Intelligent jetting path planning method for jetting UHPC to reinforce a tunnel

Abstract

The application relates to an intelligent jetting path planning method for jetting UHPC to reinforce a tunnel, which calculates the single-time maximum jetting thickness of each construction reinforcing section based on the included angle between a nozzle and each construction reinforcing section, and determines the jetting times of the corresponding construction reinforcing section based on the single-time maximum jetting thickness of each construction reinforcing section and the UHPC material to-be-jetted thickness; a sidewall UHPC single-point deposition jetting test is carried out to obtain a deposition coefficient and the deposition rates of different construction reinforcing sections; a jetting parameter equation is constructed according to the deposition coefficient, the jetting times of different construction reinforcing sections and the deposition rates, the jetting path of each construction reinforcing section at the longitudinal length of the planned path is designed, and the optimal combination of the UHPC jetting path spacing and the nozzle uniform speed in each jetting path is determined based on the jetting parameter equation, so that the three targets of controllable quality, efficiency improvement and autonomous adjustment are realized.

Description

Technical Field

[0001] This application relates to the field of UHPC jetting path planning technology for tunnel reinforcement, and in particular to an intelligent jetting path planning method for UHPC-reinforced tunnels. Background Technology

[0002] Ultra-high performance concrete (UHPC, also known as reactive powder concrete) has been increasingly applied in the field of building reinforcement due to its excellent mechanical and durability properties. However, existing mechanical shotcrete technology still suffers from two major problems: the assumption of uniform spray thickness and the neglect of the distribution characteristics of the sprayed material. This makes tunnels prone to defects such as lining erosion, lining detachment, and cracking during the commissioning phase. Therefore, intelligent shotcrete technology requires the rational setting and selection of spraying parameters and the planning of the spraying path based on the construction materials.

[0003] Patent publication number CN120401804A discloses a method and system for spraying concrete into irregularly shaped curved floor decks. This invention employs a combination of spatial coordinate point sets and spraying path simulation for spraying irregularly shaped curved floor decks. However, it only considers the slump index of ordinary concrete at the material level, failing to consider the influence of the superimposed contour shape of the sprayed concrete on the forming quality of the curved floor deck. Furthermore, path planning using a single spatial coordinate threshold as the criterion for spraying qualification makes it difficult to guarantee the thickness and quality of the sprayed forming. Patent application publication number CN120592649A discloses an automatic spraying method for concrete support in tunnels and shafts. This invention divides the spraying area into pairs, alternating between the arch foot and the arch waist, to achieve uninterrupted spraying. However, it fails to consider the influence of the superimposed contour caused by the fluidity of the sprayed material on the forming quality, and the selection of the spraying path relies heavily on engineering experience. Summary of the Invention

[0004] To address the technical challenges of poor uniformity and insufficient compaction in existing fully mechanized automated spraying operations for complex tunnels, it is necessary to provide an intelligent spraying path planning method suitable for mechanized wet spraying UHPC construction in the tunnel field. This aims to promote tunnel construction towards intelligence, high efficiency, low cost, and high quality. Specifically, this involves an intelligent spraying path planning method for UHPC-reinforced tunnels, including:

[0005] S1: Obtain design information, including tunnel design information and material design parameters; formulate UHPC material according to the material design parameters;

[0006] S2: Based on the tunnel lining information and the location information of the construction reinforcement section in the tunnel design information, determine the proposed spraying thickness of UHPC material for different construction reinforcement sections of the tunnel; determine the longitudinal length of the planned path based on the length information of the construction reinforcement section in the tunnel design information;

[0007] S3: Calculate the maximum single spray thickness of each construction reinforcement section based on the angle between the nozzle and each construction reinforcement section, and determine the number of sprays for the corresponding construction reinforcement section based on the maximum single spray thickness of each construction reinforcement section and the proposed spray thickness of the UHPC material.

