Optical fiber laying equipment and method applied to TBM tunnel

Abstract

The invention relates to the technical field of tunnel and underground engineering mechanical equipment, and discloses optical fiber laying equipment and method applied to a TBM tunnel. The technical problems that in the prior art, laying efficiency is low, precision is poor, the automation degree is insufficient, and environmental adaptability is weak are solved. The device comprises an electromagnetic adsorption type integrated base; the electromagnetic adsorption type integrated base is provided with a double-mechanical-arm collaborative operation mechanism and an optical fiber pay-off and tension control module for supplying optical fibers; a telescopic transverse laying execution arm is mounted on the electromagnetic adsorption type integrated base, and a laying head is arranged at the tail end of the telescopic transverse laying execution arm; and the double-mechanical-arm collaborative operation mechanism and the telescopic transverse laying execution arm are connected with a positioning and deviation rectifying unit. Through highly integrated mechanical design, a multi-sensor fusion measurement and control technology and a collaborative operation strategy, high-precision, high-efficiency and full-automatic optical fiber laying in a complex tunnel environment is realized.

Description

Technical Field

[0001] This invention relates to the field of tunnel and underground engineering machinery and equipment technology, and in particular to an optical fiber laying device and method for use in TBM tunnels. Background Technology

[0002] In tunnel engineering constructed using tunnel boring machines (TBMs), long-term, precise monitoring of tunnel structural health and the establishment of a stable and reliable communication transmission network are core aspects of ensuring project safety and operational efficiency. As a key infrastructure for achieving this goal, the quality of fiber optic sensor networks directly determines the accuracy of monitoring data and the reliability of communication.

[0003] Currently, fiber optic cable laying in tunnels largely relies on manual or semi-automated mechanical operations. Manual laying suffers from high labor intensity, low efficiency, and difficulty in guaranteeing accuracy. The laying path and tension control depend entirely on worker experience, easily leading to excessive spatial deviations in fiber optic cable position (typically exceeding several centimeters) and uneven laying tension, resulting in increased micro-bending loss or even breakage, severely impacting long-term monitoring performance and communication quality. While existing semi-automated equipment can partially alleviate the burden of manpower, its automation level, positioning accuracy, and environmental adaptability cannot meet the demands of long-distance, high-efficiency TBM tunnel construction. The internal environment of TBM tunnels is extremely harsh, characterized by continuous and intense vibration, high humidity, high dust concentration, and confined space, posing severe challenges to the stability, accuracy, and endurance of laying equipment. Conventional equipment often suffers from problems such as loss of positioning reference, mechanical system instability, frequent electrical system failures, and insufficient endurance in this environment, leading to work interruptions and affecting the overall construction progress. In existing technologies, research on automated fiber optic laying equipment largely focuses on applications under favorable working conditions. Systematic solutions for adapting to the complex and harsh environment within TBM tunnels and achieving high-precision, fully automated, and long-endurance operations remain lacking. Therefore, there is an urgent need in this field to develop a dedicated fiber optic laying device that integrates high-precision measurement and control, strong environmental adaptability, intelligent collaborative operation, and long-term endurance to overcome the aforementioned technical bottlenecks and meet the pressing needs of modern intelligent tunnel construction and operation. Summary of the Invention

[0004] In view of the above technical problems, this disclosure provides an optical fiber laying device and method for TBM tunnels, solving the problems of high labor intensity, low efficiency, and difficulty in guaranteeing accuracy in existing manual laying methods. The laying path and tension control rely entirely on worker experience, which can easily lead to excessive spatial deviation of the optical fiber and uneven laying tension, resulting in increased micro-bending loss or even breakage of the optical fiber, seriously affecting its long-term monitoring performance and communication quality. Semi-automated equipment cannot meet the requirements of long-distance, high-efficiency construction in TBM tunnels in terms of automation level, positioning accuracy, and environmental adaptability. The internal environment of TBM tunnels is extremely harsh, characterized by continuous and strong vibrations, high humidity, high dust concentration, and limited space, posing severe challenges to the stability, accuracy, and endurance of laying equipment. Conventional equipment often suffers from loss of positioning reference, mechanical system instability, frequent electrical system failures, and insufficient endurance in this environment, leading to work interruptions and affecting the overall construction progress.

[0005] According to one aspect of this disclosure, an optical fiber laying device and method for use in TBM tunnels are provided, comprising: an electromagnetic adsorption type integrated base; The electromagnetic adsorption integrated base is equipped with a dual-arm collaborative operation mechanism, which includes a drilling and anchoring robotic arm and an optical fiber laying and fixing robotic arm; respectively used for drilling holes in the tunnel lining and installing anchoring brackets, and for laying and fixing optical fibers. The electromagnetic adsorption integrated base is equipped with an optical fiber laying and tension control module, which is used to supply optical fiber to the optical fiber laying and fixing robotic arm. A telescopic lateral laying execution arm is installed on the electromagnetic adsorption integrated base. The end of the telescopic lateral laying execution arm is provided with a laying head for laying optical fibers from the optical fiber laying and tension control module along the tunnel circumferential direction. The dual robotic arm collaborative operation mechanism and the telescopic lateral laying execution arm are connected to a positioning and correction unit to provide real-time spatial pose feedback.

[0006] In some embodiments of this disclosure, the electromagnetic adsorption integrated base includes a steel frame, with an electromagnetic adsorption module integrated at the bottom of the steel frame. The electromagnetic adsorption module is electrically connected to a demagnetizing unit. The surface of the demagnetizing unit is covered with an insulating protective layer. Inside the steel frame, a speed adjustment console, an optical fiber storage compartment, and a robotic arm fixing structure are installed. The speed adjustment console integrates a multi-axis motion controller and a PLC unit. The optical fiber storage compartment is equipped with a constant tension active wire feeding mechanism. The robotic arm fixing structure is equipped with a heavy-duty slewing bearing and a hydraulic locking mechanism. The electromagnetic adsorption integrated base also includes an adaptive leveling structure and a shock absorption module.

