Control method, device and equipment of tunnel lining trolley and storage medium

Abstract

The invention relates to a control method, device and equipment of a tunnel lining trolley and a storage medium, and relates to the technical field of tunnel construction. According to the method, when the target tunnel is constructed by the tunnel lining trolley, the construction data of the tunnel lining trolley is obtained; the construction data comprises one or more of pose data of the tunnel lining trolley, flow state data of concrete poured by the tunnel lining trolley, compactness of the concrete and deformation of a concrete pouring template of the tunnel lining trolley; when the construction data does not meet the preset construction requirements corresponding to the target tunnel, target construction parameters meeting the preset construction requirements are obtained; according to the method, the current working parameters of the tunnel lining trolley are adjusted into the target construction parameters, so that the construction data of the tunnel lining trolley meet the preset construction requirements, accurate control over the tunnel lining trolley can be achieved, the automatic control level and control precision of the tunnel lining trolley are improved, and the construction efficiency is improved. And the construction efficiency of the tunnel lining trolley and the stability of the construction quality are improved.

Description

Technical Field

[0001] This disclosure relates to the field of tunnel construction technology, and in particular to a control method, device, equipment and storage medium for a tunnel lining trolley. Background Technology

[0002] Tunnel lining trolleys are specialized equipment used in the secondary lining process of tunnel construction. They are used for the concrete lining construction of the inner wall of the tunnel. The control precision of the tunnel lining trolley directly affects the quality and stability of the lining structure.

[0003] In current tunnel lining construction, the position and posture of the trolley are controlled manually using positioning equipment. Operators need to repeatedly adjust the hydraulic cylinders of the trolley's outriggers to achieve positioning. The positioning accuracy is limited by the resolution of the measuring instruments and the operator's experience, and cumulative errors are easily generated under complex geological conditions. Using a fixed flow pump in conjunction with a manual observation window for monitoring, operators rely on experience to judge the concrete flow state and control the concrete pouring. Operators use a timed and frequencyd vibration mode, which often results in quality defects such as honeycomb and pitted surfaces in under-vibrated areas and aggregate separation in over-vibrated areas. There is a significant time delay in the manual control process, with a long average time from the discovery of abnormal data to parameter adjustment, and a relatively sluggish dynamic response.

[0004] It is evident that the current control of tunnel lining trolleys mainly relies on manual operation, with low levels of automation and low control precision, resulting in unstable construction efficiency and quality, and making lining quality problems more likely to occur. Summary of the Invention

[0005] To address the aforementioned technical problems, this disclosure provides a control method, apparatus, equipment, and storage medium for a tunnel lining trolley.

[0006] The first aspect of this disclosure provides a method for controlling a tunnel lining trolley, comprising:

[0007] When the tunnel lining trolley is constructing the target tunnel, the construction data of the tunnel lining trolley is obtained. The construction data includes one or more of the following: the position data of the tunnel lining trolley, the flow state data of the concrete poured by the tunnel lining trolley, the density of the concrete poured by the tunnel lining trolley, and the deformation of the concrete pouring formwork of the tunnel lining trolley.

[0008] When the construction data does not meet the preset construction requirements corresponding to the target tunnel, obtain the target construction parameters that meet the preset construction requirements.

[0009] Adjust the current working parameters of the tunnel lining trolley to the target construction parameters so that the construction data of the tunnel lining trolley meets the preset construction requirements.

[0010] Optionally, when the construction data includes the positional data of the tunnel lining trolley, the acquisition of the construction data of the tunnel lining trolley includes:

[0011] Acquire the position and attitude data of the tunnel lining trolley;

[0012] The position and attitude data of the tunnel lining trolley are determined as the orientation data of the tunnel lining trolley.

[0013] When the construction data includes the flow state data of the concrete poured by the tunnel lining trolley, the construction data of the tunnel lining trolley shall be obtained, including:

[0014] To obtain the pressure, temperature, and pouring speed of the concrete poured by the tunnel lining trolley;

[0015] Based on the concrete pressure, concrete temperature, and concrete pouring rate, determine the flow state data of the concrete.

[0016] When construction data includes the density of concrete poured by the tunnel lining trolley, the construction data of the tunnel lining trolley should be obtained, including:

[0017] Acquire the humidity, pressure, and acoustic emission signals of the concrete poured by the tunnel lining trolley.

[0018] The density of concrete is determined based on its humidity, pressure, and acoustic emission signals.

[0019] Optionally, when the construction data includes the positional data of the tunnel lining trolley, if the construction data does not meet the preset construction requirements corresponding to the target tunnel, the target construction parameters that meet the preset construction requirements are obtained, including:

[0020] When the positional data of the tunnel lining trolley does not meet the preset positional requirements in the preset construction requirements corresponding to the target tunnel, the target positional parameters that meet the preset positional requirements are obtained and the target positional parameters are determined as the target construction parameters.

[0021] Adjust the current operating parameters of the tunnel lining trolley to the target construction parameters so that the construction data of the tunnel lining trolley meets the preset construction requirements, including:

[0022] The position data of the tunnel lining trolley is adjusted to the target position parameters so that the position data of the tunnel lining trolley meets the preset position requirements.

[0023] Optionally, when the construction data includes the flow state data of the concrete poured by the tunnel lining trolley, if the construction data does not meet the preset construction requirements corresponding to the target tunnel, the target construction parameters that meet the preset construction requirements are obtained, including:

[0024] When the flow state data of the concrete poured by the tunnel lining trolley does not meet the preset concrete flow state requirements in the preset construction requirements corresponding to the target tunnel, the target pouring parameters that meet the preset concrete flow state requirements are obtained and the target pouring parameters are determined as the target construction parameters.