[0008] S4: Conduct single-point deposition and jetting tests on the sidewall UHPC to obtain the deposition coefficient and deposition rate of different construction reinforcement sections;

[0009] S5: Construct the spraying parameter equation based on the deposition coefficient and the number of sprays and deposition rate of different construction reinforcement sections, design the spraying path under the longitudinal length of the planned path for each construction reinforcement section, and determine the optimal combination of UHPC spraying path spacing and nozzle uniform movement speed in each spraying path based on the spraying parameter equation.

[0010] Preferably, the material design parameters include slump, compressive strength, flexural strength, elastic modulus, and impermeability grade.

[0011] Preferably, the tunnel lining information includes the inner diameter, outer diameter, thickness, and circumference width of the tunnel lining; the length information of the construction reinforcement section includes the total longitudinal length of the tunnel reinforcement section; and the location information of the construction reinforcement section includes the distribution location of the tunnel reinforcement section.

[0012] Preferably, S2 includes:

[0013] The reinforcement location is determined based on the location information of the construction reinforcement section, and the thickness of the lining of different construction reinforcement sections in the tunnel is taken as the proposed spraying thickness of UHPC material for the corresponding construction reinforcement section.

[0014] The length information of different construction reinforcement sections is used as the longitudinal length of the planned path for the corresponding construction reinforcement section.

[0015] Preferably, the formula for calculating the maximum single-shot thickness of the reinforced section is:

[0016] ;

[0017] in, Indicates the first The maximum single spray thickness of each reinforced section during construction. Indicates the first When spraying UHPC material into a construction reinforcement section, the angle between the nozzle's centerline and the tunnel's horizontal plane is as follows: , , These are the first constant, the second constant, and the third constant, respectively.

[0018] Preferably, the formula for calculating the number of spraying operations in the reinforced section is:

[0019] ;

[0020] in, Indicates the first Number of spraying passes per construction reinforcement section Indicates the first The proposed spraying thickness of UHPC material for each reinforced construction section. Indicates the first The maximum single spray thickness of each reinforced section during construction. Represents positive integers. This indicates rounding down to the nearest integer.

[0021] Preferably, S4 includes:

[0022] A single-point deposition spraying test of UHPC on the sidewall was conducted: Under the conditions of spraying air pressure of 0.6MPa and spraying perpendicular to the sprayed surface, the nozzle of the spray gun was placed at spraying distances of 0.3m, 0.4m and 0.5m from the sprayed surface of the sidewall, respectively. UHPC material was continuously sprayed at each position for 10s. During the spraying process, the central axis of the nozzle on the spray gun was kept perpendicular to the sprayed surface of the sidewall. After the spraying at each position was completed, the thickness of the deposition center point, the concrete diffusion radius of the sprayed surface and the deposition volume were measured at the corresponding spraying positions.

[0023] Based on the thickness of the deposition center point corresponding to different spray locations, the concrete diffusion radius of the sprayed surface, and the deposition volume, the deposition coefficient and the deposition rate of different construction reinforcement sections are calculated.

[0024] Preferably, based on the thickness of the deposition center point corresponding to different spray locations, the concrete diffusion radius of the sprayed surface, and the deposition volume, the deposition coefficient and the deposition rate of different construction reinforcement sections are calculated, including:

[0025] The equation for the single-point jet Gaussian deposition rate in UHPC is constructed as follows:

[0026] ;

[0027] in, Indicates the sedimentation center thickness, Indicates the deposition coefficient. Indicates the first The deposition rate of each reinforced construction section This indicates the radius of concrete diffusion on the sprayed surface. Indicates the coordinates of the nozzle on the spray gun;

[0028] The deposition rate of the sidewall is obtained by dividing the deposition volume corresponding to different spray locations by the concrete diffusion radius and deposition volume of the sprayed surface.

[0029] Substitute the thickness of the deposition center point corresponding to each spray position, the concrete diffusion radius of the sprayed surface, the coordinates of the deposition center point, the coordinates of the nozzle, and the deposition rate of the sidewall into the UHPC single-point spray Gaussian deposition rate equation to solve for the deposition coefficient corresponding to each position; calculate the mean value of the deposition coefficient corresponding to each position to obtain the deposition coefficient.

