Soft rock tunnel excavation method, device, equipment, system and medium

Abstract

The invention relates to a soft rock tunnel excavation method, device, equipment, system and medium, in particular to the technical field of tunnel engineering.The method comprises the steps that preset positioning points and a tunnel center point which are distributed at intervals are arranged in a target construction area, and the preset positioning points and the tunnel center point are picked up at the current scanning position at the same time through preset scanning equipment; determining the current coordinate of the current scanning position, scanning the current milling outline formed in the target construction area by using preset scanning equipment according to the current scanning position and the tunnel center point to obtain the current tunnel outline of the tunnel, judging whether the current tunnel outline coincides with the preset tunnel outline or not, and if the current tunnel outline coincides with the preset tunnel outline, determining that the current milling outline does not coincide with the preset tunnel outline. If yes, the tunnel face corresponding to the current tunnel contour formed through milling serves as the target construction area, the step of setting the preset positioning points and the tunnel center points distributed at intervals in the target construction area according to the preset data is executed again till the tunnel is formed, the construction precision of the soft rock tunnel is improved, and error accumulation is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel construction, and in particular to a soft rock tunnel excavation method, device, equipment, system and medium. Background Art

[0002] Soft rock tunnel refers to a tunnel structure formed in a soft rock geological body. When tunnel excavation and tunneling construction are carried out in a soft rock geological body, over-excavation may occur. Over-excavation will increase the amount of slag discharge, increase the thickness of the initial shotcrete, delay the construction period and increase the construction cost. If the over-excavation is not properly controlled, cavities and unstable surrounding rock will easily form behind the initial support. In order to reduce the amount of over-excavation, the external insertion angle of the drill hole is generally reduced while the opening position is converged to reduce over-excavation. There will be under-excavation near the supported steel frame section, and the under-excavation treatment takes a long time, affecting the progress and quality of the project.

[0003] In the prior art, when excavating soft rock tunnels, controlled blasting and milling are usually used for excavation construction. However, due to the weak characteristics of soft rock lithology, in the actual construction process, the quality of soft rock tunnel forming is poor due to error accumulation. Summary of the invention

[0004] The main purpose of this application is to provide a soft rock tunnel excavation method, device, equipment, system and medium, aiming to solve the technical problem in the related technology that due to the weak characteristics of soft rock lithology, there is a technical problem of poor soft rock tunnel forming quality caused by error accumulation during actual construction.

[0005] To achieve the above objectives, the present application proposes a soft rock tunnel excavation method, comprising the following steps:

[0006] According to the preset data, preset positioning points and tunnel center points are set at intervals in the target construction area;

[0007] Using a preset scanning device to simultaneously pick up the preset positioning point and the tunnel center point at the current scanning position to determine the current coordinates of the current scanning position;

[0008] According to the current scanning position and the tunnel center point, use the preset scanning device to scan the current milling profile formed in the target construction area to obtain the current tunnel profile of the tunnel;

[0009] Determining whether the current tunnel profile coincides with a preset tunnel profile;

[0010] When they overlap, the face corresponding to the current tunnel contour formed by milling is taken as the target construction area, and the step of setting preset positioning points and tunnel center points at intervals in the target construction area according to preset data is returned to be executed until the tunnel is formed.

[0011] In one embodiment, after the step of determining whether the current tunnel profile coincides with the preset tunnel profile, the method further includes:

[0012] When they do not overlap, the non-overlapping area of ​​the current tunnel outline and the preset tunnel outline is intercepted to form the current outline;

[0013] Determine the reason for the non-overlap between the current profile and the preset tunnel profile according to the coordinate position relationship between the current profile and the preset tunnel profile; wherein the non-overlap reason includes an over-break operation reason and an under-break operation reason;

[0014] According to the obtained non-overlapping reason, a treatment plan for the current contour is established; wherein the treatment plan includes: when the non-overlapping reason is the over-excavation operation, the treatment plan is to fill the area where the current contour is located; when the non-overlapping reason is the under-excavation operation, the treatment plan is to perform a secondary milling operation on the current contour;

[0015] The current contour is processed using the processing scheme until the current contour is eliminated and the current tunnel contour is made to coincide with the preset tunnel contour.

[0016] In one embodiment, when there is no overlap, the step of intercepting the non-overlapping area between the current tunnel profile and the preset tunnel profile to form the current profile comprises:

[0017] When they do not overlap, the preset center position is projected onto the current tunnel outline and the preset tunnel outline respectively to form a corresponding virtual positioning point;

[0018] The two virtual positioning points are overlapped, and the non-overlapping areas between the current tunnel outline and the preset tunnel outline are intercepted to form the current outline.

