A multi-target cooperative control method and a tunneling-anchor-spraying integrated machine based on digital twinning

Abstract

This invention relates to the field of underground tunneling technology in coal mines, specifically a digital twin-based integrated tunneling, anchoring, and spraying machine and a multi-target collaborative control method. It includes a traveling component, a support component, an integrated spraying and anchoring component, and an external sensing component. The traveling component has a cutting head and a shovel head at its front end. The support component and the integrated spraying and anchoring component are both mounted on top of the traveling component. The support component includes a chassis, a hydraulic telescopic arm, and a roof plate. The lower surface of the roof plate is hinged to the upper surface of the chassis at the end of the hydraulic telescopic arm. The upper half of the outer wall of the hydraulic telescopic arm is hinged to the lower surface of the roof plate at the end of the upper hydraulic cylinder. This invention, through deep collaboration between the external sensing component and the digital twin platform, collects motion data of each component in real time, constructing an "integrated virtual model of the tunnel and equipment." This allows for early prediction of interference risks between the integrated spraying and anchoring machine components and the support unit, significantly improving safety redundancy compared to traditional manual prediction.

Description

Technical Field

[0001] This invention relates to the field of underground tunneling technology in coal mines, specifically to a tunneling, anchoring, and spraying integrated machine and a multi-objective collaborative control method based on digital twins. Background Technology

[0002] In current underground coal mine tunneling operations, integrated tunneling, anchoring, and shotcreting machines have gradually replaced traditional separate equipment, becoming the core equipment for realizing the integration of "tunneling-support-shotcreting". Existing technologies have established a certain application foundation for related equipment and control methods: Chinese patent CN120026915A discloses "an integrated spraying and drilling / anchoring tunneling device", which integrates spraying, drilling / anchoring processes, and tunneling into one, improving tunneling efficiency; Chinese patent CN118822272A discloses "a mine management method based on digital twins", which achieves overall mine status monitoring through 3D modeling; Chinese patent CN120508831A discloses "a real-time 3D visualization method for rapid tunneling system status", realizing equipment operation status monitoring; and Chinese patent CN115682314A discloses "a tunnel shotcrete thickness detection device", which uses a single sensor to measure shotcrete thickness.

[0003] However, existing technologies still have significant shortcomings: digital twin technology in the coal mining field is limited to "status display" and has not achieved dynamic interference prediction and active control; anchor bolt hole position identification relies on manual marking or single laser pointing, which cannot be adjusted in conjunction with the dynamic conditions of the surrounding rock, and large hole position deviations lead to insufficient anchoring force; shotcrete thickness is checked "after the fact," which cannot identify under-sprayed and over-sprayed areas in real time, and there is no linkage with anchor bolt hole position; tunneling, support, and shotcrete operations are controlled independently without a unified data center, resulting in poor coordination, low efficiency, and equipment redundancy; these problems seriously affect the safety, efficiency, and quality of underground tunneling operations in coal mines, and an integrated and intelligent solution is urgently needed; In addition, before drilling, inserting anchor bolts and spraying grout, the tunneling, anchoring and spraying machine needs to control the support plate to support the top of the tunnel. However, the tunnel top is uneven due to the excavation, which affects the contact effect between the support plate and the tunnel top, thus affecting the support effect and stability. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, this invention proposes a digital twin-based integrated tunneling, anchoring, and shotcrete machine and a multi-objective collaborative control method. Through deep collaboration between external sensing components and the digital twin platform, it collects motion data of each component in real time, constructing an integrated virtual model of the tunnel and equipment. This allows for the early prediction of interference risks between the shotcrete and anchoring machine components and support units, significantly improving safety redundancy compared to traditional manual prediction. Furthermore, this invention automatically identifies surrounding rock fissures, over-excavation areas, and supportable areas by fusing "3D laser scanner point clouds + industrial camera images." Simultaneously, it uses the digital twin model to pre-simulate the rock bolt drilling rig's trajectory. This invention ensures the normal progress of drilling operations by using a laser displacement sensor to dynamically monitor the distance of the shotcrete layer, and a digital twin platform to calculate the thickness in real time and adjust it in conjunction with the shotcrete machine, thereby improving the shotcrete thickness compliance rate and reducing material waste. Through hardware integration of a "walking component + support component + shotcrete-anchor integrated component," combined with a unified data center on a digital twin platform, this invention achieves continuous operation of "immediate support after cutting and simultaneous shotcreting after support," and reuses data from each stage. For example, 3D laser scanner data simultaneously supports hole location planning, shotcrete benchmarks, and anti-interference prediction, reducing sensor redundancy and lowering equipment integration costs.

[0005] The technical solution adopted by this invention to solve its technical problem is as follows: A digital twin-based integrated excavation, anchoring, and spraying machine includes a walking component, a support component, an integrated spraying and anchoring component, and an external sensing component; the front end of the walking component is provided with a cutting head and a shovel head; the support component and the integrated spraying and anchoring component are both installed on top of the walking component; the support component includes a chassis, a hydraulic telescopic arm, and a top plate; the lower surface of the top plate is hinged to the upper surface of the chassis at the end of the hydraulic telescopic arm; the outer wall of the upper half of the hydraulic telescopic arm is hinged to the lower surface of the top plate at the end of the upper hydraulic cylinder; the outer wall of the lower half of the hydraulic telescopic arm is hinged to the upper surface of the chassis. Next, the end of the lower hydraulic cylinder; the top plate is hinged to the side plates on the left and right sides; the inner surface of the side plates and the lower surface of the top plate are hinged to the end of the side hydraulic cylinder; the rear side of the top plate is connected to the rear plate through the rear hydraulic cylinder; the top plate, side plates and rear plate are all provided with operating grooves; the shotcrete and anchor integrated assembly includes a shotcrete and anchor control arm and an anchor drill and shotcrete machine at the end of the shotcrete and anchor control arm; the external sensing assembly includes a 3D laser scanner, a laser displacement sensor and an industrial camera; the two 3D laser scanners are respectively installed at the front and rear positions on the top of the walking assembly; the laser displacement sensor and the industrial camera are installed on the shotcrete machine.

