Unmanned intelligent tunnel construction method and system

Abstract

The invention relates to an unmanned intelligent tunnel construction method and system, and belongs to the technical field of tunnel construction, construction procedures are formulated according to a tunnel construction drawing, and construction equipment used for executing tasks of the procedures is matched for each procedure of tunnel construction; according to a preset working procedure sequence, each working procedure is constructed according to the following steps until all working procedures are completed: calling target construction equipment matched with the current working procedure, and controlling the target construction equipment to start construction according to preset construction parameters of the current working procedure; in the construction process, according to the operation information of the target construction equipment, the equipment parameters of the construction equipment related to the target construction equipment are adjusted, so that construction continues to be conducted according to the adjusted equipment parameters of the construction equipment related to the target construction equipment, no person participates in the construction process, and completion of all procedures is automatically promoted; and the equipment parameters of the construction equipment related to the target construction equipment are intelligently adjusted, so that the completion degree of the working procedure is improved.

Description

Technical Field

[0001] The present invention relates to a method and system for unmanned intelligent tunnel construction, belonging to the technical field of tunnel construction. Background Art

[0002] Currently, tunnel construction mostly uses manual on-site operation of simple equipment or large mechanical equipment for operation. The labor intensity of construction workers is high, the working environment is harsh, and there is a certain degree of danger, threatening the personal safety of operators. Manual coordination and scheduling are required between each process, and the construction efficiency and quality need to be further improved. Each mechanical equipment is independent of each other, the construction process information cannot be utilized in real time to guide subsequent construction operations, and a large unified collaborative operation system has not been formed, greatly restricting the high-quality construction of tunnels.

[0003] To solve the above technical problems, the published text of the Chinese invention patent application with the application publication number CN116181338A discloses an unmanned drill and blast method for tunnel construction and a system. Among them, according to the tunnel construction drawings, a tunnel construction plan is determined, and deployment instructions are sequentially sent to each device according to the tunnel construction plan to deploy each device for tunnel construction operations; information transmitted back by each device is received in real time, and according to the transmitted-back information, the deployment instructions are adjusted in real time, and the adjusted deployment instructions are sent to the corresponding device until the tunnel construction is completed. Although the deployment instructions are continuously adjusted to achieve the adjustment of the construction plan, the adjusted construction plan is not described in detail, resulting in the inability to know whether it is the construction sequence of the construction plan that is adjusted, or the construction parameters of the construction plan that are adjusted, or the construction equipment used in the construction plan that is adjusted, and the dynamic adjustment of the construction plan fails, and the intelligent construction of the entire tunnel cannot be achieved.

[0004] At the same time, during the tunnel excavation process, due to the particularity and complexity of its construction environment, unexpected water inrush, local collapse and other abnormal situations that affect tunnel construction will inevitably occur. In the prior art, in the face of such unexpected situations, manual intervention is still required to deal with them. Summary of the Invention

[0005] The purpose of the present invention is to provide a method and system for unmanned intelligent tunnel construction to achieve intelligent tunnel construction.

[0006] To achieve the above purpose, on the one hand, the present invention proposes an unmanned intelligent tunnel construction method, including: Formulate construction processes according to the tunnel construction drawings, and match construction equipment for performing the tasks of each process for each process of tunnel construction; According to the preset process sequence, each process is constructed according to the following steps until all processes are completed: Call the target construction equipment that matches the current process, and control the target construction equipment to start construction according to the construction parameters of the preset current process; during the construction process, adjust the equipment parameters of the construction equipment related to the target construction equipment according to the operation information of the target construction equipment, so as to continue the construction according to the adjusted equipment parameters of the construction equipment related to the target construction equipment.

[0007] Further, the matching between the process and its construction equipment is carried out through the following steps: Determine the current process task; according to the logical steps to complete the current process task, divide the current process into a number of ordered nodes; determine the subtasks of each node; according to the subtasks of each node, match the construction equipment for each node to execute its subtasks; based on all the nodes of the current process and their matched construction equipment, obtain the construction equipment for executing the current process task.

[0008] Further, it includes a surrounding rock detection process, an excavation process, a muck removal process, a primary support process, an invert process, a secondary lining process and an auxiliary process; among them, the surrounding rock detection process, the excavation process and the muck removal process are executed in sequence.

[0009] Further, match an autonomous driving measurement and scanning robot for the surrounding rock detection process; During the construction of the surrounding rock detection and advanced reinforcement process, call the autonomous driving measurement and scanning robot to perform self-positioning, tunnel measurement, face scanning and photographing, and form a geological prediction report; if the geological prediction report indicates that the surrounding rock of the face does not meet the full-face excavation requirements, then add an advanced reinforcement process after the surrounding rock detection process and before the excavation process. Among them, during the construction of the advanced reinforcement process, according to the geological prediction report, adjust the grouting parameters of the advanced grouting robot so that the advanced grouting robot performs advanced grouting.

[0010] Further, match a fully intelligent rock drilling / boring robot, intelligent charging and blasting equipment for the excavation process; During the construction of the excavation process, call the fully intelligent rock drilling / boring robot to select a matching rock drilling plan according to the geological prediction report, generate the current geological surrounding rock report according to the drilling parameters; according to the geological surrounding rock report, adjust the emulsion explosive filling parameters of the intelligent charging and blasting equipment.

