Tunnel construction excavation equipment and method

Abstract

The invention relates to the technical field of tunnel construction, and discloses tunnel construction excavation equipment and method, and the equipment comprises a machine body, a cutting arm, a shovel plate part and a dust collection mechanism. A monitoring assembly is arranged on the cutting arm and can scan the tunnel face before cutting, and data are processed by an AI system to predict the rock hardness and plan the optimal tunneling path. A dust collection mechanism is arranged at the top of the machine body and comprises a caliber adjusting assembly, a multi-connecting-rod mechanism is hydraulically driven to enable cover cloth to stretch out and draw back, and therefore the diameter of a dust collection opening is dynamically adjusted. Material collecting assemblies are arranged on the two sides of the shovel plate part and drive a push plate to swing in a reciprocating mode through hydraulic pressure, and broken stones scattered on the two sides are actively collected into the effective working range of the star wheel. The geology is predicted through the AI system to optimize the tunneling path, the dust collection mechanism capable of being dynamically adjusted adapts to working condition changes, the loading efficiency is improved through the active material collection assembly, and the intelligent level, the energy utilization rate and the operation continuity of equipment are comprehensively improved.

Description

Technical Field

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

[0002] Cantilevered roadheaders are essential equipment used in mining and tunneling. Their cutting, loading, and transporting capabilities play a crucial role in improving tunneling efficiency and reducing labor intensity. However, in practical applications, existing roadheader technology still has some shortcomings when facing the demands for higher construction efficiency and intelligent operation.

[0003] Traditional tunnel boring machines rely heavily on the operator's on-the-spot experience when it comes to cutting operations. The equipment lacks the ability to pre-diagnose the geological conditions of the unexcavated tunnel face ahead, nor can it obtain information such as rock hardness. This approach often leads to suboptimal tunneling path planning, which in turn affects tunneling efficiency and equipment energy consumption. Furthermore, encountering unexpectedly hard rock can increase wear on the cutting head, hindering the equipment's ability to achieve higher levels of intelligent operation.

[0004] When it comes to working environment control, the large amount of dust generated during tunneling is a significant factor affecting construction safety and worker health. Existing tunnel boring machines are typically equipped with dust collection systems, but their dust inlets are fixed in size. This design makes it difficult to adapt to the dynamically changing dust concentration and dispersion at construction sites. In high dust concentrations, incomplete coverage can reduce dust removal effectiveness, while low dust concentrations can lead to unnecessary energy consumption, resulting in poor adaptability to diverse working conditions.

[0005] During material loading, the roadheader relies on a star wheel at the front end to collect the cut gravel. In practice, the star wheel's rotation can easily cause some material, particularly gravel on either side of the blade, to spill outside the effective collection range. This material spillage and incomplete collection reduces the efficiency of a single loading cycle and may require subsequent cleanup, impacting the overall continuity and economic benefits of the operation. Summary of the Invention

[0006] The purpose of the present invention is to provide a tunnel construction excavation device and method to solve the problems of low overall operating efficiency and limited intelligence level of existing tunnel boring machines due to the inability to predict geology, poor dust removal adaptability and incomplete material collection.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: A first aspect of the present invention provides a tunnel construction excavation device, comprising: The machine body is provided with a cab on the side wall of the machine body, a cutting arm is provided on the upper front side of the machine body, a cutting head is installed on the driving end of the cutting arm, a shovel part is provided on the lower front side of the machine body, star wheels are provided on the left and right sides of the top of the shovel part, and collecting assemblies are provided on both sides of the outer wall of the shovel part, and a conveying part is provided on the middle part of the machine body at the rear side of the shovel part; A monitoring component is provided in the middle of the cutting arm, which is used to perform a three-dimensional scan of the tunnel face before cutting, providing the AI ​​system with the forward geological hardness prediction data required for planning the optimal tunneling path; A dust collection mechanism is provided on the top of the machine body, and the dust collection mechanism includes a mounting frame, the bottom of the mounting frame is mounted on the top of the machine body, a conveying assembly is installed in the middle of the mounting frame, an adjusting aperture assembly is provided on the outside of one side of the conveying assembly, and the adjusting aperture assembly is used to control the opening diameter of the cover cloth, and a dust suppression assembly is provided on the inside of the other side; The caliber adjustment component includes multiple hydraulic cylinders II, multiple hydraulic cylinders II are installed on the mounting frame, multiple hydraulic cylinders II output ends are installed with sleeves, the outer wall of the sleeve is installed with multiple connecting rods at one end, and each connecting rod has a movable rod I end that is rotated at the other end, and multiple fixed seats are installed on the outer wall of the conveying component, and each fixed seat has a movable rod II end that is rotated on the outer wall, and a slide groove is provided in the middle of the movable rod II, and the other end of the movable rod I slides in the slide groove, and the other end of the movable rod II is connected to one side of the cover cloth, and the other side of the cover cloth is installed on the outer wall of the conveying component.

[0008] Preferably, the aggregate assembly includes a mounting shaft, which is mounted on the outer wall of the shovel plate portion, a push plate is rotated on the outside of the mounting shaft, a connecting seat is installed on the outside of the connection between the push plate and the mounting shaft, mounting rods are installed on both sides of the shovel plate portion, a hydraulic rod is rotated on one end of the mounting rod, and the other end of the hydraulic rod is rotated in the middle of the connecting seat, and a spring is sleeved on the outside of the hydraulic rod.