[0006] A multi-objective collaborative control method for a tunneling, anchoring, and spraying integrated machine based on digital twins is disclosed. This method is applicable to the aforementioned tunneling, anchoring, and spraying integrated machine based on digital twins. The steps of this method are as follows: S1: Two 3D laser scanners simultaneously scan the surrounding rock of the work area to generate initial surrounding rock point cloud data. Combined with the three-dimensional structural model parameters of each component of the tunneling, anchoring and spraying machine, an initial digital twin model of the tunnel-equipment integration is constructed. S2: The cutting head at the front of the walking component operates according to the planned cutting path. The 3D laser scanner collects dynamic cutting point cloud in real time. The digital twin platform compares the designed section with the actual cutting section and corrects the cutting path in real time. S3: After the cutting is completed, the support components start temporary support. The 3D laser scanner scans the surrounding rock and the position of the support components after support, and updates the support component occupancy data in the digital twin model. S4: The 3D laser scanner and industrial camera work together to collect data on the surrounding rock of the area to be supported. The digital twin platform identifies the rock fissures and generates the three-dimensional coordinates of the hole location and the drilling angle. After point cloud-image registration verification, the spray-anchor integrated component is controlled to complete the anchor drilling operation. S5: A 3D laser scanner generates a reference point cloud before shotcreting; the integrated shotcrete and anchor assembly operates according to the planned path; a laser displacement sensor monitors the distance of the shotcrete layer in real time; a digital twin platform calculates the actual shotcrete thickness and dynamically adjusts the operating parameters; and an industrial camera identifies missed areas and triggers re-shotcreting. S6: After the operation is completed, the digital twin platform updates the completion status of the operation surface, stores the data and plans the next cycle of operation, and predicts the intervention of the mechanism in real time and triggers an emergency stop.

[0007] Preferably, the top plate is composed of four partition plates with operating slots; the rear plate and side plate are composed of two partition plates with operating slots; the outer surface of each partition plate is provided with multiple telescopic slots; the multiple telescopic slots are distributed around the square operating slot; a telescopic column is movably connected within the telescopic slot; the operating slot is provided with longitudinal and transverse conduits respectively; the longitudinal and transverse conduits are vertically intersecting; the ends of the longitudinal and transverse conduits are connected to the upper part of the outer wall of the corresponding telescopic column; the telescopic column is connected to the bottom of the telescopic slot by a first spring.

[0008] Preferably, an auxiliary hole is provided at the upper position of the arc-shaped outer wall of the telescopic column; an auxiliary sleeve is movably connected inside the auxiliary hole; the auxiliary sleeve is connected to the bottom of the auxiliary hole by a tension spring; and the end of the auxiliary sleeve away from the bottom of the auxiliary hole is connected to the corresponding longitudinal tube and the corresponding transverse tube.

[0009] Preferably, the telescopic column and the telescopic groove are connected in a movable sealing connection; the bottoms of all the telescopic grooves are connected through connecting holes; and the telescopic grooves are filled with a liquid medium.

[0010] Preferably, the auxiliary hole is movably and sealed to the auxiliary sleeve; both the longitudinal tube and the transverse tube are connected to the inner side of the corresponding auxiliary sleeve; the bottom of the auxiliary hole is connected to the inside of the corresponding expansion groove through a first liquid hole.

[0011] Preferably, the inner wall of the telescopic groove is provided with a corrugated groove; one end of the corrugated groove is close to the bottom of the telescopic groove, and the other end is away from the bottom of the telescopic groove; a movable block is movably connected inside the corrugated groove; the movable block is connected to the outer wall of the telescopic column.

[0012] Preferably, the telescopic column has an inverted frustum-shaped rotating groove at one end near the bottom of the telescopic groove; a rotating block is rotatably connected inside the rotating groove; one end of the first spring is fixedly connected to the rotating block, and the other end is fixedly connected to the bottom of the telescopic groove.

[0013] Preferably, the telescopic column has an annular groove on its arc-shaped outer wall; an annular bar is rotatably connected inside the annular groove; the movable block is fixedly connected to the annular bar; a J-shaped groove is provided at the upper end and inside of the telescopic column; the J-shaped groove communicates with the interior of the annular groove; slots are evenly provided at the lower position of the inner edge of the annular bar; a J-shaped bar is slidably connected up and down inside the J-shaped groove; the lower end of the J-shaped bar is connected to the bottom of the J-shaped groove by a second spring; the upper end of the J-shaped bar is fixedly connected to the drive disc; the hook of the J-shaped bar can be engaged in the slot.

[0014] The beneficial effects of this invention are as follows: 1. By deeply collaborating with external sensing components and a digital twin platform, the invention collects motion data of each component in real time, constructing an integrated virtual model of the tunnel and equipment. This allows for the prediction of interference risks between the shotcrete and anchor bolt integrated machine components and the support unit, significantly improving safety redundancy compared to traditional manual prediction. 2. This invention uses the fusion of "3D laser scanner point cloud + industrial camera image" to automatically identify surrounding rock fissures, over-excavation areas, and supportable areas. Simultaneously, it uses the digital twin model to pre-simulate the anchor bolt drilling rig trajectory, ensuring normal drilling operations. 3. This invention uses a laser displacement sensor to dynamically monitor the distance of the shotcrete layer, and the digital twin platform calculates the thickness in real time, coordinating with the shotcrete machine for adjustments, improving the shotcrete thickness compliance rate and reducing material waste. 4. This invention integrates "walking components + support components + shotcrete and anchor bolt integrated components" into a unified data hub on a digital twin platform, enabling continuous operation of "immediate support after cutting and simultaneous shotcreting after support." Data reuse is achieved at each stage; for example, 3D laser scanner data simultaneously supports hole location planning, shotcrete benchmarks, and anti-interference prediction, reducing sensor redundancy and lowering equipment integration costs.

[0015] 2. In this invention, after the end of the telescopic column away from the telescopic groove contacts the top of the roadway, the longitudinal and transverse pipes are tightened at the top of the roadway, realizing adaptive support for the top of the roadway. Compared with the original method of using plates to make contact across the entire surface, this increases the contact area, improves the support effect, and makes the subsequent drilling and anchor bolting process more stable.