[0025] Adjust the current operating parameters of the tunnel lining trolley to the target construction parameters so that the construction data of the tunnel lining trolley meets the preset construction requirements, including:

[0026] The concrete pouring parameters of the tunnel lining trolley are adjusted to the target pouring parameters so that the flow state data of the concrete poured by the tunnel lining trolley meets the preset concrete flow state requirements.

[0027] Optionally, when the construction data includes the density of the concrete poured by the tunnel lining trolley, if the construction data does not meet the preset construction requirements corresponding to the target tunnel, the target construction parameters that meet the preset construction requirements are obtained, including:

[0028] When the density of the concrete poured by the tunnel lining trolley does not meet the preset density requirement in the preset construction requirements corresponding to the target tunnel, the target vibration parameters that meet the preset density requirement are obtained and the target vibration parameters are determined as the target construction parameters.

[0029] Adjust the current operating parameters of the tunnel lining trolley to the target construction parameters so that the construction data of the tunnel lining trolley meets the preset construction requirements, including:

[0030] The vibration parameters of the concrete vibrator in the tunnel lining trolley are adjusted to the target vibration parameters so that the density of the concrete poured by the tunnel lining trolley meets the preset density requirements.

[0031] Optionally, when the construction data includes the deformation of the concrete pouring formwork of the tunnel lining trolley, and the construction data does not meet the preset construction requirements corresponding to the target tunnel, target construction parameters that meet the preset construction requirements are obtained, including:

[0032] When the deformation of the concrete pouring formwork of the tunnel lining trolley is greater than or equal to the preset deformation threshold in the preset construction requirements corresponding to the target tunnel, it is determined that the deformation of the concrete pouring formwork does not meet the preset construction requirements corresponding to the target tunnel.

[0033] The target deformation range of the concrete pouring formwork is determined based on the preset deformation threshold, and the target deformation range is determined as the target construction parameter. The deformation size in the target deformation range is less than the preset deformation threshold.

[0034] Adjust the current operating parameters of the tunnel lining trolley to the target construction parameters so that the construction data of the tunnel lining trolley meets the preset construction requirements, including:

[0035] The deformation of the concrete pouring formwork is adjusted to be within the target deformation range so that the deformation of the concrete pouring formwork of the tunnel lining trolley is less than the preset deformation threshold.

[0036] Optionally, after adjusting the current working parameters of the tunnel lining trolley to the target construction parameters, the method further includes:

[0037] The construction data of the tunnel lining trolley is sent to a remote server.

[0038] A second aspect of this disclosure provides a control device for a tunnel lining trolley, comprising:

[0039] The first acquisition module is used to acquire construction data of the tunnel lining trolley when the tunnel lining trolley is constructing the target tunnel. The construction data includes one or more of the following: the position data of the tunnel lining trolley, the flow state data of the concrete poured by the tunnel lining trolley, the density of the concrete poured by the tunnel lining trolley, and the deformation of the concrete pouring template of the tunnel lining trolley.

[0040] The second acquisition module is used to acquire target construction parameters that meet the preset construction requirements when the construction data does not meet the preset construction requirements corresponding to the target tunnel.

[0041] The adjustment module is used to adjust the current working parameters of the tunnel lining trolley to the target construction parameters so that the construction data of the tunnel lining trolley meets the preset construction requirements.

[0042] A third aspect of this disclosure provides a computer device including a memory and a processor, wherein the memory stores a computer program that, when executed by the processor, can implement the control method for the tunnel lining trolley described in the first aspect.

[0043] The fourth aspect of this disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the control method for the tunnel lining trolley described in the first aspect.

[0044] The technical solution provided in this disclosure has the following advantages compared with the prior art:

[0045] This disclosure involves acquiring construction data of a tunnel lining trolley during the construction of a target tunnel. This construction data includes one or more of the following: the position and orientation data of the tunnel lining trolley, the flow state data of the concrete poured by the tunnel lining trolley, the density of the concrete poured by the tunnel lining trolley, and the deformation of the concrete pouring formwork of the tunnel lining trolley. When the construction data does not meet the preset construction requirements corresponding to the target tunnel, target construction parameters that meet the preset construction requirements are acquired. The current operating parameters of the tunnel lining trolley are adjusted to the target construction parameters to ensure that the construction data of the tunnel lining trolley meets the preset construction requirements. This disclosure can monitor the construction data of the tunnel lining trolley. When the construction data of the tunnel lining trolley does not meet the preset construction requirements corresponding to the target tunnel, the operating parameters of the tunnel lining trolley can be automatically adjusted according to the preset construction requirements of the target tunnel to ensure that the construction data of the tunnel lining trolley meets the construction requirements of the target tunnel. This achieves precise control of the tunnel lining trolley, improves the level of automation control and control accuracy of the tunnel lining trolley, and enhances the construction efficiency and stability of the construction quality. Attached Figure Description

[0046] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0047] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a flowchart of a control method for a tunnel lining trolley provided in an embodiment of this disclosure;

[0049] Figure 2 This is a flowchart of another control method for a tunnel lining trolley provided in an embodiment of this disclosure;

[0050] Figure 3 This is a schematic diagram of the structure of a control device for a tunnel lining trolley provided in an embodiment of this disclosure;

[0051] Figure 4 This is a schematic diagram of the structure of a computer device provided in an embodiment of this disclosure. Detailed Implementation

[0052] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0053] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0054] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0055] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0056] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0057] Tunnel lining trolleys are specialized equipment essential for secondary lining in tunnel construction, used for constructing the concrete lining of the tunnel's inner walls. Currently, the control of these trolleys relies heavily on manual operation, resulting in low levels of automation and control precision. This leads to inconsistent construction quality and a tendency for lining quality problems to arise.

