Automatic tunneling construction method for overlength small-section tunnel cantilever tunneling machine

Abstract

The invention discloses an automatic tunneling construction method for an ultra-long small-section tunnel cantilever tunneling machine, which adopts a construction control system for measurement control, and the construction control system comprises a reference control system and a measurement positioning system. A plurality of datum points are arranged on the periphery of a to-be-excavated tunnel to form a datum control system, the datum control system is used for subsequent tunnel position measurement and used for determining and positioning an excavation line, a cantilever tunneling machine is arranged, measurement positioning systems are installed on the cantilever tunneling machine and the inner wall of the tunnel, and then the measurement positioning systems are positioned and adjusted through the datum control system. And finally, the position posture of the cantilever tunneling machine is adjusted through the measuring and positioning system, and tunneling is conducted, so that the problem of construction difficulty caused by huge dust in the excavation construction of the ultra-long small-section tunnel is solved, the tunneling speed of the cantilever tunneling machine is greatly increased, and meanwhile economical efficiency and safety are improved.

Description

Technical Field

[0001] This invention relates to the field of tunnel excavation construction technology, and in particular to an automatic tunneling construction method for cantilever tunnel boring machines used in ultra-long, small-section tunnels. Background Technology

[0002] For the excavation of ultra-long, narrow-section tunnels, due to their elongated and confined spaces and poor ventilation, the use of cantilever tunneling machines generates a large amount of dust and reduces visibility. The ultra-long, narrow-section tunnels referred to in this plan are those with a length greater than 300m and a cross-sectional area less than 8m². 2 The type of tunnel.

[0003] The following problems exist when using a cantilever tunneling machine: First, in the existing technology, the excavation face is marked manually. Since the operator cannot see the position of the drill bit, the cantilever tunneling machine cannot excavate according to the designed tunnel outline. At the same time, over-excavation and under-excavation problems occur, which not only affect the construction quality, but also have huge shortcomings in terms of tunneling speed, economy and safety. Secondly, if automated measurement and tunneling are adopted, the same problems of large dust and strong vibration will be faced. In the process of small cross-section construction, it is difficult to ensure that the tunneling machine has a high real-time position. Furthermore, the existing tunnels use other excavation methods at the tunnel entrance, which results in low excavation efficiency, affecting not only the construction period but also the subsequent tunnel excavation work. In addition, in order to improve the overall tunnel breakthrough efficiency and shorten the construction period, the construction method of bidirectional excavation on both sides of the tunnel is usually adopted. However, during the construction process, there is often settlement and mountain disturbance, which leads to construction deviations. When the tunnels are completed on both sides and then connected in the middle, there is often a large misalignment. Summary of the Invention

[0004] One of the objectives of this invention is, at least, to address the problem in existing technologies where manual marking during excavation prevents the tunnel boring machine (TBM) from following the designed tunnel outline, leading to over-excavation and under-excavation issues. This invention provides an automated TBM method for excavating ultra-long, small-section tunnels. This method employs a reference control system for excavation line positioning. By deploying a measurement and positioning system on the tunnel wall and the TBM, the position and excavation posture of the TBM are measured and controlled, automatically completing the excavation. This solves the construction difficulties caused by excessive dust in ultra-long, small-section tunnel excavation, significantly improving the excavation speed of the TBM while also enhancing economy and safety.

[0005] To achieve the above objectives, the technical solution adopted by the present invention includes the following aspects.

[0006] An automated tunneling method for cantilever tunneling machines used in ultra-long, small-section tunnels includes the following steps: Step 1: Tunnel measurement and positioning. Multiple reference points are set up around the tunnel to be excavated to form a reference control system. This reference control system is used for subsequent tunnel position measurement and to determine the positioning excavation line. Step 2: Construction and deployment of the tunnel entrance and cantilever tunneling machine, including construction drainage system, excavation of the tunnel entrance side slope, side slope protection and pipe roof support; Step 3: Install a measurement and positioning system on the cantilever tunneling machine and the inner wall of the tunnel; Step 4: Adjust the measurement and positioning system using the reference control system; Step 5: Adjust the position and attitude of the cantilever tunneling machine using the measurement and positioning system and begin tunneling; Step Six: Continue automatic tunneling and control the tunneling posture of the cantilever tunneling machine through a measurement and positioning system; The other side of the tunnel is excavated using the same steps one through six, with simultaneous bidirectional excavation until it is completed.

[0007] By adopting the above construction steps, multiple benchmark points are set up around the tunnel to be excavated to form a benchmark control system, and the excavation line is positioned. By arranging a measurement and positioning system on the inner wall of the tunnel and on the cantilever tunneling machine, the position and excavation posture of the cantilever tunneling machine are measured and controlled, and the excavation is completed automatically. This solves the construction difficulties caused by huge dust in the excavation of ultra-long small cross-section tunnels, greatly improves the excavation speed of the cantilever tunneling machine, and improves both economy and safety.

[0008] Preferably, the measurement and positioning system includes an automatic total station installed on the inner wall of the tunnel. The automatic total station serves as the guidance subsystem of the cantilever tunneling machine for automatic measurement. The measurement and positioning system also includes a wire sensor for measuring the rotation angle of the cutting arm, a No. 2 laser target for measuring the position of the cantilever tunneling machine, and an inclinometer for measuring the pitch angle of the cutting arm. The wire sensor is installed on the rotation cylinder, the No. 2 laser target is installed on the body of the tunneling machine, and the inclinometer is installed on the cutting arm. The measurement and positioning system also includes a power supply, a main control box, an operating platform, and a signal transceiver. The power supply is installed next to the automatic total station to supply power to it. The operating platform is installed on the cab of the tunnel boring machine (TBM). This operating platform is used to collect relevant data from the measurement and positioning system and serves as the platform for installing and running the system software. The system software controls the TBM to automatically tunnel through the automatic measurement of the automatic total station. The signal transceiver is installed on the tunnel wall and the body of the TBM for data signal transmission between the automatic total station and the operating platform. The main control box is installed on the body of the TBM for controlling communication and power supply connections.