[0007] In some embodiments of this disclosure, the positioning and correction unit includes a laser total station, multiple reflective targets, an inertial measurement unit, and a data processing core connected in communication; the reflective targets are located at the execution ends of the drilling and anchoring robotic arm and the fiber optic laying and fixing robotic arm; the data processing core is used to fuse laser total station data and inertial navigation data and maintain positioning continuity when the laser signal is blocked.

[0008] In some embodiments of this disclosure, the end of the drilling and anchoring robotic arm integrates a high-frequency hydraulic impact drill and an anchoring mechanism. The drilling and anchoring robotic arm is also equipped with a visual recognition mechanism and a magnetic support compartment. The visual recognition mechanism is used to identify the drilling position and avoid obstacles, and the magnetic support compartment is used to continuously supply anchoring supports.

[0009] In some embodiments of this disclosure, the end of the fiber optic laying and fixing robotic arm is integrated with a composite actuator, which includes a pneumatic flexible clamping mechanism, a tension detection mechanism, and a dual-mode fixing mechanism. The dual-mode fixing mechanism is used to fix the fiber optic cable to the anchor bracket by heat fusion or mechanical locking. The fiber optic laying and fixing robotic arm is a seven-degree-of-freedom fully electric servo-driven robotic arm to maintain constant tension during laying.

[0010] In some embodiments of this disclosure, the fiber optic cable laying and tension control module includes an active cable laying mechanism driven by a servo motor, a multi-stage tension sensor, and a closed-loop feedback control unit; the cable laying mechanism is an active servo control mechanism and is equipped with an automatic fiber optic margin detection mechanism; the multi-stage tension sensing mechanism includes a precision tension sensor and an electromagnetic damping mechanism; the closed-loop feedback control unit is used to receive real-time tension feedback signals from the multi-stage tension sensor and control the cable laying speed and tension through the servo motor; the cable laying mechanism also integrates a fiber optic guiding mechanism and an anti-torsion mechanism.

[0011] In some embodiments of this disclosure, a multi-degree-of-freedom path compensation box is provided on the optical fiber path between the optical fiber laying and tension control module and the laying head; the multi-degree-of-freedom path compensation box is equipped with a six-degree-of-freedom parallel platform for compensating for linear and angular deviations in the optical fiber path; the six-degree-of-freedom parallel platform integrates a tension detection wheel system and a buffer guide mechanism; the buffer guide mechanism includes a low-friction coefficient guide wheel group and an elastic damping mechanism; the six-degree-of-freedom parallel platform is driven by three sets of precision electric push rods; the three sets of precision electric push rods are respectively connected to encoders for detecting platform displacement; the housing of the multi-degree-of-freedom path compensation box is provided with a labyrinthine channel to prevent dust intrusion; the multi-degree-of-freedom path compensation box is used to receive deviation signals of the optical fiber path; based on the deviation signals, the three sets of precision electric push rods are driven to compensate for the linear displacement of the X, Y, and Z axes and the rotation angles of the Rx, Ry, and Rz axes.

[0012] In some embodiments of this disclosure, a drive mechanism is also included, which includes a servo motor, a precision reducer, a motion controller, and a guide rail, for driving the telescopic lateral laying execution arm and / or the dual robotic arm collaborative operation mechanism to perform multi-axis linkage motion. The drive mechanism is equipped with an overload protection mechanism and an emergency braking mechanism. The drive mechanism also includes a hydraulic pump station connected to the servo motor and the precision reducer.

[0013] In some embodiments of this disclosure, at least one set of inclined supports is also included, each inclined support comprising a hydraulic support rod of adjustable length, wherein the hydraulic support rod is provided with universal ball joints at both ends, and a pressure sensor and a displacement monitoring mechanism are integrated within the hydraulic support rod; the hydraulic support rod is connected to an adaptive hydraulic locking mechanism for adjusting the support length; the support feet of the hydraulic support rod are provided with anti-slip textures and are equipped with a magnetic adsorption base; In some embodiments of this disclosure, a monitoring panel is also included, which is equipped with an industrial-grade touch screen for displaying equipment operating parameters, a three-dimensional model of the fiber optic laying trajectory, and alarm information.

[0014] A method for laying optical fibers in TBM tunnels, applicable to optical fiber laying equipment used in TBM tunnels, includes the following steps: S1: Drilling point planning and drilling. The drilling and anchoring robotic arm plans the drilling path on the surface of the tunnel segment according to the preset support spacing, and identifies the segment joints and rebar positions through the vision recognition mechanism at the end to avoid irregular areas, thereby determining the drilling point; then, a high-frequency hydraulic impact drill is used to complete the drilling at the drilling point. S2: Anchor bracket insertion. The drilling and anchoring robotic arm takes out the stainless steel anchor bracket from the magnetic bracket compartment and inserts it into the hole drilled in S1 to complete the bracket installation. S3: Fiber optic gripping and laying. The fiber optic laying and fixing robotic arm moves to the station where the bracket has been installed in S2. It grips the fiber optic cable led out from the cable laying module through the path compensation box through the flexible pneumatic clamping mechanism at the end, and moves along the tunnel circumferential direction at a constant speed to press the fiber optic cable into the slot of the anchor bracket.