[0058] To address the shortcomings of existing technologies in controlling tunnel lining trolleys, this disclosure provides a method, apparatus, equipment, and storage medium for controlling tunnel lining trolleys. This method can monitor the construction data of the tunnel lining trolley. When the construction data does not meet the preset construction requirements corresponding to the target tunnel, the operating parameters of the tunnel lining trolley can be automatically adjusted according to these requirements, ensuring that the construction data meets the requirements of the target tunnel. This achieves precise control of the tunnel lining trolley, improves its automation level and control accuracy, and enhances its construction efficiency and the stability of construction quality.

[0059] The control method for the tunnel lining trolley provided in this embodiment can be executed by a computer device. This device can be understood as any device with processing and computing capabilities. This device may include, but is not limited to, mobile terminals such as smartphones, laptops, tablets (PADs), vehicle terminals, and wearable devices, as well as fixed electronic devices such as digital TVs and desktop computers.

[0060] To better understand the inventive concept of the embodiments of this disclosure, the technical solutions of the embodiments of this disclosure will be described below in conjunction with exemplary embodiments.

[0061] Figure 1 This is a flowchart illustrating a control method for a tunnel lining trolley according to an embodiment of this disclosure. This method can be executed by a computer device, which can be understood as any device with computing capabilities and processing power. Figure 1 As shown, the control method for the tunnel lining trolley provided in this embodiment includes the following steps:

[0062] Step 110: When the tunnel lining trolley is constructing the target tunnel, acquire the construction data of the tunnel lining trolley. The construction data includes one or more of the following: the position data of the tunnel lining trolley, the flow state data of the concrete poured by the tunnel lining trolley, the density of the concrete poured by the tunnel lining trolley, and the deformation of the concrete pouring template of the tunnel lining trolley.

[0063] In this embodiment of the disclosure, the tunnel lining trolley is equipped with computer equipment and various sensors. When the tunnel lining trolley is constructing the target tunnel, the computer equipment can obtain the construction data of the tunnel lining trolley through the various sensors in the tunnel lining trolley.

[0064] The construction data of the tunnel lining trolley may include one or more of the following: the position data of the tunnel lining trolley, the flow state data of the concrete poured by the tunnel lining trolley, the density of the concrete poured by the tunnel lining trolley, and the deformation of the concrete pouring formwork of the tunnel lining trolley.

[0065] For example, the construction data of the tunnel lining trolley may include the position data of the tunnel lining trolley, the flow state data of the concrete poured by the tunnel lining trolley, the density of the concrete poured by the tunnel lining trolley, and the deformation of the concrete pouring formwork of the tunnel lining trolley.

[0066] The position and orientation data of the tunnel lining trolley can be understood as the position and attitude data of the tunnel lining trolley. The attitude data can be understood as the relative attitude of the front and rear of the tunnel lining trolley.

[0067] Concrete flow state data can be understood as data reflecting the state of concrete during the concrete pouring process.

[0068] The density of concrete can be understood as a parameter for evaluating the uniformity and consistency of concrete.

[0069] Specifically, when construction data includes the position and orientation data of the tunnel lining trolley, computer equipment can acquire the position data of the trolley through a positioning device installed on it, and acquire its orientation data through an inertial measurement unit installed on it. The position and orientation data of the tunnel lining trolley are then used to determine its orientation data. This high-precision automatic positioning technology enables accurate positioning of the lining trolley, reducing the workload and errors of manual measurement and providing reliable positioning assurance for the construction process.

[0070] When construction data includes the flow state data of concrete poured by the tunnel lining trolley, the tunnel lining trolley is equipped with concrete pouring equipment. This equipment is used to pour concrete and includes pressure sensors, temperature sensors, and flow sensors. During concrete pouring, the pressure sensor on the equipment can enter the poured concrete to collect the concrete pressure, the temperature sensor can enter the poured concrete to collect the concrete temperature, and the flow sensor can collect the concrete pouring speed. Computer equipment can obtain the concrete pressure from the pressure sensor in the concrete pouring equipment on the tunnel lining trolley, the concrete temperature from the temperature sensor, and the concrete pouring speed from the flow sensor. Based on the concrete pressure, temperature, and pouring speed, the flow state data of the concrete is determined. For example, the concrete pressure, temperature, and pouring speed can be directly determined as the concrete flow state data. Alternatively, based on a pre-defined calculation relationship between the concrete pressure, temperature, pouring speed, and flow state data, the flow state data of the concrete poured by the tunnel lining trolley can be calculated. Thus, the concrete flow state data can be accurately obtained using multiple sensors.

