Full-process low-carbon automatic control method and system for tunnel excavation and supporting

Abstract

The invention discloses a low-carbon automatic control method and system for the whole process of tunnel excavation and supporting, and the method comprises the steps that a controller issues a dual-energy-gathering smooth blasting hole distribution and charging control instruction to an excavation execution mechanism according to preset excavation contour parameters, the excavation execution mechanism executes blasting operation according to the corresponding control instruction, and the excavation contour parameters are determined according to the blasting operation; forming an excavation outline; according to an excavation outline, a support spraying area is divided into five subareas, a controller issues a spraying sequence instruction to a spraying execution mechanism according to a preset subarea execution sequence, and the spraying execution mechanism conducts real-time leveling and compactness control through a flexible scraper; the three-dimensional laser scanning module collects three-dimensional point cloud data of the surrounding rock and the support forming surface after jet support and transmits the three-dimensional point cloud data to the controller, and the controller compares the three-dimensional point cloud data with the BIM model and calculates the back break amount and the support deviation; and the controller adjusts the concrete supply plan, the deslagging scheduling and the mechanical energy consumption according to the back break amount and the support deviation.

Description

Technical Field

[0001] This invention belongs to the field of tunnel construction technology, and more specifically, relates to a low-carbon automatic control method and system for the entire process of tunnel excavation and support. Background Technology

[0002] With the continuous expansion of tunnel engineering scale, the existing tunnel construction technology generally adopts the traditional process of "drilling and blasting excavation + initial support shotcreting + monitoring and measurement". However, this process has long exhibited a distinct segmented and fragmented characteristic of "excavation-support-inspection", lacking a real-time coupling and feedback mechanism between each link. In the existing technology, the blasting hole layout relies heavily on manual experience, fixed hole spacing and fixed charge structure. The charge direction and energy distribution are difficult to match precisely with the design contour, which can easily lead to problems such as blasting contour deviation, excessive disturbance of the free face, and serious over-excavation. In the initial support shotcreting construction, the spraying sequence lacks a unified standard, and the nozzle posture, spraying distance, and air pressure adjustment are highly dependent on the worker's experience. This not only leads to a high rebound rate and large fluctuations in spray thickness, but also results in an uneven support surface, which can easily cause local voids and uneven thickness.

[0003] Therefore, traditional tunnel construction methods are insufficient to meet the requirements of modern tunnel engineering in terms of shape control, deformation control, material conservation, energy management, and construction quality stability. There is an urgent need for a closed-loop automatic control method that can connect the "measurement-calculation-execution" chain, has continuous iterative optimization capabilities, and can adapt to complex surrounding rock conditions. Summary of the Invention

[0004] To address the above technical problems, this invention proposes a low-carbon automatic control method for the entire process of tunnel excavation and support, comprising: Step 101: The controller sends double-shaped smooth blasting hole layout and charge control instructions to the excavation execution mechanism according to the preset excavation contour parameters. The excavation execution mechanism performs blasting operations according to the corresponding control instructions to form the excavation contour. Step 102: Based on the excavation outline, the support spraying area is divided into five zones. The controller issues spraying sequence instructions to the spraying actuator according to the preset zone execution sequence. The spraying actuator performs real-time leveling and compaction control through a flexible scraper. Step 103: Collect three-dimensional point cloud data of the surrounding rock and the formed surface of the support after spraying support through the three-dimensional laser scanning module, and transmit it to the controller. The controller compares the three-dimensional point cloud data with the BIM model and calculates the over-excavation and under-excavation and the support deviation. Step 104: The controller adjusts the concrete supply plan, slag removal scheduling, and mechanical energy consumption based on the over-excavation and under-excavation volume and support deviation, thereby completing the closed-loop automatic control of low-carbon tunnel construction.

[0005] Furthermore, the double-focused smooth blasting hole layout and charge control instructions include: laying double-focused groove explosive tubes around the excavation face so that the focused jet surface is aligned with the pre-splitting surface, so as to generate stress waves, detonation gas expansion and air blade effect at the moment of blasting, so that the cracks can be formed and extended quickly according to the design outline, reducing over-excavation and disturbance to the surrounding rock. The blasting-formed contour is used as the excavation contour, and the excavation contour is used as the basis for dividing the support spraying area.