[0011] Further, match an autonomous driving loader and an autonomous driving muck truck for the muck removal process; During the construction of the muck removal process, call the autonomous driving loader to analyze the position and direction of the blasted rock; according to the blasted rock and direction, adjust the muck removal parameters of the autonomous driving muck truck so that the autonomous driving muck truck performs muck removal operations; Obtain the over-excavation and under-excavation analysis report formed by the autonomous driving measurement and scanning robot. If the current working surface is in an under-excavation state, adjust the under-excavation parameters of the driverless excavator so that the driverless excavator performs under-excavation treatment based on the adjusted under-excavation parameters.

[0012] Furthermore, match an intelligent arch anchor trolley, an intelligent anchor injection integrated trolley, an intelligent wet spraying trolley, an autonomous driving concrete mixer truck, and an intelligent welding robot for the primary support process; During the construction of the primary support process, call the intelligent arch anchor trolley to drive to the area to be supported to control the intelligent arch anchor trolley to unfold and install the arch frame; and call a humanoid robot to assist in supporting the arch feet. According to the operation information of the intelligent arch anchor trolley and the humanoid robot, adjust the equipment parameters of the rock bolt drill so that the rock bolt drill performs the locking foot rock bolt operation for the arch frame; the intelligent welding robot performs the welding and cutting of the locking foot rock bolts; the intelligent anchor injection integrated trolley performs the supplementary drilling and grouting operations for the rock bolts; the intelligent wet spraying trolley and the autonomous driving concrete mixer truck perform the automatic shotcreting operation.

[0013] Furthermore, match an intelligent invert trestle, a driverless excavator, an automatic invert block transporter, and an automatic invert block installer for the invert process; During the construction of the invert process, call the driverless excavator to excavate the invert. According to the excavation position of the invert, the intelligent invert trestle moves forward by the distance of one invert block; according to the position of the moved intelligent invert trestle, adjust the installation parameters of the arch block automatic installer so that it installs the precast invert blocks; after the installation, perform grouting treatment on the gaps between the invert blocks and the surrounding rock.

[0014] Furthermore, match an intelligent waterproof board laying trolley, an intelligent steel reinforcement cage binding trolley, an intelligent lining formwork trolley, and an intelligent curing trolley for the secondary lining process; During the construction of the secondary lining process, call the intelligent waterproof board laying trolley to install the waterproof board; call the intelligent steel reinforcement cage binding trolley to bind a cycle of steel reinforcement cages; according to the binding information of the intelligent steel reinforcement cage binding trolley, the intelligent lining formwork trolley moves and positions itself to perform the automatic pouring of concrete; after the concrete is demolded, call the intelligent curing trolley to cure the secondary lining concrete.

[0015] Furthermore, match several humanoid robots for the auxiliary process; the auxiliary process calls several humanoid robots to perform auxiliary operations for the process.

[0016] Furthermore, formulate construction quality standards according to the tunnel construction drawings; during the construction process of each process, each construction equipment determines the construction quality according to the construction quality standards.

[0017] Further, formulate safety emergency measures according to the tunnel construction drawings; during the construction process of each process, in response to the occurrence of abnormal conditions affecting tunnel construction, according to the safety emergency measures, control the emergency construction equipment to start construction until the tunnel construction resumes normal conditions.

[0018] Further, during the construction process, through remote connection with the target construction equipment, enable the operator to remotely control the target construction equipment, and the control has the highest command authority.

[0019] Further, during the construction process, display the operation information of the target equipment on the visualization interface, so that the operator can conduct real-time management and control of the construction process and quality through the visualization interface.

[0020] On the other hand, the present invention provides an unmanned intelligent tunnel construction system, including an information processing center for analyzing and processing the operation information transmitted by each construction equipment and issuing construction instructions for adjusting the process sequence or construction parameters to each construction equipment, and an intelligent construction management and control platform for matching construction equipment for performing the task of each process in tunnel construction. The system is used to implement the above-mentioned unmanned intelligent tunnel construction method.

[0021] The beneficial effects of the present invention are as follows: formulate construction processes according to the tunnel construction drawings, and respectively match construction equipment for performing the task of each process in tunnel construction; according to the preset process sequence, each process is constructed according to the following steps until all processes are completed: call the target construction equipment matched with the current process, and control the target construction equipment to start construction according to the construction parameters of the preset current process; during the construction process, adjust the equipment parameters of the construction equipment related to the target construction equipment according to the operation information of the target construction equipment, and continue construction according to the adjusted equipment parameters of the construction equipment related to the target construction equipment. It not only does not require manual participation during the tunnel construction process, can automatically promote the completion of each process, improve the tunnel construction efficiency, but also combines the operation information of the target construction equipment detected in real time in the tunnel to adjust the equipment parameters of the construction equipment related to the target construction equipment, realizes the mutual restriction and influence between equipment during the construction process, improves the completion degree of each process, increases the connection between each process, ensures that all processes are fully executed, and provides guarantee for tunnel construction. Description of the Drawings

[0022] Figure 1 is a flowchart of an unmanned intelligent tunnel construction method proposed by the present invention; Figure 2 is a construction process flowchart of an unmanned intelligent tunnel construction system proposed by the present invention in an actual application scenario; Figure 3It is a schematic diagram of information transmission in the actual application scenario of an unmanned intelligent tunnel construction system proposed by the present invention. Detailed implementation manners

[0023] To make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0024] The inventive concept of the present invention lies in: in order to achieve tunnel construction without human participation throughout the process, construction equipment corresponding to each construction process of the tunnel is matched, and during the construction process of each process, according to the operation information of the corresponding construction equipment, the equipment parameters of other relevant construction equipment are adjusted, so that each process interacts with each other and is highly connected, improving the execution integrity of the process. In addition, the existing operators are liberated from the tunnel construction site, saving labor costs.