[0019] In one embodiment, after the step of overlapping the two virtual positioning points and intercepting the non-overlapping area between the current tunnel contour and the preset tunnel contour to form the current contour, the method further includes:

[0020] The non-overlapping reason corresponding to the current contour is output to perform an alarm operation.

[0021] In one embodiment, the step of scanning the current milling profile formed in the target construction area using the preset scanning device according to the current scanning position and the tunnel center point to obtain the current tunnel profile of the tunnel includes:

[0022] According to the current scanning position and the tunnel center point, when the target construction area is milled using the milling equipment, the preset scanning equipment is used to perform an instant scanning operation on the current milling profile formed by the milling operation of the preset milling equipment to obtain the current tunnel profile of the tunnel.

[0023] Based on the same technical concept, in a second aspect, the present invention also proposes a soft rock tunnel excavation device, comprising:

[0024] A point determination module, used for setting preset positioning points and tunnel center points at intervals in the target construction area according to preset data;

[0025] A coordinate output module, used to simultaneously pick up the preset positioning point and the tunnel center point at the current scanning position using a preset scanning device to determine the current coordinates of the current scanning position;

[0026] A contour output module, configured to scan the current milling contour formed in the target construction area using the preset scanning device according to the current scanning position and the tunnel center point, so as to obtain the current tunnel contour of the tunnel;

[0027] A judging module, used to judge whether the current tunnel profile coincides with a preset tunnel profile;

[0028] The tunnel forming control module is used to, when overlapped, take the face corresponding to the current tunnel contour formed by milling as the target construction area, and return to execute the step of setting preset positioning points and tunnel center points at intervals in the target construction area according to preset data until the tunnel is formed.

[0029] Based on the same technical concept, in the third aspect, the present invention also proposes a soft rock tunnel excavation control device, which includes a processor and a memory, and a cable-stayed bridge cable force test program is stored in the memory. When the cable-stayed bridge cable force test program is executed by the processor, the soft rock tunnel excavation method described in the first aspect is implemented.

[0030] Based on the same technical concept, in a fourth aspect, the present invention further proposes a soft rock tunnel excavation system, comprising:

[0031] Milling equipment;

[0032] a scanning device, the scanning device being mounted on the milling device; and,

[0033] The soft rock tunnel excavation control device described in the third aspect is communicatively connected with the milling device and the scanning device respectively, and the soft rock tunnel excavation control device can respectively generate a first control instruction for controlling the milling device and a second control instruction for controlling the scanning device.

[0034] In one embodiment, the scanning device comprises:

[0035] A motion mechanism, wherein the motion mechanism is communicatively connected to the soft rock tunnel excavation control device, and the soft rock tunnel excavation control device can control the motion mechanism to move to any position in the soft rock tunnel to form the current scanning position;

[0036] A positioning mechanism, wherein the positioning mechanism comprises a first connecting member, one end of which is connected to the motion mechanism, and the other end of which extends toward the target construction area and forms a mounting hole, wherein a first laser transceiver is installed in the mounting hole, the first laser transceiver is communicatively connected to the soft rock tunnel excavation control device, and the first laser transceiver can emit a positioning beam to the preset center position;

[0037] A rotating mechanism, the rotating mechanism comprising a driving member, the driving member is mounted on the first connecting member, a driving gear is mounted on the output end of the first connecting member, the driving gear is meshed with a gear ring sleeved on the outer periphery of the first connecting member, and a guide member is provided on the first connecting member to slide with the side surface of the gear ring, and a mounting position is formed on the side wall of the gear ring away from the first connecting member; and,

[0038] A scanning mechanism, wherein the scanning mechanism comprises a first telescopic driving member and a second telescopic driving member, wherein the first telescopic driving member and the second telescopic driving member are spaced apart at the mounting position along the extension direction of the first connecting member, wherein the first telescopic member and the second telescopic member are both hinged to the mounting position, and the telescopic ends of the first telescopic member and the second telescopic member are both connected to a second connecting member, wherein the second connecting member extends along the extension direction of the first connecting member, and an installation groove is formed at one end of the second connecting member facing the target construction area, wherein a scanner is installed in the installation groove, and the first telescopic member and / or the second telescopic member can both drive the second connecting member to approach or move away from the first connecting member to adjust the scanning direction of the scanner.

[0039] Based on the same technical concept, in the fifth aspect, the present invention also proposes a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by one or more processors, the soft rock tunnel excavation method described in the first aspect is implemented.