[0009] Preferably, the monitoring assembly includes a displacement assembly and an angle adjustment assembly, wherein the displacement assembly is installed inside the cutting arm, and the angle adjustment assembly is installed on the displacement assembly, and is used to adjust the orientation of the geological radar when the displacement assembly controls the geological radar to move out of the cutting arm, so that the geological radar performs a three-dimensional scan of the tunnel face; The displacement assembly includes a support frame, which is installed inside the cutting arm. A bidirectional motor is installed on the top of the support frame. Screws are installed on both output ends of the bidirectional motor. The outer walls of the two screws are threadedly connected to movable plates. Limit seats are installed on both sides of the cutting arm. Two limit rods are installed at one end at the bottom on the opposite side of the two movable plates, and an inspection door is installed at the other end of the two limit rods. Each group of limit rods slides in the groove at the top of the limit seat on the corresponding side.

[0010] Preferably, the angle adjustment assembly includes an adjusting rod, one end of the adjusting rod rotates on the outer wall of the movable plate, the other end of the adjusting rod rotates with a movable frame, the middle of the movable frame rotates with one end of an electric telescopic rod, the other end of the electric telescopic rod rotates with a mounting seat, the outer wall of the mounting seat is installed on the outer wall of the adjusting rod, and the outer wall of the movable frame is installed with a geological radar.

[0011] Preferably, the AI ​​system includes: The data fusion and preprocessing module is used to collect, synchronize and format the raw data from the geological radar and various attitude sensors; the 3D geological interpretation and prediction module is used to interpret the geological radar data into 3D images and use the AI ​​model to predict the hardness distribution of the rock mass ahead; The optimal path planning module is used to automatically plan the optimal excavation path with the lowest energy consumption and wear based on the predicted rock hardness distribution map; The autonomous execution and control module is used to convert the planned optimal path into precise control instructions for each component of the roadheader and automatically execute them; The online learning and model optimization module is used to compare the differences between the predicted results and the actual cut load, and automatically optimize the AI ​​prediction model using new data.

[0012] Preferably, each of the posture sensors includes: An absolute encoder is installed on each movable joint of the cutting arm to measure the angle of each joint in real time, thereby accurately calculating the three-dimensional spatial coordinates of the cutting head; The inertial measurement unit is installed in the cutting arm and close to the cutting head, and is used to measure the dynamic posture and orientation information of the cutting head at high frequency.

[0013] Preferably, the conveying assembly includes a vacuum cleaner, which is installed on the top of the machine body, the input end of the vacuum cleaner is connected to one end of the conveying pipe, the output end of the vacuum cleaner is installed with a discharge nozzle, and the discharge nozzle is located above the end of the conveying part, and the other end of the conveying pipe is installed with a cylinder, and the outside of the cylinder is installed on the mounting frame.

[0014] Preferably, the interior of the sleeve is sleeved on the outside of the cylinder, a plurality of the hydraulic cylinders are arranged in a ring at equal distances around the outside of the cylinder, and the other side of the cover cloth is installed on the outer wall of the cylinder.

[0015] Preferably, the dust reduction component includes a water tank, the bottom of which is installed on the machine body, a water pump is installed on the outer wall of the water tank, one end of a hose is installed on the output end of the water pump, a nozzle is installed on the other end of the hose, and the outside of the nozzle is installed on the inner wall of the discharge nozzle.

[0016] A second aspect of the present invention provides a tunnel construction excavation method, which is applied to the tunnel construction excavation equipment described above, and comprises the following steps: S1. Predictive scanning steps: When forward geological exploration is required, the cutting operation of the tunnel boring machine is first suspended. Then, the bidirectional motor is started to drive the screw rod, so that the movable plate drives the geological radar to move outward from the inside of the cutting arm. During this process, the limit rod pushes the maintenance door to open automatically under the guidance of the limit seat. After the geological radar is completely moved out, the angle adjustment component is started to control the geological radar to adjust its posture so that it is aimed at the tunnel face in front for three-dimensional scanning and geological data collection. S2. Intelligent Analysis and Planning Step: The geological data collected by the geological radar, along with the data from various attitude sensors, are transmitted to the AI ​​system. The AI ​​system first synchronizes and formats the various data using the data fusion and preprocessing module. The 3D geological interpretation and prediction module then interprets the data into a 3D geological hardness distribution map. Finally, the optimal path planning module automatically plans the optimal excavation path with the lowest energy consumption and wear based on the hardness distribution map. S3. Autonomous excavation and online learning steps: Based on the optimal path planned by the AI ​​system, the autonomous execution and control module generates precise control instructions for each component of the roadheader, and automatically controls the cutting arm and cutting head to perform the optimal excavation operation. While autonomous excavation is in progress, the online learning and model optimization module compares the difference between the rock hardness predicted by the AI ​​and the actual cutting load in real time, and uses the newly generated deviation data to automatically optimize the AI ​​prediction model, enabling it to make more accurate predictions in subsequent work; S4. Collaborative aggregation steps: During the excavation operation of the roadheader, the hydraulic rods on both sides of the shovel section are activated to drive the push plate to swing around the installation axis, actively pushing the gravel scattered on both sides of the equipment to the front of the shovel section in the middle, so that the star wheel can efficiently collect it and send it to the conveying section; S5. Collaborative dust removal steps: While the tunnel boring machine is operating, the dust suction mechanism is started to suck in the dust generated by tunneling through the cover cloth, cylinder and conveying pipe; at the same time, the opening diameter of the cover cloth can be changed by controlling the extension and contraction of the second hydraulic cylinder according to the dust concentration to optimize the dust suction efficiency. When the inhaled dust reaches the discharge nozzle, the water pump sprays water mist through the nozzle, so that the dust combines with water and settles, and falls onto the conveying part together with the gravel to be transported away.

