Telescopic sliding rail type multifunctional omnidirectional mechanical arm construction device and monitoring system and method

Abstract

The invention provides a telescopic sliding rail type multifunctional omni-directional mechanical arm construction device and a monitoring system and method, and relates to the technical field of tunnel construction equipment. The telescopic sliding rail type multifunctional omni-directional mechanical arm construction device comprises a framework supporting system, an intelligent remote control system, a moving walking system, an electrical system and a multifunctional omni-directional mechanical arm system; the multifunctional omni-directional mechanical arm system comprises a plurality of mechanical arms, each mechanical arm has at least three degrees of freedom, and omni-directional movement is formed. Through cooperation of the structures, compared with the prior art, the mechanical arm has the following beneficial effects that firstly, the mechanical arm has multiple degrees of freedom, can achieve omni-directional movement and meets the precise construction requirement in the complex tunnel environment; secondly, the framework supporting system adopts a telescopic design, so that the framework supporting system can adapt to tunnel sections with different sizes, and the universality and the adaptability of equipment are improved; and thirdly, an intelligent control room and a real-time monitoring system are arranged, so that the construction process can be finely controlled and monitored, and the construction quality and safety are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel construction equipment, and in particular to a retractable slide rail type multi-functional omnidirectional robotic arm construction device, a monitoring system and a method. Background Art

[0002] The drill and blast method is the mainstream excavation method for tunnel construction at present, requiring construction equipment to have characteristics such as high precision, strong adaptability, safety and stability. With the expansion of the scale and the increase in complexity of tunnel projects, traditional equipment is difficult to meet the construction requirements of high efficiency, precision and safety. At present, most equipment has poor adaptability under complex geological conditions and is difficult to flexibly adjust to adapt to tunnel sections of different sizes.

[0003] Existing domestic patents mainly focus on single-function equipment, such as rock drilling jumbo, bolt installation machine, etc. For example, the invention patent CN201510313732.0 discloses a self-propelled gantry type multi-functional rock drilling jumbo, which can adapt to tunnels of different heights. Similarly, the invention patent application CN113530434A discloses a multi-arm rock drilling jumbo for multi-method excavation of tunnels, which can adapt to the drill and blast method construction of full section, two-step method and three-step method. However, most of the existing patented equipment can only complete specific processes, such as drilling, bolt installation or shotcrete spraying, resulting in the need for multiple pieces of equipment to cooperate in construction, increasing the equipment procurement cost and the personnel turnover frequency. Especially in small-section tunnels, the frequent entry and exit of equipment further slows down the construction progress.

[0004] Generally speaking, the existing equipment has a low integration level, lacks multi-functional integrated equipment, is difficult to realize the integration of multiple processes such as drilling, bolt installation, grouting, mesh hanging, arch installation, and shotcrete spraying, and lacks a real-time monitoring system, and cannot effectively monitor and record the construction process. Therefore, developing a multi-functional integrated, highly intelligent and adaptable tunnel construction equipment has become an urgent need for the development of current tunnel construction technology. Summary of the Invention

[0005] Aiming at the deficiencies of the above-mentioned existing technologies, the technical problem to be solved by the present invention is to provide a retractable slide rail type multi-functional omnidirectional robotic arm construction device, aiming to solve the problems of single function, complex operation and poor adaptability of existing equipment.

[0006] To solve the above technical problems, the technical solution adopted by the present invention is: The present invention provides a retractable slide rail type multi-functional omnidirectional robotic arm construction device, including a skeleton support system, an intelligent remote control system, a mobile walking system and an electrical system. Among them, it further includes a multi-functional omnidirectional robotic arm system, and the multi-functional omnidirectional robotic arm system includes multiple robotic arms, and each robotic arm has at least three degrees of freedom to form an omnidirectional movement.

[0007] In a preferred embodiment, the skeleton support system includes a horizontal telescopic joint, a slide rail type arc-shaped skeleton, a slide rail type horizontal ladder and a slide rail type vertical ladder; Among them, the horizontal telescopic joint adopts a pneumatic drive system. The pneumatic drive system includes a double-acting pneumatic cylinder and a stroke sensor. Both ends of the slide rail type arc-shaped skeleton are fixed to the horizontal telescopic joint through anchoring buckles. The slide rail type horizontal ladder transversely connects multiple groups of slide rail type arc-shaped skeletons, and the slide rail type vertical ladder longitudinally connects adjacent slide rail type arc-shaped skeletons to form an adjustable support framework.

[0008] In a preferred embodiment, the intelligent remote control system is installed on the top of the skeleton support system and includes an intelligent remote control terminal, a camera, a three-dimensional laser scanner and a wireless communication module. The intelligent remote control terminal is electrically connected to an intelligent central system through the wireless communication module. The camera and the three-dimensional laser scanner are distributed and installed on the corresponding horizontal telescopic joints to collect construction data and feedback it to the intelligent central system.

[0009] In a preferred embodiment, the mobile walking system is connected to the bottom of the skeleton support system. The mobile walking system includes an omnidirectional rotation device and a new energy engine. The omnidirectional rotation device adopts an omnidirectional wheel set to form a 360° rotation, and the new energy engine is powered by a lithium battery pack.

[0010] In a preferred embodiment, the electrical system is arranged behind the intelligent remote control system and on both sides of the operation platform of the skeleton support system. The electrical system includes a distribution box, a frequency converter, sensors and a slide rail type cable management system. The slide rail type cable management system automatically adjusts the cable length with the telescopic movement of the mechanical arm through a slide rail structure linked with the omnidirectional robotic arm system.

[0011] In a preferred embodiment, each robotic arm is installed on the slide rail type arc-shaped skeleton through the mobile walking system and longitudinally moves along the slide rail type vertical ladder under the drive of the mobile walking system; The multiple robotic arms are respectively a drilling robotic arm, an anchor installation robotic arm and a shotcrete-arch installation robotic arm.

[0012] In a preferred embodiment, the present invention also provides a monitoring system. Among them, the monitoring system includes an intelligent remote control terminal, an intelligent central system and a real-time monitoring subsystem that are electrically connected to each other. The intelligent remote control terminal receives the instructions input by the user and sends them to the intelligent central system. The intelligent central system analyzes the instructions and generates control signals, and controls the operation of the retractable slide rail type multi-functional omnidirectional robotic arm construction device as described in any one of the above through the control signals. The real-time monitoring subsystem collects and analyzes the construction data in real time, generates a construction report and a fault diagnosis report, and feeds them back to the intelligent central system to form a closed-loop control; The intelligent remote control terminal is used to receive user instructions and transmit them to the intelligent central system; The intelligent central system is used to analyze user instructions and generate control signals, and coordinate the collaborative work of the real-time monitoring subsystem.