[0040] One or more technical solutions proposed in this application have at least the following technical effects:

[0041] The technical solution of the present application sets preset positioning points and tunnel center points at intervals in the target construction area according to preset data, uses preset scanning equipment to simultaneously pick up the preset positioning points and tunnel center points at the current scanning position to determine the current coordinates of the current scanning position, and uses the preset scanning equipment to scan the current milling profile formed in the target construction area according to the current scanning position and the tunnel center point to obtain the current tunnel profile of the tunnel, and judge whether the current tunnel profile coincides with the preset tunnel profile. When coincident, the face corresponding to the current tunnel profile formed by milling is used as the target construction area, and returns to execute the step of setting preset positioning points and tunnel center points at intervals in the target construction area according to the preset data until the tunnel is formed, so that the present invention can determine the center coordinates of the current scanning position through the preset positioning points and tunnel center points when in use, and then perform real-time scanning of the current milling profile in the milling process according to the tunnel center point and the center coordinates of the current scanning position, which can improve and enhance the milling forming accuracy of soft rock tunnels and ensure the forming quality of soft rock tunnels. At the same time, since a corresponding current tunnel profile and a corresponding target construction area are formed for each heading face, the present invention can also improve the construction accuracy of soft rock tunnels when used and avoid error accumulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0043] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0044] Figure 1 A flow chart of a soft rock tunnel excavation method exemplified in this application;

[0045] Figure 2 Flowcharts of some specific embodiments of the present application;

[0046] Figure 3 for Figure 2 Flow chart of step S600 in the example;

[0047] Figure 4 A schematic diagram of the structure of a scanning mechanism according to an example of the present invention;

[0048] Figure 5for Figure 4 A schematic diagram of the structure of the positioning mechanism of the example;

[0049] Figure 6 for Figure 4 A structural schematic diagram of the positioning mechanism of the example in another perspective;

[0050] Figure 7 for Figure 6 An enlarged structural diagram of part A of the example;

[0051] Figure 8 A schematic diagram of the side structure of a scanning structure according to an example of the present invention;

[0052] Fig. 9 This is a schematic diagram of the structure of the soft rock tunnel excavation control equipment used as an example in this application.

[0053] Reference numerals:

[0054] 100, positioning mechanism; 110, first connecting member; 120, first laser transceiver; 200, rotating mechanism; 210, driving member; 220, driving gear; 230, gear ring; 240, guide member; 250, mounting position; 300, scanning mechanism; 310, first telescopic driving member; 320, second telescopic driving member; 330, second connecting member; 340, scanner; 350, slide groove; 360, sliding ear; 400, moving mechanism.

[0055] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0056] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0057] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0058] See also Figures 1 to 9 The present application proposes a first embodiment of a soft rock tunnel excavation method, comprising the following steps:

[0059] S100, according to preset data, setting preset positioning points and tunnel center points at intervals in the target construction area;

[0060] In this embodiment, the target construction area is an area where a milling device is used to perform milling operations to form a tunnel. The preset data in this embodiment include a preset tunnel construction design blueprint, geological parameters of the soft rock geological body in the tunnel area, and other materials used in the prior art to assist tunnel construction.

[0061] In this embodiment, the preset positioning points in the example can be coordinate points located on the contour edge of the tunnel, or can be coordinate points located within the contour edge and spaced apart from the center point of the tunnel. It is worth specifying that the preset positioning points and the center point of the tunnel in the example in this embodiment should be measured and set once before each milling operation. Through this setting method, the present invention can improve the excavation and forming accuracy of soft rock tunnels when used, avoiding error accumulation.

[0062] S200, using a preset scanning device to simultaneously pick up the preset positioning point and the tunnel center point at the current scanning position to determine the current coordinates of the current scanning position;

[0063] In this embodiment, the preset scanning mechanism 300 is the scanning mechanism 300, and the scanning device includes a motion mechanism 400, a positioning mechanism 100, a rotating mechanism 200 and a scanning mechanism 300. The motion mechanism 400 is connected to the soft rock tunnel excavation control device in communication, and the soft rock tunnel excavation control device can control the motion mechanism 400 to move to any position in the soft rock tunnel to form a current scanning position. The positioning mechanism 100 includes a first connecting member 110, one end of which is connected to the motion mechanism 400, and the other end of the first connecting member 110 extends toward the target construction area and forms a mounting hole. A first laser transceiver 120 is installed in the mounting hole. The first laser transceiver 120 is connected to the soft rock tunnel excavation control device in communication, and the first laser transceiver 120 can emit a positioning beam to a preset center position. The rotating mechanism 200 includes a driving member 210, which is installed on the first connecting member 110. The output end of the first connecting member 110 is installed with a driving gear 220, and the driving gear 220 is sleeved on the first connecting member 110. The first connecting member 110 is meshed with a toothed ring 230 on the outer periphery thereof, and a guide member 240 is provided on the upper portion of the first connecting member 110 to slide with the side surface of the toothed ring 230. A mounting position 250 is formed on the side wall of the toothed ring 230 away from the first connecting member 110. The scanning mechanism 300 includes a first telescopic driving member 310210 and a second telescopic driving member 320210. The first telescopic driving member 310210 and the second telescopic driving member 320210 are spaced apart and distributed at the mounting position 250 along the extension direction of the first connecting member 110. The first telescopic member and the second telescopic member are both hinged to the mounting position 250, and the telescopic ends of the first telescopic member and the second telescopic member are both connected to a second connecting member 330, the second connecting member 330 extends along the extension direction of the first connecting member 110, and the second connecting member 330 forms a mounting groove at one end facing the target construction area, and a scanner 340 is installed in the mounting groove. The first telescopic member and / or the second telescopic member can drive the second connecting member 330 to approach or move away from the first connecting member 110 to adjust the scanning direction of the scanner 340.