[0025] Embodiment 1 of the unmanned intelligent tunnel construction method: As Figure 1 shown, it is a schematic flow chart of an unmanned intelligent tunnel construction method proposed by the present invention, which includes steps S11 - S13. Specifically: Step S11, formulate construction processes according to the tunnel construction drawings, and match construction equipment for performing the tasks of each process of the tunnel construction; here, the construction drawings are detailed construction documents formulated by operators according to the tunnel construction environment, tunnel requirements, etc., which include but are not limited to construction requirements in aspects such as geological exploration, tunnel cross-section, excavation method, support parameters, construction requirements, etc.; at the same time, according to the tunnel construction drawings, the process parameters of each tunnel process are also obtained; within each process, the equipment parameters of the construction equipment for this process are obtained according to the process parameters of this process.

[0026] Step S12, according to the preset process sequence, each process is constructed according to the following step S13 until all processes are completed: Step S13: Invoke the target construction equipment that matches the current process, and control the target construction equipment to start construction according to the construction parameters of the preset current process. During the construction process, adjust the equipment parameters of the construction equipment related to the target construction equipment according to the operation information of the target construction equipment, and continue construction according to the adjusted equipment parameters of the construction equipment related to the target construction equipment. Herein, the construction parameters of the current process include process parameters and the equipment parameters of the target construction equipment. The process parameters include, but are not limited to, tunnel alignment, excavation section size, support type, blasting parameters, etc. The equipment parameters include, but are not limited to, equipment type, equipment quantity, and performance, etc. The construction equipment related to the target construction equipment refers to the construction equipment that needs to determine its operation plan based on the operation data of the target construction equipment. That is to say, the construction equipment related to the target construction equipment determines its operation plan according to the operation information of the target construction equipment, and then determines its equipment parameters according to the determined operation plan. The construction equipment related to the target construction equipment can be other construction equipment within the same process as the target construction equipment; it can also be construction equipment in a different process from the target construction equipment.

[0027] Meanwhile, during the construction process, through the remote connection with the target construction equipment, the operator can remotely control the target construction equipment, and this control has the highest command authority. In actual application scenarios, the target construction equipment all has the remote control function and can perform functions such as autonomous driving, environmental perception, intelligent operation, information reception and transmission, etc., to achieve functions such as fast movement, positioning, environmental recognition, intelligent operation, data analysis, and transmission, and to monitor the construction status in real time. By using the remote control function of the target construction equipment, not only can the operation information and adjustment instructions of the target construction equipment be remotely issued and received, achieving real-time monitoring of each construction equipment, but also, tunnel construction operators can intervene in any construction equipment at any time to control the intervened construction equipment, and the operator's intervention has the highest command authority, enabling the operator to understand the construction situation at any time and, when necessary (such as in the case of abnormal situations), manually control the construction equipment. Moreover, the operation information of the target equipment is also displayed through a visual interface, enabling the operator to perform real-time management and control of the construction process and quality through the visual interface.

[0028] Through the above steps S11 - S13, the tunnel construction is divided into multiple processes, and the corresponding construction equipment is matched for each process, improving the matching degree between the construction equipment and the process, avoiding the problem of abnormal construction caused by phenomena such as untimely or incorrect matching of construction equipment. At the same time, adjusting the equipment parameters based on the operation information strengthens the connection between processes and within processes, improving the completion degree of tunnel construction.

[0029] In a preferred embodiment of the present invention, construction drawings of tunnel construction are obtained, and the construction processes are formulated as Process A, Process B, Process C, Process D, and Process E; intelligent devices (a1, a2, and a3) are allocated to Process A; intelligent devices (b1 and b2) are allocated to Process B; intelligent devices (c1, c2, and c3) are allocated to Process C; intelligent devices (d1, d2, d3, d4, and d5) are allocated to Process D; and intelligent devices (e1 and e2) are allocated to Process E.

[0030] According to the process sequence (Process A → Process B → Process C → Process D → Process E); first, a1, a2, and a3 are called, and each device is controlled to start construction according to the process A parameters required in the construction drawings and the parameters of devices (a1, a2, and a3); during the construction process, the operation data of devices (a1, a2, and a3) are obtained in real time, and based on the operation data of devices (a1, a2, and a3), intelligent device b2 in Process B is preferably selected as the relevant construction device, and the device parameters of device b2 are adjusted. After completing the process tasks of Process A, it enters Process B.

[0031] In Process B, b1 and b2 are called, and each device is controlled to start construction according to the Process B parameters, the parameters of device b1, and the adjusted parameters of device b2; during the construction process, the operation data of devices (b1 and b2) are obtained in real time, and based on the operation data of devices (b1 and b2), device b1 is preferably selected as the relevant construction device, and the device parameters of device b1 are adjusted, and Process B is continued. After completing the tasks of Process B, it enters Process C.

[0032] In Process C,... In Process E, e1 and e2 are called, and each device is controlled to start construction according to the Process E parameters and the adjusted parameters of devices (e1 and e2); during the construction process, the operation data of devices (e1 and e2) are obtained in real time, and it is preferably selected that devices e1 and e2 are mutually relevant construction devices, and the device parameters of devices (e1 and e2) are adjusted respectively, and the process tasks of Process E are continued according to the adjusted device parameters. Thus, all processes are completed, and the target tunnel is generated.