[0017] In summary, the present invention includes at least one of the following beneficial technical effects: 1. By installing a monitoring component and AI system on the cutting arm, this invention can predict the rock hardness distribution at the tunnel face before excavation. This function enables the equipment to pre-plan the optimal excavation path and cutting parameters, thereby effectively improving excavation efficiency, reducing overall equipment energy consumption, and minimizing wear on the cutting head, thereby enhancing the intelligent level of equipment operation.

[0018] 2. The adjustable diameter component of the present invention utilizes a hydraulic cylinder to drive the cover cloth, which can dynamically adjust the diameter of the suction port. This structure can flexibly change the dust collection range according to the actual concentration of dust on site. When the dust is large, the suction port is expanded to ensure the dust removal effect, and when the dust is small, the suction port is reduced to save energy, thereby improving the adaptability of the equipment to different working conditions and energy utilization.

[0019] 3. The present invention adds a collection assembly on both sides of the shovel plate. Through the swing of the push plate, the assembly gathers the gravel scattered on both sides of the equipment to the front of the shovel plate. This will directly send the material into the effective collection range of the star wheel, significantly improving the loading efficiency of the gravel, reducing the spillage of materials and secondary cleaning work, and ensuring the continuity and efficiency of construction operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a perspective view of the apparatus of the present invention; Figure 2 A schematic side view of the aperture adjustment assembly of the present invention in use; Figure 3 This is a rear view schematic diagram of the aperture adjustment assembly of the present invention in use; Figure 4 This is a schematic diagram of the monitoring component in use of the present invention; Figure 5 It is a schematic structural diagram of the aggregate assembly of the present invention; Figure 6 It is a schematic structural diagram of the displacement assembly of the present invention; Figure 7 for Figure 6 Enlarged view of point A in the middle; Figure 8 It is a schematic structural diagram of the dust reduction component of the present invention; Figure 9 This is a flowchart of the AI ​​system process of the present invention; Figure 10 Schematic diagram of the method of the present invention.

[0021] Among them, 1. Body; 2. Cab; 3. Cutting arm; 4. Cutting head; 5. Shovel plate; 6. Star wheel; 7. Conveyor; 8. Mounting shaft; 9. Push plate; 10. Connecting seat; 11. Mounting rod; 12. Hydraulic rod 1; 13. Spring; 14. Mounting frame; 15. Hydraulic cylinder 2; 16. Frame; 17. Connecting rod; 18. Movable rod 1; 19. Cylinder; 20. Movable rod 2; 21. Slide; 22. Cover Cloth; 23. Fixed seat; 24. Delivery pipe; 25. Vacuum cleaner; 26. Water tank; 27. Water pump; 28. Hose; 29. ​​Nozzle; 30. Discharge nozzle; 31. Support frame; 32. Bidirectional motor; 33. Screw; 34. Limit seat; 35. Moving plate; 36. Adjustment rod; 37. Mounting seat; 38. Electric telescopic rod; 39. Movable frame; 40. Geological radar; 41. Inspection door; 42. Limit rod. DETAILED DESCRIPTION

[0022] The following is combined with Figure 1 , the present invention is described in further detail.

[0023] The present invention provides a tunnel construction excavation device, comprising: The machine body 1 has a cab 2 on its side wall, a cutting arm 3 on the upper front side of the machine body 1, a cutting head 4 on the driving end of the cutting arm 3, a shovel plate 5 on the lower front side of the machine body 1, star wheels 6 on the left and right sides of the top of the shovel plate 5, and aggregate assemblies on both sides of the outer wall of the shovel plate 5. A conveying part 7 is provided in the middle of the machine body 1 behind the shovel plate 5; Specifically, the body 1 is a crawler-type walking structure, which provides mobility and a stable working platform for the entire equipment, and carries and integrates all working parts of the equipment.

[0024] The cab 2 integrates a control system for operating the entire machine, such as a control handle and an instrument panel for controlling the movement of the machine body 1, the movement of the cutting arm 3, and the start and stop of various auxiliary systems.

[0025] Articulated at the front upper portion of the machine body 1 is a cutting arm 3. This multi-jointed arm, driven by multiple hydraulic cylinders, is capable of vertical lift and horizontal swing. Cutting arm 3 operates by precisely positioning its distal end in three dimensions through the extension and retraction of various hydraulic cylinders, enabling the cutting head 4 to be moved to any location on the tunnel face for operation.

[0026] The cutting head 4 is typically a rotating drum covered with cutting teeth. Its working principle is that it is driven by a high-power motor to rotate at high speed. Under the thrust provided by the cutting arm 3, the cutting teeth on the cutting head 4 continuously mill and crush the rock or coal wall, thereby achieving tunnel excavation.

[0027] The shovel blade 5 is a wide, slightly raised plate-like structure that rests against the work surface. It serves as an initial collection platform for crushed material, collecting the rocks or minerals that fall after being crushed by the cutter head 4. The star wheel 6 is a hydraulically driven rotating mechanism with multiple claws. Its operating principle is that through rotation, the claws push the crushed rock in front of the shovel blade 5 from outside to inside and from front to back, collecting it in the center of the shovel blade 5 and delivering it to the inlet of the conveyor 7.

[0028] The collection assembly complements and enhances the existing collection range of the star wheel 6. In one specific embodiment, the collection assembly can be a hydraulically driven swinging push plate 9. Its operating principle is that when the cutting width is large, some gravel will scatter into areas beyond the reach of the star wheel 6. At this time, the collection assembly's push plate 9 swings outward, actively pushing the scattered gravel back into the working range of the star wheel 6, thereby significantly improving the material collection rate.