[0064] In this embodiment, a motion mechanism 400, a positioning mechanism 100, a rotating mechanism 200 and a scanning mechanism 300 are provided. When in use, the ring gear 230 in the rotating mechanism 200 is sleeved on the outer periphery of the first connecting member 110. At the same time, the driving member 210 installed on the outer periphery of the first connecting member 110 drives the ring gear 230 to rotate through the driving gear 220, thereby realizing the function of adjusting the scanning direction of the scanning mechanism 300. At the same time, the second connecting member 330 is driven by the cooperation of the first telescopic member and / or the second telescopic member, thereby realizing the function of adjusting the scanning angle of the scanner 340. Finally, the present invention can use the scanner 340 to realize the function of real-time scanning of different working positions in different target working areas during actual operation. Furthermore, since the positioning mechanism 100 is installed on the moving mechanism 400, the present invention can utilize the moving mechanism 400 to drive the positioning mechanism 100 and the rotating mechanism 200 and the scanning mechanism 300 installed on the positioning mechanism 100 to move to stop at any current scanning position when in use, which also enables the present invention to realize the function of instantly forming the current scanning position when in use.

[0065] It needs to be further explained that, in this embodiment, during the specific implementation, the scanner 340 can also follow the milling equipment to perform the following operation, thereby enabling the present invention to instantly follow and complete the scanning operation when the milling equipment is milling, so that during the actual operation, the present invention can instantly generate the quality of the current tunnel profile formed by the milling equipment operation.

[0066] It should be particularly and clearly stated that in this embodiment, the laser transceiver and scanner 340 are based on existing technologies, and this application does not improve them, so their structures and working principles are not described one by one here. Of course, in this embodiment, the motion mechanism 400 can be, but is not limited to, a device or apparatus that can realize functions such as walking, flying, and moving in the prior art. Specifically, the shape mechanism can be a walking robot or a drone.

[0067] S300, scanning the current milling profile formed in the target construction area using the preset scanning device according to the current scanning position and the tunnel center point, so as to obtain the current tunnel profile of the tunnel;

[0068] In this embodiment, the exemplified current milling profile is a tunnel structure obtained by performing milling operations using a milling device, and the tunnel structure is obtained by performing milling operations using the milling device according to the boundary position of the tunnel.

[0069] S400, determining whether the current tunnel profile coincides with a preset tunnel profile;

[0070] In this embodiment, when determining whether the current tunnel profile coincides with the preset tunnel profile, positioning can be performed based on the preset center position that has been set, and then the preset center position is simultaneously projected to the current tunnel profile and the preset tunnel profile, so that the same positioning point exists between the current tunnel profile and the preset tunnel profile, and finally the present invention can accurately determine whether the current tunnel profile coincides with the preset tunnel profile. Of course, in order to more clearly determine whether the current tunnel profile coincides with the preset tunnel profile, in specific implementation, at least two auxiliary positioning positions can also be set in the target construction area. During the scanning operation, at least two auxiliary positioning positions and the preset center position are projected to the current tunnel profile and the preset tunnel profile, so as to achieve the purpose of comparing whether the current tunnel profile coincides with the preset tunnel profile.

[0071] S500. When they coincide, the face corresponding to the current tunnel contour formed by milling is used as the target construction area, and the process returns to the step of setting preset positioning points and tunnel center points at intervals in the target construction area according to preset data until the tunnel is formed.

[0072] In this embodiment, preset positioning points and tunnel center points are set at intervals in the target construction area according to preset data, and the preset positioning points and tunnel center points are picked up at the current scanning position by using a preset scanning device to determine the current coordinates of the current scanning position. According to the current scanning position and the tunnel center point, the preset scanning device is used to scan the current milling profile formed in the target construction area to obtain the current tunnel profile of the tunnel, and determine whether the current tunnel profile coincides with the preset tunnel profile. When coincident, the face corresponding to the current tunnel profile formed by milling is used as the target construction area, and the step of setting preset positioning points and tunnel center points at intervals in the target construction area according to the preset data is returned to execute until the tunnel is formed, so that the present invention can determine the center coordinates of the current scanning position by the preset positioning points and tunnel center points when in use, and then perform real-time scanning of the current milling profile in the milling process according to the tunnel center point and the center coordinates of the current scanning position, which can improve and enhance the milling forming accuracy of the soft rock tunnel and ensure the forming quality of the soft rock tunnel. At the same time, since a corresponding current tunnel profile and a corresponding target construction area are formed for each heading face, the present invention can also improve the construction accuracy of soft rock tunnels when used and avoid error accumulation.