[0033] Example 2 of the unmanned intelligent tunnel construction method: In an unmanned intelligent tunnel construction method proposed by the present invention, the matching between the process and its construction devices is carried out through the following steps: Determine the current process task; divide the current process into several ordered nodes according to the logical steps to complete the current process task; determine the subtasks of each node; match the construction equipment for executing the subtasks of each node according to the subtasks of each node; based on all the nodes of the current process and their matched construction equipment, obtain the construction equipment for executing the current process task, so as to divide the tunnel construction into multi-node tasks, refine each process, and match intelligent equipment for each process, improve the matching degree between the process and the construction equipment, and avoid the situation that the process cannot be successfully completed due to the lack of construction equipment and other situations.

[0034] For example, in the primary support process, according to the logical steps to complete the primary support process task, process B can be divided into N nodes such as arch erection, bolt support, shotcrete operation, etc. Determine the subtasks of each node, and obtain the intelligent arch anchor trolley matched with the arch erection node; match the bolt drilling rig for the bolt support node; match the intelligent wet shotcrete trolley for the shotcrete node;..., and finally obtain the intelligent arch anchor trolley, intelligent anchor grouting integrated trolley, intelligent wet shotcrete trolley, automatic driving concrete mixer truck, intelligent welding robot matched with the primary support process.

[0035] In the actual application scenario, the operation scenarios of each node and its matched construction equipment are also analyzed and divided to ensure that the construction equipment matched with each node can meet the task requirements of that node.

[0036] For example, the primary support process corresponds to N nodes such as arch erection, bolt support, shotcrete operation, etc. Among them, arch erection can be divided into M operation scenarios such as the driving, positioning, three-dimensional scanning of the excavation face, arch frame unfolding and fixing, foot-locking bolt operation, intelligent welding and cutting of the intelligent arch anchor trolley.

[0037] Example 3 of the unmanned intelligent tunnel construction method: In an unmanned intelligent tunnel construction method proposed by the present invention, the processes of tunnel construction include a surrounding rock detection process, an excavation process, a mucking process, a primary support process, an invert process, a secondary lining process and an auxiliary process; among them, the surrounding rock detection process, the excavation process and the mucking process are executed in sequence; here, the construction processes have corresponding internal logics according to the construction organization arrangement. Of course, some processes in the construction can be carried out synchronously, for example, the excavation process and the secondary lining process, and for another example, the primary support process and the secondary lining process, etc. At the same time, in each construction process, according to different construction requirements and progress situations, auxiliary operations in individual construction areas are carried out.

[0038] During the entire tunnel construction process, an autonomous driving measurement and scanning robot is matched for the surrounding rock detection process; during the construction of the surrounding rock detection and advanced reinforcement processes, the autonomous driving measurement and scanning robot is called to perform self-positioning, tunnel measurement, face scanning and photographing, and a geological prediction report is formed; if the geological prediction report indicates that the face surrounding rock does not meet the requirements for full-face excavation, then an advanced reinforcement process is added after the surrounding rock detection process and before the excavation process, where, during the construction of the advanced reinforcement process, according to the geological prediction report, the grouting parameters of the advanced grouting robot are adjusted so that the advanced grouting robot performs advanced grouting.

[0039] An all-intelligent rock drilling / boring robot, intelligent charging and blasting equipment are matched for the excavation process; during the construction of the excavation process, the all-intelligent rock drilling / boring robot is called to select a matching rock drilling plan according to the geological prediction report, and a current geological surrounding rock report is generated according to the drilling parameters; according to the geological surrounding rock report, the emulsion explosive filling parameters of the intelligent charging and blasting equipment are adjusted.

[0040] An autonomous driving loader and an autonomous driving muck truck are matched for the mucking process; during the construction of the mucking process, the autonomous driving loader is called to analyze the position and direction of the blasted rock; according to the blasted rock and direction, the mucking parameters of the autonomous driving muck truck are adjusted so that the autonomous driving muck truck performs mucking operations; the overbreak and underbreak analysis report formed by the autonomous driving measurement and scanning robot is obtained, and if the current working face is in an underbreak state, the underbreak parameters of the driverless excavator are adjusted so that the driverless excavator performs underbreak treatment based on the adjusted underbreak parameters.

[0041] An intelligent arch anchor trolley, an intelligent anchor grouting integrated trolley, an intelligent wet shotcreting trolley, an autonomous driving concrete mixer truck, and an intelligent welding robot are matched for the primary support process; during the construction of the primary support process, the intelligent arch anchor trolley is called to drive to the area to be supported to control the intelligent arch anchor trolley to unfold and install the arch frame; and a humanoid robot is called to assist in arch foot support, and according to the operation information of the intelligent arch anchor trolley and the humanoid robot, the equipment parameters of the rock bolt drilling rig are adjusted so that the rock bolt drilling rig performs the locking foot rock bolt operation for the arch frame; the intelligent welding robot performs locking foot rock bolt welding and cutting; the intelligent anchor grouting integrated trolley performs additional rock bolt driving and grouting operations; the intelligent wet shotcreting trolley and the autonomous driving concrete mixer truck perform automatic shotcreting operations.

[0042] An intelligent invert trestle, a driverless excavator, an invert block automatic transporter, and an invert block automatic installer are matched for the invert process; during the construction of the invert process, the driverless excavator is called to excavate the invert, and according to the excavation position of the invert, the intelligent invert trestle moves forward a distance of one invert block; according to the position of the moved intelligent invert trestle, the installation parameters of the invert block automatic installer are adjusted so that it installs the precast invert block; after installation, grouting treatment is performed on the gap between the invert block and the surrounding rock.

