Method and system for implementing an unmanned tunneling face

Abstract

This invention provides a method and system for realizing unmanned tunneling face operations, comprising: dividing the equipment group operating at the tunneling face into N independently operating rigid body groups; installing an inertial navigation system and a laser target on the main rigid body equipment of each rigid body group; designing and installing a measurement and positioning robot; the measurement and positioning robot includes an inertial navigation system and N automatic target-finding total stations; establishing a digital twin platform for the unmanned tunneling face, realizing pose calculation, fault diagnosis, disaster early warning, collaborative control, scene updates, and equipment start-up, shutdown, and maintenance decisions for all equipment at the tunneling face, and providing remote intervention and human-machine interaction interfaces to achieve unmanned operation at the tunneling face. This invention can achieve precise measurement, positioning, and attitude control of all equipment such as excavators, drillers, anchors, supports, transporters, and tunnelers at the tunneling face, realizing unmanned operation with zero accidents and zero faults at the tunneling face, providing technical support for avoiding personal injury and significantly improving tunneling efficiency.

Description

Technical Field

[0001] This invention belongs to the field of intelligent technology for shaft and tunnel excavation engineering, specifically relating to a method and system for realizing unmanned tunneling working faces. Background Technology

[0002] Currently, mine shaft excavation, road tunnel excavation, and water conservancy culvert excavation are all challenging engineering projects. Due to complex geological conditions and potential geological hazards, relying solely on manual labor is not only labor-intensive and inefficient, but also prone to accidents and injuries, making it difficult to guarantee personal safety and health. Therefore, various auxiliary tunneling construction machines have emerged, such as tunnel boring machines (TBMs), continuous mining machines, tunnel boring machines (TBMs), and rock drills.

[0003] Currently, mines commonly use cantilever roadheaders, roadheader-anchors, continuous miners, and their associated bolt trolleys, secondary transport equipment, self-propelled tail sections, ventilation and dust removal equipment, etc. Although some of these devices can achieve automatic control, and the tunneling process (digging, drilling, anchoring, supporting, transporting, and ventilation) has achieved varying degrees of automatic measurement and positioning, for example, patent CN109296370A discloses an automatic mapping and positioning tunneling method and system, patent CN112378399B discloses a precise positioning and orientation method for a coal mine roadway tunneling robot based on strapdown inertial navigation and a digital total station, and patent CN114739394A discloses an automatic navigation and positioning cutting method and system for cantilever roadheaders, these are all only for positioning of the roadheader. However, to date, automatic measurement of underground space and the entire equipment group, precise positioning of all independent rigid equipment, and coordinated and precise control of rigid equipment and its flexible connection equipment have not yet been achieved. Furthermore, the location fusion, real-time modeling, and visualization of the excavated geological space and construction equipment under absolute geographical coordinates have not been realized. Therefore, it is impossible to achieve complete automation and unmanned operation of underground tunneling projects, which seriously restricts the realization of intelligent tunneling projects. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the present invention provides a method and system for realizing unmanned tunneling face, which can effectively solve the above problems.

[0005] The technical solution adopted in this invention is as follows:

[0006] This invention provides a method for implementing an unmanned tunneling face, comprising the following steps:

[0007] Step S1: Based on the tunneling technology adopted and the movement mode, mechanical principle and connection method of the equipment used, the equipment group working at the tunnel face is divided into several independently operating rigid body groups; each rigid body group includes a main rigid body device and several auxiliary devices; wherein, the auxiliary devices and the main rigid body device are rigidly connected or flexibly connected.

[0008] Step S2: Establish a detailed 3D model of each piece of equipment in the equipment group; and establish an accurate 3D model of the designed tunnel and a real-time 3D model of the excavated tunnel; establish a geological model for tunnel excavation;

[0009] Each device is placed in the precise 3D model of the designed tunnel according to its initial spatial position, and associated with the real-time 3D model of the excavated tunnel and the geological model to assemble the initial 3D scene.

[0010] Step S3: For each rigid body group, a stroke sensor is installed on the linear motion device corresponding to the free joint of the equipment in the rigid body group, and a speed sensor or rotation angle encoder sensor is installed on the rotary drive device corresponding to the free joint. All the solenoid valves and frequency converters involved provide stepless speed regulation and a monitoring and communication interface.

[0011] Step S4: Assume the number of rigid body groups is N. Design and install a multi-target automatic walking measurement and positioning robot, referred to as the measurement and positioning robot. The measurement and positioning robot includes an inertial navigation system G1 and N automatic target-finding total stations, as well as an information acquisition and transmission device and a three-dimensional laser scanner. The inertial navigation system G1, the N automatic target-finding total stations, and the three-dimensional laser scanner are all connected to the information acquisition and transmission device.

[0012] Step S5: Install an inertial navigation system and a laser target on the main rigid body device of each rigid body group;

[0013] Within each of the rigid body groups, for auxiliary equipment that is flexibly connected to the main rigid body equipment, a first ranging radar for measuring the distance to the main rigid body equipment and a second ranging radar for measuring the distance to the roadway are installed.

[0014] Step S6: Establish a digital twin platform for the unmanned tunneling face. Based on the initial three-dimensional scene of the tunneling face, as well as the monitoring information from stroke sensors, speed sensors or angle coding sensors, first ranging radar, second ranging radar, the information acquisition and transmission device, and the inertial navigation of each rigid body group, the platform enables pose calculation, fault diagnosis, disaster early warning, collaborative control, scene updates, and equipment start-up, shutdown, and maintenance decisions for all equipment on the tunneling face. It also provides remote intervention and human-machine interaction interfaces to achieve unmanned operation of the tunneling face.

[0015] Furthermore, the equipment group working at the tunnel face includes any combination of tunneling equipment, crushing equipment, anchor bolt support equipment, mesh laying support equipment, self-propelled tail section, and transportation equipment.

[0016] Furthermore, the tunneling process is divided into three types, namely:

[0017] Process A: The tunneling and transportation process is carried out using a cantilever tunneling machine, belt transfer machine, self-propelled tail section, and belt conveyor. The independent operation of the anchor bolt support drilling rig is used for mesh laying, drilling, and anchor support operations.

[0018] Process B: The tunneling and transport support process adopts an integrated tunneling and anchoring machine, a belt transfer machine, a self-propelled tail section, and a belt conveyor.

[0019] Process C: The tunneling and transportation support process adopts a cantilever tunneling machine, belt transfer machine, self-propelled tail section, straddle-mounted anchor drilling rig, and belt conveyor.

[0020] Furthermore, for process A, it is divided into two rigid body groups. The first rigid body group includes a cantilever tunneling machine, a belt transfer machine, a self-propelled tail section, and a belt conveyor. The cantilever tunneling machine is the main rigid body equipment, while the belt transfer machine, the self-propelled tail section, and the belt conveyor are auxiliary equipment. The second rigid body group includes a bolt support drilling rig, which is the main rigid body equipment.

[0021] For process B, it is divided into a rigid body group, including a tunneling and anchoring machine, a belt transfer machine, a self-propelled tail section, and a belt conveyor; wherein, the tunneling and anchoring machine is the main rigid body equipment, and the belt transfer machine, the self-propelled tail section, and the belt conveyor are auxiliary equipment;

[0022] For process C, it is divided into two rigid body groups. The first rigid body group includes a cantilever tunneling machine, a belt transfer machine, a self-propelled tail section, and a belt conveyor. The cantilever tunneling machine is the main rigid body equipment, and the belt transfer machine, the self-propelled tail section, and the belt conveyor are auxiliary equipment. The second rigid body group includes a straddle-mounted bolt drilling rig, which is the main rigid body equipment.

[0023] Furthermore, the measurement and positioning robot includes an automatic walking straddle unit, a measurement and positioning box position adjustment unit, a measurement and positioning box, and an inertial navigation system G1, N automatic target-finding total stations, an information acquisition and transmission device, and a three-dimensional laser scanner installed in the measurement and positioning box.

[0024] The automatic walking straddle unit is used to straddle the outside of the self-propelled machine tail. When the tunneling work within the current length range is carried out, the automatic walking straddle unit is supported and fixed to the roadway ground. When the tunneling work within the current length range is completed, the automatic walking straddle unit leaves the ground and moves by relying on the self-propelled machine tail. When the self-propelled machine tail moves into place, the automatic walking straddle unit moves within a small range to adjust its position.

[0025] The measuring positioning box position adjustment unit is used to adjust the height of the measuring positioning box and its left and right position in the roadway.