[0073] In one embodiment, after step S400, the method further includes:

[0074] S600, when there is no overlap, intercepting the non-overlapping area between the current tunnel outline and the preset tunnel outline to form a current outline;

[0075] S700, determining the reason for the non-overlap between the current profile and the preset tunnel profile according to the coordinate position relationship between the current profile and the preset tunnel profile; wherein the non-overlap reason includes an over-break operation reason and an under-break operation reason;

[0076] In this embodiment, when determining the cause of the non-overlap, a judgment can be made based on the projection result of the current tunnel contour on the preset tunnel contour. When the current tunnel contour is projected on the preset tunnel contour and part of it is located outside the preset tunnel contour, it indicates that the area outside the preset tunnel contour is an over-excavation area, that is, the non-overlap in this area is caused by over-excavation; when the current tunnel contour is within the preset tunnel contour, it indicates that the area is an under-excavation area, that is, the non-overlap in this area is caused by under-excavation.

[0077] S800, establishing a treatment plan for the current contour according to the acquired non-overlapping reason; wherein the treatment plan includes: when the non-overlapping reason is the over-excavation operation, the treatment plan is to perform a filling operation on the area where the current contour is located; when the non-overlapping reason is the under-excavation operation, the treatment plan is to perform a secondary milling operation on the current contour;

[0078] S900: Perform a treatment operation on the current contour using the treatment plan until the current contour is eliminated and the current tunnel contour is made to coincide with the preset tunnel contour.

[0079] In this embodiment, by processing non-overlapping areas in real time, the present invention can timely process existing over-break or under-break areas during tunnel construction, thereby avoiding the impact of over-break or under-break on the tunnel line shape.

[0080] In one embodiment, step S600 includes:

[0081] S610: When they do not overlap, projecting the preset center position onto the current tunnel outline and the preset tunnel outline respectively to form a corresponding virtual positioning point;

[0082] S620: Overlap the two virtual positioning points, and intercept the non-overlapping areas between the current tunnel outline and the preset tunnel outline to form a current outline.

[0083] In one embodiment, after step S620, the method further includes:

[0084] S630: Output the non-overlapping reason corresponding to the current contour and perform an alarm operation.

[0085] In one embodiment, step S300 includes:

[0086] S310. According to the current scanning position and the center point of the tunnel, when the target construction area is milled using the milling equipment, the preset scanning equipment is used to perform an instant scanning operation on the current milling profile formed by the milling operation of the preset milling equipment to obtain the current tunnel profile of the tunnel.

[0087] Based on the same technical concept, in a second aspect, the present invention also proposes a soft rock tunnel excavation device, comprising:

[0088] A point determination module, used for setting preset positioning points and tunnel center points at intervals in the target construction area according to preset data;

[0089] A coordinate output module, used to simultaneously pick up the preset positioning point and the tunnel center point at the current scanning position using a preset scanning device to determine the current coordinates of the current scanning position;

[0090] A contour output module, configured to scan the current milling contour formed in the target construction area using the preset scanning device according to the current scanning position and the tunnel center point, so as to obtain the current tunnel contour of the tunnel;

[0091] A judging module, used to judge whether the current tunnel profile coincides with a preset tunnel profile;

[0092] The tunnel forming control module is used to, when overlapped, take the face corresponding to the current tunnel contour formed by milling as the target construction area, and return to execute the step of setting preset positioning points and tunnel center points at intervals in the target construction area according to preset data until the tunnel is formed.

[0093] The soft rock tunnel excavation device provided by the present application adopts the soft rock tunnel excavation method in the above embodiment, which can solve the technical problem that when excavating soft rock tunnels, controlled blasting and milling are usually used for excavation construction. However, due to the weak characteristics of soft rock lithology, over-excavation or under-excavation occurs in the actual construction process, affecting the construction efficiency and forming quality of the tunnel. Compared with the prior art, the beneficial effects of the soft rock tunnel excavation control device provided by the present application are the same as the beneficial effects of the soft rock tunnel excavation method provided by the above embodiment, and the other technical features of the soft rock tunnel excavation control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0094] Based on the same technical concept, in the third aspect, the present invention also proposes a soft rock tunnel excavation control device, which includes a processor and a memory, and a cable-stayed bridge cable force test program is stored in the memory. When the cable-stayed bridge cable force test program is executed by the processor, the soft rock tunnel excavation method described in the first aspect is implemented.