[0043] Match an intelligent waterproof board laying trolley, an intelligent steel reinforcement cage binding trolley, an intelligent lining formwork trolley, and an intelligent curing trolley for the secondary lining process; during the construction of the secondary lining process, call the intelligent waterproof board laying trolley to install the waterproof board; call the intelligent steel reinforcement cage binding trolley to bind a cycle of steel reinforcement cages; according to the binding information of the intelligent steel reinforcement cage binding trolley, the intelligent lining formwork trolley moves and positions to perform automatic concrete pouring; after the concrete is demolded, call the intelligent curing trolley to cure the secondary lining concrete.

[0044] Match a number of humanoid robots for the auxiliary process; the auxiliary process calls a number of humanoid robots to perform auxiliary operations for the process.

[0045] Example 4 of the unmanned intelligent tunnel construction method: In the present invention, the construction drawings of tunnel construction are obtained. In addition to formulating the construction process according to the drawings, construction quality standards are also formulated. The construction quality standards are formulated according to the tunnel construction drawings; during the construction process of each process, each construction device determines the construction quality according to the construction quality standards. At the same time, after the completion of the current process, or after the completion of the entire tunnel construction, or after the completion of some processes, the secondary tunnel quality can also be determined according to the construction quality standards.

[0046] For example, for the automatic shotcreting operation implemented by the intelligent wet shotcreting trolley, shotcreting is performed according to the operation area of the previous bolt support or arch support; according to the preset quality standards, the sprayed area of the target tunnel that meets the quality requirements must coincide with the support area, and the spraying thickness is executed according to the set parameters; in order to meet the above quality standards, the equipment parameters of the intelligent wet shotcreting trolley are set; at the same time, after spraying is completed, the scanner scans the sprayed surface, analyzes the scanned data, confirms that there is no shotcreting omission, no under-spraying phenomenon, no shotcreting overrun, etc., determines that this process node meets the quality standards, and ends the operation of this node.

[0047] Example 5 of the unmanned intelligent tunnel construction method: In the present invention, the construction drawings of tunnel construction are obtained. In addition to formulating the construction process according to the drawings, safety emergency measures are also formulated. The safety emergency measures are formulated according to the tunnel construction drawings; during the construction process of each process, in response to the occurrence of abnormal conditions that affect tunnel construction, according to the safety emergency measures, control the emergency construction equipment to start construction until the tunnel construction returns to normal conditions.

[0048] For example, during tunneling, when water inrush is suddenly detected, the scanning module built into the intelligent construction equipment or the construction monitoring equipment monitors the water inrush. In this case of "abnormal situation", all equipment operations are stopped, and the construction equipment is withdrawn urgently and orderly. Then, an advanced grouting robot is assigned to perform grouting operations at the water inrush location, while paying attention to the treatment effect. If the effect is not good, the humanoid robot makes self-decisions for treatment, and the monitoring personnel outside the tunnel operate remotely for treatment until the water inrush problem is solved. Or, when local collapse occurs due to excessive ground stress, an intelligent anchor grouting integrated trolley is assigned to perform emergency bolt reinforcement support and grouting until the collapsed surface is stabilized.

[0049] Example 1 of an unmanned intelligent tunnel construction system: The present invention also proposes an unmanned intelligent tunnel construction system, which includes an information processing center for analyzing and processing the operation information transmitted by each construction equipment and issuing construction instructions including adjusting the process sequence or construction parameters to each construction equipment, and an intelligent construction control platform for matching construction equipment for each process of tunnel construction to perform the task of that process. The system is used to implement an unmanned intelligent tunnel construction method as described above.

[0050] As Figure 2 shown, it is a schematic flowchart of an unmanned intelligent tunnel construction system proposed by the present invention in an actual application scenario. Among them, Step 1: Import the construction drawings, construction process drawings, construction quality standards, and safety emergency measures of the tunnel into the tunnel construction control platform, unify the construction quality during the tunnel construction process according to the imported construction quality standards, and let the construction equipment construct according to the construction quality requirements; the import of safety emergency measures is for dealing with sudden or unexpected situations. The intelligent construction control platform can perform emergency treatment or intelligent decision-making treatment according to the pre-set measures in the first time to avoid chaos.

[0051] Step 2: Set each node in the platform, and clarify the tasks and completion signs of each node. N nodes can be set in each process. Step 3: Divide each node into several construction scenarios, match each construction scenario with various equipment, and clarify the types, quantities, performances, etc. of the equipment for each construction process.

[0052] Step 4: According to the above settings, the intelligent construction control platform can allocate each device according to nodes and scenarios for unmanned tunnel construction. At the same time, the construction devices, based on the remote connection with the platform, can collect and transmit their respective operation processes and operation data in real time to the intelligent construction control platform, so that the information processing center in the system can analyze and process the collected information, adjust the construction plan in real time according to the current construction data, and issue instructions to the construction devices in a timely manner. The video, images, and data information of each current operation scenario can be displayed in real time on the visualization interface of the intelligent construction control platform, facilitating personnel to assist in observing the construction dynamics. Furthermore, the intelligent construction control platform can communicate with external information platforms, receive superior instructions, and transmit the current construction information in real time.