[0006] Furthermore, the five sections include: the vault, the left shoulder, the right shoulder, the left foot, and the right foot; the preset section execution order includes: starting from the vault, then the left shoulder, the left foot, the vault, the right shoulder, the right foot, the vault, the left shoulder, and the right shoulder.

[0007] Furthermore, when the spraying actuator performs spraying operations in each zone, the controller controls the pressure, spraying distance, nozzle posture, and spray layer thickness of the spraying actuator's spraying robotic arm in real time.

[0008] Furthermore, the excavation profile parameters, support thickness target, and shotcrete control amount for the next cycle are updated based on the over-excavation and under-excavation amounts and support deviations. The updated excavation profile parameters, support thickness target, and spraying control quantity are transmitted again to the excavation actuator in step 101 and the spraying actuator in step 102 to form a closed-loop control.

[0009] Furthermore, the dual-focusing-channel cartridge is made of polyvinyl chloride to form a dual-focusing-channel structure, thereby improving the centering stability of the focusing jet surface and enhancing the crack formation quality.

[0010] This invention also proposes a low-carbon automatic control system for the entire process of tunnel excavation and support, comprising: The excavation contour forming module is used by the controller to issue double-shaped smooth blasting hole layout and charge control commands to the excavation execution mechanism according to the preset excavation contour parameters. The excavation execution mechanism executes the blasting operation according to the corresponding control commands to form the excavation contour. The support module is used to divide the support spraying area into five zones according to the excavation outline. The controller sends spraying sequence instructions to the spraying actuator according to the preset zone execution sequence. The spraying actuator performs real-time leveling and compaction control through a flexible scraper. The data acquisition module is used to acquire three-dimensional point cloud data of the surrounding rock and the support forming surface after shotcreting through the three-dimensional laser scanning module, and transmit it to the controller. The controller compares the three-dimensional point cloud data with the BIM model and calculates the over-excavation and under-excavation and the support deviation. The adjustment module is used by the controller to adjust the concrete supply plan, slag discharge scheduling and mechanical energy consumption according to the over-excavation and under-excavation volume and support deviation, thereby completing the closed-loop automatic control of low-carbon tunnel construction.

[0011] Furthermore, the double-focused smooth blasting hole layout and charge control instructions include: laying double-focused groove explosive tubes around the excavation face so that the focused jet surface is aligned with the pre-splitting surface, so as to generate stress waves, detonation gas expansion and air blade effect at the moment of blasting, so that the cracks can be formed and extended quickly according to the design outline, reducing over-excavation and disturbance to the surrounding rock. The blasting-formed contour is used as the excavation contour, and the excavation contour is used as the basis for dividing the support spraying area.

[0012] Furthermore, the five sections include: the vault, the left shoulder, the right shoulder, the left foot, and the right foot; the preset section execution order includes: starting from the vault, then the left shoulder, the left foot, the vault, the right shoulder, the right foot, the vault, the left shoulder, and the right shoulder.

[0013] Furthermore, when the spraying actuator performs spraying operations in each zone, the controller controls the pressure, spraying distance, nozzle posture, and spray layer thickness of the spraying actuator's spraying robotic arm in real time.

[0014] In summary, the technical solutions conceived by this invention have the following beneficial effects compared with the prior art: This invention integrates excavation shape control, initial support spraying, 3D point cloud measurement, and controller calculation into a unified real-time feedback control chain, transforming tunnel construction from the traditional "experience-based, post-correction" mode to an automated construction method of "data-driven, proactive prediction, and real-time adjustment." Through the controller's dynamic adjustment of blasting hole layout, spraying thickness, and flexible scraper throughout the entire process, combined with 3D scanning for rapid detection of over-excavation, under-excavation, and support deviations, the system can automatically correct the blasting profile parameters and support parameters for the next cycle in each construction cycle. This achieves adaptive iterative optimization of excavation and support, significantly reducing over-excavation and rebound, improving spraying quality, reducing concrete and material consumption, stabilizing mechanical loads, and significantly enhancing the quality stability, safety, and low-carbon nature of tunnel construction. Attached Figure Description

[0015] Figure 1 This is a flowchart of the method in Embodiment 1 of the present invention; Figure 2 This is a system structure diagram of Embodiment 2 of the present invention; Figure 3 This is a schematic diagram of the dual-energy-concentrating tank drug tube of the present invention; Figure 4 This is a schematic diagram of the five regions of the present invention; Figure 5 This is a construction diagram of the present invention combined with a flexible scraper. Detailed Implementation

[0016] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0017] The method provided by this invention can be implemented in a terminal environment that may include one or more of the following components: a processor, a storage medium, and a display screen. The storage medium stores at least one instruction, which is loaded and executed by the processor to implement the method described in the following embodiments.