[0016] 3. This invention, through the combination of J-shaped strips and ring strips, ensures that the telescopic column will not cause the longitudinal and transverse pipes to shake during the support process, but after support, it can cause the longitudinal and transverse pipes to move, so that the grout on the longitudinal and transverse pipes scrapes off each other, achieving self-cleaning of the longitudinal and transverse pipes and ensuring the subsequent use of the longitudinal and transverse pipes. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0018] Figure 1 This is a perspective view of the integrated tunneling, anchoring, and spraying machine of the present invention; Figure 2 yes Figure 1 A three-dimensional view of the removed support components; Figure 3 This is a 3D view of the integrated spray anchor assembly; Figure 4 This is a perspective view of the support component in this invention; Figure 5 This is a flowchart of the method in this invention; Figure 6 This is a structural diagram of the top plate in this invention; Figure 7 This is a structural diagram of the side plate in this invention; Figure 8 This is a structural diagram of the rear plate in this invention; Figure 9 This is a structural diagram of the plate in this invention; Figure 10 This is a cross-sectional view of the plate in this invention; Figure 11 yes Figure 10 Enlarged view of point A in the middle; Figure 12 yes Figure 10 Enlarged view of point B in the middle; Figure 13 This is a cross-sectional view of the J-shaped groove in this invention; Figure 14 This is a perspective view of the annular bar and the movable block in this invention.

[0019] In the diagram: Walking assembly 1, cutting head 11, shovel head 12, support assembly 2, chassis 21, hydraulic telescopic arm 22, top plate 23, upper hydraulic cylinder 24, lower hydraulic cylinder 25, side plate 26, side hydraulic cylinder 27, rear hydraulic cylinder 28, rear plate 29, shotcrete and anchor integrated assembly 3, shotcrete and anchor control arm 31, anchor drill 32, shotcrete machine 33, dividing plate 4, operating groove 41, telescopic groove 42, longitudinal pipe 43, transverse pipe 44, connecting hole 45, corrugated groove 46, movable block 47, telescopic column 5, first spring 51, auxiliary hole 52, auxiliary sleeve 53, tension spring 54, first liquid hole 55, rotating groove 56, rotating block 57, annular groove 58, J-shaped groove 59, annular strip 6, slot 61, J-shaped strip 7, second spring 71, drive disc 72. Detailed Implementation

[0020] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0021] like Figures 1 to 14 As shown, the present invention includes the following embodiments: Example 1 ( Figures 1-4 A digital twin-based integrated excavation, anchoring, and spraying machine includes a walking assembly 1, a support assembly 2, an integrated spraying and anchoring assembly 3, and an external sensing assembly. The walking assembly 1 has a cutting head 11 and a shovel head 12 at its front end. The support assembly 2 and the integrated spraying and anchoring assembly 3 are both mounted on top of the walking assembly 1. The support assembly 2 includes a chassis 21, a hydraulic telescopic arm 22, and a top plate 23. The lower surface of the top plate 23 is hinged to the upper surface of the chassis 21, connecting to the end of the hydraulic telescopic arm 22. The upper half of the outer wall of the hydraulic telescopic arm 22 is hinged to the lower surface of the top plate 23, connecting to the end of an upper hydraulic cylinder 24. The lower half of the outer wall of the hydraulic telescopic arm 22 is hinged to the upper surface of the chassis 21, connecting to the end of a lower hydraulic cylinder 25. The top plate 23 is hinged to the side plates 26 on the left and right sides; the inner surface of the side plates 26 is hinged to the lower surface of the top plate 23 at the end of the side hydraulic cylinder 27; the rear side of the top plate 23 is connected to the rear plate 29 through the rear hydraulic cylinder 28; the top plate 23, side plates 26 and rear plate 29 are all provided with operating grooves 41; the shotcrete and anchor integrated assembly 3 includes a shotcrete and anchor control arm 31 and an anchor drill 32 and a shotcrete machine 33 at the end of the shotcrete and anchor control arm 31; the external sensing assembly includes a 3D laser scanner, a laser displacement sensor and an industrial camera; the two 3D laser scanners are respectively installed at the front and rear positions of the top of the walking assembly 1; the laser displacement sensor and the industrial camera are installed on the shotcrete machine 33.

