TBM anchor rod drilling machine remote control automatic following system

Abstract

The application discloses a TBM anchor rod drilling machine remote control automatic following system and relates to the technical field of intelligent control of TBM tunneling equipment. The application comprises a tunneling machine node, a plurality of anchor rod drilling machine nodes, cloud storage nodes corresponding to the plurality of anchor rod drilling machine nodes and a terminal; wherein each anchor rod drilling machine node comprises a position sensing module, a cooperative control module and a linkage protection module; the position sensing module is used for estimating the position and attitude of the drilling machine in the tunnel; the cooperative control module is used for generating the specific positioning of the drilling machine in the tunnel and performing corresponding operations according to the instructions issued by the terminal module; and the linkage protection module is used for comparing the drilling machine data with a threshold to generate a judgment result and performing corresponding operations according to the judgment result. The application can realize seamless connection and intelligent scheduling of multiple devices and multiple processes.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology for TBM tunneling equipment, and in particular to a remote control automatic following system for TBM bolt drilling rigs. Background Technology

[0002] In the field of tunnel engineering construction, TBMs (Tunnel Boring Machines) have become core equipment for long-distance, large-diameter tunnel construction due to their advantages of high efficiency, safety, and environmental friendliness. As a key process in tunnel surrounding rock reinforcement, rock bolt support directly determines the safety and stability of tunnel construction. Its construction quality and efficiency have a decisive impact on the overall tunnel project's schedule, cost, and operational safety. Traditional TBM rock bolt drilling often employs manual operation or semi-automatic control modes, resulting in numerous drawbacks such as low construction efficiency, insufficient positioning accuracy, poor coordination among multiple devices, and high safety risks. Especially under complex geological conditions, manual operation is not only labor-intensive but also prone to human error leading to problems such as deviations in rock bolt drilling position and insufficient depth, thereby affecting the support effect and even causing safety accidents such as tunnel collapse.

[0003] Therefore, providing a remote control automatic following system for TBM anchor drilling rigs to overcome the difficulties of existing technologies is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the present invention provides a remote control automatic following system for TBM anchor drilling rigs, which can achieve seamless connection and intelligent scheduling of multiple devices and multiple processes.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A remote control automatic following system for TBM anchor drilling rigs includes a tunneling machine node, multiple anchor drilling rig nodes, a cloud storage node corresponding to the multiple anchor drilling rig nodes, and a terminal; wherein each anchor drilling rig node includes: a position sensing module, a collaborative control module, and a linkage protection module; The position sensing module includes a lidar unit and an inertial measurement unit, used to estimate the position and attitude of the drilling rig in the tunnel; The collaborative control module is connected to the first port of the position sensing module and the first port of the terminal module. It is used to generate the specific location of the drilling rig in the tunnel and execute corresponding operations according to the instructions issued by the terminal module. The linkage protection module is connected to the second port of the position sensing module and the second port of the terminal module. It is used to compare the drilling rig data with the threshold to generate a judgment result and execute the corresponding operation based on the judgment result.

[0006] Optionally, the tunneling machine node is also connected to the terminal module via signal. The node includes a 3D laser scanner, which scans the tunnel to generate a 3D point cloud and inputs it into the terminal module.

[0007] Optionally, the terminal includes: The initial tunnel model, the construction requirements, the 3D point cloud, and the location of the tunnel boring machine are obtained. A real-time tunnel model is constructed by combining the digital model. The real-time tunnel model is compared with the initial tunnel model to generate a fine model and determine the drilling location. A tunnel coordinate system is established, and the coordinate values ​​in the X, Y, and Z directions are used to comprehensively represent the hole coordinate information. The hole information in the tunnel section is systematically encoded to generate hole information. Based on the hole information, segmented tunnel operations are generated, and reference points for tunnel segment positioning and identification are established. The detailed model, segmented tunnel operations, and construction requirements are combined to generate task information. Based on the task information, task priorities are generated, and a task time sequence is constructed. Based on the task time sequence, task information and anchor drilling rig location, multiple anchor drilling rig paths are planned, and the optimal anchor drilling rig path and drilling speed are selected according to the optimal coordination time decision principle. Input the optimal anchor drilling rig path and drilling speed into the collaborative control module to control the anchor drilling rig to perform the corresponding operations.