[0013] In a preferred solution, the real-time monitoring subsystem includes a data acquisition module, a data processing module, a feedback control module, and a report generation module that are electrically connected to each other; The data acquisition module includes a high-definition camera, a three-dimensional laser scanner, and an image processing unit deployed on a sliding rail type horizontal ladder; among them, the high-definition camera acquires real-time video images of the construction area at a preset frame rate, and the image processing unit corrects the distortion and filters the noise of the picture; the three-dimensional laser scanner performs three-dimensional point cloud scanning on the tunnel section at an angular resolution of 0.5°, generates point cloud data and constructs BIM model data of the tunnel, and transmits it to the data processing module; The data processing module is built-in with a point cloud registration algorithm and a defect recognition model, which are used to register and compare the point cloud data collected by the three-dimensional laser scanner with the design drawings, calculate the coordinates of over-excavated / under-excavated areas and volume deviations, and output the over-excavation amount; the defect recognition model is a convolutional neural network, which is based on the convolutional neural network to identify cracks and detect the flatness of the support surface in the construction pictures of the high-definition camera, output the crack position coordinates and the flatness deviation of the support surface, and transmit it to the feedback control module; The feedback control module is used to receive the over-excavation amount, crack coordinates, and support surface flatness deviation data output by the data processing module; generate a trajectory correction instruction for the robotic arm and a telescopic compensation value for the skeleton support system through the PID algorithm, and transmit it to the report generation module; The report generation module is used to integrate the over-excavation rate of the over-excavation amount, the number of crack coordinates, and the equipment operation status parameters during the construction process into a structured construction report, and feedback it to the intelligent central system through the wireless communication module.

[0014] In a preferred solution, the present invention further provides a monitoring method, wherein the monitoring system as described above is adopted, and the steps are as follows: S1. Instruction input and parsing: The intelligent remote control terminal receives the control instructions input by the user, and the control instructions include the operation mode of the robotic arm, the moving path, or construction parameters; after receiving the instructions, the intelligent central system parses the instruction content, generates an initial motion trajectory control signal for the corresponding robotic arm, and issues it to the omnidirectional robotic arm system through the wireless communication module; S2. Start the data acquisition module of the real-time monitoring subsystem, and collect the tunnel section through the high-definition camera and the three-dimensional laser scanner deployed on the sliding rail type horizontal ladder; take a real scene picture of the current tunnel section through the high-definition camera at a preset frame rate, and perform gray level equalization processing through the image processing unit; scan the current tunnel section through the three-dimensional laser scanner to generate three-dimensional point cloud data containing coordinate information; S3. Register the three-dimensional point cloud data with the design BIM model through the point cloud registration algorithm in the data processing module, calculate the coordinates of over-excavated / under-excavated areas and volume deviations, and output over-excavated / under-excavated data; S4. Identify cracks and detect the flatness of the support surface for the image data through a convolutional neural network, and output the crack coordinates and flatness deviation. S5. Generate a trajectory correction instruction for the robotic arm and a telescopic amount compensation value for the skeleton support system according to the over-excavation / under-excavation data, crack coordinates, and flatness deviation. S6. After the robotic arm receives the correction instruction, drive the robotic arm to perform a correction action, and at the same time, the execution status parameters are fed back in real time through sensors. S7. Integrate the over-excavation rate, number of cracks, and equipment operation parameters during the construction process into a structured construction report, and upload it to the intelligent central system through a wireless communication module.

[0015] In a preferred solution, step S5 is specifically as follows: S51. If the over-excavation / under-excavation data exceeds the threshold, the feedback control module generates a trajectory compensation instruction for the drilling robotic arm, and controls the drilling robotic arm to adjust the drilling angle to compensate for the over-excavated area. S52. If a crack on the support surface is detected, the feedback control module controls the bolt installation robotic arm to add encrypted bolts on both sides of the crack. S53. Send the telescopic amount compensation value to the skeleton support system through the intelligent central module, and drive the lateral telescopic joint to perform sectional adaptive adjustment.

[0016] The present invention provides a retractable slide rail type multi-functional omnidirectional robotic arm construction device, a monitoring system and a method. Through the cooperation between the above structures, compared with the prior art, it has the following beneficial effects: First, the robotic arm has multiple degrees of freedom and can achieve omnidirectional movement, adapting to the precise construction requirements in complex tunnel environments. Second, the skeleton support system adopts a retractable design, which can adapt to tunnel sections of different sizes, improving the versatility and adaptability of the equipment. Third, it is equipped with an intelligent control room and a real-time monitoring system, which can perform refined control and monitoring of the construction process to ensure construction quality and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below with reference to the drawings and embodiments: Figure 1 It is a schematic structural diagram of a retractable slide rail type multi-functional omnidirectional robotic arm construction device provided in Embodiment 1 of the present invention; Figure 2 It is a schematic structural diagram of an intelligent remote control system provided in Embodiment 1 of the present invention; Figure 3 It is a schematic structural diagram of a multi-functional omnidirectional robotic arm system provided in Embodiment 1 of the present invention; Figure 4Schematic structural diagram of the telescopic throttle pressure drive provided in Embodiment 1 of the present invention; Figure 5 Schematic structural diagram of the drilling robotic arm provided in Embodiment 1 of the present invention; Figure 6 Schematic structural diagram of the bolt installation robotic arm provided in Embodiment 1 of the present invention; Figure 7 Schematic structural diagram of the shotcrete - arch frame installation robotic arm provided in Embodiment 1 of the present invention; Figure 8 Logic block diagram of the monitoring system provided in Embodiment 2 of the present invention; Figure 9 Flowchart of the monitoring method provided in Embodiment 3 of the present invention; Figure 10 Schematic structural diagram of the computer device / equipment / system of the present invention.

[0018] In the figure: Skeleton support system 100, Transverse telescopic joint 101, Longitudinal telescopic joint 102, Slide - rail type arc - shaped skeleton 103, Slide - rail type transverse ladder 104, Intelligent remote control system 200, Real - time monitoring system 201, Mobile walking system 300, Universal mobile wheel 301, New energy engine 302, Electrical system 400, Distribution box 401, Frequency converter 402, Sensor 403, Cable management system 404, Multi - functional omnidirectional robotic arm system 500, Drilling robotic arm 501, Pneumatic drilling machine system 5011, Bolt installation robotic arm 502. Detailed implementation manners

[0019] For a better understanding of the purpose, structure and function of the present invention, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0020] Embodiment 1 As Figures 1 to 7 shown, this embodiment shows a telescopic slide - rail type multi - functional omnidirectional robotic arm construction device, including a skeleton support system 100, an intelligent remote control system 200, a mobile walking system 300 and an electrical system 400. It is characterized in that it further includes a multi - functional omnidirectional robotic arm system 500. The multi - functional omnidirectional robotic arm system 500 includes multiple robotic arms, and each robotic arm has at least three - degree - of - freedom joints, including horizontal rotation, up - and - down swing and front - and - back telescoping, to achieve omnidirectional movement in three - dimensional space.