[0009] Preferably, the measurement and positioning system further includes a No. 1 laser target installed on the inner wall of the tunnel. The No. 1 laser target is installed next to the automatic total station. The power supply simultaneously supplies power to the automatic total station and the No. 1 laser target. During the tunneling process, the No. 2 laser target is used to track the No. 1 laser target in real time, so that the No. 1 laser target acts as a laser projection receiving device during tunneling, and works with the automatic total station to perform measurements.

[0010] By deploying laser target #1 and using an automatic total station for measurement, the total station can accurately measure laser target #2 when the tunneling machine is not tunneling. During tunneling, the total station may lose the target due to excessive dust. In this case, using laser target #2 to track laser target #1 in real time can complete the tunneling machine's position and posture measurement, ensuring real-time measurement and measurement accuracy.

[0011] Preferred, step five, adjusting the position and attitude of the cantilever tunneling machine through the measurement and positioning system, includes the following steps or contents: Step A: During the debugging phase, a first coordinate system is established. The three-dimensional coordinates of the automatic total station and the No. 1 laser target are determined by manual measurement and input into the measurement and positioning system. This is used to determine the position of the measurement and positioning system relative to the reference control system. The automatic total station measures the No. 1 laser target to complete the station orientation. Under this first coordinate system, the coordinates of the No. 2 laser target and the two ends of the cantilever tunneling machine's body axis are measured. The measurement results are then normalized to a second coordinate system with the front end of the body axis as the origin, the body axis as the X-axis, and the horizontal upward as the Y-axis to obtain zero-position data. Step B: Real-time measurement and control of the cantilever tunneling machine's position stage. During the application process, periodic measurements are performed to measure the actual coordinates, azimuth, rotation angle, and pitch angle of the No. 2 laser target, thereby obtaining measurement parameters. Based on the determined zero-position data, the parameters are converted to obtain the real-time position and attitude data of the machine body. Step C: Measure the cutting arm to obtain the position and pose data of the cutting head, including measuring the relative vertical angle movement and relative horizontal angle movement of the cutting arm axis and the vehicle axis. Calculate the position and pose of the cutting head by measuring the angle changes and combining them with the corresponding size information of the cutting machine. Step D: Over- and under-excavation face control, including calculating the design outline and the cutting head model. The outermost point measured by the cutting head model is compared with the design outline, and the difference is the over- and under-excavation value of the cutting head data. The over- and under-excavation face is controlled by controlling this value. Step E: The spatial position changes of the No. 1 laser target and the automatic total station are measured by the reference control system, and the measured data is transmitted to the operating platform to further adjust the position of the cantilever tunneling machine.

[0012] Furthermore, in step C, the relative perpendicular angle between the cutting arm axis and the vehicle body axis is the projection of the angle between the cutting arm axis and the vehicle body axis onto the vertical plane, which can be measured in real time by an inclinometer installed on the cutting arm to obtain the pitch angle of the cutting arm; the relative horizontal angle between the cutting arm axis and the vehicle body axis is the projection of the angle between the cutting arm axis and the vehicle body axis onto the horizontal plane, and the horizontal angle of the cutting arm is calculated using the cosine theorem.

[0013] Preferably, step B includes the following steps or contents: Step B1: Before tunneling, an automatic total station and a No. 1 laser target are installed on the inner wall of the tunnel. The three-dimensional coordinates of the total station and the No. 1 laser target are measured by automatic monitoring or manual measurement through the measurement and positioning system and input into the operation platform of the measurement and positioning system. The system software controls the automatic total station to measure the No. 1 laser target and complete the station setting and orientation. Step B2: The position and attitude measurement of the tunnel boring machine is completed by comparing the No. 1 laser target installed on the inner wall of the tunnel with the No. 2 laser target installed on the body of the tunnel boring machine. Step B3: The position and orientation of the tunnel boring machine (TBM) are measured by comparing the automatic total station installed on the inner wall of the tunnel with the No. 2 laser target installed on the body of the TBM. The position and orientation of the TBM body is measured by measuring the No. 2 laser target using either the No. 1 laser target or the total station. When the TBM is not tunneling, the automatic total station accurately measures the No. 2 laser target. During tunneling, due to excessive dust, the total station may lose the target. The method of using the No. 2 laser target to track the No. 1 laser target in real time for comparison can effectively solve this problem and complete the position and orientation measurement of the TBM.

[0014] Preferably, in step D, the element method is used to describe and manage the design outline, which is the cross-sectional boundary line of the tunnel. The cross-sectional boundary line of the tunnel is a circular arch structure. The element method includes the following elements: starting point, straight line, circular curve, transition curve, and ending point. Among them: the starting point element includes coordinates and mileage, and the coordinates are determined by the endpoint of one side of the straight line; The straight line element includes length, which is the length of the straight line side; The elements of a circular curve include arc length, radius, and turning direction, including left turn and right turn. The elements of a transition curve include arc length, entry radius, exit radius, and turning direction, including left and right turns. Endpoint elements may selectively exclude content.

[0015] The design outline of the circular arch structure is obtained by describing and managing it using the element method. This method covers various elements that may appear in the design outline. The design outline is digitized by selecting and combining the values ​​of the elements, making it more convenient to use in the system software of the operating platform.

[0016] Preferably, in step D, when calculating the cutting head model, the cutting head model is digitized. The cutting head includes multiple cutting combination points, each of which is composed of a truncated cylindrical section and a truncated conical section. The bottom surface of the truncated conical section is integrally connected to the top surface of the truncated cylindrical section. By inputting the position and size parameters of the truncated cylindrical section and the truncated conical section into the system software of the operating platform, the cutting head model is digitized to obtain the cutting head data model, which is used to compare and subtract from the design outline to control the over- and under-cut surfaces.

