A construction method and system for over- and under-excavation control of tunnels using a multi-functional tunnel boring machine

Abstract

The application discloses a kind of construction method and system of multifunctional tunneling machine auxiliary control tunnel overbreak and underbreak, and relates to engineering construction field, which comprises the following steps: obtaining the design contour information and geological parameter information of target tunnel;Determine the underbreak contour design information corresponding to blasting forming based on the design contour information and geological parameter information;Determine the blasting point information and blasting charge information based on the underbreak contour design information and geological parameter information;After blasting, scan the contour after blasting to obtain the contour information after blasting;Control the multifunctional tunneling machine to finish the contour information after blasting to make the actual contour information close to the design contour information. A whole-process coordination mechanism from "differentiated blasting design-finish target identification-tunneling path optimization-feedback closed-loop control" is constructed, and the replicability of construction technology, safety of operation process and overall engineering quality are improved.

Description

Technical Field

[0001] This specification relates to the field of engineering construction, and more specifically, this application relates to a construction method and system for over- and under-excavation control of tunnels using a multi-functional tunneling machine. Background Technology

[0002] In tunnels with large cross-sections in weak surrounding rock or soil, due to the loose rock structure, large deformation, and poor stability, most projects still rely on manual labor for over- and under-excavation adjustments. However, this traditional method, which relies on manual labor, has many problems, such as long construction periods, complex procedures, significant disturbance, and low safety factors, which seriously affect construction efficiency and quality control.

[0003] In Class IV and V surrounding rock conditions, tunnels are typically excavated in stages using the bench method. This process carries a significant risk of rock instability, and existing support systems (such as initial shotcrete and bolt support) often fail to provide timely and effective support, posing a potential risk of collapse or rockfall, seriously threatening the safety of construction workers. Furthermore, under-excavated sections are difficult to manually correct, easily resulting in substandard finishing quality, which in turn affects the secondary lining construction and structural lifespan.

[0004] In recent years, China has gradually carried out research on large-scale mechanized drill-and-blast construction technology for tunnels in weak surrounding rock, attempting to break through the existing bottlenecks such as low construction efficiency, poor outline quality, and weak safety assurance, and to build an integrated and efficient construction system that includes construction technology, equipment system, and standards.

[0005] However, current research focuses mainly on hard rock or relatively stable surrounding rock sections, and there is still a lack of a multi-functional tunneling machine-assisted control method for tunnel over- and under-excavation under complex geological conditions to achieve blasting forming quality control and intelligent collaborative trimming of tunneling machines. Summary of the Invention

[0006] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0007] Firstly, this application proposes a construction method for over- and under-excavation control of tunnels using a multi-functional tunneling machine, comprising:

[0008] Obtain the design outline and geological parameters of the target tunnel;

[0009] Based on the above design contour information and the above geological parameter information, determine the under-excavation contour design information corresponding to blasting shaping.

[0010] Based on the above-mentioned under-excavation outline design information and the above-mentioned geological parameter information, the blasting point information and blasting charge information are determined.

[0011] After the blasting is completed, the post-blast outline is scanned to obtain post-blast outline information;

[0012] The multi-functional tunneling machine is controlled to refine and level the contour information after blasting, so that the actual contour information is close to the design contour information.

[0013] In one feasible implementation, the determination of the under-excavation profile design information corresponding to the blasting shaping based on the aforementioned design profile information and geological parameter information includes:

[0014] Based on the above geological parameters and the location of different areas of the tunnel cross section, a differentiated undercut offset rule is adopted to determine the undercut offset value of each area. The above differentiated undercut offset rule includes the correspondence between undercut offset values ​​under different geological conditions and different applicable areas.

[0015] The design contour is processed using a normal offset algorithm. Based on the undercut offset values ​​of the above regions, the contour points are offset inward along the normal direction. The undercut contour is continuously reconstructed using a Bezier curve smoothing algorithm to form a two-dimensional undercut contour.

[0016] The above two-dimensional under-excavation contour is longitudinally extended to generate a three-dimensional under-excavation contour surface, so as to determine the under-excavation contour design information corresponding to blasting forming.

[0017] In one feasible implementation, the above method further includes:

[0018] The completeness and rationality of the above-mentioned under-excavation contour design information are checked to optimize it. The completeness and rationality check is obtained by the contour closure check algorithm, the self-intersection conflict detection algorithm, the structural clearance check algorithm, and the preliminary surrounding rock stability simulation algorithm.

[0019] In one feasible implementation, the determination of blasting location information and blasting charge information based on the aforementioned under-excavation profile design information and geological parameter information includes:

[0020] Based on the spatial location, surrounding rock strength, rock mass integrity, and design cross-sectional structure of the above-mentioned under-excavation outline design information, the tunnel cross-section is divided into multiple eyework areas;

[0021] For each of the above-mentioned hole areas, the above-mentioned blasting point information is generated along the under-excavation outline by using the normal direction equidistant offset method. The above-mentioned blasting point information includes the location information, direction information and depth information of the blasting holes.

[0022] Based on the uniaxial compressive strength of the surrounding rock, the type of explosive, the detonation velocity, and the blasting efficiency, the unit charge and total charge of each blast hole are calculated using an energy balance model.

[0023] A differentiated charge strategy was adopted, with different blasting parameters set for different areas of the arch, arch waist and sidewalls, to control the blasting range and forming accuracy.

[0024] In one feasible implementation, the above-mentioned differentiated charge strategy sets different blasting parameters for different areas of the arch, arch waist, and sidewalls to control the blasting range and forming accuracy, including:

[0025] Based on the area type of the above blasting point information, the tunnel cross section is divided into the arch crown area, the arch waist area, and the sidewall area.

[0026] A charge adjustment coefficient is set for each area, wherein the charge adjustment coefficient for the arched area is less than 1.0, the adjustment coefficient for the waist area is 1.0 to 1.1, and the adjustment coefficient for the sidewall area is greater than 1.1;

[0027] Based on the above-mentioned charge adjustment coefficients, the final unit charge and total charge for each blast hole are determined.

[0028] The explosive charge structure and detonation delay parameters are set according to the above-mentioned area types. Specifically, the above-mentioned dome area adopts intermittent charging and delayed detonation, while the above-mentioned sidewall area adopts continuous high-density charging and early detonation.