[0021] Among them, the end of the robotic arm is equipped with a multi - functional module, which can perform operations such as drilling, bolt installation, grouting, shotcreting, etc. The robotic arm is made of high - strength alloy material, has high rigidity and wear resistance. The joints of the robotic arm are driven by precision reducers and servo motors, and can achieve high - precision motion control.

[0022] In this embodiment, as Figure 1 shown, the skeleton support system 100 includes a transverse telescopic joint 101, a slide rail type arc-shaped skeleton 102, a slide rail type transverse ladder 103 and a slide rail type longitudinal ladder 104; Among them, the transverse telescopic joint 101 adopts a pneumatic drive system. The pneumatic drive system includes a double-acting pneumatic cylinder and a stroke sensor. Both ends of the slide rail type arc-shaped skeleton 102 are fixed to the transverse telescopic joint 101 through anchoring buckles. The slide rail type transverse ladder 103 is horizontally connected to multiple groups of slide rail type arc-shaped skeletons 102, and the slide rail type longitudinal ladder 104 is longitudinally connected to adjacent slide rail type arc-shaped skeletons 102 to form an adjustable support frame to adapt to tunnel cross-sections of different sizes.

[0023] Specifically, in the pneumatic drive system, the stroke of the double-acting pneumatic cylinder is fed back to the intelligent central system in real time through the stroke sensor. The intelligent central system dynamically adjusts the length of the transverse telescopic joint according to the tunnel cross-section data of the 3D laser scanner.

[0024] During implementation, the intelligent central system 205 has a built-in PID control algorithm. It compares the tunnel cross-section data obtained by the 3D laser scanner 203 with the preset construction parameters to generate the target length value of the transverse telescopic joint 101. The double-acting pneumatic cylinder 105 drives the transverse telescopic joint 101 to expand and contract to the target length under the control of the PID algorithm, and calibrates the position deviation in real time through the stroke sensor, and adjusts the transverse span of the transverse telescopic joint 101 and the longitudinal movement of the slide rail type longitudinal ladder 104.

[0025] In this embodiment, as Figure 2 shown, the intelligent remote control system 200 is installed on the top of the skeleton support system 100 and includes an intelligent remote control terminal 201, a camera 202, a 3D laser scanner 203 and a wireless communication module 204. The intelligent remote control terminal 201 is electrically connected to an intelligent central system 205 through the wireless communication module 204. The camera 202 and the 3D laser scanner 203 are distributed and installed on the corresponding transverse telescopic joint 101 to collect construction data and feedback it to the intelligent central system 205.

[0026] In this embodiment, as Figure 3 shown, the mobile walking system 300 is connected to the bottom of the skeleton support system 100. The mobile walking system 300 includes an omnidirectional rotation device 301 and a new energy engine 302. The omnidirectional rotation device 301 adopts an omnidirectional wheel set to form a 360° rotation, and the new energy engine 302 is powered by a lithium battery pack.

[0027] Specifically, the omnidirectional rotation device 301 consists of four omnidirectional wheel groups, a driving chassis, and a wheel group driving motor. The omnidirectional wheel groups adopt the Mecanum Wheel design. The diameter of a single wheel is 300 mm, and 12 polyurethane driven rollers are evenly distributed around the wheel circumference. The axis of the driven roller forms a 45° angle with the axis of the main wheel to achieve translation and rotation in any direction. The four omnidirectional wheel groups are symmetrically arranged at the four corners of the driving chassis and are connected to the driving chassis through bearing seats.

[0028] The new energy engine 302 is integrated in the sealed cabin in the middle of the driving chassis and includes a lithium battery pack and a battery management system (BMS). The lithium battery pack uses lithium iron phosphate batteries with a capacity of 500 Ah and a rated voltage of 48 V, providing a stable power supply through a series connection method. The battery management system (BMS) is used to monitor the battery voltage, current, and temperature in real time and has overcharge / overdischarge protection functions.

[0029] During implementation, when a movement instruction is input, the operator inputs the movement direction such as forward, left turn, diagonal movement, and speed parameters through the intelligent remote control terminal 201. The instruction is transmitted to the intelligent central system 205 through the wireless communication module 204. The intelligent central system 205 decomposes the target displacement into rotational speed signals of the four wheel groups according to the kinematic model of the omnidirectional wheel groups. For example, when moving straight, the four wheels have the same speed and the same direction; when rotating, the four wheels have differential speeds in opposite directions, and then sends them to the frequency converter 402 of the electrical system 400. The frequency converter 402 adjusts the rotational speed of the wheel group driving motor. The omnidirectional wheel group contacts the tunnel ground through the driven rollers to achieve dead - angle - free movement. The inclination sensor installed on the driving chassis monitors the equipment attitude in real time. If the inclination angle exceeds 5°, the motor torque compensation is automatically triggered to ensure the stability of the equipment. The battery management system (BMS) displays the remaining power of the lithium battery pack in real time. When the power is lower than 20%, a charging alarm is sent through the intelligent remote control terminal 201. When the equipment docks, it can be connected to an external power supply through a fast - charging interface and charged to 80% within 2 hours.

[0030] In this embodiment, such as Figure 3As shown in the figure, the electrical system 400 is arranged behind the intelligent remote control system 200 and on both sides of the operation platform of the skeleton support system 100. It adopts a miniaturized design, which is convenient for installation and maintenance. The electrical system 400 includes a distribution box 401, a frequency converter 402, sensors 403, and a slide-type cable management system 404. The slide-type cable management system 404 automatically adjusts the cable length with the telescoping of the robotic arm through a slide structure linked to the omnidirectional robotic arm system 500. The distribution box 401 adopts a modular design and can flexibly configure the power output according to construction requirements. The frequency converter 402 is used to control the motor speed of the robotic arm and the pneumatic system. The sensors 403 are used to monitor the operating status of the equipment. The cable management system 404 adopts a slide-type design and can automatically adjust the cable length with the telescoping of the robotic arm to avoid cable entanglement and damage.

[0031] Among them, the sensors 403 include current, voltage, temperature, displacement, and pressure sensors. All sensors are connected to the intelligent central system 205 through the CAN bus, with a sampling frequency of 100 Hz. Abnormal data (such as current exceeding 120% of the rated value) triggers an audible and visual alarm and is recorded in the equipment log. The current sensor is used to monitor the current of each port of the distribution box 401; the voltage sensor is used to monitor the terminal voltage of the lithium battery pack; the temperature sensor is used to monitor the temperature of the heat sink of the frequency converter 402; the displacement sensor is used to monitor the stroke of the telescopic joint of the robotic arm; the pressure sensor is used to monitor the pressure value of the pneumatic system.