[0017] Furthermore, during the data digitization process of the cutting head model, the position parameters of the cylindrical and conical sections are input and obtained by combining the geometric parameters of the cantilever tunneling machine body.

[0018] Preferably, in steps five and six, when the distance between the tunneling depth of the cantilever tunneling machine and the No. 1 laser target is 20-120m, the measurement and positioning system adds a No. 3 laser target, and disassembles and installs the automatic total station next to the No. 3 laser target. At the same time, the power supply is moved synchronously. The No. 3 laser target is set at the rear end of the tunneling position. Starting from the No. 3 laser target, a laser target is added every 20-120m of tunneling distance for the cantilever tunneling machine to measure the position of the tunneling machine. After each movement of the power supply, all laser targets are electrically connected to the power supply, so that the power supply supplies power to all laser targets.

[0019] Specifically, the position and orientation of the tunnel boring machine (TBM) is measured by measuring the No. 2 laser target using the No. 3 laser target or a total station. As the tunneling depth increases, the automatic total station may lose its target due to excessive dust. Using the No. 2 laser target to track the No. 3 laser target in real time for comparison can effectively solve this problem and complete the position and orientation measurement of the cantilever TBM. At the same time, the No. 1 laser target is maintained, and the No. 3 laser target and the No. 2 laser target are mutually measured and positioned. The data is stored and converted by the system software of the operating platform. In addition, the reference control system maintains the measurement and positioning of the No. 1 laser target.

[0020] In summary, by adopting the above technical solution, the present invention has at least the following beneficial effects: 1. By arranging a benchmark control system on the outside of the tunnel to be excavated, the settlement can be almost negligible since the benchmark point of the benchmark control system is located in a non-core construction area. The measurement and positioning systems on both sides of the tunnel are positioned and adjusted through the benchmark control system, which can continuously and dynamically adjust the excavation direction of the bidirectional cantilever tunneling machine in real time, so that there will be no misalignment when the two sides are constructed to the middle, and the connection can be better made. 2. By installing an automatic total station on the inner wall of the tunnel and a No. 2 laser target on the body of the tunnel boring machine (TBM), the position of the TBM can be accurately measured and guided, avoiding deviations in the TBM's movement. At the same time, multiple reference points outside the tunnel are used to measure and adjust the automatic total station and the No. 1 laser target, serving as indirect references for the TBM's position measurement. This ensures that both sides of the tunnel's bidirectional TBMs excavate along the designed tunnel outline, guaranteeing precise alignment and preventing misalignment during tunnel breakthrough. 3. During the debugging phase, a coordinate system is established. The coordinates of the two ends of the No. 2 laser target and the tunneling machine body axis obtained by measurement are used as zero-position data. This data is used as the zero-position data for the body and cutting head posture of the system software. During the periodic measurement process, the measured data is calculated and converted to accurately obtain the actual position coordinate data of the cantilever cutter and the posture data of the cutting head. Since the automatic total station and various measuring instruments perform measurements in real time and without interruption, the tunneling status and data of the cantilever cutter can be dynamically monitored to ensure the accuracy of tunneling. Attached Figure Description

[0021] Figure 1 This is a construction flowchart of the automatic tunneling construction method of the cantilever tunneling machine for ultra-long, small-section tunnels in this invention.

[0022] Figure 2 This is a schematic diagram of the control system composition for the automatic tunneling construction method of the cantilever tunnel boring machine for ultra-long, small-section tunnels in this invention.

[0023] Figure 3 This is a schematic diagram showing the composition and installation of the measurement and positioning system of the control system in this invention.

[0024] Figure 4 This is a schematic diagram illustrating the construction of the independent coordinate system of the cantilever tunneling machine during the calibration and debugging of the cantilever tunneling machine using a measurement and positioning system in this invention.

[0025] Figure 5 This is a schematic diagram illustrating the calculation of the relative horizontal angle of the cutting arm during the measurement of the cutting arm of a cantilever tunneling machine in this invention.

[0026] The diagram shows the following labels: 1-Baseline control system, 2-Measurement and positioning system, 201-Automatic total station, 202-Wire sensor, 203-Laser target #2, 204-Inclinometer, 205-Power supply, 206-Main control box, 207-Operating platform, 208-Signal transceiver, 209-Laser target #1, 3-Cantilever tunneling machine, 301-Cutting arm, 302-Rotating cylinder, 303-Cutting head, 4-Tunnel inner wall. Detailed Implementation

[0027] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments, so that the objectives, technical solutions, and advantages of the present invention will be clearer. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention. Example

[0028] Figure 1 The present invention illustrates the steps of an automated tunneling construction method for a cantilever tunnel boring machine for ultra-long, small-section tunnels, using an exemplary embodiment of the present invention. Figure 2 The construction control system shown performs measurement control. This control system includes a reference control system 1 and a measurement and positioning system 2. The steps of this automatic tunneling construction method for cantilever tunnel boring machines used in ultra-long, small-section tunnels mainly include: Step 1: Tunnel measurement and positioning. Multiple measurement reference points are set up around the tunnel to be excavated to form a reference control system 1. This reference control system 1 is used for subsequent tunnel position measurement and to determine the positioning excavation line. Step 2: Construction and deployment of tunnel boring machine 3 at the tunnel entrance, including construction drainage system, excavation of the tunnel entrance side slope, side slope protection and pipe roof support; Step 3: Install the measurement and positioning system 2 on the cantilever tunneling machine 3 and the inner wall of the tunnel 4; Step 4: Adjust the measurement and positioning system 2 using the reference control system 1; Step 5: Measure and adjust the position and attitude of the cantilever tunneling machine 3 using the measurement and positioning system 2, and then begin tunneling; Step Six: Continue automatic tunneling, and control the tunneling posture of the cantilever tunneling machine 3 through the measurement and positioning system 2; The other side of the tunnel is excavated using the same steps one through six, with simultaneous bidirectional excavation until it is completed.