[0029] In one feasible implementation, the aforementioned control of the multi-functional tunneling machine involves refining and leveling the post-blasting contour information to make the actual contour information closely approximate the designed contour information, including:

[0030] Spatial registration is performed between the post-blasting contour information and the design contour information. The offset of each contour point is calculated and the area with excessive deviation is extracted as the target area for refinement.

[0031] Based on the above-mentioned target area for fine finishing, the operation path information of the multi-functional tunneling machine is generated, wherein the above-mentioned path information includes the start and end positions of the operation, the operation sequence, the finishing depth and the tool contact angle.

[0032] The working head of the multi-functional tunneling machine is controlled to perform fine-tuning operations according to the above-mentioned work path, removing excess rock or protruding parts, so that the above-mentioned actual contour information is close to the above-mentioned design contour information.

[0033] After the work is completed, the trimmed area is scanned again. If the scan results show that there is still a deviation that exceeds the set threshold, a second fine-tuning process is triggered until the actual contour meets the design accuracy requirements.

[0034] In one feasible implementation, the above-mentioned generation of the multi-functional tunneling machine's operating path information based on the aforementioned refined target area includes:

[0035] The above-mentioned refinement target area is discretized into multiple refinement task units, and a path search graph containing the reachability relationships between each task unit is constructed.

[0036] Define a path cost function to guide the path exploration process using the pheromone concentration of individual ants in the colony;

[0037] Construct a multi-objective fitness function;

[0038] Through multiple rounds of ant colony evolution and iteration, a set of Pareto optimal paths is generated;

[0039] Select the path with the lowest overall operating cost from the Pareto optimal paths mentioned above as the fine-tuning operation path, and output the operation path information.

[0040] In one feasible implementation, the aforementioned multi-objective fitness function includes total path length, cutting energy consumption, processing efficiency, and number of tunneling machine attitude switching operations.

[0041] In one feasible implementation, the above method further includes:

[0042] Based on the scanning results after the first fine-tuning operation, local areas where the residual deviation still exceeds the set accuracy threshold are identified as target areas for the second fine-tuning.

[0043] A new local refinement path is generated specifically for secondary finishing, employing a high-precision, low-speed cutting mode, and adapted to the end flexible manipulator of a multi-functional tunneling machine for confined operations.

[0044] Secondly, the present invention also proposes a multi-functional tunnel boring machine-assisted control system for tunnel over- and under-excavation, comprising:

[0045] The first acquisition unit is used to acquire the design outline information of the target tunnel;

[0046] The first determining unit is used to determine the under-excavation contour design information corresponding to the blasting forming based on the above-mentioned design contour information.

[0047] The second determining unit is used to determine the blasting point information and blasting charge information based on the above-mentioned under-excavation contour design information.

[0048] The second acquisition unit is used to scan the post-blast contour after the blasting is completed in order to obtain the post-blast contour information.

[0049] The control unit is used to control the multi-functional tunneling machine to refine and level the contour information after blasting, so that the actual contour information is close to the design contour information.

[0050] In summary, this invention provides a multi-functional tunnel boring machine-assisted control method for tunnel over- and under-excavation. Addressing the problems of low forming accuracy, difficulty in manual adjustment, and high safety risks in tunnels with weak surrounding rock, this method introduces differentiated under-excavation offset rules. By combining the surrounding rock grade and cross-sectional location, the design contour is normalized inwards to construct a three-dimensional under-excavation contour model, effectively preventing over-excavation in structurally weak areas and enhancing the self-stabilizing capacity of the surrounding rock and the coordination of the support structure. For different surrounding rock structural characteristics and cross-sectional locations, zoned charge quantities and detonation parameters are set to achieve a balanced spatial distribution of blasting energy. Especially in easily fractured areas such as the arch and interlayers, intermittent blasting with small charges reduces disturbance and ensures effective contour control. A 3D scanner is used to acquire the post-blast contour, and the system automatically identifies areas with excessive deviations, constructing a fine-tuning target surface to avoid misjudgments and repeated adjustments caused by subjective human judgment. Through intelligent algorithms, combined with parameters such as path length, energy consumption, and cutting posture switching, the optimal fine-tuning path is generated, significantly improving fine-tuning efficiency, reducing posture adjustment time, and enhancing forming consistency. For localized areas where the initial fine-tuning fails to meet accuracy requirements, a secondary fine-tuning path planning is automatically triggered. This, combined with the flexible arm confined operation mode of the multi-functional tunneling machine, ensures the final contour accuracy meets requirements, providing a reliable benchmark interface for subsequent lining construction. This method constructs a collaborative mechanism across the entire process—from differentiated blasting design to fine-tuning target identification, tunneling path optimization, and feedback closed-loop control—improving the replicability of the construction process, operational safety, and overall project quality.

[0051] Other advantages, objectives and features of this application will be partly apparent from the description below, and partly understood by those skilled in the art through study and practice of this application. Attached Figure Description

[0052] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit this specification. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0053] Figure 1 This invention provides a schematic flowchart of a multi-functional tunnel boring machine-assisted control method for tunnel over- and under-excavation.

[0054] Figure 2 A flowchart illustrating a method for determining under-excavation profile design information corresponding to blasting forming provided by the present invention.

[0055] Figure 3 This is a flowchart illustrating a method for determining blasting location information and blasting charge quantity information provided by the present invention.

[0056] Figure 4 This invention provides a flowchart illustrating a method employing a differentiated charge strategy.

[0057] Figure 5 This is a flowchart illustrating a method for refining and leveling contour information after blasting, provided by the present invention.

[0058] Figure 6 A flowchart illustrating a method for generating work path information for a multi-functional tunneling machine, provided by the present invention.

[0059] Figure 7 This is a flowchart illustrating a secondary refinement method provided by the present invention.

[0060] Figure 8 This invention provides a structural schematic diagram of a multi-functional tunnel boring machine auxiliary control system for tunnel over- and under-excavation. Detailed Implementation

[0061] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus. The technical solutions of the embodiments of this application will now be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them.

[0062] Please see Figure 1 This is a schematic diagram illustrating the construction process of a multi-functional tunnel boring machine-assisted control method for over- and under-excavation of a tunnel, as provided in an embodiment of this application. Specifically, it may include:

[0063] S110. Obtain the design outline information and geological parameter information of the target tunnel;

[0064] S120. Based on the above design contour information and the above geological parameter information, determine the under-excavation contour design information corresponding to the blasting forming.