[0026] Furthermore, the position adjustment unit of the measuring and positioning box includes a vertical movement controller and a horizontal movement controller; the automatic walking straddle unit includes two vertical telescopic controllers and a support base.

[0027] Two vertical telescopic controllers are symmetrically arranged; the support base is installed at the bottom of each vertical telescopic controller; a horizontal left-right movement controller is installed between the tops of the two vertical telescopic controllers; a vertical vertical movement controller is installed at the top of the telescopic end of the left-right movement controller; and the measuring positioning box is fixedly installed on the top of the vertical movement controller.

[0028] Furthermore, in step S6, unmanned operation at the tunneling face specifically includes:

[0029] Step S6.1: When carrying out tunneling work within the current working length range, the position of the measurement and positioning robot remains stationary, and its geographical coordinates are known; all equipment in each rigid body group cooperates to carry out relevant operations at the tunnel excavation face;

[0030] Step S6.2: When all equipment in each rigid body group i is performing related operations at the tunnel excavation face, i = 1, 2, ..., N, the geographical location of the laser target Bi installed on the main rigid body equipment i of each rigid body group i is obtained based on the measurement information of the measurement and positioning robot, and then the real-time positioning and attitude determination of all equipment in the rigid body group i is performed.

[0031] Step S6.3: Based on the position and attitude of all equipment in each rigid body group i, automatically control all equipment in each rigid body group i to complete the tunneling work within the current working length range;

[0032] Step S6.4: When the tunneling work within the current working length range is completed, select a main rigid body device j from each rigid body group, j = 1, 2, ..., N, keep the geographical location of the main rigid body device j and the laser target Bj installed on it stationary, and make the self-moving tail of any rigid body group i drive the measurement and positioning robot to move forward a certain length, reach the new position, and stop.

[0033] Step S6.5: Determine and update the geographic coordinates of the measurement and positioning robot at the new location based on the geographic coordinates of the laser target Bj, and return to step S6.1. In this way, all equipment in each rigid body group i can carry out unmanned operation at the tunneling face.

[0034] Furthermore, step S6.2 specifically includes:

[0035] Step S6.2.1: Based on the measurement information from the measurement and positioning robot, obtain the geographical location of the laser target Bi installed on the main rigid body device i of each rigid body group i;

[0036] ① The measurement and positioning robot is equipped with an inertial navigation system G1 and an automatic target-finding total station Qi; establish the inertial navigation system G1 coordinate system (Gx1, Gy1, Gz1); mark a base point D on the measurement and positioning box. The coordinates of the base point D in the inertial navigation system G1 coordinate system are (X, Y, Z). The geographical coordinates of the base point D are known and are (Dx, Dy, Dz).

[0037] The coordinates of the base point Di of the automatic target-finding total station Qi in the inertial navigation G1 coordinate system are (Dix, Diy, Diz), and the azimuth angle of the automatic target-finding total station Qi relative to the inertial navigation G1 is ψi.

[0038] ② The attitude of the positioning box itself is measured by the inertial navigation system G1, including: heading angle φ, roll angle γ, and pitch angle θ. The three coordinate axes of the inertial navigation system G1 coordinate system (Gx1, Gy1, Gz1) in the geographic coordinate system are calculated as follows: Px = (Pxx, Pxy, Pxz), Py = (Pyx, Pyy, Pyz) and Pz = (Pzx, Pzy, Pzz); Pxx, Pxy, Pxz are the x, y, and z components of the Px axis in the geographic coordinate system, respectively; Pyx, Pyy, Pyz are the x, y, and z components of the Py axis in the geographic coordinate system, respectively; Pzx, Pzy, Pzz are the x, y, and z components of the Pz axis in the geographic coordinate system, respectively.

[0039] ③The slope distance di, tilt angle qi, and horizontal angle fi of the laser target Bi relative to the automatic target-finding total station Qi are measured using the automatic target-finding total station Qi.

[0040] The geographic coordinates (Bix,Biy,Biz) of the laser target Bi are calculated using (Dx,Dy,Dz), (Dix,Diy,Diz), ψi, Px, Py, and Pz, thereby enabling the positioning of the laser target Bi, which in turn enables the positioning of the main rigid body device i of the rigid body group i.

[0041] Step S6.2.2: The main rigid body device i of the rigid body group i is equipped with an inertial navigation system G(i+1) to measure the body coordinate system of the main rigid body device i in real time, thereby achieving the attitude determination of the main rigid body device i.

[0042] Step S6.2.3: Measure the pose of each robotic arm and manipulator component on the main rigid body device i:

[0043] By utilizing the relative relationships between the key points of each rigid body on the main rigid body device i and the geographic coordinates (Bix, Biy, Biz) of the laser target Bi, and based on the geographic coordinates (Bix, Biy, Biz) of the laser target Bi on the main rigid body device i and the body coordinate system, the geographic coordinates of each key point of the main rigid body device i are calculated. Then, based on the measurement values ​​of the stroke sensors corresponding to the free joints of the main rigid body device i and the rotary encoders of each joint, the geographic coordinates and attitude of any robotic arm and manipulator node of the rigid body group i are calculated.

[0044] Step S6.2.4, positioning of the pose and tunnel profile of the auxiliary equipment flexibly connected to the main rigid body equipment i:

[0045] Using the pose of the main rigid body device i, as well as the ranging, positioning and boundary calculation of the laser ranging radar, the pose of the auxiliary equipment flexibly connected to the main rigid body device i and the positioning of the tunnel contour are obtained.

[0046] This allows the measurement and positioning robot to remain stationary while the equipment in each rigid body group is positioned and oriented during operation.

[0047] Furthermore, step S6.3 specifically includes:

[0048] Given the position and attitude of the main rigid body equipment in each rigid body group, the optimal motion path with the minimum cumulative movement length and rotation angle is calculated based on the main rigid body equipment's walking mode, current position and attitude, and shortest distances from the main rigid body equipment to surrounding equipment and roadways. The movement and rotation of the main rigid body equipment are controlled according to this optimized motion path so that it can quickly reach the target position and attitude.

[0049] During the control of the main rigid body equipment's movement, the subsequent movement process is corrected at any time based on the monitored position and attitude of the main rigid body equipment, so as to ensure that it can be quickly adjusted to the target position and attitude without causing a collision.

[0050] During the control of the main rigid body equipment's movement, the spatial outline of the excavated roadway, the floating coal pile, and the surrounding equipment are identified by a 3D laser scanner or smart camera installed in the measurement positioning box, and the real-time 3D model of the excavated roadway is dynamically updated. Based on the real-time 3D model of the excavated roadway and the precise 3D model of the designed roadway, the tunneling work is dynamically simulated, and the tunneling face is automatically monitored and visualized in real time.

[0051] The present invention also provides a system for implementing the aforementioned method of unmanned tunneling face, comprising:

[0052] The rigid body group division module is used to divide the equipment group working at the tunnel face into several independently operating rigid body groups according to the tunneling technology adopted and the movement mode, mechanical principle and connection method of the equipment used; each rigid body group includes a main rigid body equipment and several auxiliary equipment; wherein, the auxiliary equipment and the main rigid body equipment are rigidly connected or flexibly connected.

[0053] The modeling module is used to create a detailed 3D model of each piece of equipment in the equipment group; and to create an accurate 3D model of the designed tunnel and a real-time 3D model of the excavated tunnel; and to create a geological model of the tunnel excavation.

[0054] Each device is placed in the precise 3D model of the designed tunnel according to its initial spatial position, and associated with the real-time 3D model of the excavated tunnel and the geological model to assemble the initial 3D scene.

[0055] The rigid body group supplementary module is used to install a stroke sensor on the linear motion device corresponding to the free joint of the equipment in each rigid body group, and to add a speed sensor or rotation angle encoder sensor to the rotary drive device corresponding to the free joint. All the solenoid valves and frequency converters involved are provided with stepless speed regulation and a monitoring and communication interface.

[0056] A measurement and positioning robot, with N rigid body groups, is designed and installed as a multi-target automatic walking measurement and positioning robot, referred to as a measurement and positioning robot. The measurement and positioning robot includes an inertial navigation system G1 and N automatic target-finding total stations, as well as an information acquisition and transmission device and a three-dimensional laser scanner. The inertial navigation system G1, the N automatic target-finding total stations, and the three-dimensional laser scanner are all connected to the information acquisition and transmission device.

[0057] A measurement sensor mounting module is used to mount an inertial navigation system and a laser target on the main rigid body device of each of the rigid body groups;

[0058] Within each of the rigid body groups, for auxiliary equipment that is flexibly connected to the main rigid body equipment, a first ranging radar for measuring the distance to the main rigid body equipment and a second ranging radar for measuring the distance to the roadway are installed.