[0095] Reference below Fig. 9 , which shows a schematic diagram of the structure of a soft rock tunnel excavation control device suitable for implementing the embodiment of the present application. The soft rock tunnel excavation control device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted control terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig. 9 The soft rock tunnel excavation control device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0096] like Fig. 9As shown, the soft rock tunnel excavation control device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. Various programs and data required for the operation of the soft rock tunnel excavation control device are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the soft rock tunnel excavation control device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a soft rock tunnel excavation control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0097] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0098] The soft rock tunnel excavation control device provided by the present application adopts the soft rock tunnel excavation method in the above embodiment, which can solve the technical problem that when excavating soft rock tunnels, controlled blasting and milling are usually used for excavation construction. However, due to the weak characteristics of soft rock lithology, over-excavation or under-excavation occurs in the actual construction process, affecting the construction efficiency and forming quality of the tunnel. Compared with the prior art, the beneficial effects of the soft rock tunnel excavation control device provided by the present application are the same as the beneficial effects of the soft rock tunnel excavation method provided by the above embodiment, and the other technical features in the soft rock tunnel excavation control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0099] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0100] Based on the same technical concept, in a fourth aspect, the present invention further proposes a soft rock tunnel excavation system, comprising:

[0101] Milling equipment;

[0102] a scanning device, the scanning device being mounted on the milling device; and,

[0103] The soft rock tunnel excavation control device described in the third aspect is communicatively connected with the milling device and the scanning device respectively, and the soft rock tunnel excavation control device can respectively generate a first control instruction for controlling the milling device and a second control instruction for controlling the scanning device.

[0104] In addition, the soft rock tunnel excavation system provided in the embodiment of the present application can solve the technical problem that when excavating soft rock tunnels, controlled blasting and milling are usually used for excavation construction. However, due to the weak characteristics of soft rock lithology, over-excavation or under-excavation occurs in the actual construction process, affecting the construction efficiency and molding quality of the tunnel. Compared with the prior art, the beneficial effects of the soft rock tunnel excavation system provided in the embodiment of the present application are the same as the beneficial effects of the soft rock tunnel excavation method provided in the above embodiment, and other technical features of the soft rock tunnel excavation system are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0105] In one embodiment, the scanning device comprises:

[0106] A motion mechanism 400, wherein the motion mechanism 400 is communicatively connected to the soft rock tunnel excavation control device, and the soft rock tunnel excavation control device can control the motion mechanism 400 to move to any position in the soft rock tunnel to form the current scanning position;

[0107] A positioning mechanism 100, wherein the positioning mechanism 100 comprises a first connecting member 110, wherein one end of the first connecting member 110 is connected to the motion mechanism 400, and the other end of the first connecting member 110 extends toward the target construction area and forms a mounting hole, wherein a first laser transceiver 120 is installed in the mounting hole, wherein the first laser transceiver 120 is communicatively connected to the soft rock tunnel excavation control device, and the first laser transceiver 120 can emit a positioning beam to the preset center position;

[0108] A rotating mechanism 200, the rotating mechanism 200 includes a driving member 210, the driving member 210 is installed on the first connecting member 110, a driving gear 220 is installed at the output end of the first connecting member 110, the driving gear 220 is meshed with a ring gear 230 sleeved on the outer periphery of the first connecting member 110, and a guide member 240 is provided on the first connecting member 110 to slide with the side of the ring gear 230, and a mounting position 250 is formed on the side wall of the ring gear 230 away from the first connecting member 110; and,

[0109] The scanning mechanism 300 includes a first telescopic driving member 310210 and a second telescopic driving member 320210. The first telescopic driving member 310210 and the second telescopic driving member 320210 are spaced apart at the mounting position 250 along the extension direction of the first connecting member 110. The first telescopic member and the second telescopic member are both hinged to the mounting position 250, and the telescopic ends of the first telescopic member and the second telescopic member are both connected to a second connecting member 330. The second connecting member 330 extends along the extension direction of the first connecting member 110, and an installation groove is formed at one end of the second connecting member 330 toward the target construction area. A scanner 340 is installed in the installation groove. The first telescopic member and / or the second telescopic member can drive the second connecting member 330 to approach or move away from the first connecting member 110 to adjust the scanning direction of the scanner 340.