[0032] Specifically, the cable management system 404 consists of a fixed base, a sliding drag chain, and guide pulleys. The fixed base is installed at the end of the operation platform and is internally equipped with a cable winder, storing a spare cable length of 2 - 10 m; the sliding drag chain is made of engineering plastic with a pitch of 50 mm, and the internal is divided into a power cable slot (diameter 50 mm) and a signal cable slot (diameter 30 mm), and is bolted to the robotic arm through a connecting plate; the guide pulleys are longitudinally arranged along the slide-type arc-shaped skeleton 102 with a spacing of 1.5 m to ensure that the cable drag chain moves along the preset path.

[0033] When the robotic arm 500 telescopes along the slide-type arc-shaped skeleton 102, the sliding drag chain moves synchronously with the robotic arm. The cable winder automatically releases or tightens the cable through a tension sensor to keep the cable tension at 5 N - 10 N, avoiding overstretching or entanglement. During implementation, the lithium battery pack of the new energy engine 302 outputs DC 48V to the distribution box 401, which is converted into voltage to supply power to each system; according to the load distribution instruction of the intelligent central system 205, such as increasing the power supply priority of the robotic arm motor during drilling operations, the power of each output port is dynamically adjusted. When the robotic arm needs to adjust the drilling angle, the intelligent central system 205 calculates the target joint rotation speed and sends it to the frequency converter 402 through the MODBUS protocol. The frequency converter outputs alternating current of the corresponding frequency to drive the servo motor, and the temperature sensor is synchronously monitored to prevent the motor from overheating.

[0034] When the robotic arm extends, the sliding drag chain moves outward along the rail-type arc-shaped framework 102, the cable winder releases the cable, and the guiding pulley guides the cable path; when the robotic arm retracts, the winder automatically retrieves the redundant cable through a micro-motor, and the tension sensor ensures that the cable is not slack to avoid interference with the components of the framework support system.

[0035] The sensor group 403 collects electrical parameters in real time, and abnormal data is transmitted to the intelligent central system 205 through the CAN bus, triggering the following actions: the intelligent central system 205 sends an instruction to the frequency converter 402 to increase the rotation speed of the air compressor motor.

[0036] In this embodiment, such as Figure 5 、 6 As shown in 7, each robotic arm is installed on the rail-type arc-shaped framework 102 through the mobile walking system 300 and longitudinally moves along the rail-type vertical ladder 104 under the drive of the mobile walking system 300; The multiple robotic arms are respectively a drilling robotic arm 501, a bolt installation robotic arm 502, and a shotcrete-arch installation robotic arm 503.

[0037] The drilling robotic arm 501 integrates a pneumatic drilling rig system, which can perform full-section drilling operations. The drilling depth and angle are adjustable to meet the construction requirements of different tunnel sections. The drill rod propulsion system of the drilling robotic arm is driven by a pneumatic cylinder, which can achieve stepless speed regulation. The end of the drill rod is equipped with a diamond drill bit, which can adapt to rock formations of different hardnesses. The drilling robotic arm is also equipped with an automatic drill rod changing device, which can automatically change the drill rod during the drilling process to improve the drilling efficiency.

[0038] The bolt installation robotic arm integrates a bolt pushing device and a locking system, which can perform automatic installation and fixation of bolts to improve the bolt support efficiency. The bolt pushing device is driven by a pneumatic motor, which can achieve precise pushing of bolts. The locking system uses a pneumatic clamping device, which can ensure the firm fixation of bolts. The bolt installation robotic arm is also equipped with a bolt library, which can store bolts of various specifications and automatically select the appropriate length of bolts for installation according to the construction requirements; The shotcrete-arch installation robotic arm integrates a wet shotcrete function module and a manipulator module, capable of performing shotcrete and arch installation operations. The manipulator module can flexibly switch between the shotcrete and arch installation functions. The wet shotcrete function module includes a concrete delivery pump, a nozzle, and a sliding shotcreting mechanism. The concrete delivery pump adopts high-pressure pumping technology and can transport concrete to the nozzle. The nozzle adopts a rotating design and can achieve 360-degree shotcrete. The sliding shotcreting mechanism can move along the telescopic direction of the robotic arm to ensure uniform coverage of the shotcrete on the tunnel wall surface. The manipulator module adopts a pneumatic gripper design, can grip the arch and mesh, and install the arch and mesh to the designated position through the precise movement of the robotic arm.

[0039] During implementation, the operator selects the construction process through the intelligent remote control terminal 201. The intelligent central system 205 calculates the target positions of each robotic arm according to the three-dimensional model of the tunnel, and assigns the drilling robotic arm 501 and the bolt installation robotic arm 502 to cooperate. The drilling robotic arm 501 first moves along the slide-type arc-shaped framework 102 to the designated hole position, adjusts the drilling angle through the joint, and the pneumatic drill starts drilling. After drilling is completed, the bolt installation robotic arm 502 synchronously moves to this hole position, the pushing device installs the bolt and locks it, forming a "drilling-installation" assembly line operation. The shotcrete-arch installation robotic arm 503 receives the shotcrete area instruction from the intelligent central system 205 and moves along the "S-shaped" path. The rotation speed of the nozzle is linked with the sliding speed to ensure uniform concrete coverage thickness.

[0040] Embodiment 2: The monitoring system provided by the present invention will be described below. The monitoring system described below can be mutually referred to and further explained in combination with Embodiment 1 with the retractable slide-type multi-directional robotic arm construction device described above. The preferred solution is as Figure 8 In this embodiment, a monitoring system is provided. The monitoring system includes an intelligent remote control terminal 201, an intelligent central system 205, and a real-time monitoring subsystem that are electrically connected to each other. The intelligent remote control terminal 201 receives the instructions input by the user and sends them to the intelligent central system 205. The intelligent central system 205 analyzes the instructions and generates control signals, and controls the operation of the retractable slide-type multi-directional robotic arm construction device as in Embodiment 1 through the control signals. The real-time monitoring subsystem collects construction data in real time, analyzes and processes it, generates a construction report and a fault diagnosis report, and feeds them back to the intelligent central system 205 to form a closed-loop control.

[0041] The intelligent remote control terminal 201 is used to receive user instructions and transmit them to the intelligent central system 205; Specifically, the intelligent remote control terminal 201 has a human-computer interaction interface, supports touch screen or button operations, and displays the operation status of the construction device and the construction report in real time.

[0042] The intelligent central system 205 is used to receive instructions from the intelligent remote control terminal 201, parse the instruction content, generate an initial motion trajectory control signal for the corresponding robotic arm, coordinate the collaborative work of the real-time monitoring subsystem, and perform two-way data transmission with the real-time monitoring subsystem and the intelligent remote control terminal through the wireless communication module 204.