[0065] S130. Based on the above-mentioned under-excavation outline design information and the above-mentioned geological parameter information, determine the blasting point information and blasting charge information.

[0066] S140. After the blasting is completed, the post-blast contour is scanned to obtain post-blast contour information.

[0067] S150: Control the multi-functional tunneling machine to refine and level the above-mentioned blasted contour information so that the actual contour information is close to the above-mentioned design contour information.

[0068] For example, the tunnel cross-section design outline information is first extracted from tunnel design drawings, BIM models, or CAD data, including cross-section outline coordinates, geometric shape, and segmented structures (such as the arch crown, arch waist, and sidewalls). Simultaneously, geological parameter information for the target segment is obtained through geological survey data. These geological parameters include surrounding rock grade, lithology, uniaxial compressive strength, structural surface characteristics, and rock mass integrity index (RQD), providing a basis for subsequent adjustments to construction parameters and blasting design.

[0069] Based on the location and geological parameters of each area in the design profile, a differentiated under-excavation offset strategy is adopted, setting different under-excavation offset amounts for different locations. For example, an offset of 50cm is set for the fractured geology at the arch crown, while an offset of 30cm is set for the stable sidewalls. Subsequently, a normal offset algorithm is used to shrink the design profile, and the generated under-excavation profile is smoothly reconstructed using Bezier curves to form a two-dimensional continuous under-excavation profile. If the tunnel is a three-dimensional model structure, it is further extended longitudinally to construct a complete three-dimensional under-excavation profile surface. This under-excavation profile surface serves as the control target for blasting shaping.

[0070] The 3D under-excavation profile is projected onto the cross-sectional plane. Based on its shape and geological conditions, the tunnel cross-section is divided into multiple borehole areas, including the crown area, the waist area, and the sidewall area. For each area, blasting point information, including the location coordinates, direction, and depth of the boreholes, is generated along the normal direction of the under-excavation profile. Then, based on the surrounding rock strength, explosive performance parameters (density, detonation velocity), and blasting efficiency, an energy balance model is used to calculate the unit charge and total charge required for each borehole. In addition, to control the blasting range and profile accuracy, differentiated charge structures and initiation delay parameters are set for different areas. For example, the crown area uses intermittent charging and delayed initiation, while the sidewall area uses high-density continuous charging and early initiation.

[0071] After blasting and slag removal, a 3D laser scanning device is used to scan the tunnel face and surrounding sections. By comparing the point cloud data with the preset design contour, under-excavation and residual protrusion areas are identified, a post-blast contour information model is constructed, and the deviation values ​​of each part are calculated.

[0072] By comparing the post-blast contour with the design contour, areas with excessive deviations are extracted as target areas for refinement. The refinement area is divided into multiple sub-task units, and an intelligent path planning algorithm is used to generate optimal refinement path information, including the start and end points, sequence, refinement depth, and cutter head angle, taking into account factors such as path length, energy consumption, and processing efficiency. The working head of the multi-functional tunneling machine is controlled to perform refinement work according to this path, refining protruding parts until the contour deviation is controlled within a preset accuracy threshold. If residual deviations still exist after refinement scanning, a secondary refinement process is triggered, performing high-precision, low-speed refinement only on local areas, ultimately ensuring the actual contour stably meets design requirements.

[0073] This invention provides a multi-functional tunnel boring machine-assisted control method for tunnel over- and under-excavation. Addressing the problems of low forming accuracy, difficulty in manual adjustment, and high safety risks in tunnels with weak surrounding rock, this method introduces differentiated under-excavation offset rules. By combining the surrounding rock grade and cross-sectional location, the design contour is normalized inwards to construct a three-dimensional under-excavation contour model, effectively avoiding over-excavation in structurally weak areas and enhancing the self-stabilizing capacity of the surrounding rock and the coordination of the support structure. For different surrounding rock structural characteristics and cross-sectional locations, zoned charge quantities and detonation parameters are set to achieve a balanced spatial distribution of blasting energy. Especially in easily fractured areas such as the arch and interlayers, intermittent blasting with small charges reduces disturbance and ensures effective contour control. A 3D scanner is used to acquire the post-blast contour, and the system automatically identifies areas with excessive deviations, constructing a fine-tuning target surface to avoid misjudgments and repeated adjustments caused by subjective human judgment. Through intelligent algorithms, combined with parameters such as path length, energy consumption, and cutting posture switching, the optimal fine-tuning path is generated, significantly improving fine-tuning efficiency, reducing posture adjustment time, and enhancing forming consistency. For localized areas where the initial fine-tuning fails to meet accuracy requirements, a secondary fine-tuning path planning is automatically triggered. This, combined with the flexible arm confined operation mode of the multi-functional tunneling machine, ensures the final contour accuracy meets requirements, providing a reliable benchmark interface for subsequent lining construction. This method constructs a collaborative mechanism across the entire process—from differentiated blasting design to fine-tuning target identification, tunneling path optimization, and feedback closed-loop control—improving the replicability of the construction process, operational safety, and overall project quality.

[0074] In one feasible implementation, such as Figure 2 The diagram shows a flowchart of a method for determining the under-excavation profile design information corresponding to blasting forming provided by the present invention. Step S120, based on the aforementioned design profile information and geological parameter information, determines the under-excavation profile design information corresponding to blasting forming, including:

[0075] S1201. Based on the above geological parameter information and the location of different areas of the tunnel cross section, a differentiated under-excavation offset rule is adopted to determine the under-excavation offset value of each area. The above differentiated under-excavation offset rule includes the correspondence between under-excavation offset values ​​under different geological conditions and different applicable areas.

[0076] S1202. The design contour is processed by the normal offset algorithm. Based on the undercut offset values ​​of each region, the contour points are offset inward along the normal direction. The undercut contour is continuously reconstructed by the Bezier curve smoothing algorithm to form a two-dimensional undercut contour.

[0077] S1203. Extend the above two-dimensional undercut profile longitudinally to generate a three-dimensional undercut profile surface, so as to determine the undercut profile design information corresponding to the blasting forming.