[0059] The unmanned tunneling face digital twin platform establishment module is used to establish an unmanned tunneling face digital twin platform. Based on the initial three-dimensional scene of the tunneling face, as well as the monitoring information from stroke sensors, speed sensors or angle coding sensors, first ranging radar, second ranging radar, the information acquisition and transmission device, and the inertial navigation of each rigid body group, it realizes the pose calculation, fault diagnosis, disaster early warning, collaborative control, scene update, and equipment start-up, shutdown, and maintenance decisions of all equipment on the tunneling face. It also provides remote intervention and human-machine interaction interfaces to achieve unmanned operation of the tunneling face.

[0060] The method and system for implementing unmanned tunneling face provided by this invention have the following advantages:

[0061] This invention proposes a method and system for realizing unmanned tunneling faces. It can achieve precise measurement, positioning, and attitude control of all equipment such as excavation, drilling, anchoring, support, transportation, and ventilation in the tunneling face. By combining the precise three-dimensional model of the designed roadway and the real-time three-dimensional model of the excavated roadway, and through three-dimensional collision detection and intelligent identification of material piles and materials containing large pieces, combined with environmental disaster early warning and equipment failure prediction, a digital twin platform for unmanned tunneling faces is built. This enables unmanned operation of the tunneling face with zero accidents and zero failures, providing technical support for avoiding personal injury and significantly improving tunneling efficiency. Attached Figure Description

[0062] Figure 1 A flowchart illustrating a method for implementing an unmanned tunneling face provided by the present invention;

[0063] Figure 2 A schematic diagram illustrating a method for implementing an unmanned tunneling face, provided by process A of the present invention;

[0064] Figure 3 A schematic diagram illustrating a method for implementing an unmanned tunneling face, provided by process B of the present invention;

[0065] Figure 4 Another schematic diagram of a method for implementing an unmanned tunneling face provided by process B of the present invention;

[0066] Figure 5 This is a schematic diagram illustrating a method for implementing an unmanned tunneling face, which is provided by process C of the present invention.

[0067] Among them: 1-Cantilever tunneling machine; 2-Belt transfer machine; 3-Self-propelled tail section; 4-Belt conveyor; 5-Surveying and positioning robot; 6-Anchor bolt support drilling rig; 7-Distance measuring radar; 8.1-First AI camera; 8.2-Second AI camera; 9-Integrated tunneling and anchoring machine; 10-Anchor support and netting laying equipment; 11-Straddle anchor bolt drilling rig;

[0068] 5.1 - Measuring and positioning box; 5.2 - Up and down telescopic controller; 5.3 - Support base; 5.4 - Up and down movement controller; 5.5 - Left and right movement controller;

[0069] B1 - First laser target; B2 - Second laser target; G2 - Inertial navigation. Detailed Implementation

[0070] To make the technical problems solved, the technical solutions, and the beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the invention.

[0071] This invention proposes a method and system for realizing unmanned tunneling face. It establishes detailed 3D models of all equipment and components used in the tunneling operation, configures collaborative control scripts based on the mechanical principles, movement methods, and driving mechanisms of the equipment and components, and sets up a multi-target measurement and positioning robot or a self-moving measurement and positioning box and laser targets to accurately measure, position, and control the pose of the independently operating main rigid body equipment. The pose of each robotic arm, manipulator, and other component on the main rigid body equipment is precisely controlled using degrees of freedom, monitoring information of the driving components, and constraint solving software. Other auxiliary components flexibly connected to the main rigid body equipment are also precisely controlled. The auxiliary equipment and tunnel outline are measured, positioned, and boundary calculated using laser ranging radar, and their position is controlled by a traction device. This enables precise measurement, positioning, and attitude control of all equipment such as excavation, drilling, anchoring, support, transportation, and ventilation in the tunneling face. Combined with the precise 3D model of the designed tunnel and the real-time 3D model of the excavated tunnel, and through 3D collision detection and intelligent identification of material piles and large materials, along with environmental disaster early warning and equipment failure prediction, a digital twin platform for unmanned tunneling faces is built. This achieves unmanned operation of the tunneling face with zero accidents and zero failures, providing technical support for avoiding personal injury and significantly improving tunneling efficiency.

[0072] This invention provides a method for implementing an unmanned tunneling face, comprising the following steps:

[0073] Step 1: Based on the slope, cross-sectional shape, cross-sectional area, and surrounding rock mechanical properties of the roadway or tunnel, the production process of the tunneling face is divided into the following three types:

[0074] 1) Process A: For the tunneling and transportation process of cantilever tunneling machine + crusher (belt transfer conveyor) + self-propelled tail section (tracked or stepping type) + belt conveyor, an independently operating anchor bolt support drilling rig is used for mesh laying, drilling, and anchor support operations; the system structure of Process A is as follows: Figure 2 As shown.

[0075] 2) Process B: A tunneling and anchoring integrated machine + crusher (belt transfer conveyor) + self-propelled tail section (tracked or stepping type) + belt conveyor tunneling and transportation support process; When implementing the system structure of Process B, the following can be adopted: Figure 3 The structure shown or as Figure 4 The structure shown.

[0076] 3) Process C: A tunneling and transportation support process consisting of a cantilever tunneling machine (with optional temporary support) + a crusher (belt transfer conveyor) + a self-propelled tail section (tracked or stepping type) + a straddle-mounted bolt drill rig + a belt conveyor. The system structure of Process C is as follows: Figure 5 As shown.

[0077] Regardless of whether it's process A, process B, or process C, the equipment group working at the tunnel face is divided into several rigid body groups based on the motion mode, mechanical principle, and connection method of the equipment used. Each rigid body group includes a main rigid body device used to fix a laser target. Through cooperation with a measurement and positioning robot, automatic measurement, positioning, and location control are achieved. Other equipment in the group is called auxiliary equipment. The auxiliary equipment and the main rigid body device can be rigidly connected or flexibly connected. If it's a flexibly connected connection, a laser ranging radar needs to be installed between the auxiliary equipment and the main rigid body device, and also between the auxiliary equipment and the tunnel. The pose of the auxiliary equipment can be calculated from the location of the main rigid body device and the tunnel. If it's a rigid connection, for example, the pose of each robotic arm, manipulator, and other component on the main rigid body device is precisely controlled using the degrees of freedom, monitoring information of the drive components, and constraint solving software.

[0078] For the tunneling and haulage support process of process B, which consists of a tunneling and anchoring integrated machine + crusher (belt transfer conveyor) + self-propelled tail section (tracked or stepping type) + belt conveyor, a measurement and positioning box (self-propelled tail section) with one inertial navigation system and one total station is used to accurately measure and position each main rigid body equipment in the tunneling face equipment group.

[0079] For the tunneling and transportation support process of process C, which consists of a cantilever tunneling machine (temporary support) + straddle anchor drilling rig (anchor bolt delayed support) (with a belt conveyor) + self-moving tail section (tracked or stepping type) + belt conveyor, a measurement and positioning box with one inertial navigation system and two total stations (which can move with the straddle anchor drilling rig and then stop between the anchor drilling rig and the cantilever tunneling machine to achieve dual positioning of the anchor drilling rig and the cantilever tunneling machine) is used to achieve accurate measurement and positioning of each main rigid body equipment in the equipment group at the tunneling face.

[0080] Step 2 provides a detailed modeling module for all equipment and components at the tunneling face, used for detailed 3D modeling and pose visualization of equipment and components; a detailed modeling module for roadways, used for detailed modeling of designed roadways and dynamic modeling of excavated roadways; a geological modeling and geological model correction module, used for simulating excavation changes of the geological model during tunneling; before roadway excavation, a geological model needs to be established according to the selected tunneling process A, B, or C and the equipment model and specifications, and a precise 3D model of the roadway needs to be designed. These models are then assembled into an initial 3D scene according to their spatial positions for automatic monitoring and real-time visualization of the tunneling face.

[0081] Step 3: Install stroke sensors on the linear motion devices corresponding to the free joints of the excavation, drilling, anchoring, supporting, breaking, rotating, transporting and ventilation equipment involved in the tunneling face; install speed sensors or angle coding sensors on the rotary drive devices corresponding to the free joints; and provide stepless speed regulation and monitoring communication interfaces for all involved solenoid valves and frequency converters.