[0008] Optionally, a topology graph can be constructed based on the location of the anchor drilling rig and the area to be drilled as nodes, with the path between two nodes that can be directly reached without passing through a third node as the edge; The system receives the support task requirements of the drilling area in real time and generates the operation task instructions for each anchor drilling rig and the feature vector of each node. The feature vectors and topology of each node are input into the path planning model based on graph neural network, and the target node information to which the anchor drilling rig should move next is output, thereby realizing the collaborative path planning of multiple anchor drilling rigs. The node feature vector is used to represent the following: Whether each anchor drilling rig is located at this node, whether this node is a neighboring node of other anchor drilling rigs, the supply and demand matching relationship between the current task status of the anchor drilling rig located at this node and the task requirements of each drilling area, and whether this node is a target node with support needs or assigned drilling tasks.

[0009] Optionally, the position sensing module utilizes the gyroscope and accelerometer inside the inertial measurement unit to output linear acceleration and angular velocity information in real time. Through dead reckoning, the position and attitude of the anchor drilling rig node in the tunnel are initially estimated, and the inertial navigation position of the anchor drilling rig is recursively derived.

[0010] Optionally, the specific location of the anchor drilling rig in the tunnel generated in the collaborative control module includes: The laser radar unit is used to scan the positioning and identification reference point to obtain the relative position vector between the laser radar and the positioning and identification reference point, and this vector is regarded as the observation value in the carrier coordinate system. Using the real-time attitude matrix provided by the inertial measurement unit, the relative position vector between the lidar and the positioning and identification reference point is transformed into the navigation coordinate system to obtain the navigation coordinate vector of the reference point relative to the lidar. Based on the distance vector of the reference point relative to the lidar in the navigation system and the known navigation coordinates of the reference point, the observation position of the lidar in the navigation coordinate system is calculated and regarded as the observation position of the anchor drilling rig in the navigation coordinate system. Using a Kalman filter as the fusion framework, the observed position of the anchor drilling rig in the navigation coordinate system and the recursive position of the inertial navigation are optimally estimated, thus completing the fusion of inertial navigation and lidar data and realizing high-precision positioning and orientation of the anchor drilling rig.

[0011] Optionally, the anchor drilling rig node also includes a displacement sensor for detecting the position vector of the anchor drilling rig node relative to the tunneling machine node; The linkage protection module is equipped with a multi-level safety interlock mechanism. When abnormal sensor information is detected, the system automatically triggers the interlock. The interlock commands are divided into stop commands and single control commands. The methods for triggering a shutdown command include: when the pressure of the propulsion cylinder exceeds a safety threshold, when the position vector of the anchor drilling rig node relative to the tunneling machine node exceeds a safety threshold, and when the position deviation of the anchor drilling rig node exceeds a preset value. A single control command is used to ensure the uniqueness of control authority: a hard interlock is set between automatic / manual mode and local / remote mode, allowing only one control mode to be effective at any given time. When remote communication is lost, it automatically enters local security mode to avoid loss of control.

[0012] As can be seen from the above technical solution, compared with the prior art, the present invention provides a remote control automatic following system for TBM anchor drilling rigs, which has the following beneficial effects: The present invention realizes remote automated following operation of anchor drilling rigs through distributed node architecture, high-precision position perception and fusion calculation, intelligent collaborative control and hierarchical safety protection, which greatly improves the intelligence level, construction efficiency and operation safety of tunnel support construction. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0014] Figure 1 This is a block diagram of a remote control automatic following system for a TBM anchor drilling rig disclosed in this invention. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] Reference Figure 1 As shown, this invention discloses a remote control automatic following system for TBM anchor drilling rigs, including a tunneling machine node, multiple anchor drilling rig nodes, a cloud storage node corresponding to the multiple anchor drilling rig nodes, and a terminal; wherein, each anchor drilling rig node includes: a position sensing module, a collaborative control module, and a linkage protection module; The position sensing module includes a lidar unit and an inertial measurement unit, used to estimate the position and attitude of the drilling rig in the tunnel; The collaborative control module is connected to the first port of the position sensing module and the first port of the terminal module. It is used to generate the specific location of the drilling rig in the tunnel and execute corresponding operations according to the instructions issued by the terminal module. The linkage protection module is connected to the second port of the position sensing module and the second port of the terminal module. It is used to compare the drilling rig data with the threshold to generate a judgment result and execute the corresponding operation based on the judgment result.