[0043] Specifically, the intelligent central system 205 includes high-performance computer hardware (such as industrial-grade CPU and GPU), a PLC controller, and a data processing unit In this embodiment, the real-time monitoring subsystem includes a data acquisition module, a data processing module, a feedback control module, and a report generation module that are electrically connected to each other; The data acquisition module includes a high-definition camera 202, a three-dimensional laser scanner 203, and an image processing unit deployed on the slide-type cross ladder 103; Among them, the high-definition camera 202 is deployed at the front end of the slide-type cross ladder 103. It uses a 12-megapixel industrial-grade camera to collect real-time video images of the tunnel cross-section at a frame rate of 30 frames per second, and the image processing unit corrects the distortion and filters the noise of the picture. The image processing unit is built with an FPGA chip; The three-dimensional laser scanner 203 performs three-dimensional point cloud scanning on the tunnel cross-section at an angular resolution of 0.5°, generates point cloud data including XYZ coordinates and reflection intensity, constructs BIM model data of the tunnel, and transmits it to the data processing module; The data processing module is built with a point cloud registration algorithm and a defect recognition model, which are used to register and compare the point cloud data collected by the three-dimensional laser scanner 203 with the design drawings, calculate the coordinates of over-excavation / under-excavation areas and volume deviations, and output the over-excavation amount; The defect recognition model is a convolutional neural network. Based on the convolutional neural network, it performs crack recognition and support surface flatness detection on the construction pictures of the high-definition camera 202, outputs the crack position coordinates and the support surface flatness deviation, and transmits them to the feedback control module; Specifically, the crack recognition model based on the convolutional neural network (CNN) adopts the ResNet-50 network architecture, is trained on a dataset of 100,000 tunnel support surface images through transfer learning, recognizes areas where the crack width > 2 mm, and outputs the crack coordinates.

[0044] The support surface flatness detection is performed through image gray-level equalization processing, and the surface flatness deviation value is calculated in combination with an edge detection algorithm (such as the Canny algorithm).

[0045] The feedback control module is used to receive the over-excavation amount, crack coordinates, and support surface flatness deviation data output by the data processing module; generate a trajectory correction instruction for the robotic arm and a telescopic amount compensation value for the skeleton support system 100 through the PID algorithm, and transmit them to the report generation module; Specifically, trajectory correction instructions for the robotic arm are generated based on the overexcavation amount, crack coordinates, and flatness deviation output by the data processing module. For example, if the overexcavated area is located at the top of the tunnel, the drilling angle of the drilling robotic arm 501 is adjusted to compensate for the overexcavation; if a crack in the support surface is detected, the bolt installation robotic arm 502 is triggered to add additional bolts on both sides of the crack.

[0046] Based on the cross-sectional data of the 3D laser scanner, the intelligent central system 205 sends telescoping instructions for the lateral expansion joint 101 to the skeleton support system 100, driving the pneumatic cylinder to automatically adjust the size of the support frame.

[0047] The report generation module is used to integrate the overexcavation rate of the overexcavation amount, the number of crack coordinates, and the equipment operation status parameters during the construction process into a structured construction report, and feedback it to the intelligent central system 205 through the wireless communication module 204.

[0048] Specifically, the report format includes PDF documents and real-time data streams.

[0049] Embodiment 3: To more clearly understand the purpose, structure, and function of the present invention, on the premise of no conflict, the embodiments and features in the embodiments in this application can be combined with each other. The following describes the exemplary embodiments of the present invention in combination with technical solutions and processes. The content is only for exemplary explanation and is not used to limit the protection scope of the present invention. Those skilled in the art should know that without departing from the core idea of the present invention, specific details in the embodiments can be modified or adjusted without affecting the integrity of the technical solution of the present invention.

[0050] Most of the monitoring systems in the related art adopt single-point monitoring or local data acquisition methods. For example, only video monitoring is performed through a camera, or the equipment status is obtained through independent sensors, without realizing the deep integration of monitoring data and construction equipment control instructions. At the same time, the existing technology lacks efficient registration algorithms and defect recognition models when processing three-dimensional space data (such as tunnel cross-section point cloud models), and cannot accurately locate construction deviations and generate targeted control strategies. In addition, the robotic arm control of traditional construction devices is independent of the adjustment of the skeleton support structure, and no linkage control based on real-time monitoring data is formed, resulting in poor equipment adaptability and difficulty in meeting the construction requirements of tunnels of different sizes.

[0051] The core innovation of this Embodiment 3 lies in constructing a closed-loop control architecture of "intelligent remote control terminal - intelligent central system - real-time monitoring subsystem". Through multi-source sensors such as high-definition cameras and 3D laser scanners, construction data is collected in real time. After point cloud registration and defect recognition by the data processing module, the feedback control module generates trajectory correction instructions for the robotic arm and the telescopic compensation value of the skeleton. Finally, through the report generation module, visual management of construction quality and equipment status is achieved. This embodiment breaks through the isolation defect of the traditional monitoring system, realizes the full-process intelligence of monitoring data from collection, analysis to control execution, significantly improves the automation level and accuracy of tunnel construction, and effectively solves problems such as monitoring lag, low control efficiency, and poor adaptability in the prior art.

[0052] The monitoring method provided in this embodiment will be described below. The monitoring method described below can be correspondingly referred to the retractable slide rail type multi-directional robotic arm construction device and monitoring system described above, and further explained in combination with Embodiments 1 and 2. The preferred solution is as Figure 9 In this embodiment, a monitoring method is provided, in which the monitoring system described above is adopted, and the steps are as follows: S1. Instruction input and parsing: The intelligent remote control terminal 201 receives the control instructions input by the user. The control instructions include the operation mode of the robotic arm, the moving path or construction parameters. After receiving the instructions, the intelligent central system 205 parses the instruction content, generates the initial motion trajectory control signal for the corresponding robotic arm, and issues it to the omnidirectional robotic arm system 500 through the wireless communication module 204; S2. Start the data collection module of the real-time monitoring subsystem, and collect the tunnel cross-section through the high-definition camera 202 and the 3D laser scanner 203 deployed in the slide rail type horizontal ladder 103. The real scene image of the current tunnel cross-section is captured by the high-definition camera 202 at a preset frame rate and undergoes gray level equalization processing by the image processing unit. The current tunnel cross-section is scanned by the 3D laser scanner 203 to generate 3D point cloud data containing coordinate information; S3. Register the 3D point cloud data with the designed BIM model through the point cloud registration algorithm in the data processing module, calculate the coordinates and volume deviation of the over-excavation / under-excavation area, and output the over-excavation / under-excavation data; S4. Identify cracks and detect the flatness of the support surface for the image data through a convolutional neural network, and output the crack coordinates and flatness deviation; S5. Generate the trajectory correction instruction for the robotic arm and the telescopic compensation value of the skeleton support system 100 according to the over-excavation / under-excavation data, crack coordinates and flatness deviation; Step S5 is specifically as follows: S51. If the overexcavation / underexcavation data exceeds the threshold, the feedback control module generates a trajectory compensation instruction for the drilling robotic arm 501 to control the drilling robotic arm 501 to adjust the drilling angle to compensate for the overexcavated area. S52. If a crack on the support surface is detected, the feedback control module controls the bolt installation robotic arm 502 to add encrypted bolts on both sides of the crack. S53. Send the telescopic amount compensation value to the skeleton support system 100 through the intelligent central module 204 to drive the lateral telescopic joint 101 for sectional adaptive adjustment.