[0029] In the middle of the machine body 1, immediately following the shovel section 5, a conveyor section 7 runs through the machine body. This section is typically a chain-type scraper conveyor. Its operating principle is that crushed stone, collected by the star wheel 6 and the aggregate assembly at the center of the shovel section 5, is fed into the front end of the conveyor section 7. The conveyor chain's circular motion continuously transports the stone from the front to the rear of the machine, ultimately discharging it at the rear of the machine body 1 for loading onto subsequent transport equipment.

[0030] The aggregate assembly includes a mounting shaft 8, which is mounted on the outer wall of the shovel plate portion 5. A push plate 9 is rotated on the outside of the mounting shaft 8, and a connecting seat 10 is installed on the outside of the connection between the push plate 9 and the mounting shaft 8. Mounting rods 11 are installed on both sides of the shovel plate portion 5. One end of a hydraulic rod 12 is rotated on the outside of the mounting rod 11, and the other end of the hydraulic rod 12 is rotated in the middle of the connecting seat 10. A spring 13 is sleeved on the outside of the hydraulic rod 12.

[0031] Specifically, the main purpose of the aggregate assembly is to actively collect the gravel scattered on both sides of the shovel plate 5 during tunnel boring machine operation, thereby improving overall loading efficiency. When aggregate is required, the hydraulic rod 12 is controlled in the cab 2 to operate, causing its piston rod to extend or retract. The linear motion of the hydraulic rod 12 is converted into a thrust or pull on the push plate 9 through the connecting seat 10, thereby driving the push plate 9 to swing back and forth around the mounting shaft 8. In this way, the gravel originally scattered on both sides of the shovel plate 5 is effectively and actively swept to the center area and into the working range of the star wheel 6.

[0032] A spring 13 is also sheathed around the exterior of hydraulic rod 12. In this structure, spring 13 primarily serves as overload protection and buffering. When push plate 9 encounters a large rock or other obstacle during its swing, causing its movement to be blocked, excessive impact force is transmitted to hydraulic rod 12. At this point, spring 13 is preferentially compressed, absorbing most of the impact energy, thus preventing damage to hydraulic rod 12 itself, connecting base 10, and other mounting points due to rigid impact.

[0033] A monitoring component is installed in the middle of the cutting arm 3, which is used to perform a three-dimensional scan of the tunnel face before cutting, providing the AI ​​system with the forward geological hardness prediction data required to plan the optimal tunneling path; The monitoring component includes a displacement component and an angle adjustment component. The displacement component is installed inside the cutting arm 3, and the angle adjustment component is installed on the displacement component. The displacement component is used to adjust the direction of the geological radar 40 when the geological radar 40 is moved out of the cutting arm 3, so that the geological radar 40 performs a three-dimensional scan of the tunnel face. The displacement assembly includes a support frame 31, which is installed inside the cutting arm 3. A bidirectional motor 32 is installed on the top of the support frame 31. Screw rods 33 are installed on both output ends of the bidirectional motor 32. The outer walls of the two screw rods 33 are threadedly connected to movable plates 35. Limit seats 34 are installed on both sides of the inside of the cutting arm 3. Two limit rods 42 are installed at one end at the bottom of the opposite side of the two movable plates 35. An inspection door 41 is installed at the other end of the two limit rods 42. Each set of limit rods 42 slides in the groove at the top of the limit seat 34 on the corresponding side.

[0034] The angle adjustment assembly includes an adjusting rod 36, one end of the adjusting rod 36 rotates on the outer wall of the movable plate 35, and the other end of the adjusting rod 36 rotates with a movable frame 39. The middle part of the movable frame 39 rotates with one end of an electric telescopic rod 38, and the other end of the electric telescopic rod 38 rotates with a mounting seat 37. The outer wall of the mounting seat 37 is installed on the outer wall of the adjusting rod 36, and the outer wall of the movable frame 39 is installed with a geological radar 40.

[0035] Specifically, the monitoring assembly is entirely housed within the cutting arm 3, effectively protecting the precision instruments within during tunnel boring machine operation. Its core function is to deploy the detection equipment and align it with the tunnel face for a 3D scan before the cutting operation begins, providing raw data for subsequent AI system analysis. The monitoring assembly consists of a displacement component and an angle adjustment component, which work together to complete the detection task.

[0036] The displacement assembly is responsible for safely removing and retracting the detection instrument from within the cutting arm 3. When the bidirectional motor 32 is activated and rotated, it simultaneously drives the screws 33 on both sides to rotate. Because the movable plate 35 and the screws 33 are threaded together, the rotational motion of the screws 33 is converted into linear translational motion of the movable plate 35 along the axis of the screws 33. When the motor rotates forward, the movable plate 35 moves outward; when the motor rotates reversely, the movable plate 35 retracts inward.

[0037] To ensure the stability of the translational movement of the movable plate 35, limit seats 34 are fixedly mounted on both sides of the inner wall of the cutting arm 3, each of which is provided with a guiding groove. Each movable plate 35 is fixedly connected to a limit rod 42, the rod body of which slides into the groove of the limit seat 34, providing guidance and anti-rotation functions. Furthermore, the ends of the limit rods 42 are connected to the access door 41. As a result, when the movable plate 35 moves outward, the limit rods 42 simultaneously push the access door 41 outward; when the movable plate 35 retracts inward, they pull the access door 41 to automatically close, achieving a fully automated extension and retraction process.