[0110] In this embodiment, a motion mechanism 400, a positioning mechanism 100, a rotating mechanism 200 and a scanning mechanism 300 are provided. When in use, the ring gear 230 in the rotating mechanism 200 is sleeved on the outer periphery of the first connecting member 110. At the same time, the driving member 210 installed on the outer periphery of the first connecting member 110 drives the ring gear 230 to rotate through the driving gear 220, thereby realizing the function of adjusting the scanning direction of the scanning mechanism 300. At the same time, the second connecting member 330 is driven by the cooperation of the first telescopic member and / or the second telescopic member, thereby realizing the function of adjusting the scanning angle of the scanner 340. Finally, the present invention can use the scanner 340 to realize the function of real-time scanning of different working positions in different target working areas during actual operation. Furthermore, since the positioning mechanism 100 is installed on the moving mechanism 400, the present invention can utilize the moving mechanism 400 to drive the positioning mechanism 100 and the rotating mechanism 200 and the scanning mechanism 300 installed on the positioning mechanism 100 to move to stop at any current scanning position when in use, which also enables the present invention to realize the function of instantly forming the current scanning position when in use.

[0111] It needs to be further explained that, in this embodiment, during the specific implementation, the scanner 340 can also follow the milling equipment to perform the following operation, thereby enabling the present invention to instantly follow and complete the scanning operation when the milling equipment is milling, so that during the actual operation, the present invention can instantly generate the quality of the current tunnel profile formed by the milling equipment operation.

[0112] It should be particularly and clearly stated that in this embodiment, the laser transceiver and scanner 340 are based on existing technologies, and this application does not improve them, so their structures and working principles are not described one by one here. Of course, in this embodiment, the motion mechanism 400 can be, but is not limited to, a device or apparatus that can realize functions such as walking, flying, and moving in the prior art. Specifically, the shape mechanism can be a walking robot or a drone.

[0113] Of course, in order to enable the present invention to better adjust the scanning angle of the second connecting member 330 and the scanner 340 installed on the second connecting member 330 during its specific implementation, the present invention may be provided with a slide groove 350 on the second connecting member 330 during its specific implementation, and two sliding ears 360 spaced apart are slidably provided in the slide groove 350, and the first telescopic member and the second telescopic member are respectively hinged with a sliding ear 360, thereby enabling the present invention to better adjust the scanning angle of the second connecting member 330 and the scanner 340 installed on the second connecting member 330 during its use.

[0114] Based on the same technical concept, in the fifth aspect, the present invention also proposes a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by one or more processors, the soft rock tunnel excavation method described in the first aspect is implemented.

[0115] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0116] The computer-readable storage medium may be included in the soft rock tunnel excavation control device; or may exist independently without being assembled into the soft rock tunnel excavation control device.

[0117] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the soft rock tunnel excavation control device, the soft rock tunnel excavation control device can implement the soft rock tunnel excavation method described above.

[0118] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0119] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0120] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0121] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned soft rock tunnel excavation method, and can solve the technical problem that when excavating soft rock tunnels, controlled blasting and milling are usually used for excavation construction, but due to the weak characteristics of soft rock lithology, over-excavation or under-excavation occurs in the actual construction process, affecting the construction efficiency and molding quality of the tunnel. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the soft rock tunnel excavation method provided in the above-mentioned embodiment, which will not be repeated here.

[0122] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A soft rock tunnel excavation method, characterized in that: The steps include: According to the preset data, preset positioning points and tunnel center points are set at intervals in the target construction area; Using a preset scanning device to simultaneously pick up the preset positioning point and the tunnel center point at the current scanning position to determine the current coordinates of the current scanning position; According to the current scanning position and the tunnel center point, use the preset scanning device to scan the current milling profile formed in the target construction area to obtain the current tunnel profile of the tunnel; Determining whether the current tunnel profile coincides with a preset tunnel profile; When they overlap, the face corresponding to the current tunnel contour formed by milling is taken as the target construction area, and the step of setting preset positioning points and tunnel center points at intervals in the target construction area according to preset data is returned to be executed until the tunnel is formed.

2. The soft rock tunnel excavation method according to claim 1, characterized in that: After the step of determining whether the current tunnel profile coincides with the preset tunnel profile, the method further includes: When they do not overlap, the non-overlapping area of ​​the current tunnel outline and the preset tunnel outline is intercepted to form the current outline; Determine the reason for the non-overlap between the current profile and the preset tunnel profile according to the coordinate position relationship between the current profile and the preset tunnel profile; wherein the non-overlap reason includes an over-break operation reason and an under-break operation reason; According to the obtained non-overlapping reason, a treatment plan for the current contour is established; wherein the treatment plan includes: when the non-overlapping reason is the over-excavation operation, the treatment plan is to fill the area where the current contour is located; when the non-overlapping reason is the under-excavation operation, the treatment plan is to perform a secondary milling operation on the current contour; The current contour is processed using the processing scheme until the current contour is eliminated and the current tunnel contour is made to coincide with the preset tunnel contour.