[0030] Based on the numerical relationship between the deposition rate of the sidewall and the corresponding angle, a deposition rate-angle fitting equation is constructed, expressed as:

[0031] ;

[0032] in, , They are the fourth and fifth constants, respectively. Indicates the first The angle between the nozzle centerline and the tunnel horizontal plane when spraying UHPC material in a construction reinforcement section;

[0033] Substituting the angle between the nozzle and each reinforced section into the deposition rate-angle fitting equation, the deposition rate of each reinforced section is obtained.

[0034] Preferably, S5 includes:

[0035] Step 1: Design the spraying path as a "bow" shaped path along the longitudinal length of the planned path for each construction reinforcement section;

[0036] Step 2: For any spray path, from Randomly select a UHPC injection path spacing value from the interval. The value represents the concrete diffusion radius of the sprayed surface, and the corresponding nozzle uniform movement speed is solved by substituting the value into the spraying parameter equation.

[0037] Step 3: Perform a test spray using randomly selected UHPC spray path spacing and corresponding nozzles moving at a constant speed;

[0038] Step 4: When the deposition profile of the UHPC material after the test spray does not meet the design requirements, from Resample a UHPC injection path spacing value within the interval, and execute steps 2-4 based on the resampled value until the deposition and superposition profile of the UHPC material after the test spray meets the design requirements. Output the optimal combination of UHPC injection path spacing and nozzle uniform movement speed in the corresponding injection path.

[0039] Preferably, the expression for the injection parameter equation is:

[0040] ;

[0041] in, Indicates the first The proposed spraying thickness of UHPC material for each reinforced construction section. Indicates the first The maximum single spray thickness of each reinforced section during construction. Indicates the first The nozzle moves at a constant speed during a single spraying operation in each reinforced section. Indicates the deposition coefficient. Indicates the first The deposition rate of each reinforced construction section Indicates the UHPC injection path spacing. This indicates the radius of concrete diffusion on the sprayed surface. express The Middle The nozzle moves at a constant speed during each injection. Indicates the first Number of spraying passes per construction reinforcement section Indicates the first The nozzle moves at a constant speed during each injection.

[0042] Beneficial effects: This method calculates the maximum single-shot spray thickness of each reinforced section based on the angle between the nozzle and each reinforced section, and determines the number of sprays for each reinforced section based on the maximum single-shot spray thickness and the planned spray thickness of the UHPC material. A single-point deposition spraying test of UHPC on the sidewall is conducted to obtain the deposition coefficient and deposition rate of different reinforced sections. Based on the deposition coefficient and the number of sprays and deposition rate of different reinforced sections, a spraying parameter equation is constructed to design the spraying path under the longitudinal length of the planned path for each reinforced section. Based on the spraying parameter equation, the optimal combination of the UHPC spraying path spacing and the uniform movement speed of the nozzle in each spraying path is determined. This avoids problems such as incomplete spraying and substandard flatness caused by relying on subjective experience to select path parameters in traditional construction, achieving the three major goals of quality control, efficiency improvement, and autonomous adjustment. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1This is a flowchart of the intelligent jetting path planning method for jetting UHPC-reinforced tunnels in this application embodiment.

[0045] Figure 2 The figures show the maximum single spray thickness and its fitting curve for different construction reinforcement sections in the embodiments of this application.

[0046] Figure 3 This is a schematic diagram showing the maximum thickness of a single spraying operation in the tunnel reinforcement section according to an embodiment of this application.

[0047] Figure 4 This is a schematic diagram of a single-point deposition spraying test in an embodiment of this application.

[0048] Figure 5 This is a schematic diagram of the tunnel "bow"-shaped spray path in an embodiment of this application.

[0049] Figure 6 This is a schematic diagram of the tunnel UHPC test spraying in an embodiment of this application.

[0050] Explanation of reference numerals in the attached figures:

[0051] 1-Tunnel outline; 2-UHPC; 3-Spray gun; 4-Sidewall sprayed surface; 5-Concrete deposition outline of the sprayed surface; 6-Spraying path; 7-Construction reinforcement section. Detailed Implementation

[0052] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0053] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0054] This embodiment uses a highway tunnel. According to the design requirements, mechanical spraying of UHPC is required to reinforce the tunnel sidewalls and arch waist. The required spraying thickness is 5cm and the length of the reinforced section is 2m.