[0017] Furthermore, the tunneling machine node is also connected to the terminal module via signal. The node includes a 3D laser scanner, which scans the tunnel to generate a 3D point cloud and inputs it into the terminal module.

[0018] Furthermore, each cloud storage node corresponds one-to-one with a bolt drilling rig node, used to store, manage, and back up the operating and operational data of the bolt drilling rig node. The cloud storage node adopts a high-capacity, high-reliability storage architecture. At the same time, to ensure data security and integrity, the cloud storage node adopts a redundant backup mechanism, which can receive and store various types of data transmitted by the bolt drilling rig node in real time, including position data, attitude data, operating parameters, equipment operating status data, fault information, etc., as well as storing relevant information such as task instructions and model data transmitted by the terminal.

[0019] Furthermore, the cloud storage node has a data query module and a data encryption module. The data query module is used to realize real-time data query, statistics and export functions. Staff can access the cloud storage node through the terminal to query historical operation data, equipment operation records, etc., to provide data support for construction quality assessment, equipment maintenance and construction process optimization. The data encryption module is used to encrypt the transmitted and stored data to prevent data leakage and ensure the security of construction data.

[0020] Furthermore, the terminal includes: The initial tunnel model, the construction requirements, the 3D point cloud, and the location of the tunnel boring machine are obtained. A real-time tunnel model is constructed by combining the digital model. The real-time tunnel model is compared with the initial tunnel model. The over-excavation and under-excavation areas and the surrounding rock convergence deformation sections are identified through deformation analysis algorithms. Based on this, the model is locally corrected to generate a fine model. The precise spatial location of each anchor bolt hole is determined through an automatic hole placement algorithm. A tunnel coordinate system is established, which comprehensively represents the borehole coordinate information using coordinate values ​​in the X, Y, and Z directions. At the same time, attributes such as borehole type, design depth, incident angle, and priority are introduced to systematically encode the borehole information within the tunnel section. A hierarchical coding rule of segmentation, ring division, and semicolon division is adopted to generate a uniquely identified borehole information database, so that each borehole location has a traceable and manageable digital identity, and the borehole information is determined based on the system coding. Based on the hole information, segmented tunnel operations are generated, and positioning and identification benchmarks for tunnel segments are established. The arrangement of positioning and identification benchmarks follows the principle of uniform distribution and easy identification. According to factors such as tunnel length and cross-sectional dimensions, their position information will be synchronously entered into the terminal's fine model and hole information database, and associated with the drilling position information of each operation segment. The detailed model, segmented tunnel operations, and construction requirements are combined to generate task information. Based on the urgency, spatial accessibility, and process dependencies in the task information, task priorities are generated, and a task sequence is constructed. The task sequence follows the principles of prioritizing high-risk tasks, taking efficiency into account, and avoiding conflicts. High-priority tasks are prioritized for execution, while tasks for each anchor drilling rig node are reasonably allocated to avoid operational conflicts between equipment. Based on the task time sequence, task information and anchor drilling rig location, multiple anchor drilling rig paths are planned, and the optimal anchor drilling rig path and drilling speed are selected according to the optimal coordination time decision principle. Input the optimal anchor drilling rig path and drilling speed into the collaborative control module to control the anchor drilling rig to perform the corresponding operations.

