoring of the slag removal speed, and is equipped with a visual recognition system and a communication system, which can monitor and upload the muck state in real time, and adjust the construction parameters (such as the slag removal speed) according to the construction instructions issued by the earthwork excavation and transportation collaborative control platform.

[0126] Monitoring system, for monitoring the formation stability and the pipe roof stability, and uploading the data in real time. The monitoring system includes soil displacement gauges, strain gauges, earth pressure gauges, etc., and can upload the monitoring data to the earthwork excavation and transportation collaborative control platform in real time.

[0127] Earthwork excavation and transportation collaborative control platform, for receiving and analyzing the data uploaded by the excavation robot, the slag discharging equipment and the monitoring system, and after algorithm calculation, carrying out process optimization and instruction sending to collaboratively control the construction of the excavation robot and the slag discharging equipment. Specifically, when obtaining the tunnel construction by the pipe roof method, obtaining the formation stability parameters of the tunnel under different geological parameters and earthwork excavation methods of the tunnel; according to the evolution law of the formation stability parameters under different geological parameters and earthwork excavation methods, establishing the mapping relationship between different geological parameters and different earthwork excavation methods of the tunnel; through the mapping relationship between different geological parameters and different earthwork excavation methods, determining the target earthwork excavation method corresponding to the current geological parameters of the tunnel, and determining the number and construction path of the excavation robot required for the tunnel under the target earthwork excavation method, so as to form the target construction plan of the tunnel; after the excavation robot and the slag discharging equipment collaboratively complete the earthwork excavation and transportation of the tunnel according to the target construction plan, by monitoring the stability degree of the tunnel soil body during the excavation and transportation process, adjusting the excavation speed of the excavation robot and the slag discharging speed of the slag discharging equipment in real time, so that the excavation speed and the slag discharging speed are matched.

[0128] 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 roof earthwork excavation case library and can perform numerical simulations on different excavation working conditions under different formation parameters; the data processing module can analyze the stability of the formation under different excavation working conditions, and combine the data uploaded by the monitoring system to predict the stability of the front formation in real time, providing a basis for the selection of slag discharging parameters and the path optimization of the excavation robot; the optimization module trains the tunnel earthwork excavation samples based on machine learning algorithms, screens the optimal earthwork excavation methods under different geological parameters, and combines the real-time information uploaded by the excavation robot, the slag discharging equipment and the monitoring system during the construction process to optimize the construction parameters; the decision-making module formulates the construction parameters of the earthwork excavation and transportation according to the optimization results of the construction parameters and issues instructions; the communication module realizes the information transmission between the control platform and the excavation robot, the slag discharging equipment and the monitoring system.

[0129] 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 cooperation with the above method embodiment. The relevant technical details and technical effects mentioned in the above embodiment are still valid in this embodiment. In order to reduce repetition, they are not elaborated here. Correspondingly, the relevant technical details mentioned in this embodiment can also be applied to the above embodiment.

[0130] Those of ordinary skill in the art can understand that the above embodiments are specific embodiments for implementing the present invention. In actual applications, various changes can be made to them in form and details 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. Therefore, the protection scope of the embodiments of the present invention should be subject to the scope defined by 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 certain construction path; Wherein, 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 earthwork excavation methods, the target earthwork excavation method corresponding to the current geological parameters of the tunnel is determined; 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; Taking the minimum time required for excavating one advance of earthwork in the tunnel as the goal, a target construction path of the excavation robot is selected from multiple construction paths of each excavation robot; 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.

2. The method for excavating earthwork in a tunnel using the pipe-roof method according to claim 1, 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.

3. 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.

4. 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.

5. The method for excavating earthwork in a tunnel using the pipe-roof method according to claim 1, characterized in that: The pipe-roof stability parameter includes the degree of deformation of the pipe-roof prefabricated structure.

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