[0022] In this embodiment, one implementation of the shotcrete and anchor integrated assembly 3 includes a shotcrete and anchor control arm 31 and an anchor drill 32 and a shotcrete machine 33 at the end of the shotcrete and anchor control arm 31; the shotcrete and anchor control arm 31 is equivalent to a mechanical control arm in the prior art, which can control the anchor drill 32 and the shotcrete machine 33 at the end of the shotcrete and anchor control arm 31 to move to different positions in the roadway. In this embodiment, another implementation of the integrated shotcrete and anchor assembly 3 includes a hydraulic rotary support A, a shotcrete and anchor robotic arm rotary base, a hinge joint A, a connecting fixing plate A, a shotcrete and anchor integrated secondary telescopic arm unit, a shotcrete and anchor robotic arm support hydraulic cylinder, a leg bracket, a leg telescopic hydraulic cylinder, a connecting fixing plate B, a hinge joint B, a front rotary base, a hinge, a swing hydraulic cylinder, a hydraulic rotary support B, a shotcrete and anchor rotating platform, an anchor drilling rig 32, a roller screw guide rail, a spray gun pad, and a shotcrete unit; the hydraulic rotary support A is connected to the top platform of the walking assembly 1 by bolts; the shotcrete and anchor robotic arm rotary base is connected to the hydraulic rotary support by bolts. A is connected; hinge joint A is connected to the rotary base of the shotcrete robotic arm via a pin connection; connecting fixing plate A is connected to hinge joint A via a pin connection, and is symmetrically distributed on both sides of hinge joint A; the integrated shotcrete and anchoring secondary telescopic arm unit is connected to connecting fixing plate A and hinge joint A via welding; the shotcrete and anchoring robotic arm support hydraulic cylinder is connected to the rotary base of the shotcrete and anchoring robotic arm via a pin connection, with one end connected to the rotary base of the shotcrete and anchoring robotic arm and the other end connected to the integrated shotcrete and anchoring secondary telescopic arm unit; the outrigger bracket is connected to the integrated shotcrete and anchoring secondary telescopic arm unit via welding; the outrigger telescopic hydraulic cylinder is connected to the outrigger bracket via a pin connection; connecting fixing plate B is connected to the outrigger bracket via welding. The method is connected to the integrated shotcrete and anchor secondary telescopic boom unit, and symmetrically distributed on both sides of the integrated shotcrete and anchor secondary telescopic boom unit; the hinge joint B is connected to the connecting fixing plate B by a pin connection; the front rotary base is connected to the hinge joint B by a pin connection; the hinge is connected to the front rotary base by a pin connection; the swing hydraulic cylinder is connected to the hinge at one end by a pin connection, and to the integrated shotcrete and anchor secondary telescopic boom unit at the other end; the hydraulic rotary support B is connected to the front rotary base by a bolt connection; the shotcrete and anchor rotating platform is connected to the hydraulic rotary support B by a bolt connection; the anchor drilling rig 32 is connected to... The shotcrete rotating platform is connected; the roller screw guide rail is connected to the anchor drilling rig 32 by bolts; the spray gun pad is connected to the roller screw guide rail by screws; the shotcrete unit is connected to the spray gun pad by bolts; the integrated shotcrete and anchor secondary telescopic boom unit includes integrated shotcrete and anchor secondary telescopic boom A, integrated shotcrete and anchor secondary telescopic boom hydraulic cylinder and integrated shotcrete and anchor secondary telescopic boom B; integrated shotcrete and anchor secondary telescopic boom A and integrated shotcrete and anchor secondary telescopic boom B are connected by sliding connection; one end of the integrated shotcrete and anchor secondary telescopic boom hydraulic cylinder is connected to integrated shotcrete and anchor secondary telescopic boom A by a pin, and the other end is connected to integrated shotcrete and anchor secondary telescopic boom B by a pin; In this embodiment, the hydraulic telescopic arm 22 controls the top plate 23 to move up or down, the upper hydraulic cylinder 24 controls the top plate 23 to tilt forward or backward, the lower hydraulic cylinder 25 controls the hydraulic telescopic arm 22 to lift or fold up, the side hydraulic cylinder 27 controls the side plate 26 to unfold upward or flip downward and fold up, and the rear hydraulic cylinder 28 controls the distance between the rear plate 29 and the top plate 23.

[0023] Example 2 ( Figure 5 A multi-objective collaborative control method for a tunneling, anchoring, and spraying integrated machine based on digital twins is proposed. This method is applicable to the aforementioned tunneling, anchoring, and spraying integrated machine based on digital twins. The steps of this method are as follows: S1: Two 3D laser scanners simultaneously scan the surrounding rock of the work area to generate initial surrounding rock point cloud data. Combined with the three-dimensional structural model parameters of each component of the tunneling, anchoring and spraying machine, an initial digital twin model of the tunnel-equipment integration is constructed. S2: The cutting head 11 at the front end of the walking component 1 operates according to the planned cutting path. The 3D laser scanner collects dynamic cutting point cloud in real time. The digital twin platform compares the designed section with the actual cutting section and corrects the cutting path in real time. S3: After the cutting is completed, the support component 2 starts temporary support. The 3D laser scanner scans the surrounding rock after support and the position of the support component 2, and updates the position data of the support component 2 in the digital twin model. S4: The 3D laser scanner and industrial camera work together to collect data on the surrounding rock of the area to be supported. The digital twin platform identifies the rock fissures and generates the three-dimensional coordinates of the hole position and the drilling angle. After point cloud-image registration verification, the spray-anchor integrated component 3 is controlled to complete the anchor drilling operation. S5: A 3D laser scanner generates a reference point cloud before spraying, the spraying and anchoring integrated component 3 operates according to the planned path, the laser displacement sensor monitors the distance of the sprayed layer in real time, the digital twin platform calculates the actual sprayed thickness and dynamically adjusts the operating parameters, and the industrial camera identifies the missed spraying area and triggers respraying. S6: After the operation is completed, the digital twin platform updates the completion status of the operation surface, stores the data and plans the next cycle of operation, and predicts the intervention of the mechanism in real time and triggers an emergency stop.