[0053] S6. After receiving the correction instruction, the robotic arm drives the robotic arm to perform the correction action, and at the same time, the execution status parameters are fed back in real time through the sensor 403. S7. Integrate the overexcavation rate, the number of cracks, and the equipment operation parameters during the construction process into a structured construction report, and upload it to the intelligent central system 205 through the wireless communication module 204.

[0054] In an implementation case, in step S1, the user inputs a bolt installation instruction through the intelligent remote control terminal 201, specifying the bolt spacing as 1.2 m and the drilling depth as 3 m.

[0055] The intelligent central system 205 converts the instruction into a control signal through a JSON parser, generates the initial trajectory parameters of the bolt installation robotic arm 502, and the starting point coordinates (X1, Y1, Z1), and the drilling angle θ = 90°.

[0056] Step S2. The high-definition camera 202: captures the image of the support surface in real time, and after being processed by the image processing unit, it is displayed as a clear tunnel section picture, as Figure 1 、 2 shown.

[0057] The 3D laser scanner 203: scans the current section, generates point cloud data and constructs a BIM model, and finds that there is a 20 cm overexcavated area at the top, as Figure 1 、 2 shown.

[0058] Step S3. Register the point cloud data with the designed BIM model through the ICP algorithm, calculate that the volume of the overexcavated area is 0.8 m³, and the overexcavation rate reaches 15.4%, exceeding the threshold of 10%.

[0059] Step S4. The CNN model: detects 3 cracks on the support surface, the maximum width is 3.2 mm, and the coordinates are (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) respectively.

[0060] Flatness detection: The surface roughness of the support surface Ra = 0.8 mm, exceeding the qualified standard (Ra ≤ 0.5 mm).

[0061] Step S5. The generation of the correction instruction is as follows: S51. Overexcavation compensation: Trigger the PID controller to generate a trajectory compensation instruction for the drilling robotic arm 501, and adjust the drilling angle to -15° to fill the overexcavated area.

[0062] S52. Crack reinforcement: Control the bolt installation robotic arm 502 to densely install bolts on both sides of the crack (the spacing is reduced to 0.6 m), and fix the bolts through a pneumatic clamping device (pressure ≥ 5 MPa).

[0063] S53. Skeleton telescopic adjustment: Send an elongation instruction to the lateral telescopic joint 101 to drive the double-acting pneumatic cylinder (the stroke sensor feeds back in real time) to expand the width of the support frame by 0.2 m to adapt to the overexcavated area.

[0064] Step S6. After the robotic arm executes the correction action, the sensor 403 feeds back the execution status parameters in real time: The drilling angle deviation of the drilling robotic arm 501 ≤ ±0.5°, and the drilling depth error ≤ ±5 mm; The bolt spacing error of the bolt installation robotic arm 502 ≤ ±0.05 m; The error between the actual elongation of the lateral telescopic joint 101 and the command value ≤ ±0.5%.

[0065] Step S7. The structured construction report includes: Overexcavation rate 15.4%, number of cracks 3, and deviation of the support surface flatness 0.3 mm; Equipment operation parameters, remaining battery power of the lithium battery pack 85%, and pneumatic cylinder pressure 6.2 MPa; Execution result of the correction action, filling completion degree of the overexcavated area 90%.

[0066] The report is uploaded to the intelligent central system 205 through the 5G network and synchronized to the remote monitoring center database.

[0067] Embodiment 4 Further described in combination with Embodiment 3, as Figure 10 shown in the structure, Figure 10 This is a schematic structural diagram of the computer device / equipment / system provided by the embodiment of the present application. The computer device / equipment / system includes: A processor, a memory, a communication bus, and a computer program stored on the memory and executable on the processor.

[0068] The processor can call the computer program in the memory and implement the monitoring method provided in the above embodiments when executing the program. The method includes: S1. Instruction input and parsing: The intelligent remote control terminal 201 receives the control instructions input by the user. The control instructions include the robotic arm operation mode, moving path, or construction parameters. After receiving the instructions, the intelligent central system 205 parses the instruction content, generates the initial motion trajectory control signal for the corresponding robotic arm, and sends it to the omnidirectional robotic arm system 500 through the wireless communication module 204. S2. Start the data acquisition module of the real-time monitoring subsystem, and collect the tunnel cross-section through the high-definition camera 202 and the 3D laser scanner 203 deployed in the slide-type horizontal ladder 103. The high-definition camera 202 takes the real scene picture of the current tunnel cross-section at a preset frame rate and performs gray-level equalization processing through the image processing unit. The 3D laser scanner 203 scans the current tunnel cross-section to generate 3D point cloud data containing coordinate information. S3. Register the 3D point cloud data with the designed BIM model through the point cloud registration algorithm in the data processing module, calculate the coordinates and volume deviation of the over-excavated / under-excavated area, and output the over-excavated / under-excavated data. S4. Identify cracks and detect the flatness of the support surface for the image data through a convolutional neural network, and output the crack coordinates and flatness deviation. S5. Generate the trajectory correction instruction for the robotic arm and the telescopic amount compensation value for the skeleton support system 100 according to the over-excavated / under-excavated data, crack coordinates, and flatness deviation. S6. After receiving the correction instruction, the robotic arm drives the robotic arm to perform the correction action, and at the same time, the execution status parameters are fed back in real time through the sensor 403. S7. Integrate the over-excavation rate, number of cracks, and equipment operation parameters during the construction process into a structured construction report and upload it to the intelligent central system 205 through the wireless communication module 204.

[0069] Furthermore, the computer device / system also includes: A communication interface, for communication between the memory and the processor.

[0070] The memory may include high-speed RAM memory and may also include non-volatile memory, such as at least one disk memory.

[0071] If the memory, processor, and communication interface are implemented independently, the communication interface, memory, and processor can be interconnected via a bus to complete communication with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 10 only a thick line is used in Figure 10 , but it does not mean that there is only one bus or one type of bus.

[0072] In addition, when the logical instructions in the above-mentioned memory are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0073] The processor may include one or more processing units. For example, the processor may include an application processor (AP), an application specific integrated circuit (ASIC), a modem processor, a central processing unit (CPU), an image signal processor (ISP), a controller, a memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Among them, different processing units may be independent devices or integrated in one or more processors. Among them, the controller may be the nerve center and command center. The controller can generate operation control signals according to the instruction operation code and timing signal to complete the control of fetching and executing instructions. A memory may also be provided in the processor for storing instructions and data. In some embodiments, the memory in the processor is a cache memory. This memory can save the instructions or data that the processor has just used or recycled. If the processor needs to use the instruction or data again, it can be directly called from the memory. This avoids repeated accesses, reduces the waiting time of the processor, and thus improves the efficiency of the system.