[0082] Step 4: Assuming there are N rigid body groups at the tunneling face, design and install a multi-target automatic walking measurement and positioning robot, or measurement and positioning robot for short. The measurement and positioning robot has a follow-up fixed measurement and positioning box.

[0083] The measurement and positioning robot of this invention has the following features: the measurement and positioning box itself is equipped with an inertial navigation device (INS) for measuring the attitude of the box itself; it is equipped with N automatic target-finding total stations (total stations) for tracking and locating the laser targets of the main rigid body equipment in their respective rigid body groups; it can be equipped with a 3D laser scanner or intelligent camera for identifying the spatial outline of the excavated roadway, the floating coal pile, and the surrounding equipment; the measurement and positioning robot is also equipped with an information acquisition and transmission device for collecting and transmitting information from the INS, total station, 3D laser scanner, and intelligent camera to a remote control device.

[0084] Step 5: In each rigid body group, an inertial navigation system is installed on the main rigid body device to calculate the body coordinate system of the main rigid body device. The geographical coordinates of each key point of the main rigid body device can be calculated from the geographical coordinates of the laser target of the main rigid body device and the body coordinate system. Then, based on the monitoring records of the stroke sensors and rotary encoders corresponding to the free joints of the main rigid body device, the position and attitude of each node such as the robotic arm and robotic hand can be calculated. The position and attitude of the auxiliary equipment that is flexibly connected to the main rigid body device in the rigid body group can be calculated using the monitoring data of the laser ranging radar and the geographical location of the main rigid body device.

[0085] Step 6: For the given position and attitude of the main rigid body equipment in each rigid body group, calculate the optimal motion path with the minimum cumulative movement length and rotation angle based on the main rigid body equipment's walking mode (mainly considering tracked, four-wheeled, and stepping types), the main rigid body equipment's current position and attitude, and the shortest distances from the main rigid body equipment to surrounding equipment and roadways. Control the movement and rotation of the main rigid body equipment according to this optimized motion path to enable it to quickly reach the target position and attitude.

[0086] During the control of the main rigid body equipment's movement, subsequent movements can be corrected at any time based on the monitored position and attitude of the main rigid body equipment, so as to ensure that the target position and attitude can be quickly adjusted without causing a collision.

[0087] Step 7: Establish a digital twin platform for the unmanned tunneling face. Based on the initial 3D model of the tunneling face, sensor information, and control protocols, realize the pose calculation, fault diagnosis, disaster early warning, collaborative control, scene update, and equipment start-up, shutdown, and maintenance decisions for all equipment on the tunneling face. It also provides remote intervention and human-machine interaction interfaces to achieve unmanned operation of the tunneling face.

[0088] Specifically, the present invention provides a method for implementing an unmanned tunneling face, comprising the following steps:

[0089] Step S1: Based on the tunneling technology adopted and the movement mode, mechanical principle and connection method of the equipment used, the equipment group working at the tunnel face is divided into several independently operating rigid body groups; each rigid body group includes a main rigid body device and several auxiliary devices; wherein, the auxiliary devices and the main rigid body device are rigidly connected or flexibly connected.

[0090] In this invention, the equipment group working at the tunnel face includes, but is not limited to, any combination of tunneling equipment, crushing equipment, anchor bolt support equipment, mesh laying support equipment, self-propelled tail section, and transportation equipment.

[0091] For example, the tunneling process can be divided into three types, namely:

[0092] Process A: The tunneling and transportation process is carried out using a cantilever tunneling machine, belt transfer machine, self-propelled tail section, and belt conveyor. The independent operation of the anchor bolt support drilling rig is used for mesh laying, drilling, and anchor support operations.

[0093] Process B: The tunneling and transport support process adopts an integrated tunneling and anchoring machine, a belt transfer machine, a self-propelled tail section, and a belt conveyor.

[0094] Process C: The tunneling and transportation support process adopts a cantilever tunneling machine, belt transfer machine, self-propelled tail section, straddle-mounted anchor drilling rig, and belt conveyor.

[0095] Furthermore, for process A, it is divided into two rigid body groups. The first rigid body group includes a cantilever tunneling machine, a belt transfer machine, a self-propelled tail section, and a belt conveyor. The cantilever tunneling machine is the main rigid body equipment, while the belt transfer machine, the self-propelled tail section, and the belt conveyor are auxiliary equipment. The second rigid body group includes a bolt support drilling rig, which is the main rigid body equipment.

[0096] For process B, it is divided into a rigid body group, including a tunneling and anchoring machine, a belt transfer machine, a self-propelled tail section, and a belt conveyor; wherein, the tunneling and anchoring machine is the main rigid body equipment, and the belt transfer machine, the self-propelled tail section, and the belt conveyor are auxiliary equipment;

[0097] For process C, it is divided into two rigid body groups. The first rigid body group includes a cantilever tunneling machine, a belt transfer machine, a self-propelled tail section, and a belt conveyor. The cantilever tunneling machine is the main rigid body equipment, and the belt transfer machine, the self-propelled tail section, and the belt conveyor are auxiliary equipment. The second rigid body group includes a straddle-mounted bolt drilling rig, which is the main rigid body equipment.

[0098] Step S2: Establish a detailed 3D model of each piece of equipment in the equipment group; and establish an accurate 3D model of the designed tunnel and a real-time 3D model of the excavated tunnel; establish a geological model for tunnel excavation;

[0099] Each device is placed in the precise 3D model of the designed tunnel according to its initial spatial position, and associated with the real-time 3D model of the excavated tunnel and the geological model to assemble the initial 3D scene.

[0100] Step S3: For each rigid body group, a stroke sensor is installed on the linear motion device corresponding to the free joint of the equipment in the rigid body group, and a speed sensor or rotation angle encoder sensor is installed on the rotary drive device corresponding to the free joint. All the solenoid valves and frequency converters involved provide stepless speed regulation and a monitoring and communication interface.

[0101] Step S4: Assume the number of rigid body groups is N. Design and install a multi-target automatic walking measurement and positioning robot, referred to as the measurement and positioning robot. The measurement and positioning robot includes an inertial navigation system G1 and N automatic target-finding total stations, as well as an information acquisition and transmission device and a three-dimensional laser scanner. The inertial navigation system G1, the N automatic target-finding total stations, and the three-dimensional laser scanner are all connected to the information acquisition and transmission device.

[0102] As one implementation, the measurement and positioning robot includes an automatic walking straddle unit, a measurement and positioning box position adjustment unit, a measurement and positioning box, and an inertial navigation system G1, N automatic target-finding total stations, an information acquisition and transmission device, and a three-dimensional laser scanner installed in the measurement and positioning box;

[0103] The automatic walking straddle unit is used to straddle the outside of the self-propelled machine tail. When the tunneling work within the current length range is carried out, the automatic walking straddle unit is supported and fixed to the roadway ground. When the tunneling work within the current length range is completed, the automatic walking straddle unit leaves the ground and moves by relying on the self-propelled machine tail. When the self-propelled machine tail moves into place, the automatic walking straddle unit moves within a small range to adjust its position.

[0104] The measuring positioning box position adjustment unit is used to adjust the height of the measuring positioning box and its left and right position in the roadway.

[0105] Furthermore, the position adjustment unit of the measuring and positioning box includes a vertical movement controller and a horizontal movement controller; the automatic walking straddle unit includes two vertical telescopic controllers and a support base.

[0106] Two vertical telescopic controllers are symmetrically arranged; the support base is installed at the bottom of each vertical telescopic controller; a horizontal left-right movement controller is installed between the tops of the two vertical telescopic controllers; a vertical vertical movement controller is installed at the top of the telescopic end of the left-right movement controller; and the measuring positioning box is fixedly installed on the top of the vertical movement controller.

[0107] Step S5: Install an inertial navigation system and a laser target on the main rigid body device of each rigid body group;

[0108] Within each of the rigid body groups, for auxiliary equipment that is flexibly connected to the main rigid body equipment, a first ranging radar for measuring the distance to the main rigid body equipment and a second ranging radar for measuring the distance to the roadway are installed.

[0109] Step S6: Establish a digital twin platform for the unmanned tunneling face. Based on the initial three-dimensional scene of the tunneling face, as well as the monitoring information from stroke sensors, speed sensors or angle coding sensors, first ranging radar, second ranging radar, the information acquisition and transmission device, and the inertial navigation of each rigid body group, the platform enables pose calculation, fault diagnosis, disaster early warning, collaborative control, scene updates, and equipment start-up, shutdown, and maintenance decisions for all equipment on the tunneling face. It also provides remote intervention and human-machine interaction interfaces to achieve unmanned operation of the tunneling face.