[0015] S4: Tension control and fiber optic locking. During the fiber optic laying process in S3, the tension detection mechanism monitors the fiber tension in real time and feeds the data back to the central controller to ensure tension stability. When the fiber reaches the support position, the dual-mode fixing mechanism at the end of the robotic arm locks the fiber to the anchor support. By using a laser total station and inertial measurement unit fusion positioning method, the coordinates of the target at the end of the robotic arm are monitored to provide continuous position data for S1, S2, and S3. The steps S1, S2, and S3 constitute a drilling-anchoring-laying cycle. When the drilling and anchoring robotic arm performs step S1 for the N+2th drilling point, the anchoring mechanism of the drilling and anchoring robotic arm is simultaneously performing step S2 for the Nth drilling point. At the same time, the fiber optic laying and fixing robotic arm is performing step S3 for the N+1th anchoring bracket, thereby realizing parallel assembly line operation of the three processes.

[0016] The beneficial effects of this invention are as follows: Global high-precision spatial positioning technology: A redundant positioning system is constructed by using a 0.5" class high-precision laser total station, combined with multiple targets and an inertial measurement unit (IMU) installed on the actuator. Even when the laser signal is briefly blocked, the system can still maintain positioning continuity through IMU data, achieving a spatial positioning accuracy of ±1 cm at the equipment end, providing a fundamental guarantee for the precise laying of optical fibers.

[0017] Full-process tension closed-loop control technology: By integrating a high-precision servo motor, tension sensor, and electromagnetic damping device into the fiber optic cable laying and tension control module, precise adjustment of laying speed and tension (control accuracy ±0.5N) is achieved. Combined with real-time deviation compensation of the fiber optic path by a multi-degree-of-freedom path compensation box (compensation accuracy ±0.2mm), it ensures that the fiber remains under constant, minimal tension (±0.3N) throughout the entire process from release to curing, effectively avoiding fiber damage or performance degradation caused by tension fluctuations.

[0018] Integrated Drilling-Laying Dual-Operator Collaborative Operation Technology: This innovative technology employs a dual-robot architecture for collaborative operation. The six-DOF drilling and anchoring robot handles pre-processing, with its end effector integrating a high-frequency hydraulic impact drill and an intelligent anchoring device. It features obstacle vision recognition and adaptive drilling parameters, enabling seamless integration of drilling and anchoring operations. The seven-DOF fiber optic laying and fixing robot handles the subsequent clamping, laying, and fixing. Its end effector integrates flexible clamping, tension detection, and a dual-mode fixing device. The two arms are collaboratively controlled by a central controller, achieving fully automated, streamlined operations from drilling to fiber optic fixing, significantly improving operational efficiency.

[0019] Equipment stabilization technology under harsh vibration environments: Addressing the intense vibrations and uneven foundations within TBM tunnels, the system employs a multi-layered stabilization design. An electromagnetically adsorbed integrated base provides powerful magnetic anchoring (single module adsorption force ≥5kN); the oblique stability-enhancing support forms a physically stable structure, with its adaptive hydraulic locking mechanism responding to foundation changes within 0.5 seconds; the base's built-in adaptive leveling system (leveling accuracy ±0.1°) and vibration damping modules jointly ensure the overall stability of the working platform. Key components of the equipment achieve IP65 or higher protection ratings, possessing excellent dustproof and moisture-proof capabilities, ensuring the system's reliability under harsh operating conditions.

[0020] Intelligent diagnostics and long-term battery life management: The system has a built-in edge computing unit with powerful local computing capabilities, enabling multi-source information fusion and control decisions within one second, achieving intelligent early warning and self-diagnosis of faults. Equipped with a high-performance power management system and a large-capacity battery pack, the system supports continuous operation for up to 48 hours on a full charge, with a wide operating temperature range of -10℃ to 50℃, far exceeding the battery life of conventional equipment and meeting the needs of continuous TBM construction.

[0021] Efficiency Improvement: The system's average laying speed reaches 1.8 km / h, and the entire 5.2 km fiber optic cable was laid in less than 3 shifts (a total of 28 hours), which is more than 10 times more efficient than the traditional manual method.

[0022] Excellent precision: Post-construction testing showed that the average deviation of the optical fiber spatial position from the designed path was ±8 mm, and the maximum deviation did not exceed ±15 mm, fully meeting the high precision requirement of ±1 cm. The tension fluctuation range of the entire optical fiber laying was controlled within ±0.4N.

[0023] High reliability: During the entire 48-hour operation (completed in two shifts with one battery swap in between), the system did not experience any downtime due to vibration, humidity, and dust in the tunnel. The battery pack charge dropped from full to 31%, demonstrating excellent endurance.

[0024] Labor saving: The entire laying process requires only 2 operators to monitor and intervene in emergencies at the control console, which completely changes the previous operation mode that required a large number of people, reducing safety risks and the intensity of manual labor. Attached Figure Description

[0025] Figure 1 A flowchart illustrating the fiber optic cable laying method applied to TBM tunnels; Detailed Implementation

[0026] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention. Example 1

[0027] This example discloses an optical fiber laying device and method applied to TBM tunnels. See [link to relevant documentation]. Figure 1 , Includes: an electromagnetic adsorption integrated base; a dual-arm collaborative operation mechanism is installed on the electromagnetic adsorption integrated base, the dual-arm collaborative operation mechanism includes a drilling and anchoring operation arm and an optical fiber laying and fixing arm; respectively used for drilling holes and installing anchoring brackets in the tunnel lining, and for laying and fixing optical fibers; The electromagnetic adsorption integrated base is equipped with an optical fiber laying and tension control module, which is used to supply optical fiber to the optical fiber laying and fixing robotic arm. A telescopic lateral laying execution arm is installed on the electromagnetic adsorption integrated base. The end of the telescopic lateral laying execution arm is provided with a laying head for laying optical fibers from the optical fiber laying and tension control module along the tunnel circumferential direction. The dual robotic arm collaborative operation mechanism and the telescopic lateral laying execution arm are connected to a positioning and correction unit to provide real-time spatial pose feedback.