[0055] like Figure 1As shown, this embodiment provides an intelligent jetting path planning method for jet-reinforced UHPC tunnels, including:

[0056] S1: Obtain design information, including tunnel design information and material design parameters; formulate UHPC material according to the material design parameters.

[0057] Specifically, high-quality materials that meet relevant standards and specifications are selected. In this embodiment, UHPC constituent materials such as quartz sand, silica fume, cement, fly ash, and steel fiber are selected (other mineral admixtures, fine aggregates, additives, water, etc. that meet relevant standards and specifications may also be added). These materials are then configured in a certain proportion to obtain UHPC materials that meet the material design parameters.

[0058] Optionally, the material design parameters include slump (above 160 mm), slump spread (335 mm), compressive strength (125 MPa, ranging from 120 to 130 MPa), flexural strength (22 MPa, ranging from 18 to 25 MPa), elastic modulus (40 GPa, ranging from 40 to 43 GPa), and impermeability grade (greater than P20).

[0059] Optionally, the tunnel lining information includes the inner diameter (5.9m), outer diameter (6.2m), thickness, and ring width (2m) of the tunnel lining; the length information of the construction reinforcement section includes the total longitudinal length of the tunnel reinforcement section; the location information of the construction reinforcement section includes the distribution location of the tunnel reinforcement section, and in this embodiment, the reinforcement location is mainly the sidewall and the arch waist.

[0060] S2: Based on the tunnel lining information and the location information of the construction reinforcement section in the tunnel design information, determine the proposed spraying thickness of UHPC material (5cm) for different construction reinforcement sections of the tunnel; determine the longitudinal length of the planned path (2m) based on the length information of the construction reinforcement section in the tunnel design information.

[0061] Specifically, the reinforcement location is determined based on the location information of the reinforcement section, and the thickness of the lining of different reinforcement sections in the tunnel is used as the proposed spraying thickness of the UHPC material for the corresponding reinforcement section.

[0062] The length information of different construction reinforcement sections is used as the longitudinal length of the planned path for the corresponding construction reinforcement section.

[0063] S3: Calculate the maximum single spray thickness of each construction reinforcement section based on the angle between the nozzle and each construction reinforcement section, and determine the number of sprays for the corresponding construction reinforcement section based on the maximum single spray thickness of each construction reinforcement section and the proposed spray thickness of the UHPC material.

[0064] The measured values ​​of the maximum single-shot spray thickness at four locations—sidewall, arch waist, arch shoulder, and arch crown—were determined through on-site maximum spray thickness tests. Figure 2 As shown, the fitting curve of the maximum single-shot spray thickness of UHPC was obtained, and the formula for calculating the maximum single-shot spray thickness of the reinforced section is as follows:

[0065] ;

[0066] in, Indicates the first The maximum single spray thickness of each reinforced section during construction. Indicates the first When spraying UHPC material into a construction reinforcement section, the angle between the nozzle's centerline and the tunnel's horizontal plane is as follows: , , They are the first constant, the second constant, and the third constant, respectively. , , .

[0067] Figure 3 The diagram shows the maximum thickness of a single spraying of the tunnel arch waist reinforcement section. The origin is the horizontal midpoint of the bottom of the tunnel, and the included angle is the angle formed between the origin and each point on the tunnel outline surface 1. The spray gun 3 is positioned at an included angle of 30° to spray UHPC2 onto the arch waist. The included angle range of the spraying part at and below the tunnel arch waist is [0°, 30°].

[0068] Maximum single-shot thickness of the arched waist section Calculated using the following formula:

[0069] ;

[0070] Maximum single spray thickness at the sidewall Calculated using the following formula:

[0071] ;

[0072] Furthermore, the formula for calculating the number of spraying operations in the reinforced section is as follows:

[0073] ;

[0074] in, Indicates the first Number of spraying passes per construction reinforcement section Indicates the first The proposed spraying thickness of UHPC material for each reinforced construction section. Indicates the first The maximum single spray thickness of each reinforced section during construction. Represents positive integers. This indicates rounding down to the nearest integer.