[0029] By adopting the above construction steps, multiple benchmark points are set up around the tunnel to be excavated to form a benchmark control system, and the excavation line is positioned. By arranging a measurement and positioning system on the inner wall of the tunnel and on the cantilever tunneling machine, the position and excavation posture of the cantilever tunneling machine are measured and controlled, and the excavation is completed automatically. This solves the construction difficulties caused by huge dust in the excavation of ultra-long small cross-section tunnels, greatly improves the excavation speed of the cantilever tunneling machine, and improves both economy and safety. While simultaneous bidirectional excavation is carried out on both sides of the tunnel to be excavated, and although measurement and positioning systems are installed on the tunnel walls and the tunnel boring machine (TBM) to ensure that the TBM excavates according to the designed tunnel outline, settlement and mountain disturbance often occur during the excavation process, and the settlement and mountain disturbance on both sides are different, leading to construction deviations. By installing a benchmark control system on the outside of the tunnel to be excavated, and since the benchmark point of the benchmark control system is located outside the core construction area, the settlement is almost negligible. The measurement and positioning systems on both sides of the tunnel are positioned and adjusted through the benchmark control system, which can continuously and dynamically adjust the excavation direction of the bidirectional TBM in real time. This ensures that there is no misalignment when the two sides are connected in the middle, and that they can be better aligned.

[0030] As one of the preferred embodiments, such as Figure 3As shown, the measurement and positioning system 2 includes an automatic total station 201 installed on the inner wall 4 of the tunnel. The automatic total station 201 serves as the guidance subsystem of the tunnel boring machine 3 for automatic measurement. The measurement and positioning system 2 also includes a wire sensor 202 for measuring the rotation angle of the cutting arm 301, a No. 2 laser target 203 for measuring the position of the tunnel boring machine 3, and an inclinometer 204 for measuring the pitch angle of the cutting arm 301. The wire sensor 202 is installed on the rotation cylinder 302 of the tunnel boring machine 3, the No. 2 laser target 203 is installed on the body of the tunnel boring machine 3, and the inclinometer 204 is installed on the cutting arm 301. The measurement and positioning system 2 also includes a power supply 205, a main control box 206, and an operating platform 20. 7. A signal transceiver 208 is installed. The power supply 205 is installed next to the automatic total station 201 to supply power to the automatic total station 201. The operating platform 207 is installed on the operator's cab of the tunnel boring machine 3. The operating platform 207 is used to collect relevant data from the measurement and positioning system 2 and serves as the system software installation and operation platform. The system software controls the automatic tunnel boring machine 3 to automatically tunnel through the automatic measurement of the automatic total station 201. The signal transceiver 208 is installed on the tunnel inner wall 4 and the body of the tunnel boring machine 3 for data signal transmission between the automatic total station 201 and the operating platform 207. In this embodiment, the signal transceiver 208 uses wireless signal transmission. The main control box 206 is installed on the body of the tunnel boring machine 3 to control signal reception. The communication transmission of the generator 208 and the power supply connection of the tunnel boring machine 3 are also included. Furthermore, a #1 laser target 209 is installed on the tunnel wall. The #1 laser target 209 is also a component of the measurement and positioning system 2. This #1 laser target 209 is installed next to the automatic total station 201. The power supply 205 simultaneously supplies power to both the automatic total station 201 and the #1 laser target 203. During tunneling, a #2 laser target 203 tracks the #1 laser target 209 in real time, allowing the #1 laser target 209 to function as a laser projection and receiving device during tunneling, working in conjunction with the automatic total station 201 for measurement. By installing the automatic total station 201 on the tunnel wall and the #2 laser target 203 on the body of the tunnel boring machine 3, the position measurement of the tunnel boring machine 3 is achieved. The direct reference accurately measures and guides the position of the tunnel boring machine 3, preventing deviations in its travel. Simultaneously, the reference control system 1 uses multiple reference points outside the tunnel to measure and adjust the automatic total station 201 and the No. 1 laser target 209, serving as indirect references for the position measurement of the tunnel boring machine 3. When significant settlement or vibration displacement occurs during tunnel excavation, measurements are taken through the reference points of the reference control system 1, and the data is transmitted to the tunnel boring machine. The system software on the operating platform 207 performs calculations, promptly adjusting the tunneling position and attitude of the tunnel boring machine. This ensures that both tunnel boring machines on both sides of the tunnel excavate along the designed tunnel outline, guaranteeing precise alignment and preventing misalignment during tunnel breakthrough.

[0031] By installing an inclinometer 204 and a guy wire sensor 202 on the cantilever tunneling machine, the attitude of the cutting arm 301 can be measured, adjusted, and controlled, enabling precise control of the excavation face and avoiding over-excavation or under-excavation, thus achieving precise excavation. Simultaneously, a main control box 206, an operating platform 207, and a signal transceiver 208 are provided. The signal transceiver 208 can be arranged independently or integrated into various measuring instruments that require data transmission. It can transmit measurement data to the operating platform 207 via either wireless transmission or wired connection. The measured data is transmitted to the operation platform 207 in real time. The operation platform 207 adjusts the position and attitude of the cantilever tunneling machine 3 to achieve precise tunneling. The main control box 206 can turn the cantilever tunneling machine 3 and each measuring instrument on and off, and perform overall control. The No. 1 laser target 209 is set up and used in conjunction with the automatic total station 201 for measurement. When the tunneling machine is not tunneling, the automatic total station 201 can accurately measure the No. 2 laser target 203. During the tunneling process, the total station may lose the target due to excessive dust. At this time, the No. 2 laser target 203 can track the No. 1 laser target in real time to complete the position and attitude measurement of the tunneling machine, which can ensure real-time measurement and measurement accuracy. Alternatively, the automatic total station 201 can be moved in time to continuously track the No. 2 laser target 203 for measurement, while the automatic total station 201 is monitored.