[0018] A processor may include one or more processing cores. The processor uses various interfaces and lines to connect various parts of the terminal, and performs various functions and processes data by running or executing instructions, programs, code sets or instruction sets stored in the storage medium, and by calling data stored in the storage medium.

[0019] Storage media can include random access memory (RAM) or read-only memory (ROM). Storage media can be used to store instructions, programs, code, code sets, or instructions.

[0020] The display screen is used to show the user interface of each application.

[0021] In addition, those skilled in the art will understand that the structure of the terminal described above does not constitute a limitation on the terminal. The terminal may include more or fewer components, or combine certain components, or have different component arrangements. For example, the terminal may also include radio frequency circuits, input units, sensors, audio circuits, power supplies, and other components, which will not be described in detail here.

[0022] Example 1 like Figure 1 As shown in the figure, this embodiment proposes a low-carbon automatic control method for the entire process of tunnel excavation and support, including: Step 101: The controller (which may be an industrial programmable logic controller (PLC) system) sends dual-energy smooth blasting hole layout and charging control commands to the excavation execution mechanism (such as a charging robot / tubular charging equipment, etc.) according to the preset excavation contour parameters. The excavation execution mechanism executes the blasting operation according to the corresponding control commands to form the excavation contour. Specifically, the control instructions for the hole layout and charge of dual-shaped charge blasting include: laying dual-shaped charge tubes (such as...) around the excavation face. Figure 3 As shown), the shaped jet surface is aligned with the pre-crack surface to generate stress waves, detonation gas expansion and air blade effect at the moment of blasting, so that the cracks can be formed and extended quickly according to the design outline, reducing over-excavation and disturbance to the surrounding rock. The blasting-formed contour is used as the excavation contour, and the excavation contour is used as the basis for dividing the support spraying area.

[0023] Step 102: Based on the excavation outline, the support spraying area is divided into five zones. The controller issues spraying sequence instructions to the spraying actuator (such as a shotcrete robot) according to the preset zone execution sequence. The spraying actuator performs real-time leveling and compaction control through a flexible scraper. Specifically, the five sections include: the vault, the left shoulder, the right shoulder, the left foot, and the right foot; the preset section execution order includes: starting from the vault, then the left shoulder, the left foot, the vault, the right shoulder, the right foot, the vault, the left shoulder, and the right shoulder.

[0024] like Figure 4 As shown, this embodiment adopts a "five-part area + flexible hanging panel (such as...)" approach. Figure 5 The innovative construction process (as shown) involves zoned spraying operations in a specific sequence, that is, according to... The sequence is as follows.

[0025] 1) Arch area (Area A): Prioritize construction, using layered spraying (each layer) The nozzle should be perpendicular to the rock surface to reduce rebound. Care must be taken to control the air pressure. ) and spray distance ( ) 2) Left and right arch shoulder areas (B1 and B2 areas): symmetrical spraying to avoid excessive pressure on one side, and the transition at the junction with the arch top should be smooth.

[0026] 3) Left and right arched foot areas (C1, C2 areas): Spray from top to bottom, with the nozzle slightly tilted downwards. This prevents the concrete from sliding down.

[0027] Under traditional methods, the rebound rate of shotcrete is 80%, while with this technology, the rebound rate can be significantly reduced to 30%. This reduction in rebound rate directly decreases material waste; compared to traditional methods, material waste is reduced by 40%-50%, lowering construction costs. Simultaneously, the initial support density and smoothness are effectively controlled, greatly improving the overall quality of the tunnel's initial support construction.

[0028] This technology not only reduces resource consumption but also lowers energy consumption and environmental pollution caused by material production and transportation, aligning with current green and environmentally friendly development concepts. The combination of zoned operations and scraper assistance ensures clear division of construction areas, close coordination of processes, and improved construction efficiency.

[0029] Specifically, when the spraying actuator performs spraying operations in each zone, the controller controls the pressure of the spraying robotic arm, the spraying distance, the nozzle posture, and the spray layer thickness of the spraying actuator in real time.