[0028] The electromagnetic adsorption integrated base includes a steel frame, with an electromagnetic adsorption module integrated at the bottom of the frame. The electromagnetic adsorption module is electrically connected to a demagnetizing unit. The surface of the demagnetizing unit is covered with an insulating protective layer. Inside the steel frame, there is a speed adjustment console, a fiber optic tray, and a robotic arm fixing structure. The speed adjustment console integrates a multi-axis motion controller and a PLC unit. The fiber optic tray is equipped with a constant tension active wire feeding mechanism. The robotic arm fixing structure is equipped with a heavy-duty slewing bearing and a hydraulic locking mechanism. The electromagnetic adsorption integrated base also includes an adaptive leveling structure and a shock absorption module.

[0029] The positioning and correction unit includes a laser total station with communication connection, multiple reflective targets, an inertial measurement unit, and a data processing core; the reflective targets are located at the execution ends of the drilling and anchoring robotic arm and the fiber optic laying and fixing robotic arm; the data processing core is used to fuse laser total station data and inertial navigation data and maintain positioning continuity when the laser signal is blocked.

[0030] The drilling and anchoring robotic arm integrates a high-frequency hydraulic impact drill and an anchoring mechanism at its end. The drilling and anchoring robotic arm is also equipped with a visual recognition mechanism and a magnetic support compartment. The visual recognition mechanism is used to identify the drilling position and avoid obstacles, and the magnetic support compartment is used to continuously supply anchoring supports.

[0031] The end of the fiber optic laying and fixing robotic arm is integrated with a composite actuator, which includes a pneumatic flexible clamping mechanism, a tension detection mechanism, and a dual-mode fixing mechanism. The dual-mode fixing mechanism is used to fix the fiber optic cable to the anchor bracket by heat fusion or mechanical locking. The fiber optic laying and fixing robotic arm is a seven-degree-of-freedom fully electric servo-driven robotic arm to maintain constant tension during laying.

[0032] The fiber optic cable laying and tension control module includes an active cable laying mechanism driven by a servo motor, a multi-stage tension sensor, and a closed-loop feedback control unit. The cable laying mechanism is an active servo control mechanism and is equipped with an automatic fiber optic balance detection mechanism. The multi-stage tension sensing mechanism includes a precision tension sensor and an electromagnetic damping mechanism. The closed-loop feedback control unit is used to receive real-time tension feedback signals from the multi-stage tension sensor and control the cable laying speed and tension through the servo motor. The cable laying mechanism also integrates a fiber optic guiding mechanism and an anti-torsion mechanism.

[0033] A multi-degree-of-freedom path compensation box is installed on the optical fiber path between the optical fiber laying and tension control module and the laying head. The multi-degree-of-freedom path compensation box has a six-degree-of-freedom parallel platform for compensating for linear and angular deviations in the optical fiber path. The six-degree-of-freedom parallel platform integrates a tension detection wheel system and a buffer guide mechanism. The buffer guide mechanism includes a low-friction coefficient guide wheel group and an elastic damping mechanism. The six-degree-of-freedom parallel platform is driven by three sets of precision electric actuators. Each of the three sets of precision electric actuators is connected to an encoder for detecting platform displacement. The housing of the multi-degree-of-freedom path compensation box has a labyrinthine channel to prevent dust intrusion. The multi-degree-of-freedom path compensation box receives deviation signals from the optical fiber path. Based on the deviation signals, it drives the three sets of precision electric actuators to compensate for the linear displacement of the X, Y, and Z axes and the rotation angles of the Rx, Ry, and Rz axes.

[0034] It also includes a drive mechanism, which comprises a servo motor, a precision reducer, a motion controller, and a guide rail, for driving the telescopic lateral laying execution arm and / or the dual robotic arm collaborative operation mechanism to perform multi-axis linkage motion. The drive mechanism is equipped with an overload protection mechanism and an emergency braking mechanism. The drive mechanism also includes a hydraulic pump station connected to the servo motor and the precision reducer.

[0035] It also includes at least one set of diagonal supports, each including a hydraulic support rod with an adjustable length. The hydraulic support rod has universal ball joints at both ends and integrates a pressure sensor and a displacement monitoring mechanism. The hydraulic support rod is connected to an adaptive hydraulic locking mechanism for adjusting the support length. The support feet of the hydraulic support rod are provided with anti-slip textures and equipped with a magnetic adsorption base. It also includes a monitoring panel, which is equipped with an industrial-grade touch screen to display equipment operating parameters, a 3D model of the fiber optic laying trajectory, and alarm information.

[0036] A method for laying optical fibers in TBM tunnels, applicable to optical fiber laying equipment used in TBM tunnels, includes the following steps: S1: Drilling point planning and drilling. The drilling and anchoring robotic arm plans the drilling path on the surface of the tunnel segment according to the preset support spacing, and identifies the segment joints and rebar positions through the vision recognition mechanism at the end to avoid irregular areas, thereby determining the drilling point; then, a high-frequency hydraulic impact drill is used to complete the drilling at the drilling point. S2: Anchor bracket insertion. The drilling and anchoring robotic arm takes out the stainless steel anchor bracket from the magnetic bracket compartment and inserts it into the hole drilled in S1 to complete the bracket installation. S3: Fiber optic gripping and laying. The fiber optic laying and fixing robotic arm moves to the station where the bracket has been installed in S2. It grips the fiber optic cable led out from the cable laying module through the path compensation box through the flexible pneumatic clamping mechanism at the end, and moves along the tunnel circumferential direction at a constant speed to press the fiber optic cable into the slot of the anchor bracket. S4: Tension control and fiber optic locking. During the fiber optic laying process in S3, the tension detection mechanism monitors the fiber tension in real time and feeds the data back to the central controller to ensure tension stability. When the fiber reaches the support position, the dual-mode fixing mechanism at the end of the robotic arm locks the fiber to the anchor support. By using a laser total station and inertial measurement unit fusion positioning method, the coordinates of the target at the end of the robotic arm are monitored to provide continuous position data for S1, S2, and S3. The steps S1, S2, and S3 constitute a drilling-anchoring-laying cycle. When the drilling and anchoring robotic arm performs step S1 for the N+2th drilling point, the anchoring mechanism of the drilling and anchoring robotic arm is simultaneously performing step S2 for the Nth drilling point. At the same time, the fiber optic laying and fixing robotic arm is performing step S3 for the N+1th anchoring bracket, thereby realizing parallel assembly line operation of the three processes.