[0078] For example, based on the acquired geological parameters (such as surrounding rock grade, lithology, rock mass integrity index RQD, degree of bedding fracture development, etc.) and the location of the tunnel design outline in different cross-sectional areas (such as the crown, waist, sidewalls, and invert), a set of preset differentiated under-excavation offset rules is adopted to set adaptive under-excavation amounts for each area. These rules can be provided through historical engineering experience, field test data, or expert systems, and specifically include the following correspondence examples, as shown in Table 1:

[0079]

[0080] Table 1

[0081] After obtaining the undercut offset value for each region, the design contour line is subjected to normal offset processing. For each point in the design contour curve, its tangent direction is calculated, and then its normal direction vector is solved according to the right-hand rule. Each point is offset inward along its normal direction by the corresponding distance (based on the aforementioned region settings). The discrete point set obtained after offset may have local abrupt changes or sharp corners. Continuity fitting is performed using Bezier curves or B-spline curves to ensure that the contour line maintains first-order / second-order continuity (G¹ or G²) geometrically, ultimately forming a two-dimensional undercut contour line that meets construction requirements.

[0082] The two-dimensional contour line is replicated along the tunnel's longitudinal axis (usually the mileage direction). At each longitudinal step, the contour line can be replicated at equal intervals (e.g., every 1 meter or 3 meters per blasting cycle). If longitudinal geological conditions differ, locally differentiated two-dimensional contour lines can be generated at different mileage sections, and a smooth three-dimensional contour surface is formed using profile interpolation algorithms or stretching-stitching algorithms. The final output is a three-dimensional under-excavation contour surface model, serving as the target surface for blasting shaping control. This three-dimensional model can be imported into blasting simulation and hole-laying software for verification, and can also serve as a boundary reference for subsequent scanning comparison and tunneling machine fine-tuning control.

[0083] Through the step-by-step processing method of S1201~S1203 described above, this embodiment can accurately construct the blasting-shaped under-excavation contour information with engineering adaptability and geometric continuity based on considering complex geological differences and tunnel geometry, providing high-precision input conditions for accurate hole placement and subsequent mechanical trimming.

[0084] In one feasible implementation, the above method further includes:

[0085] S1204. Perform a complete and reasonable verification of the above-mentioned under-excavation outline design information to optimize the above-mentioned under-excavation outline design information. The above-mentioned complete and reasonable verification is obtained through the outline closure verification algorithm, the self-intersection conflict detection algorithm, the structural clearance verification algorithm, and the preliminary surrounding rock stability simulation algorithm.

[0086] For example, the geometric closure of the generated two-dimensional or three-dimensional undercut contour line is first checked. Let the contour line be composed of a set of points. Determine whether the polygonal curve formed by the polygon is closed at both ends:

[0087]

[0088] in: The Euclidean distance between the first and last points; These are the coordinates of the starting and ending points of the contour line. If... (For example If the outline is closed, it is considered a closed contour; otherwise, repair processing is required (such as interpolation closure, line filling, etc.).

[0089] Detect whether self-intersections exist within a contour line (i.e., a curve intersects itself at a non-endpoint). This is done using any two non-adjacent line segments. and For example, self-fertilization exists if the following conditions are met:

[0090]

[0091] in, Representing vectors The two-dimensional cross product. The existence of self-intersection will affect the subsequent eye generation and blast energy distribution, and conflict areas need to be automatically removed or reconstructed.

[0092] Verify whether there is spatial intrusion between the under-excavation profile and the designed structure (such as steel arches, anchor bolt arrangement areas, and drainage pipe trenches). For any profile point Calculate the minimum distance between it and the structural boundary (such as the outermost edge of the steel frame):

[0093]

[0094] in: For the set of structural boundary points; This is the minimum clearance distance. If If the clearance is 20cm, it is considered a clearance conflict, prompting an adjustment to the outline or a structural rearrangement.

[0095] To verify that the under-excavation profile will not cause large-scale instability during construction, a preliminary mechanical analysis was conducted using a two-dimensional plane stress finite element model. The elastic modulus of the rock mass is assumed to be... Poisson's ratio is Rock weight is The safety factor of the surrounding rock is calculated using the strength reduction method. :

[0096]

[0097] in, The original cohesion and the internal friction angle; The critical parameters for the instability of the surrounding rock.

[0098] like This indicates that the contour design has self-stabilizing capabilities; if If so, it is recommended to correct the undercut profile or strengthen the initial support design.

[0099] By verifying the contour closure, self-intersection, structural clearance, and stability, this step can effectively optimize the undercut contour design, avoid geometric distortion and construction interference problems, and ensure that the surrounding rock has sufficient mechanical safety before blasting, providing a reliable foundation for subsequent hole laying and tunneling machine construction.

[0100] In one feasible implementation, such as Figure 3 The diagram shows a flowchart illustrating a method for determining blasting location information and explosive charge information provided by the present invention. Step S130, which determines the blasting location information and explosive charge information based on the aforementioned under-excavation contour design information and geological parameter information, includes:

[0101] S1301. Based on the spatial location, surrounding rock strength, rock mass integrity and design cross-sectional structure of the above-mentioned under-excavation outline design information, the tunnel cross-section is divided into multiple hole-laying areas.

[0102] S1302. For each of the above-mentioned hole areas, the above-mentioned blasting point information is generated along the under-excavation outline by using the normal direction equidistant offset method. The above-mentioned blasting point information includes the location information, direction information and depth information of the blasting holes.

[0103] S1303. Based on the uniaxial compressive strength of the surrounding rock, the type of explosive, the detonation velocity and the blasting efficiency, the energy balance model is used to calculate the unit charge and total charge of each blast hole.

[0104] S1304. A differentiated charge strategy is adopted, with different blasting parameters set for different areas of the arch, arch waist and sidewalls to control the blasting range and forming accuracy.

[0105] For example, firstly, based on the generated three-dimensional under-excavation profile and its positional relationship in the tunnel space, combined with geological parameter information, multiple hole-laying areas are delineated within the tunnel cross-section. Area division is typically based on the cross-sectional structure: the crown area is the upper part of the profile, where rock fragmentation must be avoided; the waist area is the transition between the crown and the sidewalls; the sidewall area is a near-vertical structure. Typically, rock mass integrity is added to each area along with corresponding geological parameters, such as the uniaxial compressive strength of the surrounding rock, RQD (Rock Integrity Index), and joint density, to guide hole-laying and explosive loading calculations.