[0053] Embodiment 2 of the unmanned intelligent tunnel construction system: As Figure 3 shown, it is a schematic diagram of information transmission in an actual application scenario of an unmanned intelligent tunnel construction system proposed by the present invention. Among them, the system includes an information processing center and an intelligent construction control platform; at the same time, an external information platform and a remote control platform are respectively connected to the intelligent construction control platform. Among them, the information processing center can analyze and process the operation information transmitted by each construction device, and at the same time issue instructions for adjusting the process sequence or construction parameters to the construction devices in real time; the intelligent construction control platform is used to match construction devices for each process of tunnel construction to execute the tasks of that process. At the same time, it can also interact with the external information platform, receive external information, and transmit the current construction data in real time (such as when the excavation parameters need to be changed during the current construction); the remote control platform refers to a platform for remotely controlling each intelligent device. Through the remote connection with each intelligent device, the operator can remotely control the target construction device on the remote control platform, and the control is the highest command authority.

[0054] Embodiment 3 of the unmanned intelligent tunnel construction system: For example, formulate construction processes, construction quality standards, and safety emergency measures according to the tunnel construction drawings, and import the tunnel construction drawings, construction processes, construction quality standards, and safety emergency measures into the intelligent construction control platform to let the platform understand all the design parameters, construction process flow, construction quality standards, and safety emergency measures of the tunnel; then complete the settings of each construction node on the intelligent construction control platform, then complete the matching of the construction scenario and each construction device, set the operation boundary conditions of each construction device, and finally arrange and intelligently allocate the devices for construction according to the processes and nodes. An information processing center is integrated in the intelligent construction control system, which can analyze and process the operation data transmitted by each construction device, and at the same time issue instructions to the construction devices in real time. The intelligent construction control platform can interact with the external information platform, receive external information, and transmit the current construction data in real time.

[0055] The preferred processes include surrounding rock detection process, excavation process, muck removal process, primary support process, invert process, secondary lining process and auxiliary process. Among them, the surrounding rock detection process is matched with an autonomous driving measurement and scanning robot, an advanced grouting robot, etc.; the excavation process is matched with a fully intelligent rock drilling / boring robot, intelligent charging and blasting equipment; the muck removal process is matched with an autonomous driving loader and an autonomous driving muck truck, etc.; the primary support process is matched with an intelligent arch anchor trolley, an intelligent integrated anchor grouting trolley, an intelligent wet shotcreting trolley, an autonomous driving concrete mixer truck, an intelligent welding robot, etc.; the invert process is matched with an intelligent invert trestle, an unmanned excavator, an automatic invert block transporter, an automatic invert block installer, etc.; the secondary lining process is matched with an intelligent waterproof board laying trolley, an intelligent steel reinforcement cage binding trolley, an intelligent lining formwork trolley, an intelligent curing trolley, etc.; the auxiliary equipment is matched with an advanced grouting robot, several humanoid robots, etc. All the above equipment works under the unified coordination and scheduling of the intelligent construction control platform.

[0056] According to the matching between the above processes and construction equipment, during the construction of the surrounding rock detection and advanced reinforcement process, an autonomous driving measurement and scanning robot is called to perform self-positioning, tunnel measurement, face scanning and photographing, and a geological prediction report is formed; if the geological prediction report indicates that the surrounding rock of the face does not meet the requirements of full-face excavation, an advanced reinforcement process is added after the surrounding rock detection process and before the excavation process. Among them, during the construction of the advanced reinforcement process, according to the geological prediction report, the grouting parameters of the advanced grouting robot are adjusted to enable the advanced grouting robot to perform advanced grouting.

[0057] During the construction of the excavation process, the fully intelligent rock drilling / boring robot is called to select a matching rock drilling plan according to the geological prediction report, and a current geological surrounding rock report is generated according to the drilling parameters; according to the geological surrounding rock report, the emulsion explosive filling parameters of the intelligent charging and blasting equipment are adjusted.

[0058] During the construction of the muck removal process, the autonomous driving loader is called to analyze the position and direction of the blasted rock; according to the blasted rock and direction, the muck removal parameters of the autonomous driving muck truck are adjusted to enable the autonomous driving muck truck to perform muck removal operations; the overbreak and underbreak analysis report formed by the autonomous driving measurement and scanning robot is obtained. If the current working face is in an underbreak state, the underbreak parameters of the unmanned excavator are adjusted to enable the unmanned excavator to perform underbreak treatment based on the adjusted underbreak parameters.

[0059] During the construction of the primary support process, the intelligent arch anchor trolley is called to drive to the area to be supported to control the intelligent arch anchor trolley to unfold and install the arch frame; and a humanoid robot is called to assist in supporting the arch feet. According to the operation information of the intelligent arch anchor trolley and the humanoid robot, the equipment parameters of the bolt drill are adjusted so that the bolt drill can carry out the locking-foot bolt operation of the arch frame; the intelligent welding robot carries out the welding and cutting of the locking-foot bolts; the intelligent anchor injection integrated trolley carries out the supplementary drilling and grouting operations of the bolts; the intelligent wet spraying trolley and the autonomous driving concrete mixer truck carry out the automatic spraying operation.

[0060] During the construction of the invert process, the driverless excavator is called to excavate the invert. According to the excavation position of the invert, the intelligent invert trestle moves forward by the distance of one invert block; according to the position of the moved intelligent invert trestle, the installation parameters of the arch block automatic installer are adjusted so that it can install the precast invert block; after the installation, the gap between the invert block and the surrounding rock is grouted.