[0030] Step 103: Collect three-dimensional point cloud data of the surrounding rock and the formed surface of the support after spraying support through the three-dimensional laser scanning module, and transmit it to the controller. The controller compares the three-dimensional point cloud data with the BIM model and calculates the over-excavation and under-excavation and the support deviation. Preferably, in this embodiment, the over-excavation and under-excavation amounts and support deviations are calculated in the following manner: Preprocessing: Denoising, downsampling, and normal estimation are performed on the 3D point cloud data to obtain a set of discrete points. ( (The number of discrete points), each discrete point has a normal. With sampling weights ( , representing the discrete points (Weight of the area of ​​the corresponding element). BIM Model Surface Meshization: Mesh the design surfaces of the BIM model into a set of surface elements. ( For the first Each face value (The number of facets), each facet has a centroid. , legal direction ,area ; The calculation of over-excavation and under-excavation amounts specifically includes: For the third point cloud data discrete points Define its normal displacement to the surface of the BIM model: , in, For the first discrete points The normal displacement relative to the BIM model surface in the direction of the point normal (positive value indicates that the measured surface is outside the design surface (over-excavation), negative value indicates under-excavation). For the first discrete points The coordinates of the nearest point on the surface of the BIM model (can be obtained by finding the nearest cell and orthogonally projecting it onto the plane of that cell).

[0031] For a surface modeled as a polygon, after mapping the normal displacement of the 3D point cloud data to the polygon, the normal displacement of the polygon is defined as... : , in, For the first Individual area, For the first Individual normal displacement, For the first Individual The outward normal unit vector, For the first Individual The neighborhood of.

[0032] Multiplying the normal displacement of the surface element by the area of ​​the surface element yields the local volume deviation: , in, For the first Individual Local volume deviation.

[0033] Total over- and under-excavation volume: , in, For the total over- and under-excavation volume, if This is the total over-excavation volume. This represents the total under-excavation volume.

[0034] The calculation of support deviation specifically includes: For the initial support (shotcrete) design surface, three sub-indicators of support deviation are defined: thickness deviation, surface smoothness deviation, and curvature deviation. The thickness deviation is calculated as follows: In the Individual superior: , in, For the first Individual Thickness deviation, For the first Individual Design thickness, For the first Individual The actual thickness; , in, In order to be with the first Individual Related 3D point cloud data Discrete points in the array.

[0035] Calculate surface flatness deviation: , in, For the first Individual Surface flatness deviation.

[0036] Calculate curvature deviation: , in, For the first Individual curvature deviation, For the first Individual The actual curvature, For the first Individual The surface curvature of the design.

[0037] Specifically, the excavation profile parameters, support thickness target, and shotcrete control amount for the next cycle are updated based on the over-excavation and under-excavation amounts and support deviations. Preferably, for the first Individual Calculated These indicators are used to define a criterion function that maps these physical quantities to control correction quantities (with units or normalized). The control correction quantities include blasting correction quantities and initial support injection thickness correction quantities. Calculate blasting corrections: For over- / under-excavation volumes, generate corrections for blasting hole depth / charge amount. : , in, For the first Individual The Next (assuming this time is) Correction amount for blasting hole depth / charge amount in tunnel construction cycle. The first adjustment gain of the controller, This is the second adjustment gain of the controller. For preset or adaptive adjustment, a positive value indicates a reverse correction based on the detected over-digging / under-digging.

[0038] Calculate the initial support spray thickness correction: , in, For the first Individual The Correction amount for initial support shotcrete thickness in each tunnel construction cycle. The third adjustment gain of the controller, This is the fourth adjustment gain of the controller.

[0039] The updated excavation profile parameters, support thickness target, and spraying control quantity are transmitted again to the excavation actuator in step 101 and the spraying actuator in step 102 to form a closed-loop control.

[0040] Specifically, the dual-focusing-channel tube is made of polyvinyl chloride to form a dual-focusing-channel structure, thereby improving the centering stability of the focusing jet surface and improving the crack formation quality.

[0041] Step 104: The controller adjusts the concrete supply plan, slag removal scheduling, and mechanical energy consumption based on the over-excavation and under-excavation volume and support deviation, thereby completing the closed-loop automatic control of low-carbon tunnel construction.