[0106] For each area to be blasted, an equidistant offset method along the normal direction is used to generate blasting points based on the under-excavation contour line: the under-excavation contour line is discretized, and a sequence of discrete points is extracted; the local normal direction of each point is calculated; the center position of the blasting hole is arranged by offsetting a certain distance (e.g., 0.5m) along the normal direction; the direction of the blasting hole is set according to the structural form of the area (mostly perpendicular to the contour or converging towards the center of the working face by 5° to 10°); the depth of the blasting hole is determined based on the strength of the surrounding rock and the thickness of the blasting contour (e.g., 1.2~2.8m).

[0107] The final generated blasting point information includes the spatial coordinates, direction vector, and hole depth of each blast hole, forming a structured point data table, which provides a basis for the design of blasting eye diagrams.

[0108] Based on the rock mass strength and explosive performance parameters at the location of each blast hole, an energy balance model is used to calculate the unit charge and total charge. The theoretical basis is as follows:

[0109]

[0110] in: Unit charge ( ); The radius of the blasting action (generally 60-80% of the borehole spacing); The uniaxial compressive strength of the surrounding rock (MPa); The blasting efficiency is typically taken as 0.25 to 0.4. Density of explosives ; For the detonation velocity of explosives ( ).

[0111] The total amount of explosives is:

[0112]

[0113] in, The hole depth is specified. The calculation results are output in a structured format, including parameters such as the unit charge per hole, total charge, and charge pack arrangement.

[0114] Specifically, in the arch area, due to the relatively fragile structure and susceptibility to rockfall, as well as the high requirements for shaping the space above, a small-volume, intermittent charging method is adopted. Empty sections are set in the blast holes to absorb the blast wave energy, reducing the impact of the explosive on the surrounding rock. Simultaneously, delayed initiation technology is used to prioritize the release of explosive stress in other areas before igniting the arch area, thereby reducing the disturbance caused by the blast and improving the smoothness of the contour shaping.

[0115] For the arched waist area, located in the transition zone between the arch and the sidewalls, it bears a certain structural load and has complex spatial variations. Therefore, a medium charge with a composite charge structure of "charge-empty-charge" is adopted. This structure can effectively control the distribution and transmission of blasting energy, resulting in a uniform blasting effect. Regarding the detonation timing, the arched waist area typically uses ordinary detonation delay parameters to coordinate the energy release rhythm during the blasting process and prevent problems such as excessively strong local blasts or unexploded or underexploded blasts.

[0116] In the sidewall area, the rock mass has good integrity and strong lateral restraint, so a continuous charging method can be used to ensure sufficient blasting. The charge amount in this area is appropriately increased and detonated first to form a stable detonation surface, providing an effective unloading channel for subsequent blasting and improving the overall shaping stability.

[0117] Furthermore, in areas with weak structures such as mudstone or argillaceous interlayers, hollow hole technology can be flexibly introduced during construction to prevent over-excavation or rockfall caused by abnormal propagation of explosive energy in the weak layers. By arranging non-charged holes or hollow buffer holes, the effective range of the explosive can be further reduced, thereby enhancing the controllability and profile stability of the blasting process.

[0118] In summary, implementing a differentiated charge strategy based on the differences in cross-sectional location and geological structure helps to achieve precise blasting and shaping, reduce disturbance to the surrounding rock structure, and provide better initial profile conditions for subsequent fine-tuning operations of the multi-functional tunneling machine.

[0119] In one feasible implementation, such as Figure 4 The diagram shown is a flowchart illustrating a method using a differentiated charge strategy provided by the present invention. Step S1304 employs a differentiated charge strategy, setting different blasting parameters for different areas of the arch, arch waist, and sidewalls to control the blasting range and forming accuracy. This includes:

[0120] S13041. Based on the area type to which the above blasting point information belongs, the tunnel cross section is divided into the arch crown area, the arch waist area, and the sidewall area.

[0121] S13042. Set a charge adjustment coefficient for each area, wherein the charge adjustment coefficient for the above-mentioned arched area is less than 1.0, the adjustment coefficient for the above-mentioned waist area is 1.0 to 1.1, and the adjustment coefficient for the above-mentioned sidewall area is greater than 1.1;

[0122] S13043. Based on the above-mentioned charge adjustment coefficients, determine the final unit charge and total charge for each blast hole.

[0123] S13044. Set the explosive charge structure and detonation delay parameters according to the above-mentioned area types. Among them, the above-mentioned dome area adopts intermittent charge and delayed detonation, and the above-mentioned sidewall area adopts continuous high-density charge and early detonation.

[0124] For example, in order to further improve the forming quality of the blasting profile and ensure the accuracy and efficiency of subsequent fine-tuning operations of the multi-functional tunneling machine, step S1304 adopts a differentiated charge strategy. By setting targeted blasting parameters for different areas in the tunnel cross-section, precise control of the blasting range and profile forming accuracy can be achieved.

[0125] In step S13041, based on the spatial location and geometric characteristics of the design outline of each blasting hole in the aforementioned blasting point information, the entire tunnel cross-section is divided into three typical areas: the arch crown area, the arch waist area, and the sidewall area. This division is based on the differences in the vertical and horizontal morphology of the tunnel structure, combined with the empirical rules of the stress state of the surrounding rock and the easily disturbed areas after blasting, which facilitates the subsequent formulation of blasting plans.

[0126] In step S13042, different charge adjustment coefficients are assigned to different regions based on their varying molding difficulty and structural stability, serving as proportional factors for charge design. Specifically: the arch crown region, due to its weak structure and high risk of rockfall, uses a lower charge strength, with a charge adjustment coefficient set to less than 1.0 (e.g., 0.85–0.95); the arch waist region has a strong structural transition and uniform load distribution, with a charge adjustment coefficient set to 1.0–1.1 to maintain a uniform molding effect; the sidewall region has a wide stress surface and a large molding surface, allowing for an appropriate increase in blasting strength, with a charge adjustment coefficient set to greater than 1.1 (e.g., 1.15–1.25) to enhance rock-breaking effect.