[0024] During the initialization of the digital twin model, two 3D laser scanners simultaneously scan the surrounding rock (roof 23, sidewalls, and floor) of the tunnel to be operated, generating "initial surrounding rock point cloud data" and transmitting it to the digital twin platform. The three-dimensional structural model parameters of the travel component 1, support component 2, and shotcrete integrated component 3 of the tunneling, anchoring, and spraying machine are also imported into the digital twin platform. The coordinates of the "physical equipment" and the "virtual model" are aligned to construct the "tunnel-equipment integrated digital twin initial model." When the cutting head 11 of the travel component 1 performs cutting operations, the digital twin platform plans the cutting path based on the initial surrounding rock point cloud and sends control commands to the travel component 1 for slow movement. The cutting head 11 moves in a "bottom-to-top, left-to-right" spiral pattern. The cutting head 11 is rotated to cut coal and rock. A 3D laser scanner scans the movement trajectory of the cutting head 11 and the newly exposed surrounding rock surface in real time, generating a "dynamic cutting point cloud," which is synchronously transmitted to the digital twin platform. The platform compares the designed cross-section with the actual cutting cross-section and corrects the cutting path in real time. After the cutting head 11 completes the cutting operation, the walking component 1 stops advancing, and the support component 2 immediately starts temporary support and tightens the roof 23. The side plates 26 and the rear plate 29 also unfold, thus forming a support space to prevent rockfall and collapse in the unsupported roof area and to protect the driver. The 3D laser scanner scans the surrounding rock after temporary support and the position of the support component 2, updating the "support component 2 occupancy data" in the digital twin model to prevent interference in subsequent shotcrete and anchoring operations. The judgment provides evidence; during anchor bolt gap identification and operation, a 3D laser scanner scans the surrounding rock to be supported within the temporary support area, generating a "point cloud of surrounding rock in the area to be supported," which is simultaneously transmitted to the digital twin platform; an industrial camera captures images of the surrounding rock to assist in capturing features such as cracks and protrusions; the digital twin platform automatically identifies cracks in the surrounding rock, generating three-dimensional coordinates of the hole positions and drilling angles perpendicular to the surrounding rock surface; after verifying that there is no spatial conflict between the hole positions and the distance to the installed support component 2 through "point cloud-image registration," the platform generates a "final hole position list"; the shotcrete-anchor integrated component 3 receives the "final hole position list" instruction, and the shotcrete control arm 31 controls the anchor drilling machine 32 to drill through the operating slot 41; during shotcreting, the operator inputs the shotcrete input on the digital twin platform. The platform automatically generates a thickness control benchmark based on the designed thickness. A 3D laser scanner scans the surrounding rock of the area to be shotcreted, generating a "before-shotcrete benchmark point cloud," which is transmitted to the digital twin platform as a reference for subsequent thickness calculations. The shotcrete-anchor integrated component 3 operates according to the planned path, and the shotcrete-anchor control arm 31 controls the shotcrete machine 33 to spray concrete. A laser displacement sensor measures the "distance from the spray gun to the surface of the shotcrete layer" in real time, and the data is transmitted to the digital twin platform. The platform calculates the actual shotcrete thickness based on the "before-shotcrete benchmark point cloud - real-time distance" and adjusts the parameters according to the thickness. An industrial camera captures the shotcrete area in real time, identifies areas that have been missed, and the digital twin platform immediately corrects the shotcrete path, controlling the shotcrete machine 33 to retract to the missed areas for re-spraying, ensuring that the shotcrete layer is continuous and without gaps.After the shotcrete operation is completed, two 3D laser scanners simultaneously scan the surface of the shotcrete layer to generate a "post-shotcrete result point cloud". The digital twin platform compares the "result point cloud" with the "design thickness model", marking the qualified areas, under-shot areas, and over-shot areas. The platform automatically plans the supplementary shotcrete path and controls the shotcrete machine 33 to perform a second operation. After completing the anchor bolt and shotcrete operation of the current cycle, the shotcrete control arm 31 controls the anchor bolt drill 32 and the shotcrete machine 33 to return to their positions. Then, the support component 2 controls the retraction of the two side plates 26 and the rear plate 29, and finally controls the top plate 23 to move down and retract. To avoid interference with the roadway side during relocation; the digital twin platform updates the "current working face completion status" and stores the sensor data and quality acceptance report for this cycle as the basis for subsequent process optimization; the walking component 1 starts and enters the next cycle of tunneling, support, and shotcrete operations until the construction of the entire roadway is completed; throughout the operation, the digital twin platform continuously monitors the movement status of each component. If it is predicted that the support component 2 and the shotcrete robotic arm may interfere, it immediately triggers an "emergency pause", adjusts the relevant mechanism actions, and then resumes the operation to ensure the safe operation of the equipment; This invention, through deep collaboration between external sensing components and a digital twin platform, collects motion data of each component in real time to construct an integrated virtual model of the tunnel and equipment. This model can predict the interference risk between the shotcrete and anchor bolt machine components and the support unit in advance, significantly improving safety redundancy compared to traditional manual prediction. This invention also automatically identifies surrounding rock fissures, over-excavation areas, and supportable areas by fusing "3D laser scanner point cloud + industrial camera images." Simultaneously, it uses the digital twin model to pre-simulate the trajectory of the anchor bolt drilling rig 32, ensuring normal drilling operations. Furthermore, this invention dynamically monitors the distance of the shotcrete layer using a laser displacement sensor, and the digital twin platform calculates the thickness in real time, coordinating with the shotcrete machine 33 for adjustments, improving the shotcrete thickness compliance rate and reducing material waste. Finally, this invention integrates "walking component 1 + support component 2 + shotcrete and anchor bolt integrated component 3" into a unified data hub on the digital twin platform, enabling continuous operation of "immediate support after cutting and simultaneous shotcreting after support." Data reuse is achieved at each stage; for example, 3D laser scanner data simultaneously supports hole location planning, shotcrete benchmarks, and anti-interference prediction, reducing sensor redundancy and lowering equipment integration costs. This invention addresses the problem that "digital twins only 'display status' without dynamic interference prediction and active control." In its implementation, the digital twin platform does not merely provide a static display; it predicts interference between components in real time throughout the entire process and updates the "support component 2 occupancy data" after each support operation. This provides dynamic data for preventing interference in subsequent shotcrete and anchoring operations. From real-time correction of the tunneling path and dynamic adjustment of shotcrete parameters to emergency pauses during interference, all are the result of proactive decision-making by the digital twin platform, rather than merely passively displaying the status. This invention also solves the problem that "anchor bolt position identification relies on manual labor / single laser, resulting in large deviations and anchoring difficulties." The invention addresses the problem of insufficient anchoring force by abandoning traditional manual or single-sensor methods in its implementation. Instead of a single laser, it uses a collaborative approach: a 3D laser scanner (to collect point clouds of the surrounding rock in the area to be supported) and an industrial camera (to capture crack / protrusion features). The digital twin platform automatically identifies rock fissures and generates three-dimensional coordinates for borehole locations. Point cloud-image registration verification ensures the borehole location matches the actual state of the surrounding rock (e.g., the drilling angle perpendicular to the rock surface), preventing insufficient anchoring force due to borehole deviation. This invention also solves the problem of "post-inspection of shotcrete thickness," which cannot identify under-spraying in real time. The invention addresses the problem of "over-spraying and lack of linkage with anchor bolt hole positions" by implementing "real-time monitoring + closed-loop control + hole position linkage" for shotcrete thickness. A 3D laser scanner first generates a "pre-shotcrete reference point cloud," a laser displacement sensor monitors the "distance from the spray gun to the shotcrete layer" in real time, and a digital twin platform instantly calculates the actual shotcrete thickness, eliminating the need for post-shotcrete sampling. It explicitly requires "prioritizing coverage of the anchor bolt area," and an industrial camera identifies missed areas in real time and triggers re-spraying, preventing the problem of shotcrete separation from anchor bolt hole positions. This invention solves the problem of "independent control of tunneling, support, and shotcreting, lack of a unified central control, poor coordination, and low efficiency." To address the issue of "equipment redundancy," the solution utilizes a digital twin platform as a unified data hub to achieve end-to-end collaboration. From initial model building, tunneling, support, anchor bolting to shotcreting, all data (such as surrounding rock point clouds, equipment locations, and operational parameters) are transmitted to the digital twin platform, avoiding the independence of individual components. In terms of hardware, "anchor bolt drilling rig 32 and shotcreting machine 33 are integrated into the same shotcreting control arm 31" (no need to switch equipment). In terms of software, "data reuse" (such as 3D laser scanner data simultaneously serving modeling, borehole location identification, and shotcreting reference) reduces equipment redundancy and switching time, improving collaborative efficiency.