[0038] The angle adjustment assembly, mounted on the movable plate 35, precisely adjusts the detection attitude of the geological radar 40 after the displacement assembly has moved it out. When the pitch or yaw angle of the geological radar 40 needs to be adjusted, the electrically operated telescopic rod 38 is activated, extending or contracting, thereby pushing or pulling the movable frame 39 to rotate about its fulcrum on the adjustment rod 36. This allows precise control of the detection orientation of the geological radar 40, enabling it to scan different areas of the tunnel face and acquire comprehensive three-dimensional geological data.

[0039] The AI ​​system includes: The data fusion and preprocessing module is used to collect, synchronize and format the raw data from the geological radar and various attitude sensors; the 3D geological interpretation and prediction module is used to interpret the geological radar data into 3D images and use the AI ​​model to predict the hardness distribution of the rock mass ahead; The optimal path planning module is used to automatically plan the optimal excavation path with the lowest energy consumption and wear based on the predicted rock hardness distribution map; The autonomous execution and control module is used to convert the planned optimal path into precise control instructions for each component of the roadheader and automatically execute them; The online learning and model optimization module is used to compare the differences between the predicted results and the actual cut load, and automatically optimize the AI ​​prediction model using new data.

[0040] The gesture sensors include: An absolute encoder, which is installed on each movable joint of the cutting arm 3, is used to measure the angle of each joint in real time, thereby accurately calculating the three-dimensional spatial coordinates of the cutting head 4; The inertial measurement unit is installed in the cutting arm 3 and close to the cutting head 4, and is used to measure the dynamic posture and orientation information of the cutting head 4 at high frequency.

[0041] In a specific embodiment, the AI ​​system is mainly composed of a high-performance industrial computer and supporting display and interaction devices, which are preferably integrated and installed in the cab 2 of the body 1.

[0042] The display device, such as a high-resolution touch screen, is used to intuitively show the operator key information such as the three-dimensional geological hardness distribution map interpreted by the system, the automatically planned optimal excavation path, and the real-time operating status of the equipment.

[0043] Through this interactive device, operators can start geological scanning programs, review and confirm excavation paths, switch between autonomous and manual modes, and monitor the autonomous excavation process, thus forming a human-machine collaborative operation mode.

[0044] The perception basis of the system is various attitude sensors, which exemplarily include absolute encoders and inertial measurement units.

[0045] An absolute encoder is preferably installed at each hydraulically driven joint of the cutting arm 3. It can output the rotation angle of each joint in real time, such as the lifting joint angle θ1 and the slewing joint angle θ2.

[0046] The inertial measurement unit (IMU) is packaged and installed in the cutting arm 3 near the cutting head 4. It integrates a three-axis accelerometer and a three-axis gyroscope for high-frequency measurement of the dynamic attitude information of the cutting head 4.

[0047] The data fusion and preprocessing module is the data entry point of the system. This module is responsible for collecting, synchronizing timestamps, and formatting multi-source heterogeneous data from the geological radar 40 and various attitude sensors.

[0048] Furthermore, the module uses the forward kinematics model to convert the joint angles (θ1, θ2, ..., θ n ) is converted into the three-dimensional spatial position P of the geological radar 40 in the body coordinate system radar . Its conversion relationship can be expressed as: P radar =f kin (θ1,θ2,…,θ n ); Among them, f kin This is the rigid body kinematic equation of the cutting arm 3 of the roadheader. This module provides accurate spatial six-degree-of-freedom information for subsequent data interpretation.

[0049] The 3D geological interpretation and prediction module is responsible for converting the original radar data into an intuitive rock hardness distribution map.

[0050] The module first reconstructs the 3D data from the calibrated geomagnetic radar 40 echoes. A pre-trained 3D convolutional neural network (3D-CNN) model is then used to interpret the data.

[0051] Finally, the module outputs a three-dimensional rasterized rock hardness distribution map, which is then displayed on the display device in the cab 2 for the operator to review.

[0052] The optimal path planning module plans an optimal excavation path for the cutting head 4 based on the rock hardness distribution map. The module abstracts the hardness map into a weighted three-dimensional graph and uses a heuristic search algorithm such as A to solve the path.

[0053] The cost function C on which the path finding is based can be defined as: C(v)=w1·H(v)+w2·D(v); Where v is the target grid, H(v) is the predicted hardness of that grid, D(v) is the travel distance, and w1 and w2 are weight coefficients. The planned optimal path is superimposed on the 3D hardness map and submitted to the operator for final confirmation.

[0054] The autonomous execution and control module is responsible for translating the planned path into actual machine motion. After receiving the operator's confirmation of execution, this module uses inverse kinematics to calculate the angles of the three cutting arm joints corresponding to the path points.

[0055] Subsequently, the module generates a PID control instruction and sends it to the hydraulic valve electronic control unit of each joint of the cutting arm 3, driving the cutting head 4 to move accurately along the planned path.

[0056] The online learning and model optimization module enables the AI ​​system to continuously optimize itself. This module runs autonomously in the background, continuously generating new training samples by comparing predicted hardness with actual motor load during tunneling.

[0057] Using these new samples, the module incrementally trains or fine-tunes the AI ​​model in the 3D geological interpretation and prediction module. This allows the system's prediction accuracy to continuously improve in actual operations, making it more adaptable to working conditions.