[0110] This step specifically includes:

[0111] Step S6.1: When carrying out tunneling work within the current working length range, the position of the measurement and positioning robot remains stationary, and its geographical coordinates are known; all equipment in each rigid body group cooperates to carry out relevant operations at the tunnel excavation face;

[0112] Step S6.2: When all equipment in each rigid body group i is performing related operations at the tunnel excavation face, i = 1, 2, ..., N, the geographical location of the laser target Bi installed on the main rigid body equipment i of each rigid body group i is obtained based on the measurement information of the measurement and positioning robot, and then the real-time positioning and attitude determination of all equipment in the rigid body group i is performed.

[0113] Step S6.2 specifically includes:

[0114] Step S6.2.1: Based on the measurement information from the measurement and positioning robot, obtain the geographical location of the laser target Bi installed on the main rigid body device i of each rigid body group i;

[0115] ① The measurement and positioning robot is equipped with an inertial navigation system G1 and an automatic target-finding total station Qi; establish the inertial navigation system G1 coordinate system (Gx1, Gy1, Gz1); mark a base point D on the measurement and positioning box. The coordinates of the base point D in the inertial navigation system G1 coordinate system are (X, Y, Z). The geographical coordinates of the base point D are known and are (Dx, Dy, Dz).

[0116] The coordinates of the base point Di of the automatic target-finding total station Qi in the inertial navigation G1 coordinate system are (Dix, Diy, Diz), and the azimuth angle of the automatic target-finding total station Qi relative to the inertial navigation G1 is ψi.

[0117] ② The attitude of the positioning box itself is measured by the inertial navigation system G1, including: heading angle φ, roll angle γ, and pitch angle θ. The three coordinate axes of the inertial navigation system G1 coordinate system (Gx1, Gy1, Gz1) in the geographic coordinate system are calculated as follows: Px = (Pxx, Pxy, Pxz), Py = (Pyx, Pyy, Pyz) and Pz = (Pzx, Pzy, Pzz); Pxx, Pxy, Pxz are the x, y, and z components of the Px axis in the geographic coordinate system, respectively; Pyx, Pyy, Pyz are the x, y, and z components of the Py axis in the geographic coordinate system, respectively; Pzx, Pzy, Pzz are the x, y, and z components of the Pz axis in the geographic coordinate system, respectively.

[0118] ③The slope distance di, tilt angle qi, and horizontal angle fi of the laser target Bi relative to the automatic target-finding total station Qi are measured using the automatic target-finding total station Qi.

[0119] The geographic coordinates (Bix,Biy,Biz) of the laser target Bi are calculated using (Dx,Dy,Dz), (Dix,Diy,Diz), ψi, Px, Py, and Pz, thereby enabling the positioning of the laser target Bi, which in turn enables the positioning of the main rigid body device i of the rigid body group i.

[0120] Step S6.2.2: The main rigid body device i of the rigid body group i is equipped with an inertial navigation system G(i+1) to measure the body coordinate system of the main rigid body device i in real time, thereby achieving the attitude determination of the main rigid body device i.

[0121] Step S6.2.3: Measure the pose of each robotic arm and manipulator component on the main rigid body device i:

[0122] By utilizing the relative relationships between the key points of each rigid body on the main rigid body device i and the geographic coordinates (Bix, Biy, Biz) of the laser target Bi, and based on the geographic coordinates (Bix, Biy, Biz) of the laser target Bi on the main rigid body device i and the body coordinate system, the geographic coordinates of each key point of the main rigid body device i are calculated. Then, based on the measurement values ​​of the stroke sensors corresponding to the free joints of the main rigid body device i and the rotary encoders of each joint, the geographic coordinates and attitude of any robotic arm and manipulator node of the rigid body group i are calculated.

[0123] Step S6.2.4, positioning of the pose and tunnel profile of the auxiliary equipment flexibly connected to the main rigid body equipment i:

[0124] Using the pose of the main rigid body device i, as well as the ranging, positioning and boundary calculation of the laser ranging radar, the pose of the auxiliary equipment flexibly connected to the main rigid body device i and the positioning of the tunnel contour are obtained.

[0125] This allows the measurement and positioning robot to remain stationary while the equipment in each rigid body group is positioned and oriented during operation.

[0126] Step S6.3: Based on the position and attitude of all equipment in each rigid body group i, automatically control all equipment in each rigid body group i to complete the tunneling work within the current working length range;

[0127] Step S6.3 specifically includes:

[0128] Given the position and attitude of the main rigid body equipment in each rigid body group, the optimal motion path with the minimum cumulative movement length and rotation angle is calculated based on the main rigid body equipment's walking mode, current position and attitude, and shortest distances from the main rigid body equipment to surrounding equipment and roadways. The movement and rotation of the main rigid body equipment are controlled according to this optimized motion path so that it can quickly reach the target position and attitude.

[0129] During the control of the main rigid body equipment's movement, the subsequent movement process is corrected at any time based on the monitored position and attitude of the main rigid body equipment, so as to ensure that it can be quickly adjusted to the target position and attitude without causing a collision.

[0130] During the control of the main rigid body equipment's movement, the spatial outline of the excavated roadway, the floating coal pile, and the surrounding equipment are identified by a 3D laser scanner or smart camera installed in the measurement positioning box, and the real-time 3D model of the excavated roadway is dynamically updated. Based on the real-time 3D model of the excavated roadway and the precise 3D model of the designed roadway, the tunneling work is dynamically simulated, and the tunneling face is automatically monitored and visualized in real time.

[0131] Step S6.4: When the tunneling work within the current working length range is completed, select a main rigid body device j from each rigid body group, j = 1, 2, ..., N, keep the geographical location of the main rigid body device j and the laser target Bj installed on it stationary, and make the self-moving tail of any rigid body group i drive the measurement and positioning robot to move forward a certain length, reach the new position, and stop.

[0132] Step S6.5: Determine and update the geographic coordinates of the measurement and positioning robot at the new location based on the geographic coordinates of the laser target Bj, and return to step S6.1. In this way, all equipment in each rigid body group i can carry out unmanned operation at the tunneling face.

[0133] The present invention also provides a system for implementing an unmanned tunneling face, comprising:

[0134] The rigid body group division module is used to divide the equipment group working at the tunnel face into several independently operating rigid body groups according to the tunneling technology adopted and the movement mode, mechanical principle and connection method of the equipment used; each rigid body group includes a main rigid body equipment and several auxiliary equipment; wherein, the auxiliary equipment and the main rigid body equipment are rigidly connected or flexibly connected.

[0135] The modeling module is used to create a detailed 3D model of each piece of equipment in the equipment group; and to create an accurate 3D model of the designed tunnel and a real-time 3D model of the excavated tunnel; and to create a geological model of the tunnel excavation.

[0136] Each device is placed in the precise 3D model of the designed tunnel according to its initial spatial position, and associated with the real-time 3D model of the excavated tunnel and the geological model to assemble the initial 3D scene.

[0137] The rigid body group supplementary module is used to install a stroke sensor on the linear motion device corresponding to the free joint of the equipment in each rigid body group, and to add a speed sensor or rotation angle encoder sensor to the rotary drive device corresponding to the free joint. All the solenoid valves and frequency converters involved are provided with stepless speed regulation and a monitoring and communication interface.

[0138] A measurement and positioning robot, with N rigid body groups, is designed and installed as a multi-target automatic walking measurement and positioning robot, referred to as a measurement and positioning robot. The measurement and positioning robot includes an inertial navigation system G1 and N automatic target-finding total stations, as well as an information acquisition and transmission device and a three-dimensional laser scanner. The inertial navigation system G1, the N automatic target-finding total stations, and the three-dimensional laser scanner are all connected to the information acquisition and transmission device.

[0139] A measurement sensor mounting module is used to mount an inertial navigation system and a laser target on the main rigid body device of each of the rigid body groups;

[0140] Within each of the rigid body groups, for auxiliary equipment that is flexibly connected to the main rigid body equipment, a first ranging radar for measuring the distance to the main rigid body equipment and a second ranging radar for measuring the distance to the roadway are installed.

[0141] The unmanned tunneling face digital twin platform establishment module is used to establish an unmanned tunneling face digital twin platform. Based on the initial three-dimensional scene of the tunneling face, as well as the monitoring information from stroke sensors, speed sensors or angle coding sensors, first ranging radar, second ranging radar, the information acquisition and transmission device, and the inertial navigation of each rigid body group, it realizes the pose calculation, fault diagnosis, disaster early warning, collaborative control, scene update, and equipment start-up, shutdown, and maintenance decisions of all equipment on the tunneling face. It also provides remote intervention and human-machine interaction interfaces to achieve unmanned operation of the tunneling face.