3. The soft rock tunnel excavation method according to claim 2, characterized in that: When the tunnel contours do not overlap, the step of intercepting the non-overlapping areas between the current tunnel contour and the preset tunnel contour to form the current contour comprises: When they do not overlap, the preset center position is projected onto the current tunnel outline and the preset tunnel outline respectively to form a corresponding virtual positioning point; The two virtual positioning points are overlapped, and the non-overlapping areas between the current tunnel outline and the preset tunnel outline are intercepted to form the current outline.

4. The soft rock tunnel excavation method according to claim 3, characterized in that: After the step of overlapping the two virtual positioning points and intercepting the non-overlapping area between the current tunnel outline and the preset tunnel outline to form the current outline, the method further includes: The non-overlapping reason corresponding to the current contour is output to perform an alarm operation.

5. The soft rock tunnel excavation method according to any one of claims 1 to 4, characterized in that: The step of scanning the current milling profile formed in the target construction area using the preset scanning device according to the current scanning position and the tunnel center point to obtain the current tunnel profile of the tunnel includes: According to the current scanning position and the tunnel center point, when the target construction area is milled using the milling equipment, the preset scanning equipment is used to perform an instant scanning operation on the current milling profile formed by the milling operation of the preset milling equipment to obtain the current tunnel profile of the tunnel.

6. A soft rock tunnel excavation device, characterized in that: include: A point determination module, used for setting preset positioning points and tunnel center points at intervals in the target construction area according to preset data; A coordinate output module, used to simultaneously pick up the preset positioning point and the tunnel center point at the current scanning position using a preset scanning device to determine the current coordinates of the current scanning position; A contour output module, configured to scan the current milling contour formed in the target construction area using the preset scanning device according to the current scanning position and the tunnel center point, so as to obtain the current tunnel contour of the tunnel; A judging module, used to judge whether the current tunnel profile coincides with a preset tunnel profile; The tunnel forming control module is used to, when overlapped, take the face corresponding to the current tunnel contour formed by milling as the target construction area, and return to execute the step of setting preset positioning points and tunnel center points at intervals in the target construction area according to preset data until the tunnel is formed.

7. A soft rock tunnel excavation control device, characterized in that: The soft rock tunnel excavation control device includes a processor and a memory, wherein a cable-stayed bridge cable force test program is stored in the memory, and when the cable-stayed bridge cable force test program is executed by the processor, the soft rock tunnel excavation method according to any one of claims 1 to 5 is implemented.

8. A soft rock tunnel excavation system, characterized in that: include: Milling equipment; A scanning device, wherein the scanning device is mounted on the milling device; as well as, The soft rock tunnel excavation control device as described in claim 7 is communicatively connected to the milling device and the scanning device, respectively, and the soft rock tunnel excavation control device can generate a first control instruction for controlling the milling device and a second control instruction for controlling the scanning device, respectively.

9. The soft rock tunnel excavation system according to claim 8, characterized in that: The scanning device comprises: A motion mechanism, wherein the motion mechanism is communicatively connected to the soft rock tunnel excavation control device, and the soft rock tunnel excavation control device can control the motion mechanism to move to any position in the soft rock tunnel to form the current scanning position; A positioning mechanism, wherein the positioning mechanism comprises a first connecting member, one end of which is connected to the motion mechanism, and the other end of which extends toward the target construction area and forms a mounting hole, wherein a first laser transceiver is installed in the mounting hole, the first laser transceiver is communicatively connected to the soft rock tunnel excavation control device, and the first laser transceiver can emit a positioning beam to the preset center position; A rotating mechanism, the rotating mechanism comprising a driving member, the driving member is mounted on the first connecting member, a driving gear is mounted on the output end of the first connecting member, the driving gear is meshed with a gear ring sleeved on the outer periphery of the first connecting member, and a guide member is provided on the first connecting member to slide with the side surface of the gear ring, and a mounting position is formed on the side wall of the gear ring away from the first connecting member; and, A scanning mechanism, the scanning mechanism includes a first telescopic driving member and a second telescopic driving member, the first telescopic driving member and the second telescopic driving member are spaced apart at the installation position along the extension direction of the first connecting member, the first telescopic member and the second telescopic member are both hinged to the installation position, and the telescopic ends of the first telescopic member and the second telescopic member are both connected to a second connecting member, the second connecting member extends along the extension direction of the first connecting member, and an installation groove is formed at one end of the second connecting member facing the target construction area, a scanner is installed in the installation groove, the first telescopic member and / or the second telescopic member can drive the second connecting member to approach or move away from the first connecting member to adjust the scanning direction of the scanner.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by one or more processors, the soft rock tunnel excavation method according to any one of claims 1 to 5 is implemented.

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