[0025] Example 3 ( Figures 6-14The top plate 23 is composed of four sub-plates 4 with operating grooves 41; the rear plate 29 and the side plate 26 are composed of two sub-plates 4 with operating grooves 41; the outer surface of the sub-plates 4 is provided with multiple telescopic grooves 42; the multiple telescopic grooves 42 are distributed around the square operating groove 41; telescopic columns 5 are movably connected in the telescopic grooves 42; the operating groove 41 is provided with longitudinal tubes 43 and transverse tubes 44 in the longitudinal and transverse directions, respectively; the longitudinal tubes 43 and transverse tubes 44 are vertically intersecting; the ends of the longitudinal tubes 43 and transverse tubes 44 are connected to the upper part of the outer wall of the corresponding telescopic column 5; the telescopic column 5 is connected to the bottom of the telescopic groove 42 by a first spring 51.

[0026] In this embodiment, an auxiliary hole 52 is provided on the upper part of the arc-shaped outer wall of the telescopic column 5; an auxiliary sleeve 53 is movably connected inside the auxiliary hole 52; the auxiliary sleeve 53 is connected to the bottom of the auxiliary hole 52 by a tension spring 54; the end of the auxiliary sleeve 53 away from the bottom of the auxiliary hole 52 is connected to the corresponding longitudinal tube 43 and the corresponding transverse tube 44.

[0027] The top plate 23 and the rear plate 29 are always used to support the top of the tunnel. The side plate 26 can support the tunnel top along with the top plate 23, or it can support the side walls of the tunnel, depending on the requirements. This embodiment describes a method where the side plate 26 connects to both the top plate 23 and the rear plate 29 to support the top of the tunnel. After the top plate 23, side plate 26, and rear plate 29 are unfolded, their outer surfaces contact the top of the tunnel, achieving temporary support and preparing for subsequent drilling, anchor bolt installation, and shotcreting. The tunnel top is formed by... The uneven surface of the excavation affects the contact between the roof slab 23, side slabs 26, and rear slab 29 and the tunnel roof, thus impacting the support effect and stability. To further improve the stability of the support, multiple telescopic columns 5 are installed on the outer surface of the sub-slab 4. The roof slab 23, side slabs 26, and rear slab 29 are all composed of sub-slab 4. For ease of description, the sub-slab 4 will be described later. To allow the sub-slab 4 to contact the uneven tunnel roof, multiple telescopic columns 5 are installed on the outer surface of the sub-slab 4 and connected to form a longitudinal vertical pipe 43 and a transverse horizontal pipe 44. The telescopic columns 5 are connected by a first... Spring 51 is connected to the bottom of the telescopic groove 42. As the dividing plate 4 is controlled to approach the top of the tunnel, it drives the telescopic column 5, the longitudinal tube 43, and the transverse tube 44 closer to the tunnel top. The telescopic column 5 is connected to the bottom of the telescopic groove 42 via the first spring 51. Therefore, the telescopic column 5, supported by the first spring 51, is suitable for uneven tunnel tops. After the end of the telescopic column 5 away from the telescopic groove 42 contacts the tunnel top, the longitudinal tube 43 and the transverse tube 44 are tightened against the tunnel top, achieving adaptive support for the tunnel top. This is significantly better than the original method of using the dividing plate 4 for contact across the entire surface. In terms of method, increasing the contact area improves the support effect and makes the subsequent drilling and anchoring process more stable; the drilling points need to be staggered from the longitudinal pipe 43 and the transverse pipe 44. The longitudinal pipe 43 and the transverse pipe 44 intersect but leave a gap for drilling, which does not affect the drilling; furthermore, when the longitudinal pipe 43 and the transverse pipe 44 need to be bent, the ends of the longitudinal pipe 43 and the transverse pipe 44 will pull the auxiliary sleeve 53 to slide along the auxiliary hole 52. The auxiliary sleeve 53 is connected to the bottom of the auxiliary hole 52 through the tension spring 54. The reaction force of the tension spring 54 will tighten the longitudinal pipe 43 and the transverse pipe 44.

[0028] Example 4 ( Figures 6-14 The telescopic column 5 is movably and sealed to the telescopic groove 42; the bottom of all the telescopic grooves 42 are connected through the connecting hole 45; the telescopic groove 42 is filled with liquid medium.

[0029] During the process of the expansion joint 5 being brought into contact with the top of the tunnel by the dividing plate 4, the protruding part of the tunnel top will squeeze the corresponding expansion joint 5, causing the expansion joint 5 to be pressed close to the bottom of the corresponding expansion groove 42. This allows the liquid medium at the bottom of the expansion groove 42 to enter other expansion grooves 42 along the connecting hole 45, causing the expansion joint 5 corresponding to the other expansion grooves 42 to extend further and abut against the concave position of the tunnel top. Through the transmission of the liquid medium, the tunnel top, whether concave or convex, can receive a relatively strong squeezing force from the expansion joint 5, which increases the support strength of the expansion joint 5, the longitudinal pipe 43, and the transverse pipe 44 for the tunnel top, and further improves the support stability. After the dividing plate 4 moves the expansion joint 5 away from the tunnel top, the liquid medium in the expansion groove 42 is evenly distributed and balanced, and the expansion joint 5 returns to its original position.

[0030] Example 5 ( Figures 6-14 The auxiliary hole 52 is movably and sealed to the auxiliary sleeve 53; the longitudinal tube 43 and the transverse tube 44 are both connected to the inner side of the corresponding auxiliary sleeve 53; the bottom of the auxiliary hole 52 is connected to the inside of the corresponding expansion groove 42 through the first liquid hole 55.