[0061] During the construction of the secondary lining process, the intelligent waterproof board laying trolley is called to install the waterproof board; the intelligent steel cage binding trolley is called to bind a cycle of steel cages; according to the binding information of the intelligent steel cage binding trolley, the intelligent lining formwork trolley moves and positions to carry out the automatic pouring of concrete; after the concrete is demolded, the intelligent curing trolley is called to cure the secondary lining concrete.

[0062] The auxiliary process The auxiliary process calls several humanoid robots to carry out the auxiliary operations of the process. Specifically, several humanoid robots carry out the auxiliary operations in individual areas or handle emergency events. The above construction equipment is not all in fixed positions. For example, the autonomous driving measurement and scanning robot can be interspersed in multiple processes for operation. The operation processes and operation data of all equipment are collected in real time and transmitted to the information processing center, and instructions issued by the information processing center are received in real time. All equipment has the function of remote control, and the highest authority is given to it, and it can be remotely controlled by manual intervention at any time in the automatic operation mode.

[0063] During the unmanned construction process, each equipment makes independent decisions on the construction quality according to the construction quality standards. At the same time, the data captured by the intelligent construction management and control platform can be used for secondary quality analysis to ensure that the construction quality of each process meets the construction requirements.

[0064] During the unmanned construction process, due to the ever-changing tunnel geology, some abnormal conditions may occur at any time. At this time, the intelligent construction management and control platform immediately switches to the emergency management mode and takes corresponding treatment measures until the emergency is handled. Of course, in the emergency management mode, the remote control function can still be directly intervened for remote command and handling.

[0065] According to the present invention, through the above-mentioned equipment and intelligent construction control system, unmanned operation of tunnel construction can be realized, and the construction process can be monitored, recorded, and analyzed in real time, and the surrounding rock geological conditions and changes of the working surface can be mastered, so as to timely adjust the construction parameters of each process according to the changes in the surrounding rock environment. Several humanoid robots can handle some tasks in an emergency or assisting manner according to the geological surrounding rock conditions and construction needs. Especially in some complex strata and working conditions with high potential danger, people can be completely liberated from potential risks.

[0066] At the same time, in all the above-mentioned embodiments of the present invention, the alternative implementation modes of the present invention are: 1. For the fully intelligent rock drilling / drilling robots, intelligent charging trolleys, etc. used in the excavation process, when the uniaxial compressive strength of the rock at the face is less than 80MPa, an intelligent cantilever tunneling machine can be used for excavation, which can better control the over-excavation and under-excavation of the section, and eliminate the charging and blasting links. Similarly, the intelligent cantilever tunneling machine is integrated with the function of exploring while digging, and can generate the current surrounding rock geological report according to the excavation parameters of the cutting head to guide the next operation. 2. In order to facilitate unmanned intelligent construction, prefabricated arch blocks are used in the construction of the arch and are installed by the arch block automatic installation machine. It can also be replaced by the currently commonly used cast-in-place reinforced concrete mode for construction, but unmanned operation or remote control mode is adopted during construction. 3. The secondary lining process uses the currently commonly used formwork trolley for construction, which can also be replaced with prefabricated segments for lining. This alternative eliminates the need for intelligent waterproof board laying trolleys, intelligent steel cage binding trolleys, intelligent lining formwork trolleys, and intelligent maintenance trolleys, but requires the addition of intelligent segment transport vehicles, intelligent segment installation machines, and bean-grain stone intelligent filling equipment. However, unmanned operations or remote control modes are used during construction.

[0067] According to the present invention, through the above-mentioned equipment and intelligent construction control system, unmanned operation of tunnel construction can be realized, and the construction process can be monitored, recorded, and analyzed in real time, and the surrounding rock geological conditions and changes of the working surface can be mastered, so as to timely adjust the construction parameters of each process according to the changes in the surrounding rock environment. Several humanoid robots can handle some tasks in an emergency or assisting manner according to the geological surrounding rock conditions and construction needs. Especially in some complex strata and working conditions with high potential danger, people can be completely liberated from potential risks.

Claims

1. An unmanned intelligent tunnel construction method, characterized in that, Including: Formulate construction procedures according to the tunnel construction drawings, and match construction equipment for performing the task of each procedure for each procedure of tunnel construction; According to the preset procedure sequence, each procedure is constructed according to the following steps until all procedures are completed: Call the target construction equipment matching the current procedure, and control the target construction equipment to start construction according to the construction parameters of the preset current procedure; during the construction process, adjust the equipment parameters of the construction equipment related to the target construction equipment according to the operation information of the target construction equipment, so as to continue construction according to the adjusted equipment parameters of the construction equipment related to the target construction equipment.

2. The unmanned intelligent tunnel construction method according to claim 1, wherein, Match the procedure with its construction equipment through the following steps: Determine the current procedure task; divide the current procedure into a number of ordered nodes according to the logical steps of completing the current procedure task; determine the subtasks of each node; match the construction equipment for executing its subtasks for each node according to the subtasks of each node; based on all the nodes of the current procedure and their matching construction equipment, obtain the construction equipment for executing the current procedure task.

3. The unmanned intelligent tunnel construction method according to claim 1 or 2, characterized in that, Including the surrounding rock detection procedure, excavation procedure, mucking procedure, primary support procedure, inverted arch procedure, secondary lining procedure and auxiliary procedure; among them, the surrounding rock detection procedure, excavation procedure and mucking procedure are executed in sequence.