[0032] Specifically: The automatic total station in this embodiment uses a Leica IS16A with a distance measurement accuracy of 1+1.5ppm and an angle measurement accuracy of 2". Technical parameters of laser target #1 and laser target #2: azimuth accuracy is 0.005°, rotation and elevation accuracy is 0.008°, power supply is DC 36V, and communication uses RS 485 & Ethernet; The signal transceiver uses a Leica TCP30 with a communication range of >100 meters; Technical parameters of the draw wire sensor: measurement accuracy 0.008°, power supply DC 12V, communication RS485; The main control box's communication interface uses RS 485 & Ethernet; The operating platform uses MMGS system automatic measurement software V1.0 and is equipped with multiple interfaces including serial port, network port, Wi-Fi and Bluetooth, as well as 4G memory and 250G SSD.

[0033] Step five, adjusting the position and attitude of the cantilever tunneling machine 3 through the measurement and positioning system 2, includes the following steps or contents: Step A: During the debugging phase, a first coordinate system is established. The three-dimensional coordinates of the automatic total station and the No. 1 laser target are determined by manual measurement and input into the measurement and positioning system. This is used to determine the position of the measurement and positioning system relative to the reference control system. The automatic total station measures the No. 1 laser target to complete the station orientation. Under this first coordinate system, the coordinates of the No. 2 laser target and the two ends of the cantilever tunneling machine's body axis are measured. The measurement results are then normalized to a second coordinate system with the front end of the body axis as the origin, the body axis as the X-axis, and the horizontal upward as the Y-axis to obtain zero-position data. Step B: Real-time measurement and control of the cantilever tunneling machine's position stage. During the application process, periodic measurements are performed to measure the actual coordinates, azimuth, rotation angle, and pitch angle of the No. 2 laser target, thereby obtaining measurement parameters. Based on the determined zero-position data, the parameters are converted to obtain the real-time position and attitude data of the machine body. Step C: Measure the cutting arm to obtain the position and pose data of the cutting head, including measuring the relative vertical angle movement and relative horizontal angle movement of the cutting arm axis and the vehicle axis. Calculate the position and pose of the cutting head by measuring the angle changes and combining them with the corresponding size information of the cutting machine. Step D: Over- and under-excavation face control, including calculating the design outline and the cutting head model. The outermost point measured by the cutting head model is compared with the design outline, and the difference is the over- and under-excavation value of the cutting head data. The over- and under-excavation face is controlled by controlling this value. Step E: The spatial position changes of the No. 1 laser target and the automatic total station are measured by the reference control system, and the measured data is transmitted to the operation platform. The position of the cantilever tunneling machine is further adjusted by the construction control system. Using the above steps, a first coordinate system is established during the debugging phase to determine the relative positional relationship of each measuring device in the measurement and positioning system. The coordinates of the two ends of the shaft axis of the No. 2 laser target and the cantilever tunneling machine are used as zero-position data. A second coordinate system is established with the front end of the shaft axis as the origin, the shaft axis as the X-axis, and the horizontal upward as the Y-axis. The measurement and positioning system calculates the pose data of the shaft and the cutting head, and the measured data is calculated and converted during the periodic measurement process to accurately obtain the actual position coordinate data of the cantilever cutting machine and the pose data of the cutting head. Since the automatic total station and various measuring instruments perform measurements in real time and continuously, the tunneling status and data of the cantilever cutting machine can be dynamically monitored to ensure the accuracy of tunneling. Step E further corrects and adjusts the measurement and positioning system to ensure the tunneling direction and position of the bidirectional cantilever tunneling machines on both sides of the tunnel, avoiding the accumulation of tunnel penetration errors caused by construction disturbances and mountain settlement as the construction cycle progresses, and achieving precise tunneling and docking.

[0034] In step A shown, specifically: After completing steps three and four, the cantilever tunneling machine 3 and all measuring instruments (measuring sensors) are installed. A first coordinate system is established, and the position and attitude of each measuring instrument are associated with the machine body axis and the cutting arm axis under this first coordinate system. Since the position of the cantilever tunneling machine and the state of the cutting arm are changing during the tunneling process, a second coordinate system is established with the center of the front end of the machine body axis as the origin, the machine body axis as the X-axis, and the horizontal upward as the Y-axis. This is to set an independent coordinate system for the cantilever tunneling machine, complete the zero-position measurement and parameterization process of the cantilever tunneling machine body structure, and enter the measurement data and parameterization process data into the system. During zero-point measurement, the relative coordinates between the rear end center and the front end center of the tunnel boring machine body are obtained by manual measurement or by the factory data of the tunnel boring machine. At the same time, the relative coordinates between the No. 2 laser target and the front end center are measured manually in advance, and then the No. 2 laser target is automatically measured and calibrated by an automatic total station. The parameterization of the machine structure includes measuring and recording the three-dimensional coordinates of multiple center points, horizontal and vertical rotation pivots of the cantilever tunneling machine body, such as... Figure 4 As shown, the design coordinates of O, A, and K are determined based on actual measurements. X is the machine's forward direction, Y is right, and Z is up. O is considered the center of the horizontal rotating disk, which is actually the same point as A. A and B are the machine body's axes, unaffected by the horizontal and vertical rotation of the cantilever. H and I are the rear support points of the horizontal cylinder rotation, also unaffected by the horizontal and vertical rotation of the cantilever. F and G are the front support points of the horizontal cylinder rotation, affected by horizontal rotation. E are the two rear support points of the vertical cylinder rotation, affected by horizontal rotation. C is the rear support point of the cutting arm; some models have a telescopic cylinder, affected by the telescopic cylinder. D is the front support point of the vertical cylinder rotation, affected by both horizontal and vertical rotation. J is the front support point of the cutting arm; some models have a telescopic cylinder, affected by the telescopic cylinder. K is the center of the rear of the cutting head; some models have a telescopic cylinder, affected by the telescopic cylinder.