[0071] When construction data includes the density of concrete poured by the tunnel lining trolley, the tunnel lining trolley is equipped with concrete pouring equipment. This equipment is used to pour concrete and includes humidity sensors, pressure sensors, and acoustic emission sensors. During concrete pouring, the humidity sensor can enter the poured concrete to collect its humidity, the pressure sensor can enter the poured concrete to collect its pressure, and the acoustic emission sensor can enter the poured concrete to collect its acoustic emission signals. Computer equipment can obtain the humidity of the concrete poured by the humidity sensor in the concrete pouring equipment on the tunnel lining trolley, the pressure of the concrete poured by the pressure sensor in the concrete pouring equipment on the tunnel lining trolley, and the acoustic emission signals of the concrete poured by the acoustic emission sensors in the concrete pouring equipment on the tunnel lining trolley. Based on the concrete's humidity, pressure, and acoustic emission signals, the density of the concrete is determined. For example, the density of concrete poured by the tunnel lining trolley can be calculated based on a second preset calculation relationship between concrete humidity, concrete pressure, and the acoustic emission signal of concrete and concrete density. This allows for precise acquisition of concrete density using multiple sensors.

[0072] When construction data includes the deformation of the concrete pouring formwork of the tunnel lining trolley, displacement sensors are installed on the concrete pouring formwork of the tunnel lining trolley. Computer equipment can obtain the deformation of the concrete pouring formwork through these displacement sensors. Thus, the deformation of the concrete pouring formwork can be accurately determined using sensors.

[0073] Step 120: When the construction data does not meet the preset construction requirements corresponding to the target tunnel, obtain the target construction parameters that meet the preset construction requirements.

[0074] In this embodiment of the disclosure, the computer device pre-stores preset construction requirements corresponding to the target tunnel and target construction parameters that meet the preset construction requirements. The preset construction requirements may include the design requirements and construction parameters for the tunnel lining corresponding to the target tunnel. The preset construction requirements can be set as needed, and are not limited here.

[0075] When the construction data of the tunnel lining trolley does not meet the preset construction requirements corresponding to the target tunnel, the computer equipment can obtain the target construction parameters that meet the preset construction requirements.

[0076] In some embodiments, when the construction data of the tunnel lining trolley includes the position and orientation data of the tunnel lining trolley, the computer device can obtain the target position and orientation parameters that meet the preset position and orientation requirements when the position and orientation data of the tunnel lining trolley does not meet the preset position and orientation requirements in the preset construction requirements corresponding to the target tunnel, and determine the target position and orientation parameters as the target construction parameters.

[0077] In some embodiments, when the construction data of the tunnel lining trolley includes the flow state data of the concrete poured by the tunnel lining trolley, the computer device can obtain the target pouring parameters that meet the preset concrete flow state requirements when the flow state data of the concrete poured by the tunnel lining trolley does not meet the preset concrete flow state requirements in the preset construction requirements corresponding to the target tunnel, and determine the target pouring parameters as the target construction parameters.

[0078] The pouring parameters can include parameters such as the pouring speed, pouring temperature, pouring humidity, pouring pressure, and layer thickness of the concrete.

[0079] In some embodiments, when the construction data of the tunnel lining trolley includes the density of the concrete poured by the tunnel lining trolley, the computer device can obtain the target vibration parameters that meet the preset density requirements when the density of the concrete poured by the tunnel lining trolley does not meet the preset density requirements in the preset construction requirements corresponding to the target tunnel, and determine the target vibration parameters as the target construction parameters.

[0080] Vibration parameters can include vibration frequency and vibration time.

[0081] In some embodiments, when the construction data of the tunnel lining trolley includes the deformation magnitude of the concrete pouring template of the tunnel lining trolley, the computer equipment can determine that the deformation magnitude of the concrete pouring template does not meet the preset construction requirements corresponding to the target tunnel when the deformation magnitude of the concrete pouring template of the tunnel lining trolley is greater than or equal to the preset deformation threshold in the preset construction requirements corresponding to the target tunnel; the target deformation magnitude range of the concrete pouring template is determined based on the preset deformation threshold, and the target deformation magnitude range is determined as the target construction parameter, wherein the deformation magnitude in the target deformation magnitude range is less than the preset deformation threshold.

[0082] The preset deformation threshold can be set as needed, and is not limited here.

[0083] Step 130: Adjust the current working parameters of the tunnel lining trolley to the target construction parameters so that the construction data of the tunnel lining trolley meets the preset construction requirements.

[0084] In this embodiment of the disclosure, the computer device can adjust the current working parameters of the tunnel lining trolley to the target construction parameters so that the construction data of the tunnel lining trolley meets the preset construction requirements.

[0085] In some embodiments, when the construction data of the tunnel lining trolley includes the pose data of the tunnel lining trolley and the target construction parameters include target pose parameters that meet preset pose requirements, the computer device can adjust the pose data of the tunnel lining trolley to the target pose parameters so that the pose data of the tunnel lining trolley meets the preset pose requirements. This allows for dynamic and precise calibration of the tunnel lining trolley's pose through dynamic calibration technology.

[0086] In some embodiments, when the construction data of the tunnel lining trolley includes the flow state data of the concrete poured by the tunnel lining trolley, and the target construction parameters include target pouring parameters that meet the preset concrete flow state requirements, the computer equipment can adjust the concrete pouring parameters of the tunnel lining trolley to the target pouring parameters so that the flow state data of the concrete poured by the tunnel lining trolley meets the preset concrete flow state requirements. This allows for intelligent and dynamic adjustment of the concrete pouring parameters of the tunnel lining trolley, avoiding segregation caused by excessively fast or slow pouring speeds, ensuring uniform concrete distribution, and preventing problems such as lining cracks and insufficient strength caused by uneven pouring. This improves the strength and uniformity of the lining structure and achieves precise control over concrete pouring.