[0058] A dust collection mechanism is provided on the top of the body 1, and the dust collection mechanism includes a mounting frame 14, the bottom of the mounting frame 14 is mounted on the top of the body 1, a conveying assembly is installed in the middle of the mounting frame 14, and an adjustment diameter assembly is provided on the outside of one side of the conveying assembly. The adjustment diameter assembly is used to control the opening diameter of the cover cloth 22, and a dust suppression assembly is provided on the inside of the other side; The caliber adjustment component includes multiple hydraulic cylinders 15, and multiple hydraulic cylinders 15 are installed on the mounting frame 14. The output ends of multiple hydraulic cylinders 15 are installed with a sleeve 16. The outer wall of the sleeve 16 is installed with one end of multiple connecting rods 17, and the other end of each connecting rod 17 is rotated with one end of a movable rod 18. The outer wall of the conveying component is installed with multiple fixed seats 23, and the outer wall of each fixed seat 23 is rotated with one end of a movable rod 20. A slide groove 21 is passed through the middle of the movable rod 20, and the other end of the movable rod 18 slides in the slide groove 21. The other end of the movable rod 20 is connected to one side of a cover cloth 22, and the other side of the cover cloth 22 is installed on the outer wall of the conveying component.

[0059] The conveying assembly includes a vacuum cleaner 25, which is installed on the top of the machine body 1. The input end of the vacuum cleaner 25 is connected to one end of the conveying pipe 24, and the output end of the vacuum cleaner 25 is installed with a discharge nozzle 30. The discharge nozzle 30 is located above the end of the conveying part 7. The other end of the conveying pipe 24 is installed with a cylinder 19, and the outside of the cylinder 19 is installed on the mounting frame 14.

[0060] The interior of the sleeve frame 16 is sleeved on the outside of the cylinder 19 , and multiple hydraulic cylinders 15 are arranged in a ring around the outside of the cylinder 19 at equal distances. The other side of the cover cloth 22 is installed on the outer wall of the cylinder 19 .

[0061] The dust reduction component includes a water tank 26, the bottom of which is installed on the machine body 1, a water pump 27 is installed on the outer wall of the water tank 26, one end of a hose 28 is installed at the output end of the water pump 27, and a nozzle 29 is installed at the other end of the hose 28. The outside of the nozzle 29 is installed on the inner wall of the discharge nozzle 30.

[0062] Specifically, first, the vacuum cleaner 25 as a power source is started, generating a continuous negative pressure airflow. This negative pressure is conducted to the barrel 19 at the front end through the delivery pipe 24, thereby forming a strong suction force at the entrance of the barrel 19.

[0063] Under the action of suction, the dust generated in the working area is sucked into the cylinder 19 and enters the interior of the dust collector 25 through the conveying pipe 24 with the air flow. Finally, the captured dust is guided to the discharge nozzle 30 for further processing.

[0064] The adjustable aperture assembly provides a technical means to dynamically adjust the dust capture range. Its working principle is a precise multi-link mechanism that converts linear motion into radial expansion and contraction.

[0065] The movement of this assembly is driven by a plurality of hydraulic cylinders 2 15. Preferably, these hydraulic cylinders 2 15 are synchronously extended and contracted to drive the sleeve 16 to perform smooth reciprocating linear motion along the axial direction of the cylinder 19.

[0066] The linear motion of the sleeve 16 is transmitted to the movable rod 18 through the connecting rod 17.

[0067] The end of the movable rod 18 can slide in the sliding groove 21 of the movable rod 20. The movable rod 20 itself can pivot around its hinge point on the fixed base 23.

[0068] When the sleeve 16 moves, the sliding of the movable rod 18 in the sliding groove 21 changes the point of force acting on the movable rod 2 20 , thereby driving the movable rod 2 20 to pivot.

[0069] The end of this pivoting action directly drives the edge of the flexible cover cloth 22 to expand outward or contract inward. In this way, the dust suction caliber is steplessly adjusted, which has the effect of optimizing dust collection efficiency and reducing energy consumption.

[0070] The dust suppression component is used to perform terminal treatment on the captured dust to prevent secondary dust. In a specific embodiment, the component is equipped with a spray device in the discharge nozzle 30.

[0071] When dust passes through the discharge nozzle 30, the dust suppression component sprays a fine water mist, causing the dust particles to combine with the water droplets and settle quickly due to weight gain. This can achieve wet discharge of dust, allowing it to be transported away together with the bulk materials on the conveyor 7.

[0072] When the dust suppression component is working, the water pump 27 will pump out the liquid in the water tank 26 and guide it to the nozzle 29 through the hose 28. The nozzle 29 will spray it out, so that the dust particles will combine with the water droplets and settle quickly due to the increase in weight.

[0073] The tunnel construction excavation method described below and the tunnel construction excavation equipment described above can be referred to in correspondence with each other.