[0035] Specifically, step B includes the following steps or contents in its implementation: Step B1: Before tunneling, an automatic total station and a No. 1 laser target are installed on the inner wall of the tunnel. The three-dimensional coordinates of the total station and the No. 1 laser target are measured by automatic monitoring or manual measurement through the measurement and positioning system and input into the operation platform of the measurement and positioning system. The system software controls the automatic total station to measure the No. 1 laser target and complete the station setting and orientation. Step B2: The position and attitude measurement of the tunnel boring machine is completed by comparing the No. 1 laser target installed on the inner wall of the tunnel with the No. 2 laser target installed on the body of the tunnel boring machine. Step B3: The position and attitude of the tunnel boring machine are measured by comparing the automatic total station installed on the inner wall of the tunnel with the No. 2 laser target installed on the body of the tunnel boring machine. The position and orientation of the tunneling machine is measured by measuring the No. 2 laser target using either the No. 1 laser target or a total station. When the tunneling machine is not tunneling, the automatic total station accurately measures the No. 2 laser target. During tunneling, the total station loses the target due to excessive dust. The method of using the No. 2 laser target to track the No. 1 laser target in real time for comparison measurement can effectively solve this problem and complete the position and orientation measurement of the tunneling machine.

[0036] In step C, the relative perpendicular angle between the cutting arm axis and the vehicle body axis is the projection of the angle between the cutting arm axis and the vehicle body axis onto the vertical plane, which can be measured in real time by an inclinometer installed on the cutting arm to obtain the pitch angle of the cutting arm. The relative horizontal angle between the cutting arm axis and the vehicle body axis is the projection of the angle between the cutting arm axis and the vehicle body axis onto the horizontal plane. The horizontal angle of the cutting arm is calculated using the law of cosines, specifically as follows: Figure 5 As shown, when the wire sensor is installed, the lengths of one adjacent side L2 (from the center A of the horizontal rotation axis of the cutting arm to the center B of the horizontal rotation adjustment cylinder) and a pair of sides L3 (the radius of the horizontal rotation axis of the cutting arm) of the horizontal angle are measured (fixed), as well as the difference L1 between the reading of the wire sensor and the total length of the horizontal cylinder. During periodic measurement, the total length L4 of the horizontal cylinder is calculated based on the reading of the wire sensor. At this time, the lengths of the three sides of the triangle are known, and the angle α of the horizontal angle is calculated by using the law of cosines.

[0037] As one preferred implementation, in step D, the element method is used to describe and manage the design outline, which is the cross-sectional boundary line of the tunnel. The cross-sectional boundary line of the tunnel is a circular arch structure. The element method includes the following elements: starting point, straight line, circular curve, transition curve, and ending point. Among them: the starting point element includes coordinates and mileage, and the coordinates are determined by the endpoint of one side of the straight line; The straight line element includes length, which is the length of the straight line side; The elements of a circular curve include arc length, radius, and turning direction, including left turn and right turn. The elements of a transition curve include arc length, entry radius, exit radius, and turning direction, including left and right turns. Endpoint elements may selectively exclude content.

[0038] The design outline of the circular arch structure is obtained by describing and managing it using the element method. This method covers various elements that may appear in the design outline. The design outline is digitized by selecting and combining the values ​​of the elements, making it more convenient to use in the system software of the operating platform.

[0039] As one preferred implementation, in step D, when calculating the cutting head model, the cutting head model is digitized. The cutting head includes multiple cutting combination points, each of which is composed of a truncated cylindrical section and a truncated conical section. The bottom surface of the truncated conical section is integrally connected to the top surface of the truncated cylindrical section. By inputting the position and size parameters of the truncated cylindrical section and the truncated conical section into the system software of the operating platform, the cutting head model is digitized to obtain the cutting head data model, which is used to compare and subtract from the design outline to control the over- and under-cut surfaces.

[0040] Furthermore, during the data digitization of the cutting head model, when inputting the position parameters of the cylindrical and conical sections, the geometric parameters of the cantilever tunneling machine body are combined to calculate the coordinates of the cutting head axis endpoints point by point from the vehicle body axis coordinates. The cutting head axis uses the pitch and azimuth angles of the last section of the cutting arm. Through the axis endpoint coordinates, pitch and azimuth angles of the cutting head, the data model of the cutting head is converted to the actual position. Then, based on the given mileage section, the point of the cutting head from the outermost part of the design contour line and the distance of this point from the design contour line are calculated. This distance is the over- or under-excavation value of this cutting head data. Connecting the outermost points of each set of cutting head data within this section is the over- or under-excavation surface of this section. Subtracting the design contour surface from the over- or under-excavation surface yields the over- or under-excavation area. Multiplying the over- or under-excavation area of ​​all sections within a given mileage range by the section interval yields the over- or under-excavation amount within the given mileage range.

[0041] In one preferred embodiment, in steps five and six, when the distance between the tunneling depth of the cantilever tunneling machine and the No. 1 laser target is between 20 and 120 m, the measurement and positioning system adds a No. 3 laser target, and the automatic total station is disassembled and installed next to the No. 3 laser target. At the same time, the power supply is moved synchronously. The No. 3 laser target is set at a distance of 20 to 120 m from the No. 1 laser target. Starting from the No. 3 laser target, a laser target is added every 20 to 120 m of tunneling distance for the cantilever tunneling machine to measure the position of the tunneling machine. After each movement of the power supply, all laser targets are electrically connected to the power supply so that the power supply supplies power to all laser targets. In this embodiment, the No. 3 laser target is added at about 40 m. The No. 3 laser target uses the same measurement technical parameters as the No. 1 and No. 2 laser targets.