[0031] After the dividing plate 4 pushes the telescopic column 5 against the top of the tunnel, the telescopic column 5, under pressure, approaches the bottom of the telescopic groove 42, squeezing the liquid medium inside the groove 42. The liquid medium enters the auxiliary hole 52 along the first liquid hole 55, then enters the inner side of the auxiliary sleeve 53 along the auxiliary hole 52, and finally flows into the longitudinal pipe 43 and the transverse pipe 44, causing the shrunken longitudinal pipe 43 and transverse pipe 44 to bulge. After the dividing plate 4 moves away from the top of the tunnel, it will push the telescopic column 5 away from the top of the tunnel. Under the elastic force of the first spring 51, the telescopic column 5 moves away from the bottom of the telescopic groove 42, increasing the space inside the telescopic groove 42 and creating negative pressure. The liquid medium inside the longitudinal pipe 43 and transverse pipe 44 will then flow into the auxiliary sleeve 53. The sleeve 53, auxiliary hole 52, and first liquid hole 55 flow back into the corresponding expansion groove 42, thus causing the bulging longitudinal pipe 43 and transverse pipe 44 to deflate. In this way, after each support task is completed, the longitudinal pipe 43 and transverse pipe 44 will deflate and bulge once. As a result, the slurry adhering to the longitudinal pipe 43 and transverse pipe 44 is not easy to adhere and will fall off under the deformation of the longitudinal pipe 43 and transverse pipe 44. The slurry adhering to the longitudinal pipe 43 and transverse pipe 44 is brought by the slurry sprayed by the shotcrete machine 33. Through the self-cleaning of the longitudinal pipe 43 and transverse pipe 44, the longitudinal pipe 43 and transverse pipe 44 are made cleaner, which is convenient for subsequent support use of the longitudinal pipe 43 and transverse pipe 44.

[0032] Example 6 ( Figures 6-14The inner wall of the telescopic groove 42 is provided with a corrugated groove 46; one end of the corrugated groove 46 is close to the bottom of the telescopic groove 42, and the other end is away from the bottom of the telescopic groove 42; a movable block 47 is movably connected inside the corrugated groove 46; the movable block 47 is connected to the outer wall of the telescopic column 5.

[0033] In this embodiment, the telescopic column 5 is provided with an inverted frustum-shaped rotating groove 56 at one end near the bottom of the telescopic groove 42; a rotating block 57 is rotatably connected inside the rotating groove 56; one end of the first spring 51 is fixedly connected to the rotating block 57, and the other end is fixedly connected to the bottom of the telescopic groove 42.

[0034] In this embodiment, the telescopic column 5 has an annular groove 58 on its arc-shaped outer wall; an annular strip 6 is rotatably connected inside the annular groove 58; the movable block 47 is fixedly connected to the annular strip 6; a J-shaped groove 59 is provided at the upper end and inside of the telescopic column 5; the J-shaped groove 59 communicates with the interior of the annular groove 58; slots 61 are evenly provided at the lower position of the inner edge of the annular strip 6; a J-shaped strip 7 is slidably connected up and down inside the J-shaped groove 59; the lower end of the J-shaped strip 7 is connected to the bottom of the J-shaped groove 59 by a second spring 71; the upper end of the J-shaped strip 7 is fixedly connected to the drive disk 72; the hook of the J-shaped strip 7 can be engaged in the slot 61.

[0035] As the expansion joint 5 moves closer to the top of the tunnel, the expansion joint 5 drives the drive disc 72 to contact the tunnel top. The drive disc 72 compresses the J-shaped strip 7, causing it to move within the J-shaped groove 59 and overcome the elastic force of the second spring 71. The J-shaped strip 7 then moves its hook out of the slot 61 on the annular strip 6, unlocking the annular strip 6 from the J-shaped strip 7. This allows the annular strip 6 to rotate freely within the annular groove 58. Thus, while the expansion joint 5 moves axially along the expansion groove 42 under pressure from the drive disc 72, it will not rotate. Instead, it will drive the annular strip 6 to move axially along the expansion groove 42. The annular strip 6 will then drive the movable block 47 to move along the corrugated groove 46. This prevents the expansion joint 5 from shifting due to its circumferential movement during support, thus improving the stability of the longitudinal and transverse pipes 43 pressed against the tunnel top. After the expansion joint 5 moves away from the tunnel top along with the expansion joint 4, the top of the expansion joint 5... The drive disc 72 disengages from the top of the tunnel, and the longitudinal tube 43 and the transverse tube 44 also disengage from the top of the tunnel as the telescopic column 5 moves away. The second spring 71 then pushes the J-shaped strip 7 to slide within the J-shaped groove 59. The hook of the J-shaped strip 7 re-engages into the slot 61, locking the J-shaped strip 7 and the annular strip 6. This prevents the annular strip 6 from rotating within the annular groove 58. During the axial movement of the telescopic column 5 driven by the first spring 51, the annular strip 6 moves along the movable block 47 and the corrugated groove 46, causing it to oscillate back and forth in the circumferential direction. The annular strip 6 drives the telescopic column 5 to move back and forth in the circumferential direction. The rotating block 57 at the bottom of the telescopic column 5 is connected to the first spring 51, so the first spring 51 does not affect the rotation of the telescopic column 5. The circumferential rotation of the telescopic column 5 causes the longitudinal tube 43 and the transverse tube 44 to move back and forth, scraping against each other, further facilitating the removal of the slurry attached to the longitudinal tube 43 and the transverse tube 44.

[0036] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the appendix. Figure 10 The orientations or positional relationships shown are for the convenience of describing the present invention and simplifying the description only, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and should not be construed as indicating or implying relative importance.