[0074] To provide interaction with users, the systems and techniques described herein may be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the computer. Other kinds of devices may also be used to provide interaction with users; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and the input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0075] A display device for displaying images, videos, etc. The display device may include a display panel, which may be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED), a flexible light-emitting diode (FLED), a Miniled, a MicroLed, a Micro-oLed, a quantum dot light-emitting diode (QLED), etc.

[0076] Optionally, in a specific implementation, if the memory, the processor, and the communication interface are integrated on a single chip, the memory, the processor, and the communication interface can communicate with each other through an internal interface.

[0077] On the other hand, an embodiment of the present application further provides a computer non-transitory readable storage medium, on which a computer program is stored. When the program is executed by a processor, the above monitoring method is implemented. The method includes: S1. Instruction input and parsing: The intelligent remote control terminal 201 receives a control instruction input by a user. The control instruction includes a robotic arm operation mode, a movement path, or construction parameters. After receiving the instruction, the intelligent central system 205 parses the instruction content, generates an initial motion trajectory control signal for the corresponding robotic arm, and issues it to the omnidirectional robotic arm system 500 through the wireless communication module 204; S2. Start the data acquisition module of the real-time monitoring subsystem, and collect the tunnel cross-section through the high-definition camera 202 and the three-dimensional laser scanner 203 deployed in the slide-type cross ladder 103; The high-definition camera 202 captures a real scene image of the current tunnel cross-section at a preset frame rate and performs gray-level equalization processing through the image processing unit; The three-dimensional laser scanner 203 scans the current tunnel cross-section to generate three-dimensional point cloud data containing coordinate information; S3. Register the three-dimensional point cloud data with the designed BIM model through the point cloud registration algorithm in the data processing module, calculate the coordinates and volume deviation of the overexcavation / underexcavation area, and output the overexcavation / underexcavation data; S4. Identify cracks and detect the flatness of the support surface for the image data through a convolutional neural network, and output the crack coordinates and flatness deviation; S5. Generate a trajectory correction instruction for the robotic arm and a telescopic amount compensation value for the skeleton support system 100 according to the overexcavation / underexcavation data, crack coordinates, and flatness deviation; S6. After receiving the correction instruction, the robotic arm drives the robotic arm to perform a correction action, and at the same time, the execution state parameters are real-time fed back through the sensor 403; S7. Integrate the overexcavation rate, the number of cracks, and the equipment operation parameters during the construction process into a structured construction report, and upload it to the intelligent central system 205 through the wireless communication module 204.

[0078] In another aspect, an embodiment of the present application further provides a computer program product. The computer program product includes a computer program that can be stored on a non-transitory computer-readable storage medium. The computer program can run computer instructions. When the computer program is executed by a processor, the computer can execute the monitoring methods provided by the above various methods. The method includes: S1. Instruction input and parsing: The intelligent remote control terminal 201 receives a control instruction input by a user. The control instruction includes a robotic arm operation mode, a movement path, or construction parameters. After receiving the instruction, the intelligent central system 205 parses the instruction content, generates an initial motion trajectory control signal for the corresponding robotic arm, and sends it to the omnidirectional robotic arm system 500 through the wireless communication module 204. S2. Start the data acquisition module of the real-time monitoring subsystem, and collect the tunnel cross-section through the high-definition camera 202 and the 3D laser scanner 203 deployed in the slide-type cross ladder 103. The high-definition camera 202 takes a real scene picture of the current tunnel cross-section at a preset frame rate and performs gray level equalization processing through the image processing unit. The 3D laser scanner 203 scans the current tunnel cross-section to generate 3D point cloud data containing coordinate information. S3. Register the 3D point cloud data with the designed BIM model through the point cloud registration algorithm in the data processing module, calculate the coordinates and volume deviation of the over-excavation / under-excavation area, and output the over-excavation / under-excavation data. S4. Perform crack identification and support surface flatness detection on the image data through a convolutional neural network, and output the crack coordinates and flatness deviation. S5. Generate a trajectory correction instruction for the robotic arm and a telescopic amount compensation value for the skeleton support system 100 according to the over-excavation / under-excavation data, crack coordinates, and flatness deviation. S6. After receiving the correction instruction, the robotic arm drives the robotic arm to perform a correction action, and at the same time, the execution state parameters are fed back in real time through the sensor 403. S7. Integrate the over-excavation rate, the number of cracks, and the equipment operation parameters during the construction process into a structured construction report, and upload it to the intelligent central system 205 through the wireless communication module 204.

[0079] The logic and / or steps represented in the flowchart or described in other ways herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch instructions from the instruction execution system, apparatus, or device and execute the instructions), or used in combination with these instruction execution systems, apparatus, or devices.

[0080] As used in this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection (electronic device) having one or N wirings, a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. Additionally, the computer-readable medium can even be paper or other suitable medium on which the program can be printed, as the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpretation, or otherwise processing as appropriate, and then storing it in a computer memory.

[0081] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems on a chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0082] The program code for implementing the methods of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the program codes are executed by the processor or controller, the functions / operations specified in the flowchart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0083] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), and the Internet.

[0084] A computer system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other.

[0085] It should be understood that the various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in this disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this is not limited herein.

[0086] The above specific embodiments do not constitute a limitation on the protection scope of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Although the embodiments of this application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as a limitation on this application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A retractable slide rail type multifunctional omnidirectional mechanical arm construction device, comprising a skeleton support system (100), an intelligent remote control system (200), a mobile walking system (300) and an electrical system (400), characterized in that: Also included is a multifunctional omnidirectional robotic arm system (500), which includes a plurality of robotic arms, each of which has at least three degrees of freedom, forming omnidirectional motion.

2. According to claim 1, the retractable slide rail type multifunctional omnidirectional mechanical arm construction device is characterized in that: The skeleton support system (100) comprises a transverse telescopic joint (101), a sliding rail type arc-shaped skeleton (102), a sliding rail type horizontal ladder (103) and a sliding rail type vertical ladder (104); The transverse expansion joint (101) adopts a pneumatic drive system, which includes a double-acting pneumatic cylinder and a stroke sensor. The two ends of the slide rail arc frame (102) are fixed to the transverse expansion joint (101) by anchor buckles. The slide rail horizontal ladder (103) connects multiple groups of slide rail arc frames (102) horizontally, and the slide rail vertical ladder (104) connects adjacent slide rail arc frames (102) vertically to form an adjustable support frame.