[0042] Currently, in tunnel excavation, especially in the construction of ultra-long, small-section tunnels, cantilever tunnels are subject to significant dust. Adding laser targets can mitigate the impact of dust on measurements. Furthermore, the addition of laser targets can further improve the positional accuracy of the cantilever tunnel, ensuring it excavates along the designed tunnel profile. Specifically, the position and orientation of the tunnel boring machine (TBM) are measured using a #2 laser target or a total station. However, as the excavation depth increases, the risk of the automatic total station losing its target due to excessive dust increases. Therefore, using a #2 laser target... The method of real-time tracking of laser target #3 for measurement effectively solves this problem and completes the position measurement of the cantilever tunneling machine. At the same time, laser target #1 is retained, and the positioning is achieved by mutual measurement between laser target #3 and laser target #2. Data storage and conversion are performed through the system software of the operating platform. In addition, the measurement and positioning of laser target #1 by the reference control system is maintained. When multiple laser targets are added, the mutual measurement and positioning between adjacent laser targets are maintained. This method can not only accurately measure the position of the tunneling machine during tunneling, but also completely overcome the measurement errors caused by partial or segmental settlement of the tunnel. At the same time, the position of other laser targets is under the same measurement reference, and the measurement data is converted to ensure that the reference of synchronous tunneling on both sides of the tunnel is completely consistent, achieving precise docking and connection.

[0043] Another implementation method involves station switching. Since the installation basket of the automatic total station is mounted on the tunnel wall, and the coordinates of the basket's position are determined after each measurement, station switching is performed when the automatic total station cannot communicate with the No. 2 laser target on the tunnel boring machine. The switching distance is between 20 and 120 km. Between m, two new suspended platforms are installed at the new measurement points, and the coordinates of the two new platforms are manually measured. The No. 1 laser target and the automatic total station are then placed on the new platforms, and the coordinates of the two platforms are entered into the measurement positioning system to complete the station setup. After the station change, the coordinates of the first platform with the No. 1 laser target and the automatic total station installed are continuously measured through the reference control system. The coordinates are converted and calculated through the operation platform, and the tunneling posture of the cantilever tunneling machine is adjusted in a timely manner to ensure that the reference of synchronous tunneling on both sides of the tunnel is consistent under tunnel settlement and large vibration disturbance, so as to achieve precise docking and connection. Compared with the method of adding laser targets, this station change method cannot detect the deviation caused by tunnel settlement and has relatively lower measurement accuracy, but it simplifies the measurement process and saves measurement time. It is suitable for small cross-section tunnels with a total length of less than 500m.

[0044] The above description is merely a detailed illustration of specific embodiments of the present invention and is not intended to limit the invention. Various substitutions, modifications, and improvements made by those skilled in the art without departing from the principles and scope of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for automatic tunneling construction using a cantilever tunneling machine for ultra-long, small-section tunnels, characterized in that, Measurement control is performed using a construction control system, which includes a reference control system and a measurement and positioning system. The main steps of this automatic tunneling construction method for ultra-long, small-section tunnel cantilever tunneling machines include: Step 1: Tunnel measurement and positioning. Multiple reference points are set up around the tunnel to be excavated to form a reference control system. This reference control system is used for subsequent tunnel position measurement and to determine the positioning excavation line. Step 2: Construction and deployment of the tunnel entrance and cantilever tunneling machine, including construction drainage system, excavation of the tunnel entrance side slope, side slope protection and pipe roof support; Step 3: Install a measurement and positioning system on the cantilever tunneling machine and the inner wall of the tunnel; Step 4: Adjust the measurement and positioning system using the reference control system; Step 5: Adjust the position and attitude of the cantilever tunneling machine using the measurement and positioning system and begin tunneling; Step Six: Continue automatic tunneling and control the tunneling posture of the cantilever tunneling machine through a measurement and positioning system; The other side of the tunnel is excavated using the same steps one through six, with simultaneous bidirectional excavation until it is completed.

2. The automatic tunneling construction method for cantilever tunneling machines in ultra-long, small-section tunnels according to claim 1, characterized in that, The measurement and positioning system includes an automatic total station installed on the inner wall of the tunnel. The automatic total station serves as the guidance subsystem for the cantilever tunneling machine, performing automatic measurements. The measurement and positioning system also includes a wire sensor for measuring the rotation angle of the cutting arm, a No. 2 laser target for measuring the position of the cantilever tunneling machine, and an inclinometer for measuring the pitch angle of the cutting arm. The wire sensor is installed on the rotation cylinder, the No. 2 laser target is installed on the body of the tunneling machine, and the inclinometer is installed on the cutting arm. The measurement and positioning system also includes a power supply, a main control box, an operating platform, and a signal transceiver. The power supply is installed next to the automatic total station to supply power to it. The operating platform is installed on the cab of the tunnel boring machine (TBM). This operating platform is used to collect relevant data from the measurement and positioning system and serves as the platform for installing and running the system software. The system software controls the TBM to automatically tunnel through the automatic measurement of the automatic total station. The signal transceiver is installed on the tunnel wall and the body of the TBM for data signal transmission between the automatic total station and the operating platform. The main control box is installed on the body of the TBM for controlling communication and power supply connections.

3. The automatic tunneling construction method for cantilever tunneling machines in ultra-long, small-section tunnels according to claim 2, characterized in that, The measurement and positioning system also includes a No. 1 laser target installed on the inner wall of the tunnel. The No. 1 laser target is installed next to the automatic total station. The power supply simultaneously supplies power to the automatic total station and the No. 1 laser target. During the tunneling process, the No. 2 laser target is used to track the No. 1 laser target in real time, so that the No. 1 laser target can be used as a laser projection receiving device during tunneling, and cooperate with the automatic total station to carry out measurement.