[0087] In some embodiments, when the construction data of the tunnel lining trolley includes the density of the concrete poured by the tunnel lining trolley and the target construction parameters include the target vibration parameters that meet the preset density requirements, the computer equipment can adjust the vibration parameters of the concrete vibrator in the tunnel lining trolley to the target vibration parameters so that the density of the concrete poured by the tunnel lining trolley meets the preset density requirements.

[0088] The target vibration parameters may include the target vibration frequency and the target vibration time.

[0089] The concrete vibrator in this embodiment may include an immersion vibrator and an attached vibrator. The dual-mode vibration control technology, combining an immersion vibrator and an attached vibrator, effectively protects the concrete pouring formwork, preventing damage to the formwork due to direct contact between the vibrator and the formwork. This achieves a balance between compaction and formwork protection, improving vibration efficiency and lining quality.

[0090] This allows for the automatic adjustment of the vibration parameters of the tunnel lining trolley based on monitoring data, reducing concrete quality problems caused by insufficient or excessive vibration, ensuring that the concrete reaches optimal density in all parts, and achieving adaptive vibration adjustment.

[0091] In some embodiments, when the construction data of the tunnel lining trolley includes the deformation of the concrete pouring formwork of the tunnel lining trolley, and the target construction parameters include the target deformation range of the concrete pouring formwork, the computer equipment can adjust the deformation of the concrete pouring formwork to within the target deformation range, so that the deformation of the concrete pouring formwork of the tunnel lining trolley is less than a preset deformation threshold. This allows for automatic adjustment of the deformation of the concrete pouring formwork, achieving automatic correction of the concrete pouring formwork deformation.

[0092] Therefore, the construction data of the tunnel lining trolley can be monitored. The construction data includes one or more of the following: the position and orientation data of the tunnel lining trolley, the flow state data of the concrete poured by the tunnel lining trolley, the density of the concrete poured by the tunnel lining trolley, and the deformation of the concrete pouring formwork of the tunnel lining trolley. When the construction data of the tunnel lining trolley does not meet the preset construction requirements corresponding to the target tunnel, the working parameters of the tunnel lining trolley can be automatically adjusted according to the preset construction requirements corresponding to the target tunnel, so that the construction data of the tunnel lining trolley meets the construction requirements of the target tunnel, realizing precise control of the tunnel lining trolley, improving the automation control level and control accuracy of the tunnel lining trolley, and improving the construction efficiency and construction quality stability of the tunnel lining trolley.

[0093] In some embodiments of this disclosure, after adjusting the current operating parameters of the tunnel lining trolley to the target construction parameters, the computer equipment can send the construction data of the tunnel lining trolley to a remote server. This allows users to monitor the construction progress, construction quality, and equipment status in real time through the construction data on the remote server, enabling timely problem detection and decision-making. The remote server may include a cloud server. The remote server supports multi-terminal access, facilitating construction team members to obtain construction information anytime, anywhere, enabling collaborative work. The construction team can perform remote monitoring, data analysis, and construction optimization, greatly improving management efficiency and construction quality.

[0094] In some embodiments of this disclosure, after the tunnel lining trolley completes concrete pouring, the computer equipment can control the concrete pouring equipment on the tunnel lining trolley to stop working and perform subsequent operations such as pipeline cleaning.

[0095] In some embodiments of this disclosure, the computer device can automatically record all sensor data, control commands, operation records, and other information during the construction process of the tunnel lining trolley, and store them in a local database and a remote server.

[0096] During the operation of the tunnel lining trolley, the computer equipment can automatically learn the impact of tunnel geological features, construction conditions, and other factors on positioning and formwork installation, and then dynamically adjust calibration parameters based on the learning results. As construction progresses, the trolley will continuously optimize its positioning and formwork adjustment strategies, reducing the frequency of manual calibration intervention and effectively improving construction efficiency and quality stability.

[0097] Figure 2 This is a flowchart illustrating a control method for a tunnel lining trolley according to an embodiment of this disclosure. This method can be executed by a computer device, which can be understood as any device with computing capabilities and processing power. Figure 2 As shown, the control method for the tunnel lining trolley provided in this embodiment includes the following steps:

[0098] Step 210: When the tunnel lining trolley is constructing the target tunnel, acquire the construction data of the tunnel lining trolley. The construction data includes the position data of the tunnel lining trolley, the flow state data of the concrete poured by the tunnel lining trolley, the density of the concrete poured by the tunnel lining trolley, and the deformation of the concrete pouring template of the tunnel lining trolley.

[0099] Step 220: When the position and posture data of the tunnel lining trolley do not meet the preset position and posture requirements in the preset construction requirements corresponding to the target tunnel, obtain the target position and posture parameters that meet the preset position and posture requirements, and determine the target position and posture parameters as the target construction parameters.

[0100] When the flow state data of the concrete poured by the tunnel lining trolley does not meet the preset concrete flow state requirements in the preset construction requirements corresponding to the target tunnel, the target pouring parameters that meet the preset concrete flow state requirements are obtained and the target pouring parameters are determined as the target construction parameters.

[0101] When the density of the concrete poured by the tunnel lining trolley does not meet the preset density requirement in the preset construction requirements corresponding to the target tunnel, the target vibration parameters that meet the preset density requirement are obtained and the target vibration parameters are determined as the target construction parameters.