[0021] Specifically, the urgency level is mainly determined by the danger level of the surrounding rock of the tunnel. For areas with poor surrounding rock stability and a risk of collapse, the corresponding drilling tasks have a higher priority and need to be arranged first. Spatial accessibility mainly considers the movement path and working space of the anchor bolt drilling rig. For drilling tasks that are easy for the drilling rig to reach and have sufficient working space, the priority can be appropriately increased. The process dependency mainly considers the connection between anchor bolt support and other construction processes to ensure that anchor bolt support operations are coordinated with tunneling, lining and other processes to avoid process conflicts.

[0022] Furthermore, the terminal also includes dynamic adjustment of task priorities, including reassigning tasks of faulty anchor drilling rigs to other idle drilling rigs and adjusting the task sequence to avoid affecting the overall work progress; when abnormal deformation occurs in the tunnel surrounding rock, the terminal will increase the task priority of that area, adjust the task sequence, and prioritize support operations to ensure construction safety.

[0023] Specifically, the initial tunnel model is a BIM model or a three-dimensional geological model from the engineering design phase, and the construction requirements are process specifications, including anchor support parameters, borehole diameter and depth, and grouting pressure.

[0024] Furthermore, based on the location of the anchor drilling rig and the area to be drilled as nodes, and the path between two nodes that can be directly reached without passing through a third node as the edge, a topology graph is constructed. The system receives the support task requirements of the drilling area in real time and generates the operation task instructions for each anchor drilling rig and the feature vector of each node. The feature vectors and topology of each node are input into the path planning model based on graph neural network, and the target node information to which the anchor drilling rig should move next is output, thereby realizing the collaborative path planning of multiple anchor drilling rigs. The node feature vector is used to represent the following: Whether each anchor drilling rig is located at this node, whether this node is a neighboring node of other anchor drilling rigs, the supply and demand matching relationship between the current task status of the anchor drilling rig located at this node and the task requirements of each drilling area, and whether this node is a target node with support needs or assigned drilling tasks.

[0025] Specifically, 1 and 0 represent whether each anchor drilling rig is located at the node. If an anchor drilling rig is currently located at the node, the value of the corresponding dimension is 1; if it is not located at the node, the value is 0. The values ​​1 and 0 indicate whether the node is a neighbor node of other anchor drilling rigs. A neighbor node is defined as a node with a distance of ≤5m: if the distance between the node and other anchor drilling rigs is ≤5m, the value of the corresponding dimension is 1; if the distance is >5m, the value is 0. The task status of the anchor drilling rig is divided into three types: idle, in operation, and fault, represented by 0, 1, and 2 respectively: the idle status means that the drilling rig has no current task and can accept new tasks at any time; the in operation status means that the drilling rig is currently performing a task and cannot accept new tasks; the fault status means that the drilling rig has malfunctioned and cannot operate normally. If the node is a drilling area with unfinished support tasks, or if the node has been assigned to a drilling rig as a work target, then the value of the corresponding dimension is 1; otherwise, it is 0.

[0026] Furthermore, the position sensing module utilizes the gyroscope and accelerometer inside the inertial measurement unit to output linear acceleration and angular velocity information in real time. The attitude change is obtained by integrating the angular velocity, and the acceleration is subjected to coordinate transformation and the influence of gravity is eliminated before a second integration. Then, dead reckoning is used to preliminarily estimate the position and attitude of the anchor drilling rig node in the tunnel, and the inertial navigation position of the anchor drilling rig is recursively obtained.

[0027] Specifically, the inertial navigation position expression of the anchor drilling rig is derived as follows: , , in, , The coordinates of the anchor drilling rig at the current moment. , The coordinates of the anchor drilling rig at the previous moment. It is the distance increment. This is the current heading angle.

[0028] Furthermore, in the collaborative path planning formed by the graph neural network, a local transfer function is introduced according to the Banach fixed point theorem, so that adjacent nodes can pass information to the target node. The network gradient is calculated according to the loss function, and finally the gradient descent method is used to optimize the model parameters to form a planning model. The topology graph is input into the model to obtain the collaborative path planning of multiple anchor drilling rigs.