[0042] Example 2 like Figure 2 As shown, this embodiment proposes a low-carbon automatic control system for the entire process of tunnel excavation and support, including: The excavation contour module is used by the controller (which can be an industrial programmable logic controller (PLC) system) to send dual-energy smooth blasting hole layout and charging control commands to the excavation execution mechanism (such as a charging robot / tubular charging equipment) according to the preset excavation contour parameters. The excavation execution mechanism executes the blasting operation according to the corresponding control commands to form the excavation contour. Specifically, the control instructions for the hole layout and charge of dual-shaped charge blasting include: laying dual-shaped charge tubes (such as...) around the excavation face. Figure 3 As shown), the shaped jet surface is aligned with the pre-crack surface to generate stress waves, detonation gas expansion and air blade effect at the moment of blasting, so that the cracks can be formed and extended quickly according to the design outline, reducing over-excavation and disturbance to the surrounding rock. The blasting-formed contour is used as the excavation contour, and the excavation contour is used as the basis for dividing the support spraying area.

[0043] The support module is used to divide the support spraying area into five zones according to the excavation outline. The controller issues spraying sequence instructions to the spraying actuator (such as a shotcrete robot) according to the preset zone execution sequence. The spraying actuator performs real-time leveling and compaction control through a flexible scraper. Specifically, the five sections include: the vault, the left shoulder, the right shoulder, the left foot, and the right foot; the preset section execution order includes: starting from the vault, then the left shoulder, the left foot, the vault, the right shoulder, the right foot, the vault, the left shoulder, and the right shoulder.

[0044] Specifically, when the spraying actuator performs spraying operations in each zone, the controller controls the pressure of the spraying robotic arm, the spraying distance, the nozzle posture, and the spray layer thickness of the spraying actuator in real time.

[0045] The data acquisition module is used to acquire three-dimensional point cloud data of the surrounding rock and the support forming surface after shotcreting through the three-dimensional laser scanning module, and transmit it to the controller. The controller compares the three-dimensional point cloud data with the BIM model and calculates the over-excavation and under-excavation and the support deviation. Preferably, in this embodiment, the over-excavation and under-excavation amounts and support deviations are calculated in the following manner: Preprocessing: Denoising, downsampling, and normal estimation are performed on the 3D point cloud data to obtain a set of discrete points. ( (The number of discrete points), each discrete point has a normal. With sampling weights ( , representing the discrete points (Weight of the area of ​​the corresponding element). BIM Model Surface Meshization: Mesh the design surfaces of the BIM model into a set of surface elements. ( For the first Each face value (The number of facets), each facet has a centroid. , legal direction ,area ; The calculation of over-excavation and under-excavation amounts specifically includes: For the third point cloud data discrete points Define its normal displacement to the surface of the BIM model: , in, For the first discrete points The normal displacement relative to the BIM model surface in the direction of the point normal (positive value indicates that the measured surface is outside the design surface (over-excavation), negative value indicates under-excavation). For the first discrete points The coordinates of the nearest point on the surface of the BIM model (can be obtained by finding the nearest cell and orthogonally projecting it onto the plane of that cell).

[0046] For a surface modeled as a polygon, after mapping the normal displacement of the 3D point cloud data to the polygon, the normal displacement of the polygon is defined as... : , in, For the first Individual area, For the first Individual normal displacement, For the first Individual The outward normal unit vector, For the first Individual The neighborhood of.

[0047] Multiplying the normal displacement of the surface element by the area of ​​the surface element yields the local volume deviation: , in, For the first Individual Local volume deviation.

[0048] Total over- and under-excavation volume: , in, For the total over- and under-excavation volume, if This is the total over-excavation volume. This represents the total under-excavation volume.

[0049] The calculation of support deviation specifically includes: For the initial support (shotcrete) design surface, three sub-indicators of support deviation are defined: thickness deviation, surface smoothness deviation, and curvature deviation. The thickness deviation is calculated as follows: In the Individual superior: , in, For the first Individual Thickness deviation, For the first Individual Design thickness, For the first Individual The actual thickness; , in, In order to be with the first Individual Related 3D point cloud data Discrete points in the array.

[0050] Calculate surface flatness deviation: , in, For the first Individual Surface flatness deviation.

[0051] Calculate curvature deviation: , in, For the first Individual curvature deviation, For the first Individual The actual curvature, For the first Individual The surface curvature of the design.