[0075] Number of sprays on the side wall Calculated using the following formula:

[0076] ;

[0077] Number of sprays at the arched waist Calculated using the following formula:

[0078] ;

[0079] Calculation results show that the side walls and arch sections can be formed with just one spraying.

[0080] S4: Conduct single-point deposition spraying tests on the sidewall UHPC to obtain the deposition coefficient and deposition rate of different construction reinforcement sections.

[0081] Specifically, the steps include:

[0082] Conduct single-point deposition spraying tests on the sidewall UHPC: such as Figure 4 As shown, under the conditions of a jetting air pressure of 0.6 MPa and spraying perpendicular to the sprayed surface, the nozzle of the spray gun 3 was placed at spraying distances of 0.3 m, 0.4 m, and 0.5 m from the sprayed surface 4 of the sidewall. UHPC material was continuously sprayed for 10 s at each position. During the spraying process, the central axis of the nozzle on the spray gun was kept perpendicular to the sprayed surface of the sidewall. After spraying at each position, different concrete deposition profiles 5 were formed on the sprayed surface. The thickness of the deposition center point corresponding to the spraying position (4.82 cm, 3.15 cm, and 1.42 cm, respectively), the concrete diffusion radius of the sprayed surface (0.08 cm, 0.10 cm, and 0.15 cm, respectively), and the deposition volume (3 × 10⁻⁶, respectively) were measured. -3 m 3 2×10 -3 m 3 1×10 -3 m 3 );

[0083] Based on the thickness of the deposition center point corresponding to different spray locations, the concrete diffusion radius of the sprayed surface, and the deposition volume, the deposition coefficient and the deposition rate of different construction reinforcement sections are calculated.

[0084] Furthermore, based on the thickness of the deposition center point corresponding to different spray locations, the concrete diffusion radius of the sprayed surface, and the deposition volume, the deposition coefficient and deposition rate of different construction reinforcement sections were calculated, including:

[0085] The equation for the single-point jet Gaussian deposition rate in UHPC is constructed as follows:

[0086] ;

[0087] in, Indicates the sedimentation center thickness, Indicates the deposition coefficient. Indicates the first The deposition rate of each reinforced construction section This indicates the radius of concrete diffusion on the sprayed surface. Indicates the coordinates of the nozzle on the spray gun;

[0088] The deposition rate of the sidewall is obtained by dividing the deposition volume corresponding to different spray locations by the concrete diffusion radius and deposition volume of the sprayed surface. The calculation formula is as follows:

[0089] ;

[0090] Substituting the thickness of the deposition center point corresponding to each spray location, the concrete diffusion radius of the sprayed surface, the coordinates of the deposition center point, the coordinates of the nozzle, and the deposition rate of the sidewall into the UHPC single-point spray Gaussian deposition rate equation, the deposition coefficient corresponding to each location is solved; the calculation formula is:

[0091] ;

[0092] ;

[0093] ;

[0094] in, , , These are the deposition coefficients corresponding to the nozzles of spray gun 3 being placed at spraying distances of 0.3m, 0.4m, and 0.5m from the sprayed surface 4 of the sidewall.

[0095] The mean of the deposition coefficient at each location is calculated to obtain the deposition coefficient. The calculation formula is:

[0096] .

[0097] Based on the numerical relationship between the deposition rate of the sidewall and the corresponding angle, a deposition rate-angle fitting equation is constructed, expressed as:

[0098] ;

[0099] in, , They are the fourth and fifth constants, respectively. , , Indicates the first The angle between the nozzle centerline and the tunnel horizontal plane when spraying UHPC material in a construction reinforcement section;

[0100] Substitute the angle between the nozzle and each reinforced section into the deposition rate-angle fitting equation to obtain the deposition rate of each reinforced section.

[0101] Deposition rate of the sidewall Calculated using the following formula:

[0102] ;

[0103] Deposition rate of the arched waist Calculated using the following formula:

[0104] .