[0142] The following is an example using process A:

[0143] 1) For process A, all tunneling equipment is divided into two rigid body groups. The first rigid body group consists of a cantilever tunneling machine, a belt transfer machine, a self-propelled tail section, a belt conveyor, and ventilation equipment. Among them, the belt transfer machine is a crusher; the self-propelled tail section adopts a crawler or a stepping type. The second rigid body group consists of a rock bolt support drilling rig and its auxiliary bases for laying nets, drilling, changing rods, and anchoring, as well as a robotic arm and a robotic hand.

[0144] In the first rigid body group, the cantilever tunneling machine is the main rigid body equipment; in the second rigid body group, the anchor bolt support drilling rig is the main rigid body equipment. The two main rigid body equipment move independently. Therefore, it is necessary to measure the position and attitude of the two main rigid body equipment separately in order to realize the automatic control of each main rigid body equipment.

[0145] 2) A measurement and positioning robot is set up in the tunnel face, including a measurement and positioning box. The measurement and positioning box is equipped with an inertial navigation system G1, two automatic target-finding total stations Q1 and Q2, and an information acquisition and transmission device. If it is necessary to scan the spatial contour, a scanner S1 can be installed. G1, Q1, Q2 and S1 are all rigidly fixed to the box body of the measurement and positioning box.

[0146] 3) The measurement and positioning robot is straddled on the tail of the self-propelled machine. When the tail of the self-propelled machine moves over a large area (10m), the measurement and positioning robot moves forward synchronously. Therefore, the measurement and positioning robot does not generate much power. Moreover, the straddle installation method does not occupy valuable roadway space. When the tail of the self-propelled machine stops moving, the measurement and positioning robot is fixed to the bottom plate, top plate or side of the roadway to keep the position of the measurement and positioning box unchanged.

[0147] The self-moving tail has good shock resistance. When the self-moving tail moves over a large range, the relative position of the measuring and positioning robot and the self-moving tail is fixed, thus enabling the self-moving tail to be positioned.

[0148] 4) A first laser target B1 is installed on the cantilever tunneling machine, and a second laser target B2 is installed on the anchor bolt support drilling rig; the first laser target B1 corresponds to the automatic target-finding total station Q1; the second laser target B2 corresponds to the automatic target-finding total station Q2.

[0149] A laser ranging radar, J1 and J2, is installed on each side of the tail of the cantilever tunneling machine; laser ranging sensors Z1 and Z2 are installed on each side of the tail of the belt conveyor; laser ranging sensors QL1 and QL2 are installed on the left and right sides of the front of the self-propelled machine tail; laser ranging sensors H1 and H2 are installed on the left and right sides of the rear of the self-propelled machine tail; and laser ranging sensors W1 and W2 are installed on each side of the tail of the self-propelled machine.

[0150] 5) During tunneling operations within the current working length range, the measurement and positioning robot remains stationary, locating and attitude-determining all equipment in the two rigid body groups, thereby enabling automatic control of all equipment in the two rigid body groups:

[0151] 5.1) Establish an inertial navigation G1 coordinate system (Gx1, Gy1, Gz1), and let the coordinates of its origin O in the inertial navigation G1 coordinate system be (0, 0, 0); mark a base point D on the measurement positioning box, and let the coordinates of the base point D in the inertial navigation G1 coordinate system be (X, Y, Z), and the absolute geographic coordinates of the base point D be (Dx, Dy, Dz).

[0152] The coordinates of the base point D1 of the automatic target-finding total station Q1 in the inertial navigation G1 coordinate system are (D1x, D1y, D1z), and the azimuth angle of the automatic target-finding total station Q1 relative to the inertial navigation G1 is ψ1.

[0153] The coordinates of the base point D2 of the automatic target-finding total station Q2 in the inertial navigation G1 coordinate system are (D2x, D2y, D2z), and the azimuth angle of the automatic target-finding total station Q2 relative to the inertial navigation G1 is ψ2.

[0154] 5.2) The attitude of the positioning box itself is measured by the inertial navigation system G1, including: heading angle φ, roll angle γ, and pitch angle θ. The three coordinate axes corresponding to the inertial navigation system G1 coordinate system (Gx1, Gy1, Gz1) in the geographic coordinate system are calculated as follows: Px = (Pxx, Pxy, Pxz), Py = (Pyx, Pyy, Pyz) and Pz = (Pzx, Pzy, Pzz); Pxx, Pxy, Pxz are the x, y, and z components of the Px axis in the geographic coordinate system, respectively; Pyx, Pyy, Pyz are the x, y, and z components of the Py axis in the geographic coordinate system, respectively; Pzx, Pzy, Pzz are the x, y, and z components of the Pz axis in the geographic coordinate system, respectively.

[0155] 5.3) The slope distance d1, tilt angle q1, and horizontal angle f1 of the first laser target B1 relative to the automatic target-finding total station Q1 are measured using the automatic target-finding total station Q1.

[0156] Then, using (Dx,Dy,Dz), (D1x,D1y,D1z), ψ1, Px, Py, Pz, the geographic coordinates (B1x,B1y,B1z) of the first laser target B1 are calculated.

[0157] 5.4) The slope distance d2, tilt angle q2, and horizontal angle f2 of the second laser target B2 relative to the automatic target-finding total station Q2 are measured using the automatic target-finding total station Q2.

[0158] Then, using (Dx,Dy,Dz), (D2x,D2y,D2z), ψ2, Px, Py, Pz, the geographic coordinates (B2x,B2y,B2z) of the second laser target B2 are calculated.

[0159] 5.4) After obtaining the geographic coordinates (B1x, B1y, B1z) of the first laser target B1 and the geographic coordinates (B2x, B2y, B2z) of the second laser target B2, the positioning of the first laser target B1 and the positioning of the second laser target B2 are realized, thereby realizing the positioning of the main rigid body equipment of the first rigid body group and the main rigid body equipment of the second rigid body group.

[0160] The main rigid body equipment of the first rigid body group is equipped with inertial navigation system G2, which measures the body coordinate system of the main rigid body equipment in real time to achieve attitude determination of the main rigid body equipment; the main rigid body equipment of the second rigid body group is equipped with inertial navigation system G3, which measures the body coordinate system of the main rigid body equipment in real time to achieve attitude determination of the main rigid body equipment.

[0161] This enables the positioning and attitude determination of the main rigid body equipment of the first rigid body group; and enables the positioning and attitude determination of the main rigid body equipment of the second rigid body group.

[0162] 5.5) Position measurement of various components such as robotic arms and manipulators on the main rigid body equipment:

[0163] By utilizing the relative relationships between the key points of each rigid body on the cantilever tunneling machine and (B1x, B1y, B1z), and based on the geographical coordinates of the laser target of the main rigid body equipment in each rigid body group and the machine coordinate system, the geographical coordinates of each key point of the main rigid body equipment can be calculated. Then, based on the measurement values ​​of the stroke sensors corresponding to the free joints of the main rigid body equipment and the rotary encoders of each joint, the geographical coordinates and attitudes of any nodes such as the robotic arm and robotic hand in the first rigid body group can be calculated.

[0164] By utilizing the relative relationships between the key points of each rigid body on the anchor bolt support drilling rig and (B2x, B2y, B2z), the stroke sensors of each free joint cylinder, and the measurement values ​​of the rotation encoders of each joint, the geographical coordinates and attitude of any node of the second rigid body group can be calculated.

[0165] 5.6) Positioning of auxiliary equipment flexibly connected to the main rigid equipment and location of the tunnel profile:

[0166] The pose of the main rigid body equipment, as well as the ranging, positioning and boundary calculation of the laser ranging radar, are used, and its position is controlled by the traction device.

[0167] This allows the measurement and positioning robot to remain stationary while the equipment in each rigid body group is positioned and oriented during operation.

[0168] Based on the position and attitude of the equipment in each rigid body group, the equipment in each rigid body group is automatically controlled to complete the tunneling work within the current length range;

[0169] In this invention, for each rigid body group, for auxiliary equipment that is flexibly connected to the main rigid body equipment, such as the distance between the first conveyor belt and the self-moving tail of the tunneling machine, the distance between the self-moving tail and the second conveyor belt, and the distance from the two sides of the roadway, laser rangefinders can be used to measure the positional relationship between the tensioning device in these devices and the main rigid body equipment. This allows for more precise control of each auxiliary device.