[0052] Specifically, the excavation profile parameters, support thickness target, and shotcrete control amount for the next cycle are updated based on the over-excavation and under-excavation amounts and support deviations. Preferably, for the first Individual Calculated These indicators are used to define a criterion function that maps these physical quantities to control correction quantities (with units or normalized). The control correction quantities include blasting correction quantities and initial support injection thickness correction quantities. Calculate blasting corrections: For over- / under-excavation volumes, generate corrections for blasting hole depth / charge amount. : in, For the first Individual The Next (assuming this time is) Correction amount for blasting hole depth / charge amount in tunnel construction cycle. The first adjustment gain of the controller, This is the second adjustment gain of the controller. and For preset or adaptive adjustment, a positive value indicates a reverse correction based on the detected over-digging / under-digging.

[0053] Calculate the initial support spray thickness correction: , in, For the first Individual The Correction amount for initial support shotcrete thickness in each tunnel construction cycle. The third adjustment gain of the controller, This is the fourth adjustment gain of the controller.

[0054] The updated excavation profile parameters, support thickness target, and spraying control quantity are then transmitted again to the excavation actuator in the excavation profile module and the spraying actuator in the support module to form a closed-loop control.

[0055] Specifically, the dual-focusing-channel tube is made of polyvinyl chloride to form a dual-focusing-channel structure, thereby improving the centering stability of the focusing jet surface and improving the crack formation quality.

[0056] The adjustment module is used by the controller to adjust the concrete supply plan, slag discharge scheduling and mechanical energy consumption according to the over-excavation and under-excavation volume and support deviation, thereby completing the closed-loop automatic control of low-carbon tunnel construction.

[0057] Example 3 This invention also proposes a storage medium storing multiple instructions, which are used to implement the aforementioned low-carbon automatic control method for the entire process of tunnel excavation and support.

[0058] Optionally, in this embodiment, the storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any mobile terminal in a group of mobile terminals.

[0059] Optionally, in this embodiment, the storage medium is configured to store program code for performing the method steps of Embodiment 1.

[0060] Example 4 This invention also proposes an electronic device, including a processor and a storage medium connected to the processor. The storage medium stores multiple instructions, which can be loaded and executed by the processor to enable the processor to execute the aforementioned low-carbon automatic control method for the entire process of tunnel excavation and support.

[0061] Specifically, the electronic device in this embodiment can be a computer terminal, which may include one or more processors and a storage medium.

[0062] The storage medium can be used to store software programs and modules, such as the low-carbon automatic control method for the entire process of tunnel excavation and support in this embodiment of the invention. The processor executes various functional applications and data processing by running the software programs and modules stored in the storage medium, thus realizing the aforementioned low-carbon automatic control method for the entire process of tunnel excavation and support. The storage medium may include high-speed random access storage media, and may also include non-volatile storage media, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state storage media. In some instances, the storage medium may further include storage media remotely configured relative to the processor, which can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0063] The processor can execute the method steps of Embodiment 1 by calling the information and application stored in the storage medium through the transmission system.

[0064] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0065] In the several embodiments provided by this invention, it should be understood that the disclosed technical content can be implemented in other ways. The system embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between units or modules, and may be electrical or other forms.

[0066] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0067] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0068] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, optical disks, and other media capable of storing program code.

[0069] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A low-carbon automatic control method for the entire process of tunnel excavation and support, characterized in that, include: Step 101: The controller sends double-shaped smooth blasting hole layout and charge control instructions to the excavation execution mechanism according to the preset excavation contour parameters. The excavation execution mechanism performs blasting operations according to the corresponding control instructions to form the excavation contour. Step 102: Based on the excavation outline, the support spraying area is divided into five zones. The controller issues spraying sequence instructions to the spraying actuator according to the preset zone execution sequence. The spraying actuator performs real-time leveling and compaction control through a flexible scraper. Step 103: Collect three-dimensional point cloud data of the surrounding rock and the formed surface of the support after spraying support through the three-dimensional laser scanning module, and transmit it to the controller. The controller compares the three-dimensional point cloud data with the BIM model and calculates the over-excavation and under-excavation and the support deviation. Step 104: The controller adjusts the concrete supply plan, slag removal scheduling, and mechanical energy consumption based on the over-excavation and under-excavation volume and support deviation, thereby completing the closed-loop automatic control of low-carbon tunnel construction.