[0102] When the deformation of the concrete pouring formwork of the tunnel lining trolley is greater than or equal to the preset deformation threshold in the preset construction requirements corresponding to the target tunnel, it is determined that the deformation of the concrete pouring formwork does not meet the preset construction requirements corresponding to the target tunnel; the target deformation range of the concrete pouring formwork is determined based on the preset deformation threshold, and the target deformation range is determined as the target construction parameter, and the deformation in the target deformation range is less than the preset deformation threshold.

[0103] For details, please refer to the above. Figure 1 The relevant steps are not detailed here.

[0104] Step 230: When the position and posture data of the tunnel lining trolley does not meet the preset position and posture requirements in the preset construction requirements corresponding to the target tunnel, adjust the position and posture data of the tunnel lining trolley to the target position and posture parameters so that the position and posture data of the tunnel lining trolley meets the preset position and posture requirements.

[0105] When the flow state data of the concrete poured by the tunnel lining trolley does not meet the preset concrete flow state requirements in the preset construction requirements corresponding to the target tunnel, the pouring parameters of the concrete of the tunnel lining trolley will be adjusted to the target pouring parameters so that the flow state data of the concrete poured by the tunnel lining trolley meets the preset concrete flow state requirements.

[0106] When the density of the concrete poured by the tunnel lining trolley does not meet the preset density requirements of the target tunnel, the vibration parameters of the concrete vibrator in the tunnel lining trolley are adjusted to the target vibration parameters so that the density of the concrete poured by the tunnel lining trolley meets the preset density requirements.

[0107] When the deformation of the concrete pouring formwork of the tunnel lining trolley is greater than or equal to the preset deformation threshold in the preset construction requirements corresponding to the target tunnel, the deformation of the concrete pouring formwork is adjusted to be within the target deformation range so that the deformation of the concrete pouring formwork of the tunnel lining trolley is less than the preset deformation threshold.

[0108] For details, please refer to the above. Figure 1 The relevant steps are not detailed here.

[0109] Therefore, the construction data of the tunnel lining trolley can be monitored. The construction data includes the position and orientation data of the tunnel lining trolley, the flow state data of the concrete poured by the tunnel lining trolley, the density of the concrete poured by the tunnel lining trolley, and the deformation of the concrete pouring formwork of the tunnel lining trolley. When the construction data of the tunnel lining trolley does not meet the preset construction requirements corresponding to the target tunnel, the working parameters of the tunnel lining trolley can be automatically adjusted according to the preset construction requirements corresponding to the target tunnel, so that the construction data of the tunnel lining trolley meets the construction requirements of the target tunnel, realizing precise control of the tunnel lining trolley, improving the automation control level and control accuracy of the tunnel lining trolley, and improving the construction efficiency and construction quality stability of the tunnel lining trolley.

[0110] Figure 3 This is a schematic diagram of the structure of a control device for a tunnel lining trolley provided in an embodiment of this disclosure. This device can be understood as the aforementioned computer equipment or a functional module within the aforementioned computer equipment. For example... Figure 3 As shown, the control device 300 of the tunnel lining trolley includes:

[0111] The first acquisition module 310 is used to acquire construction data of the tunnel lining trolley when the tunnel lining trolley is constructing the target tunnel. The construction data includes one or more of the following: the position data of the tunnel lining trolley, the flow state data of the concrete poured by the tunnel lining trolley, the density of the concrete poured by the tunnel lining trolley, and the deformation of the concrete pouring template of the tunnel lining trolley.

[0112] The second acquisition module 320 is used to acquire target construction parameters that meet the preset construction requirements when the construction data does not meet the preset construction requirements corresponding to the target tunnel.

[0113] The adjustment module 330 is used to adjust the current working parameters of the tunnel lining trolley to the target construction parameters so that the construction data of the tunnel lining trolley meets the preset construction requirements.

[0114] Optionally, the first acquisition module mentioned above includes:

[0115] The first acquisition submodule is used to acquire the position and attitude data of the tunnel lining trolley when the construction data includes the pose data of the tunnel lining trolley.

[0116] The first determination submodule is used to determine the position data and attitude data of the tunnel lining trolley as the pose data of the tunnel lining trolley.

[0117] Optionally, the first acquisition module mentioned above includes:

[0118] The second acquisition submodule is used to acquire the pressure, temperature and pouring speed of the concrete poured by the tunnel lining trolley when the construction data includes the flow state data of the concrete poured by the tunnel lining trolley.

[0119] The second determination submodule is used to determine the flow state data of concrete based on concrete pressure, concrete temperature and concrete pouring speed.

[0120] Optionally, the first acquisition module mentioned above includes:

[0121] The third acquisition submodule is used to acquire the humidity, pressure and acoustic emission signal of the concrete poured by the tunnel lining trolley when the construction data includes the density of the concrete poured by the tunnel lining trolley.

[0122] The third determination submodule is used to determine the density of concrete based on the concrete's humidity, pressure, and acoustic emission signals.

[0123] Optionally, when the construction data includes the positional data of the tunnel lining trolley, the aforementioned second acquisition module includes:

[0124] The fourth acquisition submodule is used to acquire target pose parameters that meet the preset pose requirements when the pose data of the tunnel lining trolley does not meet the preset pose requirements in the preset construction requirements corresponding to the target tunnel, and to determine the target pose parameters as the target construction parameters.

[0125] The above adjustment modules include:

[0126] The first adjustment submodule is used to adjust the position and orientation data of the tunnel lining trolley to the target position and orientation parameters so that the position and orientation data of the tunnel lining trolley meets the preset position and orientation requirements.