3. According to claim 2, the retractable slide rail type multifunctional omnidirectional mechanical arm construction device is characterized in that: The intelligent remote control system (200) is installed on the top of the skeleton support system (100), and comprises an intelligent remote control terminal (201), a camera (202), a three-dimensional laser scanner (203) and a wireless communication module (204); the intelligent remote control terminal (201) is electrically connected to the intelligent central system (205) via the wireless communication module (204); the camera (202) and the three-dimensional laser scanner (203) are distributed and installed on the corresponding transverse expansion joints (101) to collect construction data and feed it back to the intelligent central system (205).

4. The retractable slide rail type multifunctional omnidirectional mechanical arm construction device according to claim 2, characterized in that: The mobile walking system (300) is connected to the bottom of the skeleton support system (100). The mobile walking system (300) comprises an omnidirectional rotating device (301) and a new energy engine (302). The omnidirectional rotating device (301) adopts an omnidirectional wheel set to form a 360° rotation. The new energy engine (302) adopts a lithium battery pack for power supply.

5. The retractable slide rail type multifunctional omnidirectional mechanical arm construction device according to claim 1, characterized in that: The electrical system (400) is arranged behind the intelligent remote control system (200) and is located on both sides of the working platform of the skeleton support system (100). The electrical system (400) includes a distribution box (401), a frequency converter (402), a sensor (403) and a slide rail type cable management system (404). The slide rail type cable management system (404) automatically adjusts the cable length as the robot arm retracts and contracts through a slide rail structure linked to the omnidirectional robot arm system (500).

6. The retractable slide rail type multifunctional omnidirectional mechanical arm construction device according to claim 4, characterized in that: Each mechanical arm is installed on the slide rail type arc-shaped frame (102) through a mobile walking system (300), and moves longitudinally along the slide rail type longitudinal ladder (104) under the drive of the mobile walking system (300); The multiple mechanical arms are respectively a drilling mechanical arm (501), an anchor installation mechanical arm (502) and a concrete spraying-arch installation mechanical arm (503).

7. A monitoring system, characterized in that: The monitoring system comprises an intelligent remote control terminal (201), an intelligent central system (205) and a real-time monitoring subsystem which are electrically connected to each other, wherein the intelligent remote control terminal (201) receives a command input by a user and sends it to the intelligent central system (205), the intelligent central system (205) parses the command and generates a control signal, and controls the operation of the retractable slide rail type multifunctional omnidirectional mechanical arm construction device according to any one of claims 1 to 6 through the control signal, and the real-time monitoring subsystem collects construction data in real time, analyzes and processes it, generates a construction report and a fault diagnosis report, and feeds it back to the intelligent central system (205), thereby forming a closed-loop control; An intelligent remote control terminal (201), used for receiving user instructions and transmitting them to an intelligent central system (205); The intelligent central system (205) is used to analyze user instructions and generate control signals, and coordinate the real-time monitoring subsystems to work together.

8. The monitoring system according to claim 7, characterized in that: The real-time monitoring subsystem includes a data acquisition module, a data processing module, a feedback control module and a report generation module which are electrically connected to each other; The data acquisition module comprises a high-definition camera (202), a three-dimensional laser scanner (203) and an image processing unit, which are deployed on the slide rail ladder (103); wherein the high-definition camera (202) acquires real-time video images of the construction area at a preset frame rate, and performs distortion correction and noise filtering on the images through the image processing unit; the three-dimensional laser scanner (203) performs three-dimensional point cloud scanning on the tunnel section at an angular resolution of 0.5°, generates point cloud data, constructs BIM model data of the tunnel, and transmits the data to the data processing module; The data processing module has a built-in point cloud registration algorithm and a defect recognition model, which are used to register and compare the point cloud data collected by the three-dimensional laser scanner (203) with the design drawings, calculate the coordinates and volume deviation of the over-excavation / under-excavation area, and output the over-excavation amount; the defect recognition model is a convolutional neural network, which performs crack recognition and support surface flatness detection on the construction picture of the high-definition camera (202) based on the convolutional neural network, outputs the crack position coordinates and support surface flatness deviation, and transmits them to the feedback control module; The feedback control module is used to receive the over-excavation amount, crack coordinates and support surface flatness deviation data output by the data processing module; generate a trajectory correction instruction for the robot arm and a telescopic compensation value for the skeleton support system (100) through a PID algorithm, and transmit them to the report generation module; The report generation module is used to integrate the over-excavation volume, over-excavation rate, number of crack coordinates, and equipment operation status parameters during the construction process into a structured construction report, and feed it back to the intelligent central system (205) through the wireless communication module (204).

9. A monitoring method, characterized in that: The monitoring system as claimed in claim 8 comprises the following steps: S1, command input and analysis: the intelligent remote control terminal (201) receives a control command input by a user, the control command including a robot arm operation mode, a moving path or a construction parameter; after receiving the command, the intelligent central system (205) analyzes the command content, generates an initial motion trajectory control signal corresponding to the robot arm, and sends the signal to the omnidirectional robot arm system (500) via the wireless communication module (204); S2, starting the data acquisition module of the real-time monitoring subsystem, collecting data on the tunnel section through the high-definition camera (202) and the three-dimensional laser scanner (203) deployed in the slide-type horizontal ladder (103); photographing the real scene of the current tunnel section with a preset frame rate through the high-definition camera (202), and performing grayscale equalization processing through the image processing unit; scanning the current tunnel section through the three-dimensional laser scanner (203), and generating three-dimensional point cloud data containing coordinate information; S3. Use the point cloud registration algorithm in the data processing module to register the three-dimensional point cloud data with the design BIM model, calculate the coordinates and volume deviation of the over-excavation / under-excavation area, and output the over-excavation / under-excavation data; S4, using a convolutional neural network to perform crack recognition and support surface flatness detection on the image data, and output crack coordinates and flatness deviation; S5, generating a trajectory correction instruction for the robot arm and a telescopic compensation value for the skeleton support system (100) according to the over-excavation / under-excavation data, the crack coordinates and the flatness deviation; S6, after receiving the correction instruction, the robot arm drives the robot arm to perform the correction action, and at the same time, the execution state parameters are fed back in real time through the sensor (403); S7, integrating the over-excavation rate, the number of cracks, and the equipment operation parameters during the construction process into a structured construction report, and uploading it to the intelligent central system (205) via the wireless communication module (204).

10. The monitoring method according to claim 9, characterized in that: Step S5 is specifically as follows: S51, if the overbreak / underbreak data exceeds a threshold, the feedback control module generates a trajectory compensation instruction for the drilling robot arm (501), and controls the drilling robot arm (501) to adjust the drilling angle to compensate for the overbreak area; S52, if a crack in the support surface is detected, the feedback control module controls the anchor bolt installation mechanical arm (502) to add additional anchor bolts on both sides of the crack; S53, sending the expansion compensation value to the skeleton support system (100) through the intelligent central module (204), driving the transverse expansion joint (101) to perform cross-section adaptive adjustment.

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