[0037] The aim is to achieve high-precision, high-efficiency, and fully automated fiber optic network laying to meet the engineering needs of tunnel structure health monitoring and communication transmission. Its laying efficiency can reach up to 2 kilometers per hour.

[0038] The core technology integrates high-precision multi-sensor measurement and control with mechanical laying technology, combined with real-time positioning and attitude determination using a laser total station. This provides a unified and stable horizontal and vertical benchmark for the entire laying system, ensuring that the optical fiber is laid in a precise spatial position throughout the entire process. The system can achieve optical fiber positioning with a precision of ±1 cm and performs real-time closed-loop control of laying tension and attitude, ensuring fully automated operation from laying, positioning, bonding to fixing.

[0039] The main body of the equipment adopts a modular structure design with a compact and reasonable overall layout. Its dimensions are 5 m long × 1.5 m wide, providing ample space for system function expansion. The system base is an electromagnetic adsorption base, combining structural integration and stable anchoring functions, and can be installed on a TBM platform or tunnel foundation. The base integrates: a speed adjustment control console for controlling the laying rate; a fiber optic cassette for holding and releasing optical fibers; and a dual-arm collaborative operation system. The first robotic arm integrates a high-precision drilling device at its end, dedicated to drilling holes and installing anchor cable supports, providing pretreatment for fiber fixation; the second robotic arm is dedicated to clamping, laying, and finally fixing the optical fibers. Both arms adopt a telescopic structure, allowing independent and flexible adjustment of the working radius and posture during laying. Collaborative control significantly improves system adaptability and operational efficiency.

[0040] The equipment boasts excellent environmental adaptability, thriving in vibration-prone, humid, and dusty conditions within tunnels. Its built-in edge computing unit enables multi-source information fusion and control decisions within one second, displaying the laying trajectory, tension, drilling status, and system parameters in real-time via an industrial touchscreen. Equipped with a high-performance power management system and a large-capacity battery pack, the system can support continuous operation for up to 48 hours on a full charge, far exceeding the endurance of conventional equipment. Its operating temperature range is -10℃ to 50℃.

[0041] Using an electromagnetic adsorption integrated base as the installation and anchoring foundation, a global spatial reference is established through the intelligent positioning and correction unit of an integrated laser total station. Specific laying tasks are performed by a dual-robotic arm collaborative operation system (drilling and anchoring robotic arm, and fiber optic laying and fixing robotic arm). The physical reliability of the fiber optic laying process is ensured by a fiber optic laying and tension control module and a multi-degree-of-freedom path compensation box. The entire system is centrally scheduled by a mechanical speed adjustment console, and its status is monitored and human-machine interface is accessed through a visual parameter setting and monitoring panel.

[0042] The mechanical speed control console, as the core of the entire system, plays a crucial role in motion coordination. Through precise speed synchronization control, it ensures optimal speed matching between the laying mechanism, robotic arm, and other actuators, effectively preventing fiber stretching or stacking caused by speed asynchrony. The console provides a precise speed reference for the tension control system, a vital guarantee for achieving constant tension laying. Its high-speed response characteristics ensure stable system operation at a working speed of 2 km / h, and real-time monitoring can promptly detect and handle operational anomalies. The intelligent speed adjustment algorithm automatically optimizes operating parameters based on laying conditions, significantly improving system efficiency. The reliable operation of this console directly affects the performance of the entire fiber optic laying system and is a key technological guarantee for achieving high-precision, high-efficiency automated operations.

[0043] The retractable lateral laying actuator arm is the core mechanism for high-precision fiber optic cable laying. Its retractable structure and multi-degree-of-freedom motion capabilities allow the equipment to adapt to the complex curves of different tunnel cross-sections, ensuring precise fiber optic cable laying in any spatial location. High rigidity and precise motion control guarantee a laying accuracy of ±1cm, providing an accurate spatial reference for fiber optic monitoring. The actuator arm's rapid dynamic response ensures constant tension on the fiber optic cable during high-speed laying, effectively preventing excessive stretching or slack stacking. Its intelligent motion planning algorithm automatically optimizes the laying path, significantly improving work efficiency. The compact retractable design reduces the equipment's footprint by 60% when not in operation, greatly improving space utilization. The stability and reliability of this actuator arm directly determine the laying quality and efficiency of the entire system, providing a key technological guarantee for fully automated operation.

[0044] The fiber optic cable laying and tension control module is the core control unit ensuring the quality of fiber optic cable laying. Its precise tension control system directly determines the long-term performance of the fiber optic cable. By maintaining a tension control accuracy of ±0.5N, it effectively avoids micro-bending loss caused by excessive tension and installation hazards caused by excessive looseness, ensuring that the optical transmission performance of the fiber optic cable is not compromised. The active servo cable laying mechanism maintains millisecond-level synchronization with the robotic arm's movement speed, providing a key guarantee for the system to achieve high-speed continuous laying at 2 km / h. The module's anti-torsion device and guiding mechanism prevent the fiber optic cable from twisting and abrading during release, significantly improving the reliability of the laying operation. A multi-level sensing system monitors tension changes in real time, and closed-loop feedback control ensures that a constant tension state is maintained throughout the laying process, laying the foundation for the long-term stable operation of the fiber optic cable. The stable operation of this module is directly related to the transmission performance and service life of the fiber optic network and is a key technical guarantee for ensuring the reliability of the tunnel structure health monitoring system.