[0127] Optionally, when the construction data includes data on the flow state of concrete poured by the tunnel lining trolley, the second acquisition module mentioned above includes:

[0128] The fifth acquisition submodule is used to acquire target pouring parameters that meet the preset concrete flow state requirements when the flow state data of the concrete poured on the tunnel lining trolley does not meet the preset concrete flow state requirements in the preset construction requirements corresponding to the target tunnel, and to determine the target pouring parameters as the target construction parameters.

[0129] The above adjustment modules include:

[0130] The second adjustment submodule is used to adjust the concrete pouring parameters of the tunnel lining trolley to the target pouring parameters so that the flow state data of the concrete poured by the tunnel lining trolley meets the preset concrete flow state requirements.

[0131] Optionally, when the construction data includes the density of the concrete poured by the tunnel lining trolley, the second acquisition module mentioned above includes:

[0132] The sixth acquisition submodule is used to acquire target vibration parameters that meet the preset density requirements when the density of the concrete poured by the tunnel lining trolley does not meet the preset density requirements in the preset construction requirements corresponding to the target tunnel, and to determine the target vibration parameters as the target construction parameters.

[0133] The above adjustment modules include:

[0134] The third adjustment submodule is used to adjust the vibration parameters of the concrete vibrator in the tunnel lining trolley to the target vibration parameters so that the density of the concrete poured by the tunnel lining trolley meets the preset density requirements.

[0135] Optionally, when the construction data includes the deformation magnitude of the concrete pouring formwork of the tunnel lining trolley, the aforementioned second acquisition module includes:

[0136] The fourth determination submodule is used to determine that the deformation of the concrete pouring formwork of the tunnel lining trolley does not meet the preset construction requirements of the target tunnel when the deformation of the concrete pouring formwork is greater than or equal to the preset deformation threshold in the preset construction requirements corresponding to the target tunnel.

[0137] The fifth determination submodule is used to determine the target deformation range of the concrete pouring formwork based on a preset deformation threshold, and to determine the target deformation range as the target construction parameter. The deformation size in the target deformation range is less than the preset deformation threshold.

[0138] The above adjustment modules include:

[0139] The fourth adjustment submodule is used to adjust the deformation of the concrete pouring formwork to within the target deformation range, so that the deformation of the concrete pouring formwork of the tunnel lining trolley is less than the preset deformation threshold.

[0140] Optionally, the control device for the aforementioned tunnel lining trolley includes:

[0141] The sending module is used to send the construction data of the tunnel lining trolley to a remote server.

[0142] The control device for the tunnel lining trolley provided in this embodiment can implement the method of any of the above embodiments, and its execution mode and beneficial effects are similar, so they will not be described again here.

[0143] This disclosure also provides a computer device, which includes a processor and a memory, wherein the memory stores a computer program. When the computer program is executed by the processor, it can implement the methods of any of the above embodiments. The execution method and beneficial effects are similar, and will not be described again here.

[0144] The computer device in this disclosure can be understood as any device with processing and computing capabilities. This device may include, but is not limited to, mobile terminals such as smartphones, laptops, tablets (PADs), in-vehicle terminals, and wearable devices, as well as fixed electronic devices such as digital TVs and desktop computers.

[0145] Figure 4 This is a schematic diagram of the structure of a computer device provided in an embodiment of this disclosure, such as... Figure 4 As shown, the computer device 400 may include a processor 410 and a memory 420. The memory 420 stores a computer program 421. When the computer program 421 is executed by the processor 410, it can implement the method provided in any of the above embodiments. The execution mode and beneficial effects are similar and will not be described again here.

[0146] Of course, for the sake of simplicity, Figure 4Only some of the components of the computer device 400 relevant to the present invention are shown in this illustration; components such as buses, input / output interfaces, input devices, and output devices are omitted. In addition, the computer device 400 may include any other suitable components depending on the specific application.

[0147] This disclosure provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement the methods of any of the above embodiments. The execution method and beneficial effects are similar, and will not be described again here.

[0148] The aforementioned computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory, read-only memory, erasable programmable read-only memory (flash memory), optical fibers, portable compact disk read-only memory, optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0149] The computer program described above can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this disclosure. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer device, partially on the user's device, as a standalone software package, partially on the user's computer device and partially on a remote computer device, or entirely on a remote computer device or server.

[0150] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

[0151] Furthermore, while the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. In certain environments, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this disclosure. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

[0152] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for a tunnel lining trolley, characterized in that, include: When the tunnel lining trolley is constructing the target tunnel, the construction data of the tunnel lining trolley is acquired. The construction data includes one or more of the following: the position data of the tunnel lining trolley, the flow state data of the concrete poured by the tunnel lining trolley, the density of the concrete poured by the tunnel lining trolley, and the deformation of the concrete pouring template of the tunnel lining trolley. When the construction data does not meet the preset construction requirements corresponding to the target tunnel, obtain the target construction parameters that meet the preset construction requirements; The current operating parameters of the tunnel lining trolley are adjusted to the target construction parameters so that the construction data of the tunnel lining trolley meets the preset construction requirements.