[0105] S5: Construct the spraying parameter equation based on the deposition coefficient and the number of sprays and deposition rate of different construction reinforcement sections, design the spraying path under the longitudinal length of the planned path for each construction reinforcement section, and determine the optimal combination of UHPC spraying path spacing and nozzle uniform movement speed in each spraying path based on the spraying parameter equation.

[0106] Specifically, the steps include:

[0107] Step 1: Design the spraying path 6 along the longitudinal length of the planned path for each construction reinforcement section 7 as a "bow" shaped path, such as... Figure 5 , 6 As shown;

[0108] Step 2: For any spray path, from Randomly select a UHPC injection path spacing value from the interval. The value represents the concrete diffusion radius of the sprayed surface, and the corresponding nozzle uniform movement speed is solved by substituting the value into the spraying parameter equation.

[0109] Step 3: Perform a test spray using randomly selected UHPC spray path spacing and corresponding nozzles moving at a constant speed;

[0110] Step 4: When the deposition profile of the UHPC material after the test spray does not meet the design requirements, from Resample a UHPC injection path spacing value within the interval, and execute steps 2-4 based on the resampled value until the deposition and superposition profile of the UHPC material after the test spray meets the design requirements. Output the optimal combination of UHPC injection path spacing and nozzle uniform movement speed in the corresponding injection path.

[0111] Optionally, the expression for the injection parameter equation is:

[0112] ;

[0113] in, Indicates the first The proposed spraying thickness of UHPC material for each reinforced construction section. Indicates the first The maximum single spray thickness of each reinforced section during construction. Indicates the first The nozzle moves at a constant speed during a single spraying operation in each reinforced section. Indicates the deposition coefficient. Indicates the first The deposition rate of each reinforced construction section Indicates the UHPC injection path spacing. This indicates the radius of concrete diffusion on the sprayed surface. express The Middle The nozzle moves at a constant speed during each injection. Indicates the first Number of spraying passes per construction reinforcement section Indicates the first The nozzle moving at a constant speed during each injection. The UHPC injection path spacing and the nozzle moving at a constant speed are the core control parameters for intelligent path planning, and together they determine the superposition shape of the Gaussian deposition profile: when the UHPC injection path spacing increases, the nozzle moving at a constant speed needs to be reduced accordingly; conversely, when the UHPC injection path spacing decreases, the nozzle moving at a constant speed needs to be increased accordingly.

[0114] In this embodiment, the reasonable UHPC spray path spacing and nozzle movement speed combination for the sidewall and arch waist are calculated under the conditions of spray distance of 0.4m, spray air pressure of 0.6MPa, and spraying perpendicular to the sprayed surface.

[0115] The nozzle moves at a constant speed during a single spray on the sidewall. Calculated using the following formula:

[0116] ;

[0117] The nozzle moves at a constant speed during a single spray from the arched waist. Calculated using the following formula:

[0118] .

[0119] The pre-selected spacing of the UHPC spray path on the sidewall is 0.15m, and the nozzle moves at a constant speed. Calculated using the following formula:

[0120] ;

[0121] like Figure 6 As shown, UHPC test spraying was carried out according to the pre-selected spray parameter combination. The deposition and superposition contour of the sidewall was relatively flat, which met the design requirements (meeting the 5cm spray thickness requirement). The pre-selected combination value is a reasonable combination of UHPC spray path spacing and nozzle uniform movement speed.

[0122] The pre-selected value for the UHPC injection path spacing in the arched section is 0.15m, and the nozzle moves at a constant speed. Calculated using the following formula:

[0123] ;

[0124] like Figure 6 As shown, UHPC test spraying was conducted according to the pre-selected spray parameter combination. The overlay profile of the arched waist deposition was less than 5cm, which meets the design requirements. The pre-selected combination values ​​were adjusted: the path spacing was reduced to 0.10m, and the nozzle movement speed was calculated using the following formula:

[0125] ;

[0126] The results of the second test spraying showed that the deposition and superposition contour on the sidewall was relatively flat, which met the design requirements. The adjusted combination values ​​are the reasonable combination of UHPC spray path spacing and nozzle movement speed. Therefore, the reasonable spraying parameter combinations for the sidewall and arch waist were finally selected as (0.15m, 0.01318cm / s) and (0.10m, 0.01901cm / s), respectively.