[0045] The electro-hydraulic / electro-driven propulsion system, as the core power source of the equipment, provides the necessary power support for the precise positioning and laying of optical fibers. Its high-precision motion control capability directly determines the ±1cm-level fiber laying accuracy, ensuring the accuracy of monitoring data. The system's rapid response characteristics ensure that the robotic arm can move smoothly along the predetermined trajectory, effectively avoiding vibration and deviation during movement. Excellent environmental adaptability ensures the continuous and stable operation of the equipment under harsh tunnel conditions, and the vibration suppression function effectively offsets the vibration interference caused by TBM construction. The high-efficiency energy conversion system significantly reduces equipment energy consumption, and combined with intelligent power adjustment functions, allows the equipment to maintain optimal performance even under full load.

[0046] The integrated laser total station's intelligent positioning and correction unit serves as the system's "spatial reference center," providing a unified spatial coordinate system and precise orientation reference for the entire fiber optic laying process. Its millimeter-level positioning accuracy directly guarantees a ±1cm fiber optic laying precision, ensuring each fiber segment is accurately laid in its designed position. Multi-sensor fusion technology effectively overcomes interference factors such as vibration and dust within the tunnel, maintaining the continuous stability of the positioning system. Its rapid response characteristics enable the system to compensate for equipment orientation deviations in real time, ensuring the accuracy of the laying trajectory. The intelligent correction function automatically corrects deviations caused by mechanical system errors and environmental factors, significantly reducing the need for manual intervention.

[0047] The multi-degree-of-freedom path compensation box plays a crucial "motion buffer" role in the system. Its multi-degree-of-freedom compensation capability effectively eliminates path deviations and vibration interference generated during the robotic arm's movement. By absorbing instantaneous path changes caused by the mechanical system's inertia in real time, it ensures that the optical fiber maintains a constant, minimal tension (control accuracy ±0.3N) during high-speed laying, avoiding fiber damage or performance degradation caused by sudden tension changes. Precise angle compensation ensures that the optical fiber always passes through the guide mechanism with the optimal bending radius, preventing signal attenuation caused by exceeding the minimum bending radius. Its rapid response characteristics enable the system to maintain stable tension control at high-speed laying conditions of 2 km / h, providing key technical support for high-quality optical fiber laying. The reliability of this device directly affects the long-term performance of the optical fiber network; its precise compensation function is an indispensable technical support for achieving high-speed automated laying.

[0048] The visualized parameter setting and monitoring panel serves as the core of the system's human-machine interface, providing operators with an intuitive platform for equipment status monitoring and parameter configuration. Its high-performance visualization capabilities allow operators to monitor the entire laying system's operational status in real time, including key information such as the robotic arm's movement trajectory, fiber optic tension changes, and drilling progress, significantly enhancing the intuitiveness and convenience of system operation. The intelligent alarm system promptly alerts operators to abnormal equipment conditions, helping them quickly locate and resolve problems, effectively preventing production interruptions due to equipment failure. Historical data recording provides crucial information for subsequent process optimization and equipment maintenance, supporting the export of complete work reports and quality analysis data. The remote monitoring interface allows technicians to view on-site operations in real time from the control center, providing technical support for multi-person collaborative operations.

[0049] The oblique stability enhancement support is a fundamental system ensuring the accuracy of equipment operation. Its multi-directional support structure effectively resists the maximum overturning moment of 20 kN·m generated during robotic arm operation and vibration interference from TBM construction. By monitoring changes in support force in real time and automatically adjusting the support state, it ensures that the equipment maintains a stable working posture on uneven tunnel foundations. The hydraulic locking mechanism provides rigid support during equipment operation, preventing equipment displacement caused by foundation settlement or vibration. The rapid leveling function allows the equipment to quickly reach its optimal working state under various working conditions, significantly reducing preparation time. The stability performance of this support system is directly related to achieving ±1cm fiber optic laying accuracy, and its load-bearing capacity ensures the safety of heavy-duty actuators under full load. Especially in the strong vibration environment generated by TBM propulsion, this support system effectively isolates vibration transmission, providing a stable working platform for precision measurement and laying operations, and is a crucial foundation for the reliable operation of the entire system.

[0050] The electromagnetic adsorption integrated base (including a speed adjustment control console, fiber optic tray, and robotic arm fixing device) serves as an independent working platform. It is quickly and easily fixed to a flatbed truck via electromagnetic adsorption, providing a stable working foundation for the entire system. Its strong adsorption force ensures absolute stability during operation, effectively resisting the reaction forces and vibrations generated by the robotic arm's movement. The high-rigidity structure provides a reliable reference plane for precision operations, guaranteeing a laying accuracy of ±1cm. The modular integrated design organically integrates various functional systems, significantly improving the overall integrity and environmental adaptability of the equipment.

[0051] The robotic arm for drilling and anchoring is a key technological tool for ensuring reliable fiber optic cable installation. Its automated drilling function completely revolutionizes traditional manual drilling, significantly improving safety and efficiency. High-precision positioning ensures consistent spacing and accurate placement of anchor supports, providing a precise foundation for subsequent fiber optic cable laying. An intelligent identification system automatically avoids obstacles such as reinforcing bars, effectively preventing damage to the tunnel structure. The integrated drilling and anchoring design enables continuous drilling and support installation, significantly reducing the time interval between processes. Strong environmental adaptability allows the robotic arm to operate stably under various geological conditions, ensuring anchoring quality. The operational accuracy of this robotic arm directly affects the laying quality and lifespan of the fiber optic network; its level of automation determines the overall system efficiency, making it an indispensable key technological tool for achieving intelligent fiber optic cable laying.