[0127] In step S13043, the final unit charge and total charge for each blast hole are determined by combining the calculated baseline charge (such as the unit charge calculated using the energy balance method) with the aforementioned charge adjustment coefficient. For example, if the baseline unit charge is 0.6 kg / m and the adjustment coefficient for the crown area is 0.9, then the final unit charge for the crown blast hole is 0.54 kg / m, and the total charge is this value multiplied by the hole depth.

[0128] In step S13044, according to the area type to which the blasting hole belongs, the corresponding blasting charge structure and initiation timing parameters are set to enhance the shaping control accuracy: the arch crown area adopts an intermittent charge structure (such as charge-empty-charge structure), which reduces the peak value of the blasting wave through empty sections, and adopts a delayed initiation method (such as a delay of 50-80ms) to detonate it after the arch waist and sidewall areas, reducing the disturbance to the surrounding rock of the arch; the arch waist area uses a normal continuous charge structure and sets a conventional initiation timing; the sidewall area adopts a continuous high-density charge to enhance the rock-breaking ability, and is configured with an advanced initiation timing (such as 20-40ms in advance) to form a stable initial blasting surface and improve the coherence and shaping integrity of the overall contour blasting.

[0129] By combining the above strategies, not only was the directional control of blasting effects in different areas achieved, but the risk of over-excavation was also effectively reduced, and the consistency between the actual contour line and the design contour line was improved. This provided a more ideal working face for subsequent tunnel boring machine finishing operations, and significantly improved the overall construction quality and efficiency of the tunnel.

[0130] In one feasible implementation, such as Figure 5 The diagram shows a flowchart of a method for refining and leveling the contour information after blasting, provided by the present invention. Step S150 involves controlling a multi-functional tunneling machine to refine and level the contour information after blasting, so that the actual contour information approximates the designed contour information. This includes:

[0131] S1501. Spatial registration is performed between the post-blasting contour information and the design contour information. The offset of each contour point is calculated and the area with excessive deviation is extracted as the target area for fine-tuning.

[0132] S1502. Based on the above-mentioned target area for fine finishing, generate the operation path information of the multi-functional tunneling machine, wherein the above-mentioned path information includes the start and end positions of the operation, the operation sequence, the finishing depth and the tool contact angle.

[0133] S1503. Control the working head of the multi-functional tunneling machine to perform fine-tuning operations according to the above-mentioned work path, remove excess rock or protruding parts, and make the above-mentioned actual contour information close to the above-mentioned design contour information.

[0134] S1504. After the work is completed, the trimmed area is scanned again. If the scan results show that there is still a deviation that exceeds the set threshold, a second fine trimming process is triggered until the actual contour meets the design accuracy requirements.

[0135] For example, the actual contour information obtained after blasting and scanning is spatially registered with the design contour information. Spatial registration can employ a 3D point cloud registration algorithm to ensure precise alignment between the two within the coordinate system. After registration, the spatial distance between the actual contour and the design contour is compared point by point, and the offset of each point is calculated. By setting a forming deviation threshold (e.g., ±5cm), all areas with deviations exceeding this threshold are extracted to form the areas to be refined, serving as the target areas for subsequent fine-tuning.

[0136] For the aforementioned target area for finishing, the system discretizes it into multiple working units, each including spatial location, depth to be finished, and direction information. During path planning, complete working path information for the multi-functional tunneling machine is generated, specifically including determining the entry and exit points for each working path. Paths are sorted among multiple target units, using an improved A* algorithm or a multi-target ant colony algorithm to achieve optimal efficiency. The cutting depth at each point is determined based on the offset value. Based on the normal direction of the surface to be finished, the optimal contact angle between the tunneling machine's working head (such as a hob or milling head) and the surface is calculated to avoid miscutting or slippage. This path information will serve as input for controlling the tunneling machine's movement trajectory and cutting process parameters.

[0137] Based on the generated path information, the end effector (such as a hydraulic arm or rolling cutter) of the multi-functional tunneling machine is controlled to perform high-precision operations. During the operation, the tunneling machine automatically adjusts its posture, cutting angle, and advance speed, removing excess rock or protruding parts point by point according to the preset cutting depth. This finishing process uses a high-frequency, low-impact cutting method to reduce disturbance to the surrounding rock structure and minimize the impact of dust, vibration, and noise.

[0138] After the work is completed, the trimmed area is scanned a second time to obtain the updated actual contour information. The same spatial registration and deviation analysis steps as in S1501 are repeated to determine whether there are still deviation points in the remaining areas that exceed the set accuracy threshold. This process is repeated iteratively until the contour deviations of all areas are within the set range (e.g., ±2cm), ensuring that the final shape meets the design requirements and provides a high-quality reference interface for subsequent support structure construction (e.g., steel arches or shotcrete).

[0139] This embodiment utilizes a "four-step closed-loop precision control process" to effectively achieve high-precision trimming and quality verification of the tunnel outline after blasting, and can automatically iterate and adjust, enabling unattended precision construction control. This method significantly improves forming accuracy, reduces the risk of over-excavation and under-excavation, and provides intelligent support for mechanized tunnel construction.

[0140] In one feasible implementation, such as Figure 6The diagram shows a flowchart of a method for generating work path information for a multi-functional tunneling machine according to the present invention. Step S1502, which generates work path information for the multi-functional tunneling machine based on the aforementioned refined target area, includes:

[0141] S15021. Discretize the above-mentioned refinement target area into multiple refinement task units, and construct a path search graph containing the reachability relationships between each task unit.

[0142] S15022. Set a path cost function to guide the path exploration process using the pheromone concentration of individual ants in the colony.

[0143] S15023, Construct a multi-objective fitness function;

[0144] S15024. Through multiple rounds of ant colony evolution iteration, a set of Pareto optimal paths is generated;

[0145] S15025. Select the path with the lowest overall operation cost from the above Pareto optimal paths as the fine-tuning operation path, and output the above operation path information.

[0146] In one feasible implementation, the aforementioned multi-objective fitness function includes total path length, cutting energy consumption, processing efficiency, and number of tunneling machine attitude switching operations.

[0147] For example, the deviation-exceeding area (i.e., the refinement target area) extracted in step S1501 is discretized into several refinement task units. Each unit corresponds to a spatial area that needs to be refined, with a clear location, refinement depth, and normal direction. Then, based on the spatial relative position of each task unit, the tunneling machine's motion constraints (such as turning radius and maximum extension distance), and the operation sequence constraints, a path search graph is constructed. The nodes in the graph represent refinement task units, the edges represent feasible paths between tasks, and the edge weights are initially empty and are dynamically assigned in subsequent evolution.