[0127] The intelligent jetting path planning method for jet-reinforced UHPC tunnels provided in this embodiment has the following beneficial effects:

[0128] This method, for the first time, uses the material distribution characteristics of shotcrete, namely the Gaussian deposition profile, as the core of the planning path, and combines this with the maximum single-shot thickness of UHPC to determine the planning path parameters, breaking through the conventional thinking of "point-to-point" and "uniform spraying coverage" in traditional shotcrete technology. By conducting UHPC single-point deposition shotcrete experiments, the planning path problem is transformed into a spatial convolution optimization problem, that is, finding reasonable planning path parameters so that the final spraying effect approaches the target spraying thickness. This avoids the problems of insufficient spraying density and substandard flatness caused by relying on subjective experience to select path parameters in traditional construction, achieving three major goals: controllable quality, improved efficiency, and autonomous adjustment.

[0129] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0130] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A smart jetting path planning method for jet-reinforced UHPC tunnels, characterized in that, include: S1: Obtain design information, which includes tunnel design information and material design parameters; UHPC material is formulated according to the aforementioned material design parameters; S2: Based on the tunnel lining information and the location information of the construction reinforcement section in the tunnel design information, determine the proposed spraying thickness of UHPC material for different construction reinforcement sections of the tunnel; determine the longitudinal length of the planned path based on the length information of the construction reinforcement section in the tunnel design information; S3: Calculate the maximum single spray thickness of each construction reinforcement section based on the angle between the nozzle and each construction reinforcement section, and determine the number of sprays for the corresponding construction reinforcement section based on the maximum single spray thickness of each construction reinforcement section and the proposed spray thickness of the UHPC material. S4: Conduct single-point deposition and jetting tests on the sidewall UHPC to obtain the deposition coefficient and deposition rate of different construction reinforcement sections; S5: Based on the deposition coefficient and the number of sprays and deposition rate of different construction reinforcement sections, construct the spraying parameter equation, design the spraying path under the planned path longitudinal length of each construction reinforcement section, and determine the optimal combination of UHPC spraying path spacing and nozzle uniform movement speed in each spraying path based on the spraying parameter equation, including: Step 1: Design the spraying path as a "bow" shaped path along the longitudinal length of the planned path for each construction reinforcement section; Step 2: For any spray path, from Randomly select a UHPC injection path spacing value from the interval. Let represent the concrete diffusion radius of the sprayed surface, and substitute this value into the spraying parameter equation to solve for the corresponding uniform nozzle movement speed; the expression of the spraying parameter equation is: ； in, Indicates the first The proposed spraying thickness of UHPC material for each reinforced construction section. Indicates the first The maximum single spray thickness of each reinforced section during construction. Indicates the first The nozzle moves at a constant speed during a single spraying operation in each reinforced section. Indicates the deposition coefficient. Indicates the first The deposition rate of each reinforced construction section Indicates the UHPC injection path spacing. express The Middle The nozzle moves at a constant speed during each injection. Indicates the first Number of spraying passes per construction reinforcement section Indicates the first The nozzle moves at a constant speed during each injection. Step 3: Perform a test spray using randomly selected UHPC spray path spacing and corresponding nozzles moving at a constant speed; Step 4: When the deposition profile of the UHPC material after the test spray does not meet the design requirements, from Resample a UHPC injection path spacing value within the interval, and execute steps 2-4 based on the resampled value until the deposition and superposition profile of the UHPC material after the test spray meets the design requirements. Output the optimal combination of UHPC injection path spacing and nozzle uniform movement speed in the corresponding injection path.

2. The intelligent injection path planning method according to claim 1, characterized in that, The material design parameters include slump, compressive strength, flexural strength, elastic modulus, and impermeability grade.