[0170] In this invention, after the absolute geographical location and attitude of the tunnel boring machine and the anchor bolt support drilling rig are determined, the positions and postures of all the mesh laying devices, anchor bolt machines, anchor cable machines, the rotation mechanism of the anchor bolt machine, the robotic arms and robotic hands on the tunnel boring machine and the anchor bolt support drilling rig can be monitored and calculated according to the angle sensors, stroke sensors and cumulative encoders corresponding to the joint degrees of freedom. The target positions of each robotic hand, such as mesh laying, drilling, changing drill rods, installing anchor bolts, installing anchor cables, and mixing anchoring agents, can be solved using the geometric constraint relationships of each rigid body component, so as to achieve precise control of various operations of the tunnel boring machine and the anchor bolt trolley.

[0171] 6) When the tunneling work within the current operating length range is completed, fix the position of the cantilever tunneling machine with the first laser target B1 installed in place, and move the self-moving tail of the machine to move the measuring and positioning robot forward a certain length to reach the new position and stop; based on the geographical coordinates (B1x, B1y, B1z) of the first laser target B1, use the inertial navigation G1 and the automatic target-finding total station Q1 to measure the parameters, and reverse the determination of the geographical coordinates (Dx, Dy, Dz) of the base point D at the new position;

[0172] Alternatively, the position of the anchor bolt support drilling rig with the second laser target B2 installed can be fixed, and the equipment of the first rigid body group can be moved forward. The self-moving tail can drive the measuring and positioning robot to move forward a certain length, reach the new position, and stop.

[0173] Based on the geographic coordinates (B2x, B2y, B2z) of the second laser target B2, the parameters are measured using the inertial navigation system G1 and the automatic target-finding total station Q2, and the geographic coordinates (Dx, Dy, Dz) of the base point D at the new location are determined in reverse.

[0174] 7) After determining the geographic coordinates (Dx, Dy, Dz) of the base point D at the new location, return to step 5.

[0175] The method and system for implementing unmanned tunneling face provided by this invention have the following advantages:

[0176] This invention proposes a method and system for realizing unmanned tunneling faces. It can achieve precise measurement, positioning, and attitude control of all equipment such as excavation, drilling, anchoring, support, transportation, and ventilation in the tunneling face. By combining the precise three-dimensional model of the designed roadway and the real-time three-dimensional model of the excavated roadway, and through three-dimensional collision detection and intelligent identification of material piles and materials containing large pieces, combined with environmental disaster early warning and equipment failure prediction, a digital twin platform for unmanned tunneling faces is built. This enables unmanned operation of the tunneling face with zero accidents and zero failures, providing technical support for avoiding personal injury and significantly improving tunneling efficiency.

[0177] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for implementing an unmanned tunneling face, characterized in that, Includes the following steps: Step S1: Based on the tunneling technology adopted and the movement mode, mechanical principle and connection method of the equipment used, the equipment group working at the tunnel face is divided into several independently operating rigid body groups; each rigid body group includes a main rigid body device and several auxiliary devices; wherein, the auxiliary devices and the main rigid body device are rigidly connected or flexibly connected. Step S2: Establish a detailed 3D model of each piece of equipment in the equipment group; and establish an accurate 3D model of the designed tunnel and a real-time 3D model of the excavated tunnel; establish a geological model for tunnel excavation; Each device is placed in the precise 3D model of the designed tunnel according to its initial spatial position, and associated with the real-time 3D model of the excavated tunnel and the geological model to assemble the initial 3D scene. Step S3: For each rigid body group, a stroke sensor is installed on the linear motion device corresponding to the free joint of the equipment in the rigid body group, and a speed sensor or rotation angle encoder sensor is installed on the rotary drive device corresponding to the free joint. All the solenoid valves and frequency converters involved provide stepless speed regulation and a monitoring and communication interface. Step S4: Assume the number of rigid body groups is N. Design and install a multi-target automatic walking measurement and positioning robot, referred to as the measurement and positioning robot. The measurement and positioning robot includes an inertial navigation system G1 and N automatic target-finding total stations, as well as an information acquisition and transmission device and a three-dimensional laser scanner. The inertial navigation system G1, the N automatic target-finding total stations, and the three-dimensional laser scanner are all connected to the information acquisition and transmission device. Step S5: Install an inertial navigation system and a laser target on the main rigid body device of each rigid body group; Within each of the rigid body groups, for auxiliary equipment that is flexibly connected to the main rigid body equipment, a first ranging radar for measuring the distance to the main rigid body equipment and a second ranging radar for measuring the distance to the roadway are installed. Step S6: Establish a digital twin platform for the unmanned tunneling face. Based on the initial three-dimensional scene of the tunneling face, as well as the monitoring information from the stroke sensor, speed sensor or angle coding sensor, first ranging radar, second ranging radar, the information acquisition and transmission device, and the inertial navigation of each rigid body group, the platform enables pose calculation, fault diagnosis, disaster early warning, collaborative control, scene updates, and equipment start-up, shutdown, and maintenance decisions for all equipment on the tunneling face. It also provides remote intervention and human-machine interaction interfaces to achieve unmanned operation of the tunneling face. Unmanned operation at the tunneling face specifically includes: Step S6.1: When carrying out tunneling work within the current working length range, the position of the measurement and positioning robot remains stationary, and its geographical coordinates are known; all equipment in each rigid body group cooperates to carry out relevant operations at the tunnel excavation face; Step S6.2, in each rigid body group When all equipment is performing related operations at the tunnel excavation face... Based on the measurement information from the positioning robot, each rigid body group is obtained. Main rigid body equipment Installed laser target The geographical location, and thus the rigid body group All devices are located and their attitude determined in real time; Step S6.3, according to each rigid body group The position and orientation of all equipment, for each rigid body group All equipment is automatically controlled to complete the tunneling work within the current working length range; Step S6.4: When the tunneling work within the current working length range is completed, select a main rigid body device from each rigid body group. , Make the main rigid body equipment and its installed laser target The geographical location remains stationary, allowing any rigid body assembly to... The self-moving tail section drives the measurement and positioning robot forward a certain distance, reaches a new position, and stops. Step S6.5, according to the laser target The geographic coordinates are reversed to determine and update the geographic coordinates of the robot at the new location, and then the process returns to step S6.1, thus realizing the mapping of each rigid body group. All equipment can operate unmanned at the tunneling face.

2. The method for realizing an unmanned tunneling face according to claim 1, characterized in that, The equipment group working at the tunnel face includes any combination of tunneling equipment, crushing equipment, anchor bolt support equipment, mesh laying support equipment, self-propelled tail section, and transportation equipment.

3. The method for realizing an unmanned tunneling face according to claim 1, characterized in that, The tunneling process is divided into three types: Process A: The tunneling and transportation process uses a cantilever tunneling machine, belt transfer machine, self-propelled tail section, and belt conveyor, while the independently operating anchor bolt support drilling rig is used for mesh laying, drilling, and anchor support operations. Process B: The tunneling and transport support process adopts an integrated tunneling and anchoring machine, a belt transfer machine, a self-propelled tail section, and a belt conveyor. Process C: The tunneling and transportation support process adopts a cantilever tunneling machine, belt transfer machine, self-propelled tail section, straddle-mounted anchor drilling rig, and belt conveyor.

4. The method for realizing an unmanned tunneling face according to claim 3, characterized in that, For process A, it is divided into two rigid body groups. The first rigid body group includes a cantilever tunneling machine, a belt transfer machine, a self-propelled tail section, and a belt conveyor. The cantilever tunneling machine is the main rigid body equipment, and the belt transfer machine, the self-propelled tail section, and the belt conveyor are auxiliary equipment. The second rigid body group includes a bolt support drilling rig, which is the main rigid body equipment. For process B, it is divided into a rigid body group, including a tunneling and anchoring machine, a belt transfer machine, a self-propelled tail section, and a belt conveyor; wherein, the tunneling and anchoring machine is the main rigid body equipment, and the belt transfer machine, the self-propelled tail section, and the belt conveyor are auxiliary equipment; For process C, it is divided into two rigid body groups. The first rigid body group includes a cantilever tunneling machine, a belt transfer machine, a self-propelled tail section, and a belt conveyor. The cantilever tunneling machine is the main rigid body equipment, and the belt transfer machine, the self-propelled tail section, and the belt conveyor are auxiliary equipment. The second rigid body group includes a straddle-mounted bolt drilling rig, which is the main rigid body equipment.