4. The unmanned intelligent tunnel construction method according to claim 3, characterized in that, Match an autonomous driving measurement and scanning robot for the surrounding rock detection procedure; During the construction of the surrounding rock detection and advanced reinforcement procedure, call the autonomous driving measurement and scanning robot for self-positioning, tunnel measurement, face scanning and photographing, and form a geological prediction report; if the geological prediction report indicates that the surrounding rock of the face does not meet the full-face excavation requirements, then add an advanced reinforcement procedure after the surrounding rock detection procedure and before the excavation procedure, and during the construction of the advanced reinforcement procedure, adjust the grouting parameters of the advanced grouting robot according to the geological prediction report, so that the advanced grouting robot performs advanced grouting.

5. The unmanned intelligent tunnel construction method according to claim 4, characterized in that, Match a fully intelligent rock drilling / boring robot, intelligent charging and blasting equipment for the excavation procedure; During the construction of the excavation procedure, call the fully intelligent rock drilling / boring robot to select a matching rock drilling plan according to the geological prediction report, generate the current geological surrounding rock report according to the drilling parameters; adjust the emulsion explosive filling parameters of the intelligent charging and blasting equipment according to the geological surrounding rock report.

6. The unmanned intelligent tunnel construction method according to claim 5, characterized in that, Match an autonomous driving loader and an autonomous driving muck truck for the mucking procedure; During the construction of the mucking procedure, call the autonomous driving loader to analyze the position and direction of the blasted rock; adjust the mucking parameters of the autonomous driving muck truck according to the blasted rock and direction, so that the autonomous driving muck truck performs mucking operations; Obtain the overbreak and underbreak analysis report formed by the autonomous driving measurement and scanning robot. If the current working face is in an underbreak state, adjust the underbreak parameters of the driverless excavator, so that the driverless excavator performs underbreak treatment based on the adjusted underbreak parameters.

7. The unmanned intelligent tunnel construction method according to claim 6, characterized in that, Match an intelligent arch anchor trolley, an intelligent anchor grouting integrated trolley, an intelligent wet spraying trolley, an autonomous driving concrete mixer truck, and an intelligent welding robot for the primary support procedure; During the construction of the primary support process, the intelligent arch anchor trolley is called to drive to the area to be supported to control the intelligent arch anchor trolley to unfold and install the arch frame; and a humanoid robot is called to assist in supporting the arch feet. According to the operation information of the intelligent arch anchor trolley and the humanoid robot, the equipment parameters of the bolt drill are adjusted so that the bolt drill can perform the locking foot bolt operation of the arch frame; the intelligent welding robot performs the welding and cutting of the locking foot bolts; the intelligent integrated bolt injection trolley performs the supplementary bolting and grouting operations; the intelligent wet shotcrete trolley and the autonomous concrete mixer truck perform the automatic shotcreting operation.

8. The unmanned intelligent tunnel construction method according to claim 7, characterized in that, Match the intelligent invert trestle, driverless excavator, automatic invert block transporter, and automatic invert block installer for the invert process; During the construction of the invert process, the driverless excavator is called to excavate the invert. According to the excavation position of the invert, the intelligent invert trestle moves forward by the distance of one invert block; according to the position of the moved intelligent invert trestle, the installation parameters of the arch block automatic installer are adjusted so that it can install the precast invert blocks; after the installation, the gap between the invert blocks and the surrounding rock is grouted.

9. The unmanned intelligent tunnel construction method according to claim 8, characterized in that, Match the intelligent waterproof board laying trolley, intelligent steel reinforcement cage binding trolley, intelligent lining formwork trolley, and intelligent curing trolley for the secondary lining process; During the construction of the secondary lining process, the intelligent waterproof board laying trolley is called to install the waterproof board; the intelligent steel reinforcement cage binding trolley is called to bind a cycle of steel reinforcement cages; according to the binding information of the intelligent steel reinforcement cage binding trolley, the intelligent lining formwork trolley moves and positions to perform the automatic pouring of concrete; after the concrete is demolded, the intelligent curing trolley is called to cure the secondary lining concrete.

10. The unmanned intelligent tunnel construction method according to claim 9, characterized in that, Match several humanoid robots for the auxiliary process; the auxiliary process calls several humanoid robots to perform the auxiliary operations of the process.

11. The unmanned intelligent tunnel construction method according to claim 1 or 2, characterized in that, Formulate the construction quality standards according to the tunnel construction drawings; during the construction of each process, each construction equipment determines the construction quality according to the construction quality standards.

12. The unmanned intelligent tunnel construction method according to claim 1 or 2, characterized in that, Formulate safety emergency measures according to the tunnel construction drawings; during the construction of each process, in response to the occurrence of abnormal conditions affecting tunnel construction, according to the safety emergency measures, control the emergency construction equipment to start construction until the tunnel construction resumes normal conditions.

13. The unmanned intelligent tunnel construction method according to claim 1 or 2, characterized in that, During the construction process, through the remote connection with the target construction equipment, so that the operator can remotely control the target construction equipment, and the control is the highest command authority.

14. The unmanned intelligent tunnel construction method according to claim 1 or 2, characterized in that, During the construction process, the operation information of the target equipment is displayed on the visualization interface so that the operator can perform real-time control of the construction process and quality through the visualization interface.

15. An unmanned intelligent tunnel construction system, characterized in that, It includes an information processing center for analyzing and processing the operation information transmitted by each construction equipment and issuing construction instructions for adjusting the process sequence or construction parameters to each construction equipment, and an intelligent construction control platform for matching construction equipment for performing the tasks of each process in tunnel construction. The system is used to implement the unmanned intelligent tunnel construction method described in any one of the above claims 1-14.

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