[0037] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A digital twin-based integrated tunneling, anchoring, and spraying machine, characterized in that: The system includes a walking assembly, a support assembly, a spray-anchor integrated assembly, and an external sensing assembly. The walking assembly has a cutting head and a shovel head at its front end. The support assembly and the spray-anchor integrated assembly are both mounted on top of the walking assembly. The support assembly includes a chassis, a hydraulic telescopic boom, and a top plate. The lower surface of the top plate is hinged to the upper surface of the chassis, connecting to the end of the hydraulic telescopic boom. The outer wall of the upper half of the hydraulic telescopic boom is hinged to the lower surface of the top plate, connecting to the end of the upper hydraulic cylinder. The outer wall of the lower half of the hydraulic telescopic boom is hinged to the upper surface of the chassis, connecting to the end of the lower hydraulic cylinder. The left and right sides of the top plate are hinged to side... The side plate is hinged to the lower surface of the top plate at the end of a side hydraulic cylinder; the rear side of the top plate is connected to the rear plate via a rear hydraulic cylinder; the top plate, side plate, and rear plate are all provided with operating slots; the shotcrete and anchor integrated assembly includes a shotcrete and anchor control arm and an anchor drill and shotcrete machine at the end of the shotcrete and anchor control arm; the external sensing assembly includes a 3D laser scanner, a laser displacement sensor, and an industrial camera; the two 3D laser scanners are respectively installed at the front and rear positions on the top of the walking assembly; the laser displacement sensor and the industrial camera are installed on the shotcrete machine.

2. A multi-objective collaborative control method for a tunneling, anchoring, and spraying integrated machine based on digital twins, the method being applicable to the tunneling, anchoring, and spraying integrated machine based on digital twins as described in claim 1, characterized in that: The steps of this method are as follows: S1: Two 3D laser scanners simultaneously scan the surrounding rock of the work area to generate initial surrounding rock point cloud data. Combined with the three-dimensional structural model parameters of each component of the tunneling, anchoring and spraying machine, an initial digital twin model of the tunnel-equipment integration is constructed. S2: The cutting head at the front of the walking component operates according to the planned cutting path. The 3D laser scanner collects dynamic cutting point cloud in real time. The digital twin platform compares the designed section with the actual cutting section and corrects the cutting path in real time. S3: After the cutting is completed, the support components start temporary support. The 3D laser scanner scans the surrounding rock and the position of the support components after support, and updates the support component occupancy data in the digital twin model. S4: The 3D laser scanner and industrial camera work together to collect data on the surrounding rock of the area to be supported. The digital twin platform identifies the rock fissures and generates the three-dimensional coordinates of the hole location and the drilling angle. After point cloud-image registration verification, the spray-anchor integrated component is controlled to complete the anchor drilling operation. S5: A 3D laser scanner generates a reference point cloud before shotcreting; the integrated shotcrete and anchor assembly operates according to the planned path; a laser displacement sensor monitors the distance of the shotcrete layer in real time; a digital twin platform calculates the actual shotcrete thickness and dynamically adjusts the operating parameters; and an industrial camera identifies missed areas and triggers re-shotcreting. S6: After the operation is completed, the digital twin platform updates the completion status of the operation surface, stores the data and plans the next cycle of operation, and predicts the intervention of the mechanism in real time and triggers an emergency stop.

3. The integrated tunneling, anchoring, and spraying machine based on digital twins according to claim 1, characterized in that: The top plate is composed of four sub-plates with operating slots; the rear plate and side plate are composed of two sub-plates with operating slots; the outer surface of each sub-plate is provided with multiple telescopic slots; the multiple telescopic slots are distributed around the square operating slot; telescopic columns are movably connected within the telescopic slots; the operating slot is provided with longitudinal and transverse conduits respectively; the longitudinal and transverse conduits are vertically intersecting; the ends of the longitudinal and transverse conduits are connected to the upper part of the outer wall of the corresponding telescopic column; the telescopic column is connected to the bottom of the telescopic slot by a first spring.

4. The integrated tunneling, anchoring, and spraying machine based on digital twins according to claim 3, characterized in that: An auxiliary hole is provided at the upper position of the arc-shaped outer wall of the telescopic column; an auxiliary sleeve is movably connected inside the auxiliary hole; the auxiliary sleeve is connected to the bottom of the auxiliary hole by a tension spring; the end of the auxiliary sleeve away from the bottom of the auxiliary hole is connected to the corresponding longitudinal tube and the corresponding transverse tube.

5. The integrated tunneling, anchoring, and spraying machine based on digital twins according to claim 4, characterized in that: The telescopic column is connected to the telescopic groove in a movable seal; the bottom of all the telescopic grooves are connected through a connecting hole; the telescopic groove is filled with a liquid medium.

6. The integrated tunneling, anchoring, and spraying machine based on digital twins according to claim 5, characterized in that: The auxiliary hole is movably and sealed to the auxiliary sleeve; the longitudinal tube and the transverse tube are both connected to the inner side of the corresponding auxiliary sleeve; the bottom of the auxiliary hole is connected to the inside of the corresponding expansion groove through the first liquid hole.

7. The integrated tunneling, anchoring, and spraying machine based on digital twins according to claim 4, characterized in that: The inner wall of the telescopic groove is provided with a corrugated groove; one end of the corrugated groove is close to the bottom of the telescopic groove, and the other end is away from the bottom of the telescopic groove; a movable block is movably connected inside the corrugated groove; the movable block is connected to the outer wall of the telescopic column.

8. A digital twin-based integrated tunneling, anchoring, and spraying machine according to claim 5, characterized in that: The telescopic column has an inverted frustum-shaped rotating groove at one end near the bottom of the telescopic groove; a rotating block is rotatably connected inside the rotating groove; one end of the first spring is fixedly connected to the rotating block, and the other end is fixedly connected to the bottom of the telescopic groove.

9. A digital twin-based integrated tunneling, anchoring, and spraying machine according to claim 7, characterized in that: The telescopic column has an annular groove on its arc-shaped outer wall; an annular bar is rotatably connected inside the annular groove; the movable block is fixedly connected to the annular bar; a J-shaped groove is provided at the upper end and inside of the telescopic column; the J-shaped groove is connected to the interior of the annular groove; slots are evenly provided at the lower position of the inner edge of the annular bar; a J-shaped bar is slidably connected up and down inside the J-shaped groove; the lower end of the J-shaped bar is connected to the bottom of the J-shaped groove by a second spring; the upper end of the J-shaped bar is fixedly connected to the drive disc; the hook of the J-shaped bar can be engaged in the slot.

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