[0074] A tunnel construction excavation method, applied to the above-mentioned tunnel construction excavation equipment, comprises the following steps: S1. Predictive scanning step: When geological exploration ahead is required, the cutting operation of the tunnel boring machine is first suspended. Then, the bidirectional motor 32 is started to drive the screw 33, so that the movable plate 35 drives the geological radar 40 to move outward from the inside of the cutting arm 3. During this process, the limit rod 42, guided by the limit seat 34, pushes the inspection door 41 to automatically open. After the geological radar 40 is completely moved out, the angle adjustment component is started to control the geological radar 40 to adjust its posture so that it is aimed at the tunnel face ahead for three-dimensional scanning and geological data collection. S2. Intelligent analysis and planning step: The geological data collected by the geological radar 40, together with the data from each attitude sensor, are transmitted to the AI ​​system. The AI ​​system first synchronizes and formats the various data using the data fusion and preprocessing module. The 3D geological interpretation and prediction module then interprets the data into a 3D geological hardness distribution map. Finally, the optimal path planning module automatically plans the optimal excavation path with the lowest energy consumption and the least wear based on the hardness distribution map. S3, Autonomous Tunneling and Online Learning Steps: Based on the optimal path planned by the AI ​​system, the autonomous execution and control module generates precise control instructions for each component of the tunnel boring machine, and automatically controls the cutting arm 3 and cutting head 4 to perform the optimal tunneling operation. Simultaneously with autonomous tunneling, the online learning and model optimization module compares the AI-predicted rock hardness with the actual cutting load in real time, and uses the newly generated deviation data to automatically optimize the AI ​​prediction model, enabling more accurate predictions in subsequent operations. S4, collaborative material collection step: During the excavation operation of the roadheader, the hydraulic rods 12 on both sides of the shovel section 5 are activated to drive the push plate 9 to swing around the mounting shaft 8, actively pushing the gravel scattered on both sides of the equipment to the front of the shovel section 5 in the middle, so that the star wheel 6 can efficiently collect it and send it to the conveying section 7; S5. Coordinated dust removal step: while the tunnel boring machine is operating, the dust suction mechanism is started to suck the dust generated by tunneling through the cover cloth 22, the cylinder 19 and the conveying pipe 24; at the same time, according to the dust concentration, the hydraulic cylinder 15 can be controlled to extend and retract to change the opening diameter of the cover cloth 22 to optimize the dust suction efficiency. When the inhaled dust reaches the discharge nozzle 30, the water pump 27 sprays water mist through the nozzle 29, so that the dust combines with water and settles, and falls onto the conveying part 7 together with the gravel to be transported away. The method of this embodiment can be used to execute the above-mentioned equipment embodiment, and its principles and technical effects are similar, which will not be repeated here.

[0075] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A tunnel construction excavation equipment, characterized in that: include: A machine body (1), a cab (2) is provided on the side wall of the machine body (1), a cutting arm (3) is provided on the upper front side of the machine body (1), a cutting head (4) is installed on the driving end of the cutting arm (3), a shovel plate portion (5) is provided on the lower front side of the machine body (1), star wheels (6) are provided on the left and right sides of the top of the shovel plate portion (5), and a collection assembly is provided on both sides of the outer wall of the shovel plate portion (5), and a conveying portion (7) is provided on the rear side of the shovel plate portion (5) in the middle of the machine body (1); A monitoring component is provided in the middle of the cutting arm (3), which is used to perform a three-dimensional scan of the tunnel face before cutting, and provide the AI ​​system with the forward geological hardness prediction data required for planning the optimal tunneling path; A dust collecting mechanism is provided on the top of the machine body (1), and the dust collecting mechanism includes a mounting frame (14), the bottom of the mounting frame (14) is mounted on the top of the machine body (1), a conveying assembly is installed in the middle of the mounting frame (14), an adjusting aperture assembly is provided on the outside of one side of the conveying assembly, and the adjusting aperture assembly is used to control the opening diameter of the cover cloth (22), and a dust suppression assembly is provided on the inside of the other side; The adjustment caliber assembly includes a plurality of hydraulic cylinders II (15), and the plurality of hydraulic cylinders II (15) are mounted on a mounting frame (14). The output ends of the plurality of hydraulic cylinders II (15) are mounted with a sleeve frame (16). The outer wall of the sleeve frame (16) is mounted with one end of a plurality of connecting rods (17), and the other end of each connecting rod (17) is rotated with one end of a movable rod I (18). The outer wall of the conveying assembly is mounted with a plurality of fixed seats (23), and the outer wall of each fixed seat (23) is rotated with one end of a movable rod II (20). A slide groove (21) is provided in the middle of the movable rod II (20), and the other end of the movable rod I (18) slides in the slide groove (21). The other end of the movable rod II (20) is connected to one side of a cover cloth (22), and the other side of the cover cloth (22) is mounted on the outer wall of the conveying assembly.

2. The tunnel construction excavation equipment according to claim 1, characterized in that: The aggregate assembly includes a mounting shaft (8), the mounting shaft (8) is mounted on the outer wall of the shovel plate portion (5), a push plate (9) is rotated on the outside of the mounting shaft (8), a connecting seat (10) is installed on the outside of the connection between the push plate (9) and the mounting shaft (8), mounting rods (11) are installed on both sides of the shovel plate portion (5), one end of a hydraulic rod (12) is rotated on the outside of the mounting rod (11), the other end of the hydraulic rod (12) is rotated in the middle of the connecting seat (10), and a spring (13) is sleeved on the outside of the hydraulic rod (12).

3. The tunnel construction excavation equipment according to claim 1, characterized in that: The monitoring component comprises a displacement component and an angle adjustment component, wherein the displacement component is installed inside the cutting arm (3), and the angle adjustment component is installed on the displacement component and is used to adjust the orientation of the geological radar (40) when the displacement component controls the geological radar (40) to move out of the cutting arm (3), so that the geological radar (40) performs a three-dimensional scan of the tunnel face; The displacement assembly includes a support frame (31), the support frame (31) is installed inside the cutting arm (3), a bidirectional motor (32) is installed on the top of the support frame (31), screw rods (33) are installed on both sides of the output end of the bidirectional motor (32), and the outer walls of the two screw rods (33) are threadedly connected to the movable plate (35), and the limiting seats (34) are installed on both sides of the inside of the cutting arm (3), and two limiting rods (42) are installed at one end at the bottom of the opposite side of the two movable plates (35), and the other end of the two limiting rods (42) is installed with an inspection door (41), and each group of the limiting rods (42) slides in the top groove of the limiting seat (34) on the corresponding side.