2. The low-carbon automatic control method for the entire process of tunnel excavation and support as described in claim 1, characterized in that, The instructions for the layout and charge control of the double-focused smooth blasting include: laying double-focused groove explosive tubes around the excavation face so that the focused jet surface is aligned with the pre-splitting surface, so that stress waves, detonation gas expansion and air blade effect are generated simultaneously at the moment of blasting, so that the cracks can be formed and extended quickly according to the design outline, reducing over-excavation and disturbance to the surrounding rock. The blasting-formed contour is used as the excavation contour, and the excavation contour is used as the basis for dividing the support spraying area.

3. The low-carbon automatic control method for the entire process of tunnel excavation and support as described in claim 1, characterized in that, The five sections include: the vault, left shoulder, right shoulder, left foot, and right foot; the preset section execution order includes: starting from the vault, then the left shoulder, left foot, vault, right shoulder, right foot, vault, left shoulder, and right shoulder.

4. The low-carbon automatic control method for the entire process of tunnel excavation and support as described in claim 1, characterized in that, When the spraying actuator performs spraying operations in each zone, the controller controls the pressure of the spraying robotic arm, the spraying distance, the nozzle posture, and the spray layer thickness of the spraying actuator in real time.

5. The low-carbon automatic control method for the entire process of tunnel excavation and support as described in claim 1, characterized in that, The excavation profile parameters, support thickness target, and shotcrete control amount for the next cycle are updated based on the over-excavation and under-excavation amounts and support deviations. The updated excavation profile parameters, support thickness target, and spraying control quantity are transmitted again to the excavation actuator in step 101 and the spraying actuator in step 102 to form a closed-loop control.

6. The low-carbon automatic control method for the entire process of tunnel excavation and support as described in claim 1, characterized in that, The dual-focusing-channel cartridge uses polyvinyl chloride material to form a dual-focusing-channel structure, which improves the centering stability of the focusing jet surface and enhances the crack formation quality.

7. A low-carbon automatic control system for the entire process of tunnel excavation and support, characterized in that, include: The excavation contour forming module is used by the controller to issue double-shaped smooth blasting hole layout and charge control commands to the excavation execution mechanism according to the preset excavation contour parameters. The excavation execution mechanism executes the blasting operation according to the corresponding control commands to form the excavation contour. The support module is used to divide the support spraying area into five zones according to the excavation outline. The controller sends spraying sequence instructions to the spraying actuator according to the preset zone execution sequence. The spraying actuator performs real-time leveling and compaction control through a flexible scraper. The data acquisition module is used to acquire three-dimensional point cloud data of the surrounding rock and the support forming surface after shotcreting through the three-dimensional laser scanning module, and transmit it to the controller. The controller compares the three-dimensional point cloud data with the BIM model and calculates the over-excavation and under-excavation and the support deviation. The adjustment module is used by the controller to adjust the concrete supply plan, slag discharge scheduling and mechanical energy consumption according to the over-excavation and under-excavation volume and support deviation, thereby completing the closed-loop automatic control of low-carbon tunnel construction.

8. The low-carbon automatic control method for the entire process of tunnel excavation and support as described in claim 7, characterized in that, The instructions for the layout and charge control of the double-focused smooth blasting include: laying double-focused groove explosive tubes around the excavation face so that the focused jet surface is aligned with the pre-splitting surface, so that stress waves, detonation gas expansion and air blade effect are generated simultaneously at the moment of blasting, so that the cracks can be formed and extended quickly according to the design outline, reducing over-excavation and disturbance to the surrounding rock. The blasting-formed contour is used as the excavation contour, and the excavation contour is used as the basis for dividing the support spraying area.

9. The low-carbon automatic control method for the entire process of tunnel excavation and support as described in claim 7, characterized in that, The five sections include: the vault, left shoulder, right shoulder, left foot, and right foot; the preset section execution order includes: starting from the vault, then the left shoulder, left foot, vault, right shoulder, right foot, vault, left shoulder, and right shoulder.

10. The low-carbon automatic control method for the entire process of tunnel excavation and support as described in claim 7, characterized in that, When the spraying actuator performs spraying operations in each zone, the controller controls the pressure of the spraying robotic arm, the spraying distance, the nozzle posture, and the spray layer thickness of the spraying actuator in real time.

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