[0148] Next, a path cost function is defined in the graph to serve as the navigation basis for ant colony pathfinding. The path cost considers not only path length but also factors such as trimming depth and task sequence jumps to build a cost model, as shown in the example below:

[0149]

[0150] in: The Euclidean distance between task units i and j; To adjust the depth change value; AngleChange For changes in contact angle; This is for adjusting the coefficient.

[0151] During the path search process, each ant colony member determines its path based on pheromone concentration ( ) and path cost ( The next node is selected, and the transition probability is:

[0152]

[0153] in, For ants from nodes Choose to move to node The probability of; For the edge Current pheromone concentration value; Cost For the edge The heuristic value (the inverse of the cost); To control the importance ratio of pheromone concentration to heuristic value, a common setting is... ;allowed: The set of task units that have not yet been accessed.

[0154] Considering the comprehensiveness and complexity of path planning in practical engineering, the following multi-objective fitness function is set to comprehensively evaluate the quality of paths:

[0155]

[0156] in: This represents the total path length. Energy consumption per unit path cutting; For processing efficiency (number of tasks per unit of time), the reciprocal is used to uniformly minimize the objective; This refers to the number of times the tunneling machine's attitude has changed. The target weighting coefficient can be adjusted to suit different working conditions (e.g., prioritizing efficiency or accuracy).

[0157] The ant colony intelligence performs multiple independent iterations on the path graph, gradually accumulating pheromones and searching for feasible path solutions. After each evolutionary round, the system evaluates the multi-objective fitness of the path solutions and applies a non-dominated sorting strategy to generate the current generation's Pareto optimal path set. Each path corresponds to a set of trade-offs between optimal task access order and control parameters.

[0158] Finally, from the Pareto solution set, the path with the lowest overall operating cost is selected based on the actual operating cost model. This path is then converted into path control commands that the multi-functional tunneling machine can recognize, serving as the final finishing operation path information output. This path information includes: the start and end points of the operation and key intermediate nodes, the order of finishing task visits, the finishing depth corresponding to each path segment, the tool contact angle, and the feed method.

[0159] This implementation abstracts the complex high-dimensional refinement task into a graph structure and introduces a multi-objective ant colony optimization algorithm to intelligently search and evolve paths, enabling the path planning process to have self-learning, global optimization, and adaptability to different working conditions.

[0160] In one feasible implementation, such as Figure 7 The diagram shown is a flowchart of a secondary refinement method provided by the present invention. The method further includes:

[0161] S210. Based on the scanning results after the first finishing work is completed, identify local areas where the residual deviation still exceeds the set accuracy threshold, and use them as target areas for the second finishing work.

[0162] S220: Regenerates a localized refinement path specifically for secondary finishing, adopts a high-precision low-speed cutting mode, and is adapted to the end flexible manipulator of the multi-functional tunneling machine for confined operation.

[0163] For example, after the multi-functional tunneling machine completes its initial finishing work and exits the working face, the system uses a high-precision 3D laser scanning device (such as a Leica MS60) to scan the tunnel cross-section again. The actual contour obtained from the scan is spatially registered with the design contour, and the 3D deviation value is calculated point by point. For points where the deviation exceeds a set accuracy threshold (such as ±2cm), the system marks them as "residual deviation points".

[0164] Based on these deviation points, a grid expansion algorithm is used to identify regions with consistent residual concentrations, and a certain boundary buffer zone (e.g., 1 cm) is extended to ensure comprehensive coverage during the secondary finishing process. Ultimately, these regions are defined as "secondary finishing target regions," serving as input regions for subsequent local finishing.

[0165] The system further divides the target area into multiple tiny refinement task units (such as a 2cm×2cm grid) and uses a local heuristic search algorithm to generate high-precision paths. To ensure stable refinement results, the maximum cutting depth of each path is limited to within 5mm to avoid over-refinement or disturbance to adjacent already formed areas.

[0166] In terms of operation mode, the tunneling machine will switch to "high-precision low-speed cutting" mode, with the operating speed controlled between 0.1 and 0.3 m / min. The cutting force feedback will be monitored in real time, and the propulsion speed will be dynamically adjusted through a constant torque control strategy to ensure machining accuracy and operational safety.

[0167] To adapt to changes in local space, the system utilizes the flexible end effector module of the multi-functional tunneling machine, and sets precise attitude constraint boundaries for it to prevent collisions with structures such as arches and anchor bolts during cutting. The end effector achieves confined-area operation with an accuracy level of ±1cm through built-in inverse kinematics calculations and closed-loop position control.

[0168] The aforementioned secondary finishing process not only efficiently eliminates residual errors from the first finishing, but also avoids repeated adjustments to the entire tunnel cross-section, significantly improving construction efficiency. Thanks to the synergy of flexible boom confined operation and high-precision path control, this implementation method can stably control the final contour error within ±2cm, fully meeting the precision requirements for steel arch installation and lining construction.

[0169] Secondly, such as Figure 8 As shown, this invention also proposes a multi-functional tunnel boring machine-assisted control system for tunnel over- and under-excavation, comprising:

[0170] The first acquisition unit 21 is used to acquire the design outline information of the target tunnel;

[0171] The first determining unit 22 is used to determine the under-excavation contour design information corresponding to the blasting forming based on the above-mentioned design contour information.

[0172] The second determining unit 23 is used to determine the blasting point information and blasting charge information based on the above-mentioned under-excavation contour design information.

[0173] The second acquisition unit 24 is used to scan the post-blast contour after the blasting is completed in order to obtain the post-blast contour information.

[0174] Control unit 25 is used to control the multi-functional tunneling machine to refine and level the above-mentioned blasted contour information so that the actual contour information is close to the above-mentioned design contour information.

[0175] The multi-functional tunnel boring machine-assisted control system for tunnel over- and under-excavation proposed in this invention can also perform the method described in any of the first aspects.