5. The method for realizing an unmanned tunneling face according to claim 3, characterized in that, The measurement and positioning robot includes an automatic walking straddle unit, a measurement and positioning box position adjustment unit, a measurement and positioning box, and an inertial navigation G1, N automatic target-finding total stations, an information acquisition and transmission device, and a three-dimensional laser scanner installed in the measurement and positioning box. The automatic walking straddle unit is used to straddle the outside of the self-propelled machine tail. When the tunneling work within the current length range is being carried out, the automatic walking straddle unit is supported and fixed to the roadway ground. When the tunneling work within the current length range is completed, the automatic walking straddle unit leaves the ground and moves by relying on the self-propelled machine tail. When the self-propelled machine tail moves into place, the automatic walking straddle unit moves within a small range to adjust its position. The measuring positioning box position adjustment unit is used to adjust the height of the measuring positioning box and its left and right position in the roadway.

6. The method for realizing an unmanned tunneling face according to claim 5, characterized in that, The position adjustment unit of the measuring and positioning box includes a vertical movement controller and a horizontal movement controller; the automatic walking straddle unit includes two vertical telescopic controllers and a support base. Two vertical telescopic controllers are symmetrically arranged; the support base is installed at the bottom of each vertical telescopic controller; a horizontal left-right movement controller is installed between the tops of the two vertical telescopic controllers; a vertical vertical movement controller is installed at the top of the telescopic end of the left-right movement controller; and the measuring positioning box is fixedly installed on the top of the vertical movement controller.

7. The method for realizing an unmanned tunneling face according to claim 1, characterized in that, Step S6.2 specifically includes: Step S6.2.1: Based on the measurement information from the positioning robot, obtain the values ​​for each rigid body group. Main rigid body equipment Installed laser target Geographical location; ① The measurement and positioning robot is equipped with an inertial navigation system G1 and an automatic target-finding total station. Establish an inertial navigation G1 coordinate system (Gx1, Gy1, Gz1); mark a base point D on the measurement positioning box. The coordinates of base point D in the inertial navigation G1 coordinate system are (X, Y, Z). The geographic coordinates of base point D are known as (Dx, Dy, Dz). Automatic target finding total station The base point The coordinates in the inertial navigation G1 coordinate system are (Dix, Diy, Diiz). (Automatic target-finding total station) The azimuth angle relative to the inertial navigation system G1 is ψi; ② The attitude of the positioning box itself is measured by the inertial navigation system G1, including: heading angle φ, roll angle γ, and pitch angle θ. The three coordinate axes of the inertial navigation system G1 coordinate system (Gx1, Gy1, Gz1) in the geographic coordinate system are calculated as follows: Px = (Pxx, Pxy, Pxz), Py = (Pyx, Pyy, Pyz) and Pz = (Pzx, Pzy, Pzz); Pxx, Pxy, Pxz are the x, y, and z components of the Px axis in the geographic coordinate system, respectively; Pyx, Pyy, Pyz are the x, y, and z components of the Py axis in the geographic coordinate system, respectively; Pzx, Pzy, Pzz are the x, y, and z components of the Pz axis in the geographic coordinate system, respectively. ③ Using an automatic target-finding total station Measured laser target Relative automatic target finding total station The slope distance di, the inclination angle qi, and the horizontal angle fi; The laser target is calculated using (Dx,Dy,Dz), (Dix,Diy,Diz), ψi, Px, Py, and Pz. The geographic coordinates (Bix, Biy, Biz) are used to target the laser target. Positioning, that is, achieving the positioning of rigid body groups Main rigid body equipment Positioning; Step S6.2.2, Rigid Body Group Main rigid body equipment Equipped with inertial navigation G ( +1), Real-time measurement of the main rigid body device The fuselage coordinate system is used to realize the main rigid body equipment. The fixed posture; Step S6.2.3, for the main rigid body equipment Pose measurement of various robotic arms and manipulators on the device: Using main rigid body equipment Key points of each rigid body and laser target The relative relationships of the geographic coordinates (Bix, Biy, Biz) are determined based on the main rigid body equipment. laser target Using the geographic coordinates (Bix, Biy, Biz) and the fuselage coordinate system, the main rigid body equipment is calculated. The geographic coordinates of each rigid body key point; then based on the main rigid body equipment The rigid body assembly is calculated by using the travel sensors corresponding to the free joints and the rotary encoders of each joint to measure the travel values. The geographic coordinates and orientation of any robotic arm and robotic hand node; Step S6.2.4, for the main rigid body equipment Positioning of the flexible connection auxiliary equipment and the location of the tunnel profile: Using main rigid body equipment The pose of the device, along with the ranging, positioning, and boundary calculations performed by the laser ranging radar, are used to obtain the position of the main rigid body equipment. Positioning of the flexible connection auxiliary equipment and the contour of the shaft / tunnel; This allows the measurement and positioning robot to remain stationary while the equipment in each rigid body group is positioned and oriented during operation.

8. The method for realizing an unmanned tunneling face according to claim 1, characterized in that, Step S6.3 specifically includes: Given the position and attitude of the main rigid body equipment in each rigid body group, the optimal motion path with the minimum cumulative movement length and rotation angle is calculated based on the main rigid body equipment's walking mode, current position and attitude, and shortest distances from the main rigid body equipment to surrounding equipment and roadways. The movement and rotation of the main rigid body equipment are controlled according to this optimized motion path so that it can quickly reach the target position and attitude. During the control of the main rigid body equipment's movement, the subsequent movement process is corrected at any time based on the monitored position and attitude of the main rigid body equipment, so as to ensure that it can be quickly adjusted to the target position and attitude without causing a collision. During the control of the main rigid body equipment's movement, the spatial outline of the excavated roadway, the floating coal pile, and the surrounding equipment are identified by a 3D laser scanner or smart camera installed in the measurement positioning box, and the real-time 3D model of the excavated roadway is dynamically updated. Based on the real-time 3D model of the excavated roadway and the precise 3D model of the designed roadway, the tunneling work is dynamically simulated, and the tunneling face is automatically monitored and visualized in real time.

9. A system for implementing an unmanned tunneling face as described in any one of claims 1-8, characterized in that, include: The rigid body group division module is used to divide the equipment group working at the tunnel face into several independently operating rigid body groups according to the tunneling technology adopted and the movement mode, mechanical principle and connection method of the equipment used; each rigid body group includes a main rigid body equipment and several auxiliary equipment; wherein, the auxiliary equipment and the main rigid body equipment are rigidly connected or flexibly connected. The modeling module is used to create a detailed 3D model of each piece of equipment in the equipment group; and to create an accurate 3D model of the designed tunnel and a real-time 3D model of the excavated tunnel; and to create a geological model of the tunnel excavation. Each device is placed in the precise 3D model of the designed tunnel according to its initial spatial position, and associated with the real-time 3D model of the excavated tunnel and the geological model to assemble the initial 3D scene. The rigid body group supplementary module is used to install a stroke sensor on the linear motion device corresponding to the free joint of the equipment in each rigid body group, and to add a speed sensor or rotation angle encoder sensor to the rotary drive device corresponding to the free joint. All the solenoid valves and frequency converters involved are provided with stepless speed regulation and a monitoring and communication interface. A measurement and positioning robot, with N rigid body groups, is designed and installed as a multi-target automatic walking measurement and positioning robot, referred to as a measurement and positioning robot. The measurement and positioning robot includes an inertial navigation system G1 and N automatic target-finding total stations, as well as an information acquisition and transmission device and a three-dimensional laser scanner. The inertial navigation system G1, the N automatic target-finding total stations, and the three-dimensional laser scanner are all connected to the information acquisition and transmission device. A measurement sensor mounting module is used to mount an inertial navigation system and a laser target on the main rigid body device of each of the rigid body groups; Within each of the rigid body groups, for auxiliary equipment that is flexibly connected to the main rigid body equipment, a first ranging radar for measuring the distance to the main rigid body equipment and a second ranging radar for measuring the distance to the roadway are installed. The unmanned tunneling face digital twin platform establishment module is used to establish an unmanned tunneling face digital twin platform. Based on the initial three-dimensional scene of the tunneling face, as well as the monitoring information from stroke sensors, speed sensors or angle coding sensors, first ranging radar, second ranging radar, the information acquisition and transmission device, and the inertial navigation of each rigid body group, it realizes the pose calculation, fault diagnosis, disaster early warning, collaborative control, scene update, and equipment start-up, shutdown, and maintenance decisions of all equipment on the tunneling face. It also provides remote intervention and human-machine interaction interfaces to achieve unmanned operation of the tunneling face.

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