3. The intelligent injection path planning method according to claim 1, characterized in that, The tunnel lining information includes the inner diameter, outer diameter, thickness, and circumference width of the tunnel lining; the length information of the reinforced section includes the total longitudinal length of the reinforced section; and the location information of the reinforced section includes the distribution location of the reinforced section.

4. The intelligent injection path planning method according to claim 3, characterized in that, S2 include: The reinforcement location is determined based on the location information of the construction reinforcement section, and the thickness of the lining of different construction reinforcement sections in the tunnel is taken as the proposed spraying thickness of UHPC material for the corresponding construction reinforcement section. The length information of different construction reinforcement sections is used as the longitudinal length of the planned path for the corresponding construction reinforcement section.

5. The intelligent injection path planning method according to claim 1, characterized in that, The formula for calculating the maximum single-shot thickness of the reinforced section is: ； in, Indicates the first The maximum single spray thickness of each reinforced section during construction. Indicates the first When spraying UHPC material into a reinforced section, the angle between the nozzle's centerline and the tunnel's horizontal plane is as follows: , , These are the first constant, the second constant, and the third constant, respectively.

6. The intelligent injection path planning method according to claim 1, characterized in that, The formula for calculating the number of spraying passes in the reinforced section is: ； in, Indicates the first Number of spraying passes per construction reinforcement section Indicates the first The proposed spraying thickness of UHPC material for each reinforced construction section. Indicates the first The maximum single spray thickness of each reinforced section during construction. Represents positive integers. This indicates rounding down to the nearest integer.

7. The intelligent injection path planning method according to claim 1, characterized in that, S4 includes: A single-point deposition spraying test of UHPC on the sidewall was conducted: Under the conditions of spraying air pressure of 0.6MPa and spraying perpendicular to the sprayed surface, the nozzle of the spray gun was placed at spraying distances of 0.3m, 0.4m and 0.5m from the sprayed surface of the sidewall, respectively. UHPC material was continuously sprayed at each position for 10s. During the spraying process, the central axis of the nozzle on the spray gun was kept perpendicular to the sprayed surface of the sidewall. After the spraying at each position was completed, the thickness of the deposition center point, the concrete diffusion radius of the sprayed surface and the deposition volume were measured at the corresponding spraying positions. Based on the thickness of the deposition center point corresponding to different spray locations, the concrete diffusion radius of the sprayed surface, and the deposition volume, the deposition coefficient and the deposition rate of different construction reinforcement sections are calculated.

8. The intelligent injection path planning method according to claim 7, characterized in that, Based on the thickness of the deposition center point corresponding to different spraying locations, the concrete diffusion radius of the sprayed surface, and the deposition volume, the deposition coefficient and the deposition rate of different construction reinforcement sections are calculated, including: The equation for the single-point jet Gaussian deposition rate in UHPC is constructed as follows: ； in, Indicates the sedimentation center thickness, Indicates the deposition coefficient. Indicates the first The deposition rate of each reinforced construction section This indicates the radius of concrete diffusion on the sprayed surface. Indicates the coordinates of the nozzle on the spray gun; The deposition rate of the sidewall is obtained by dividing the deposition volume corresponding to different spray locations by the concrete diffusion radius and deposition volume of the sprayed surface. Substitute the thickness of the deposition center point corresponding to each spray position, the concrete diffusion radius of the sprayed surface, the coordinates of the deposition center point, the coordinates of the nozzle, and the deposition rate of the sidewall into the UHPC single-point spray Gaussian deposition rate equation to solve for the deposition coefficient corresponding to each position; calculate the mean value of the deposition coefficient corresponding to each position to obtain the deposition coefficient. Based on the numerical relationship between the deposition rate of the sidewall and the corresponding angle, a deposition rate-angle fitting equation is constructed, expressed as: ； in, , They are the fourth and fifth constants, respectively. Indicates the first The angle between the nozzle centerline and the tunnel horizontal plane when spraying UHPC material in a construction reinforcement section; Substituting the angle between the nozzle and each reinforced section into the deposition rate-angle fitting equation, the deposition rate of each reinforced section is obtained.

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