4. The tunnel construction excavation equipment according to claim 3, characterized in that: The angle adjustment assembly includes an adjustment rod (36), one end of the adjustment rod (36) is rotated on the outer wall of the movable plate (35), the other end of the adjustment rod (36) is rotated with a movable frame (39), the middle part of the movable frame (39) is rotated with one end of an electric telescopic rod (38), the other end of the electric telescopic rod (38) is rotated with a mounting seat (37), the outer wall of the mounting seat (37) is installed on the outer wall of the adjustment rod (36), and the outer wall of the movable frame (39) is installed with a geological radar (40).

5. The tunnel construction excavation equipment according to claim 4, characterized in that: The AI ​​system includes: Data fusion and preprocessing module, used to collect, synchronize and format the raw data from geological radar and various attitude sensors; 3D geological interpretation and prediction module, used to interpret geological radar data into 3D images and use AI models to predict the hardness distribution of the rock mass ahead; The optimal path planning module is used to automatically plan the optimal excavation path with the lowest energy consumption and wear based on the predicted rock hardness distribution map; The autonomous execution and control module is used to convert the planned optimal path into precise control instructions for each component of the roadheader and automatically execute them; The online learning and model optimization module is used to compare the differences between the predicted results and the actual cut load, and automatically optimize the AI ​​prediction model using new data.

6. The tunnel construction excavation equipment according to claim 5, characterized in that: Each of the posture sensors comprises: An absolute value encoder is installed on each movable joint of the cutting arm (3) and is used to measure the angle of each joint in real time, thereby accurately calculating the three-dimensional spatial coordinates of the cutting head (4); An inertial measurement unit is installed in the cutting arm (3) and close to the cutting head (4), and is used for high-frequency measurement of dynamic posture and orientation information of the cutting head (4).

7. The tunnel construction excavation equipment according to claim 1, characterized in that: The conveying assembly includes a dust collector (25), which is installed on the top of the machine body (1). The input end of the dust collector (25) is connected to one end of the conveying pipe (24), and the output end of the dust collector (25) is installed with a discharge nozzle (30), which is located above the end of the conveying part (7). The other end of the conveying pipe (24) is installed with a cylinder (19), and the outside of the cylinder (19) is installed on the mounting frame (14).

8. The tunnel construction excavation equipment according to claim 7, characterized in that: The interior of the sleeve frame (16) is sleeved on the outside of the cylinder (19), and the plurality of hydraulic cylinders (15) are arranged in an annular shape at equal distances around the outside of the cylinder (19), and the other side of the cover cloth (22) is installed on the outer wall of the cylinder (19).

9. The tunnel construction excavation equipment according to claim 7, characterized in that: The dust suppression component comprises a water tank (26), the bottom of the water tank (26) is mounted on the machine body (1), a water pump (27) is mounted on the outer wall of the water tank (26), one end of a hose (28) is mounted on the output end of the water pump (27), and a nozzle (29) is mounted on the other end of the hose (28), and the outside of the nozzle (29) is mounted on the inner wall of the discharge nozzle (30).

10. A tunnel construction excavation method, characterized in that: A tunnel construction excavation device according to any one of claims 1 to 9, comprising the following steps: S1, predictive scanning step: when it is necessary to conduct geological exploration in the front, first suspend the cutting operation of the tunnel boring machine, then start the bidirectional motor (32) to drive the screw (33), so that the movable plate (35) drives the geological radar (40) to move outward from the inside of the cutting arm (3). During this process, the limit rod (42) pushes the inspection door (41) to open automatically under the guidance of the limit seat (34). After the geological radar (40) is completely moved out, start the angle adjustment component to control the geological radar (40) to adjust its posture so that it is aimed at the tunnel face in front for three-dimensional scanning and to collect geological data; S2, intelligent analysis and planning step: The geological data collected by the geological radar (40) and the data of each attitude sensor are transmitted to the AI ​​system. The AI ​​system first synchronizes and formats various types of data by the data fusion and preprocessing module, and then the three-dimensional geological interpretation and prediction module interprets the data into a three-dimensional geological hardness distribution map. Finally, the optimal path planning module automatically plans the optimal excavation path with the lowest energy consumption and the least wear based on the hardness distribution map; S3. Autonomous excavation and online learning steps: Based on the optimal path planned by the AI ​​system, the autonomous execution and control module generates precise control instructions for each component of the tunnel boring machine, and automatically controls the cutting arm (3) and the cutting head (4) to perform the optimal excavation operation. While autonomously excavating, the online learning and model optimization module compares the difference between the rock hardness predicted by the AI ​​and the actual cutting load in real time, and uses the newly generated deviation data to automatically optimize the AI ​​prediction model, so that it can make more accurate predictions in subsequent work; S4, collaborative material collection step: during the excavation operation of the tunnel boring machine, the hydraulic rods (12) located on both sides of the shovel plate (5) are activated to drive the push plate (9) to swing around the mounting shaft (8), actively pushing the gravel scattered on both sides of the equipment to the front of the shovel plate (5) in the middle, so that the star wheel (6) can efficiently collect it and send it to the conveying part (7); S5. Coordinated dust removal step: while the tunnel boring machine is operating, the dust collection mechanism is activated to suck the dust generated by tunneling through the cover cloth (22), the cylinder (19) and the conveying pipe (24); at the same time, the opening diameter of the cover cloth (22) can be changed by controlling the extension and contraction of the hydraulic cylinder 2 (15) according to the dust concentration, thereby optimizing the dust collection efficiency. When the sucked dust reaches the discharge nozzle (30), the water pump (27) sprays water mist through the nozzle (29), so that the dust combines with water and settles, and falls onto the conveying part (7) together with the gravel to be transported away.

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