[0052] The fiber optic laying and fixing robotic arm is the core actuator for achieving high-quality fiber optic laying. Its high-precision motion control capabilities ensure that the fiber optic cable is laid precisely along the designed path, guaranteeing a laying accuracy of ±1cm. A constant tension control system effectively protects the fiber optic cable from damage during laying, avoiding signal attenuation caused by excessive stretching or bending. An intelligent fixing device ensures a reliable connection between the fiber optic cable and the anchoring bracket, providing a long-term stable fixing effect. Its rapid response characteristics enable the robotic arm to adapt to a high-speed operation pace of 2 km / h, significantly improving construction efficiency. Collaboration with a drilling robotic arm automates the entire process of drilling, laying, and fixing, greatly reducing manual intervention. The operational performance of this robotic arm directly determines the laying quality and long-term reliability of the fiber optic network, and its level of intelligence reflects the technological advancement of modern tunnel engineering equipment.

[0053] Highly efficient, suitable for harsh environments, simple in structure, easy to operate, and intelligently assisted in laying, the prepared intelligent assisted laying equipment can achieve high efficiency in a short time and has a good effect on on-site construction.

[0054] The fiber optic laying process system enters fully automated operation mode, and a complete cycle of "drilling-anchoring-laying-fixing" is as follows: (1) Precision drilling and bracket installation: The drilling and anchoring robotic arm (working radius adjusted to 4.5 meters) plans the drilling path according to the preset support spacing (1.5 meters).

[0055] Its end-of-line visual recognition system automatically identifies the joints of the pipe segments and the location of the reinforcing bars, avoids irregular areas, and determines the best drilling point.

[0056] A high-frequency hydraulic impact drill (impact frequency 2500 times / minute) drills a hole with a depth of 35mm and a diameter of 8mm on the tunnel lining, with a drilling depth control accuracy of ±1.5mm.

[0057] The intelligent anchoring device at the end of the robotic arm then retrieves a stainless steel anchoring bracket from the magnetic support compartment and inserts it into the hole, with the entire process taking no more than 45 seconds.

[0058] (2) Fiber optic cable laying and fixing: Almost simultaneously, the fiber optic cable laying and the fixed robotic arm moved to the work station.

[0059] Its end-efficiency pneumatic gripping mechanism (with a gripping force set to 1.5N) precisely grips the optical fiber led out from the cable laying module through the path compensation box.

[0060] The robotic arm moves circumferentially along the tunnel at a speed of 0.3 m / s, pressing the optical fiber into the slot of the pre-installed anchor bracket. A high-precision tension detection system monitors the tension in real time and feeds the data back to the central controller, ensuring that the tension remains stable at 2.5 ± 0.3 N. After reaching the bracket position, the dual-mode fixing device at the end (mechanical locking mode is used in this example) reliably locks the optical fiber to the bracket.

[0061] (3) Continuous collaborative operation: The two robotic arms work collaboratively under the control of a central controller. While arm one is drilling the (N+2)th hole, arm two is laying fiber optic cables for the (N+1)th support, and simultaneously, arm one's anchoring device is installing the support for the Nth hole. All three work in parallel, forming a highly efficient production line.

[0062] The laser total station monitors the coordinates of the targets at the ends of the two robotic arms 10 times per second. The IMU data is then fused with this data to ensure that the positioning data remains continuous and reliable even when the TBM propulsion generates vibrations or when dust briefly obscures the laser.

[0063] Although some preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the invention.

[0064] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this application and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An optical fiber laying device for use in TBM tunnels, characterized in that, include: Electromagnetic adsorption integrated base; The electromagnetic adsorption integrated base is equipped with a dual robotic arm collaborative operation mechanism, which includes a drilling and anchoring robotic arm and a fiber optic laying and fixing robotic arm. They are used respectively for drilling holes in tunnel lining and installing anchor brackets, and for laying and fixing optical fibers; The electromagnetic adsorption integrated base is equipped with an optical fiber laying and tension control module, which is used to supply optical fiber to the optical fiber laying and fixing robotic arm. A telescopic lateral laying execution arm is installed on the electromagnetic adsorption integrated base. The end of the telescopic lateral laying execution arm is provided with a laying head for laying optical fibers from the optical fiber laying and tension control module along the tunnel circumferential direction. The dual robotic arm collaborative operation mechanism and the telescopic lateral laying execution arm are connected to a positioning and correction unit to provide real-time spatial pose feedback.

2. The optical fiber laying equipment applied to TBM tunnels as described in claim 1, characterized in that: The electromagnetic adsorption integrated base includes a steel frame, with an electromagnetic adsorption module integrated at the bottom of the frame. The electromagnetic adsorption module is electrically connected to a demagnetizing unit. The surface of the demagnetizing unit is covered with an insulating protective layer. Inside the steel frame, there is a speed adjustment console, a fiber optic tray, and a robotic arm fixing structure. The speed adjustment console integrates a multi-axis motion controller and a PLC unit. The fiber optic tray is equipped with a constant tension active wire feeding mechanism. The robotic arm fixing structure is equipped with a heavy-duty slewing bearing and a hydraulic locking mechanism. The electromagnetic adsorption integrated base also includes an adaptive leveling structure and a shock absorption module.

3. The fiber optic laying equipment for TBM tunnels as described in claim 1, characterized in that: The positioning and correction unit includes a laser total station with communication connection, multiple reflective targets, an inertial measurement unit, and a data processing core; the reflective targets are located at the execution ends of the drilling and anchoring robotic arm and the fiber optic laying and fixing robotic arm; the data processing core is used to fuse laser total station data and inertial navigation data and maintain positioning continuity when the laser signal is blocked.