2. The method according to claim 1, characterized in that, When the construction data includes the positional data of the tunnel lining trolley, acquiring the construction data of the tunnel lining trolley includes: Obtain the position and attitude data of the tunnel lining trolley; The position and attitude data of the tunnel lining trolley are determined as the orientation data of the tunnel lining trolley. When the construction data includes the flow state data of the concrete poured by the tunnel lining trolley, the step of obtaining the construction data of the tunnel lining trolley includes: The pressure, temperature, and pouring speed of the concrete poured by the tunnel lining trolley are obtained. Based on the pressure, temperature, and pouring rate of the concrete, the flow state data of the concrete are determined. When the construction data includes the density of the concrete poured by the tunnel lining trolley, obtaining the construction data of the tunnel lining trolley includes: The humidity of the concrete poured by the tunnel lining trolley, the pressure of the concrete, and the acoustic emission signal of the concrete are obtained. The density of the concrete is determined based on the concrete's humidity, pressure, and acoustic emission signal.

3. The method according to claim 1, characterized in that, When the construction data includes the positional data of the tunnel lining trolley, the step of obtaining target construction parameters that meet the preset construction requirements when the construction data does not meet the preset construction requirements corresponding to the target tunnel includes: When the position and pose data of the tunnel lining trolley do not meet the preset position and pose requirements in the preset construction requirements corresponding to the target tunnel, the target position and pose parameters that meet the preset position and pose requirements are obtained, and the target position and pose parameters are determined as the target construction parameters. The step of adjusting the current operating parameters of the tunnel lining trolley to the target construction parameters, so that the construction data of the tunnel lining trolley meets the preset construction requirements, includes: The pose data of the tunnel lining trolley is adjusted to the target pose parameters so that the pose data of the tunnel lining trolley meets the preset pose requirements.

4. The method according to claim 1, characterized in that, When the construction data includes the flow state data of the concrete poured by the tunnel lining trolley, the step of obtaining target construction parameters that meet the preset construction requirements when the construction data does not meet the preset construction requirements corresponding to the target tunnel includes: When the flow state data of the concrete poured by the tunnel lining trolley does not meet the preset concrete flow state requirements in the preset construction requirements corresponding to the target tunnel, the target pouring parameters that meet the preset concrete flow state requirements are obtained, and the target pouring parameters are determined as the target construction parameters. The step of adjusting the current operating parameters of the tunnel lining trolley to the target construction parameters, so that the construction data of the tunnel lining trolley meets the preset construction requirements, includes: The concrete pouring parameters of the tunnel lining trolley are adjusted to the target pouring parameters so that the flow state data of the concrete poured by the tunnel lining trolley meets the preset concrete flow state requirements.

5. The method according to claim 1, characterized in that, When the construction data includes the density of the concrete poured by the tunnel lining trolley, the step of obtaining target construction parameters that meet the preset construction requirements when the construction data does not meet the preset construction requirements corresponding to the target tunnel includes: When the density of the concrete poured by the tunnel lining trolley does not meet the preset density requirement in the preset construction requirements corresponding to the target tunnel, the target vibration parameters that meet the preset density requirement are obtained, and the target vibration parameters are determined as the target construction parameters. The step of adjusting the current operating parameters of the tunnel lining trolley to the target construction parameters, so that the construction data of the tunnel lining trolley meets the preset construction requirements, includes: The vibration parameters of the concrete vibrator in the tunnel lining trolley are adjusted to the target vibration parameters so that the density of the concrete poured by the tunnel lining trolley meets the preset density requirement.

6. The method according to claim 1, characterized in that, When the construction data includes the deformation magnitude of the concrete pouring formwork of the tunnel lining trolley, the step of obtaining target construction parameters that meet the preset construction requirements when the construction data does not meet the preset construction requirements corresponding to the target tunnel includes: When the deformation of the concrete pouring formwork of the tunnel lining trolley is greater than or equal to the preset deformation threshold in the preset construction requirements corresponding to the target tunnel, it is determined that the deformation of the concrete pouring formwork does not meet the preset construction requirements corresponding to the target tunnel. Based on the preset deformation threshold, the target deformation range of the concrete pouring formwork is determined, and the target deformation range is determined as the target construction parameter. The deformation size in the target deformation range is less than the preset deformation threshold. The step of adjusting the current operating parameters of the tunnel lining trolley to the target construction parameters, so that the construction data of the tunnel lining trolley meets the preset construction requirements, includes: The deformation of the concrete pouring template is adjusted to be within the target deformation range so that the deformation of the concrete pouring template of the tunnel lining trolley is less than the preset deformation threshold.

7. The method according to claim 1, characterized in that, After adjusting the current working parameters of the tunnel lining trolley to the target construction parameters, the method further includes: The construction data of the tunnel lining trolley is sent to a remote server.

8. A control device for a tunnel lining trolley, characterized in that, include: The first acquisition module is used to acquire construction data of the tunnel lining trolley when the tunnel lining trolley is constructing the target tunnel. The construction data includes one or more of the following: the position data of the tunnel lining trolley, the flow state data of the concrete poured by the tunnel lining trolley, the density of the concrete poured by the tunnel lining trolley, and the deformation of the concrete pouring template of the tunnel lining trolley. The second acquisition module is used to acquire target construction parameters that meet the preset construction requirements when the construction data does not meet the preset construction requirements corresponding to the target tunnel. The adjustment module is used to adjust the current working parameters of the tunnel lining trolley to the target construction parameters so that the construction data of the tunnel lining trolley meets the preset construction requirements.

9. A computer device, characterized in that, include: A memory and a processor, wherein the memory stores a computer program that, when executed by the processor, implements the control method for the tunnel lining trolley as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the control method for the tunnel lining trolley as described in any one of claims 1-7.

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