[0176] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A construction method for assisting a multi-functional tunneling machine to control tunnel overbreak and underbreak, characterized in that, The method comprises the following steps: obtaining design profile information and geological parameter information of a target tunnel; determining underbreak profile design information corresponding to blasting forming based on the design profile information and the geological parameter information; determining blasting point position information and blasting charge quantity information based on the underbreak profile design information and the geological parameter information; after blasting is completed, scanning a profile after blasting to obtain profile information after blasting; controlling a multi-functional tunneling machine to perform fine finishing and leveling on the profile information after blasting so that actual profile information approaches the design profile information; the determination of the underbreak profile design information corresponding to blasting forming based on the design profile information and the geological parameter information comprises the following steps: according to the geological parameter information and the positions of different regions of a tunnel cross section, adopting differentiated underbreak offset rules to determine underbreak offset values of the regions, wherein the differentiated underbreak offset rules comprise a corresponding relationship of underbreak offset values under different geological conditions and different applicable regions; adopting a normal offset algorithm to process the design profile, offsetting profile points in a normal direction according to the underbreak offset values of the regions, and performing continuous reconstruction on the underbreak profile line through a Bezier curve smoothing algorithm to form a two-dimensional underbreak profile line; performing longitudinal extension on the two-dimensional underbreak profile to generate a three-dimensional underbreak profile surface to determine the underbreak profile design information corresponding to blasting forming.

2. The construction method of claim 1, wherein, The method further comprises the following steps: performing complete rationality checking on the underbreak profile design information to optimize the underbreak profile design information, wherein the complete rationality checking is obtained through a profile closure checking algorithm, a self-intersection conflict detection algorithm, a structure clearance checking algorithm and a preliminary surrounding rock stability simulation algorithm.

3. The construction method of claim 1, wherein the auxiliary control tunnel overbreak of the multi-functional tunneling machine is characterized in that, The determination of the blasting point position information and the blasting charge quantity information based on the underbreak profile design information and the geological parameter information comprises the following steps: dividing a tunnel cross section into a plurality of eyeletting regions according to spatial positions of the underbreak profile design information, surrounding rock strength, rock mass integrity and design cross section structure; generating the blasting point position information along the underbreak profile line by adopting a normal direction equidistant offset mode for each eyeletting region, wherein the blasting point position information comprises position information, direction information and depth information of a blasting hole; calculating unit charge quantity and total charge quantity of each blasting hole by adopting an energy balance model according to uniaxial compressive strength of surrounding rock, explosive type, detonation velocity and blasting efficiency; adopting a differentiated charging strategy to set different blasting parameters for different regions of a vault, a haunch and a sidewall to control blasting range and forming precision.

4. The construction method of claim 3, wherein the auxiliary control tunnel overbreak of the multi-functional tunneling machine is characterized in that, The adoption of the differentiated charging strategy to set different blasting parameters for different regions of a vault, a haunch and a sidewall to control blasting range and forming precision comprises the following steps: dividing a tunnel cross section into a vault region, a haunch region and a sidewall region according to region types to which the blasting point position information belongs; setting a charge adjustment coefficient for each region, wherein the charge adjustment coefficient of the vault region is less than 1.0, the charge adjustment coefficient of the haunch region is 1.0-1.1, and the charge adjustment coefficient of the sidewall region is greater than 1.1; determining final unit charge quantity and total charge quantity of each blasting hole in combination with the charge adjustment coefficient. The blasting charge structure and the delay initiation parameter are set according to the region type, wherein the vault region adopts discontinuous charge and delayed initiation, and the sidewall region adopts continuous high-density charge and advanced initiation.

5. The construction method of claim 1, wherein the auxiliary control tunnel overbreak of the multi-functional tunneling machine is characterized in that, The control multi-functional tunneling machine refines and levels the post-blasting profile information so that the actual profile information approaches the design profile information, including: The post-blasting profile information is spatially registered with the design profile information, the offset of each profile point is calculated, and the deviation exceeding region is extracted as the refinement target region; Based on the refinement target region, the operation path information of the multi-functional tunneling machine is generated, wherein the path information includes operation start and end positions, operation sequence, trimming depth, and tool contact angle; The control multi-functional tunneling machine executes the refinement operation according to the operation path, removes the excess rock mass or protruding part, and makes the actual profile information approach the design profile information; After the operation is completed, the trimming region is scanned again, and if the scanning result shows that the deviation still exceeds the set threshold, a secondary refinement process is triggered until the actual profile meets the design accuracy requirement.

6. The construction method of claim 5, wherein the auxiliary control tunnel overbreak of the multi-functional tunneling machine is characterized in that, The generation of the operation path information of the multi-functional tunneling machine based on the refinement target region includes: The refinement target region is discretized into multiple refinement task units, and a path search graph containing the reachable relationship between the task units is constructed; A path cost function is set to guide the path exploration process by the pheromone concentration of the ant colony individuals; A multi-objective fitness function is constructed; Through multiple rounds of ant colony evolution iteration, a set of Pareto optimal path sets is generated; The path with the lowest comprehensive operation cost is selected from the Pareto optimal paths as the refinement operation path, and the operation path information is output.

7. The construction method of claim 6, wherein the auxiliary control tunnel overbreak of the multi-functional tunneling machine is characterized in that, The multi-objective fitness function includes the total path length, cutting energy consumption, processing efficiency, and tunneling machine posture switching times.

8. The construction method of claim 5, wherein the auxiliary control tunnel overbreak of the multi-functional tunneling machine is characterized in that, The method further includes: Based on the scanning result after the first refinement operation is completed, a local region with residual deviation still exceeding the set accuracy threshold is identified as a secondary refinement target region; A local refinement path dedicated to secondary refinement is regenerated, a high-precision low-speed cutting mode is adopted, and a flexible end operation arm of the multi-functional tunneling machine is adapted for limited operation.

9. A construction control system for a multi-functional tunneling machine to assist in controlling tunnel overbreak, for performing the method of any one of claims 1 to 8, characterized in that, It includes: A first acquisition unit is configured to acquire design profile information of a target tunnel; A first determination unit is configured to determine underbreak profile design information corresponding to blasting forming based on the design profile information; A second determination unit is configured to determine blasting point position information and blasting charge amount information based on the underbreak profile design information; A second acquisition unit is configured to scan a post-blasting profile after blasting to acquire post-blasting profile information; A control unit is configured to control a multi-functional tunneling machine to refine and level the post-blasting profile information so that actual profile information approaches the design profile information.

Images