4. The fiber optic laying equipment for TBM tunnels as described in claim 1, characterized in that: The drilling and anchoring robotic arm integrates a high-frequency hydraulic impact drill and an anchoring mechanism at its end. The drilling and anchoring robotic arm is also equipped with a visual recognition mechanism and a magnetic support compartment. The visual recognition mechanism is used to identify the drilling position and avoid obstacles, and the magnetic support compartment is used to continuously supply anchoring supports.

5. The fiber optic laying equipment for TBM tunnels as described in claim 1, characterized in that: The end of the fiber optic laying and fixing robotic arm is integrated with a composite actuator, which includes a pneumatic flexible clamping mechanism, a tension detection mechanism, and a dual-mode fixing mechanism. The dual-mode fixing mechanism is used to fix the fiber optic cable to the anchor bracket by heat fusion or mechanical locking. The fiber optic laying and fixing robotic arm is a seven-degree-of-freedom fully electric servo-driven robotic arm to maintain constant tension during laying.

6. The optical fiber laying equipment applied to TBM tunnels as described in claim 1, characterized in that: The fiber optic cable laying and tension control module includes an active cable laying mechanism driven by a servo motor, a multi-stage tension sensor, and a closed-loop feedback control unit. The cable laying mechanism is an active servo control mechanism and is equipped with an automatic fiber optic balance detection mechanism. The multi-stage tension sensing mechanism includes a precision tension sensor and an electromagnetic damping mechanism. The closed-loop feedback control unit is used to receive real-time tension feedback signals from the multi-stage tension sensor and control the cable laying speed and tension through the servo motor. The cable laying mechanism also integrates a fiber optic guiding mechanism and an anti-torsion mechanism.

7. The optical fiber laying equipment applied to TBM tunnels as described in claim 1, characterized in that: A multi-degree-of-freedom path compensation box is installed on the optical fiber path between the optical fiber laying and tension control module and the laying head. The multi-degree-of-freedom path compensation box has a six-degree-of-freedom parallel platform for compensating for linearity and angular deviations in the optical fiber path. The six-degree-of-freedom parallel platform integrates a tension detection wheel system and a buffer guide mechanism. The buffer guide mechanism includes a low-friction coefficient guide wheel group and an elastic damping mechanism. The six-degree-of-freedom parallel platform is driven by three sets of precision electric push rods. The three sets of precision electric push rods are respectively connected to encoders for detecting platform displacement. The housing of the multi-degree-of-freedom path compensation box has a labyrinthine channel to prevent dust intrusion. The multi-degree-of-freedom path compensation box is used to receive the deviation signal of the optical fiber path; based on the deviation signal, it drives the three sets of precision electric push rods to compensate for the linear displacement of the X, Y, and Z axes and the rotation angle of the Rx, Ry, and Rz axes.

8. The optical fiber laying equipment for TBM tunnels as described in claim 1, characterized in that: It also includes a drive mechanism, which comprises a servo motor, a precision reducer, a motion controller, and a guide rail, for driving the telescopic lateral laying execution arm and / or the dual robotic arm collaborative operation mechanism to perform multi-axis linkage motion. The drive mechanism is equipped with an overload protection mechanism and an emergency braking mechanism. The drive mechanism also includes a hydraulic pump station connected to the servo motor and the precision reducer.

9. The optical fiber laying equipment for TBM tunnels as described in claim 1, characterized in that: It also includes at least one set of diagonal supports, each including an adjustable hydraulic support rod with universal ball joints at both ends. The hydraulic support rod integrates a pressure sensor and a displacement monitoring mechanism. The hydraulic support rod is connected to an adaptive hydraulic locking mechanism for adjusting the support length. The support feet of the hydraulic support rod have anti-slip textures and are equipped with magnetic adsorption bases. It also includes a monitoring panel with an industrial-grade touchscreen display for displaying equipment operating parameters, a 3D model of the fiber optic laying trajectory, and alarm information.

10. A method for laying optical fibers in TBM tunnels, applicable to the optical fiber laying equipment for TBM tunnels as described in any one of claims 1-9, characterized in that, Includes the following steps: S1: Drilling point planning and drilling. The drilling and anchoring robotic arm plans the drilling path on the surface of the tunnel segments according to the preset support spacing, and identifies the segment joints and rebar positions through the vision recognition mechanism at the end to avoid irregular areas, thereby determining the drilling points; then, a hydraulic impact drill is used to complete the drilling at the drilling points. S2: Anchor bracket insertion. The drilling and anchoring robotic arm takes out the stainless steel anchor bracket from the magnetic bracket compartment and inserts it into the hole drilled in S1 to complete the bracket installation. S3: Fiber optic gripping and laying. The fiber optic laying and fixing robotic arm moves to the station where the bracket has been installed in S2. It grips the fiber optic cable led out from the cable laying module through the path compensation box through the flexible pneumatic clamping mechanism at the end, and moves along the tunnel circumferential direction at a constant speed to press the fiber optic cable into the slot of the anchor bracket. S4: Tension control and fiber optic locking. During the fiber optic laying process in S3, the tension detection mechanism monitors the fiber tension in real time and feeds the data back to the central controller to ensure tension stability. When the fiber reaches the support position, the dual-mode fixing mechanism at the end of the robotic arm locks the fiber to the anchor support. By using a laser total station and inertial measurement unit fusion positioning method, the coordinates of the target at the end of the robotic arm are monitored to provide continuous position data for S1, S2, and S3. The steps S1, S2, and S3 constitute a drilling-anchoring-laying cycle. When the drilling and anchoring robotic arm performs step S1 for the N+2th drilling point, the anchoring mechanism of the drilling and anchoring robotic arm is simultaneously performing step S2 for the Nth drilling point. At the same time, the fiber optic laying and fixing robotic arm is performing step S3 for the N+1th anchoring bracket, thereby realizing parallel assembly line operation of the three processes.

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