4. The automatic tunneling construction method for cantilever tunneling machines in ultra-long, small-section tunnels according to claim 3, characterized in that, Step five, adjusting the position and attitude of the cantilever tunneling machine through the measurement and positioning system, includes the following steps or contents: Step A: During the debugging phase, a first coordinate system is established. The three-dimensional coordinates of the automatic total station and the No. 1 laser target are determined by manual measurement and input into the measurement and positioning system. This is used to determine the position of the measurement and positioning system relative to the reference control system. The automatic total station measures the No. 1 laser target to complete the station orientation. Under this first coordinate system, the coordinates of the No. 2 laser target and the two ends of the cantilever tunneling machine's body axis are measured. The measurement results are then normalized to a second coordinate system with the front end of the body axis as the origin, the body axis as the X-axis, and the horizontal upward as the Y-axis to obtain zero-position data. Step B: Real-time measurement and control of the cantilever tunneling machine's position stage. During the application process, periodic measurements are performed to measure the actual coordinates, azimuth, rotation angle, and pitch angle of the No. 2 laser target, thereby obtaining measurement parameters. Based on the determined zero-position data, the parameters are converted to obtain the real-time position and attitude data of the machine body. Step C: Measure the cutting arm to obtain the position and pose data of the cutting head, including measuring the relative vertical angle movement and relative horizontal angle movement of the cutting arm axis and the vehicle axis. Calculate the position and pose of the cutting head by measuring the angle changes and combining them with the corresponding size information of the cutting machine. Step D: Over- and under-excavation face control, including calculating the design outline and the cutting head model. The outermost point measured by the cutting head model is compared with the design outline, and the difference is the over- and under-excavation value of the cutting head data. The over- and under-excavation face is controlled by controlling this value. Step E: The spatial position changes of the No. 1 laser target and the automatic total station are measured by the reference control system, and the measured data is transmitted to the operating platform to further adjust the position of the cantilever tunneling machine.

5. The automatic tunneling construction method for cantilever tunneling machines in ultra-long, small-section tunnels according to claim 4, characterized in that, In step C, the relative perpendicular angle between the cutting arm axis and the vehicle body axis is the projection of the angle between the cutting arm axis and the vehicle body axis onto the vertical plane, which can be measured in real time by an inclinometer installed on the cutting arm to obtain the pitch angle of the cutting arm; the relative horizontal angle between the cutting arm axis and the vehicle body axis is the projection of the angle between the cutting arm axis and the vehicle body axis onto the horizontal plane, and the horizontal angle of the cutting arm is calculated using the cosine theorem.

6. The automatic tunneling construction method for cantilever tunneling machines in ultra-long, small-section tunnels according to claim 4, characterized in that, Step B includes the following steps or contents: Step B1: Before tunneling, an automatic total station and a No. 1 laser target are installed on the inner wall of the tunnel. The three-dimensional coordinates of the total station and the No. 1 laser target are measured by automatic monitoring or manual measurement through the measurement and positioning system and input into the operation platform of the measurement and positioning system. The system software controls the automatic total station to measure the No. 1 laser target and complete the station setting and orientation. Step B2: The position and attitude measurement of the tunnel boring machine is completed by comparing the No. 1 laser target installed on the inner wall of the tunnel with the No. 2 laser target installed on the body of the tunnel boring machine. Step B3: The position and attitude of the tunnel boring machine are measured by comparing the automatic total station installed on the inner wall of the tunnel with the No. 2 laser target installed on the body of the tunnel boring machine.

7. The automatic tunneling construction method for cantilever tunnel boring machines in ultra-long, small-section tunnels according to claim 4, characterized in that, In step D, the element method is used to describe and manage the design outline. The design outline is the cross-sectional boundary line of the tunnel, which is a circular arch structure. The element method includes the following elements: starting point, straight line, circular curve, transition curve, and ending point. Among them: the starting point element includes coordinates and mileage, and the coordinates are determined by the endpoint of one side of the straight line; The straight line element includes length, which is the length of the straight line side; The elements of a circular curve include arc length, radius, and turning direction, including left turn and right turn. The elements of a transition curve include arc length, entry radius, exit radius, and turning direction, including left and right turns. Endpoint elements may selectively exclude content.

8. The automatic tunneling construction method for cantilever tunneling machines in ultra-long, small-section tunnels according to claim 7, characterized in that, In step D, when calculating the cutting head model, the cutting head model is digitized. The cutting head includes multiple cutting combination points, each of which is composed of a truncated cylindrical section and a truncated conical section. The bottom surface of the truncated conical section is integrally connected to the top surface of the truncated cylindrical section. By inputting the position and size parameters of the truncated cylindrical section and the truncated conical section into the system software of the operating platform, the cutting head model is digitized to obtain the cutting head data model, which is used to compare and subtract from the design outline to control the over-excavation and under-excavation surfaces.

9. The automatic tunneling construction method for cantilever tunneling machines in ultra-long, small-section tunnels according to claim 8, characterized in that, During the data digitization process of the cutting head model, the position parameters of the cylindrical frustum section and the conical frustum section are input and obtained by combining the geometric parameters of the cantilever tunneling machine body.

10. The automatic tunneling construction method for cantilever tunneling machines in ultra-long, small-section tunnels according to claim 4, characterized in that, In steps five and six, when the distance between the tunneling depth of the cantilever tunneling machine and the No. 1 laser target is 20-120m, the measurement and positioning system adds a No. 3 laser target, and disassembles and installs the automatic total station next to the No. 3 laser target. At the same time, the power supply is moved synchronously. The No. 3 laser target is set at the rear end of the tunneling position. Starting from the No. 3 laser target, a laser target is added every 20-120m of tunneling distance for the cantilever tunneling machine to measure the position of the tunneling machine. After each movement of the power supply, all laser targets are electrically connected to the power supply, so that the power supply supplies power to all laser targets.

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