[0029] Furthermore, the specific location of the anchor drilling rig in the tunnel generated in the collaborative control module includes: The laser radar unit is used to scan the positioning and identification reference point to obtain the relative position vector between the laser radar and the positioning and identification reference point, and this vector is regarded as the observation value in the carrier coordinate system. Using the real-time attitude matrix provided by the inertial measurement unit, the relative position vector between the lidar and the positioning and identification reference point is transformed into the navigation coordinate system to obtain the navigation coordinate vector of the reference point relative to the lidar. Based on the distance vector of the reference point relative to the lidar in the navigation system and the known navigation coordinates of the reference point, the observation position of the lidar in the navigation coordinate system is calculated and regarded as the observation position of the anchor drilling rig in the navigation coordinate system. Using a Kalman filter as the fusion framework, the observed position of the anchor drilling rig in the navigation coordinate system and the recursive position of the inertial navigation are optimally estimated, thus completing the fusion of inertial navigation and lidar data and realizing high-precision positioning and orientation of the anchor drilling rig.

[0030] Furthermore, the measurement equation for the Kalman filter is expressed as follows: , Where Z represents the measurement value, X represents the state variables of the combined inertial navigation and lidar navigation system, V represents the noise of the combined inertial navigation and lidar navigation system, and H is the measurement matrix, the expression of which is as follows: , The equation expressing the measured value Z is as follows: ; In the formula, This represents the position information of the tunneling machine in the navigation coordinate system calculated by inertial navigation. This indicates that the position coordinates of the tunneling machine in the navigation coordinate system are obtained through lidar.

[0031] Furthermore, the anchor drilling rig node also includes a displacement sensor for detecting the position vector of the anchor drilling rig node relative to the tunneling machine node; The linkage protection module is equipped with a multi-level safety interlock mechanism. When abnormal sensor information is detected, the system automatically triggers the interlock. The interlock commands are divided into stop commands and single control commands. The methods for triggering a shutdown command include: when the pressure of the propulsion cylinder exceeds a safety threshold, when the position vector of the anchor drilling rig node relative to the tunneling machine node exceeds a safety threshold, and when the position deviation of the anchor drilling rig node exceeds a preset value. A single control command is used to ensure the uniqueness of control authority: a hard interlock is set between automatic / manual mode and local / remote mode, allowing only one control mode to be effective at any given time. When remote communication is lost, it automatically enters local security mode to avoid loss of control.

[0032] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A remote control automatic following system for a TBM anchor drilling rig, characterized in that, It includes a tunneling machine node, multiple rock bolt drilling rig nodes, cloud storage nodes and terminals corresponding to the multiple rock bolt drilling rig nodes; wherein, each rock bolt drilling rig node includes: a position sensing module, a collaborative control module and a linkage protection module; The position sensing module includes a lidar unit and an inertial measurement unit, used to estimate the position and attitude of the anchor drilling rig in the tunnel; The collaborative control module is connected to the first port of the position sensing module and the first port of the terminal. It is used to generate the specific location of the anchor drilling rig in the tunnel and execute corresponding operations according to the instructions issued by the terminal. The linkage protection module is connected to the second port of the position sensing module and the second port of the terminal. It is used to compare the anchor drilling rig data with the threshold to generate a judgment result and execute the corresponding operation based on the judgment result. The terminal includes: The initial tunnel model, the construction requirements, the 3D point cloud, and the location of the tunnel boring machine are obtained. A real-time tunnel model is constructed by combining the digital model. The real-time tunnel model is compared with the initial tunnel model to generate a fine model and determine the drilling location. A tunnel coordinate system is established, and the coordinate values ​​in the X, Y, and Z directions are used to comprehensively represent the hole coordinate information. The hole coordinate information in the tunnel section is systematically encoded to generate hole information. Based on the hole information, segmented tunnel operations are generated, and reference points for tunnel segment positioning and identification are established. The detailed model, segmented tunnel operations, and construction requirements are combined to generate task information. Based on the task information, task priorities are generated, and a task time sequence is constructed. Based on the task time sequence, task information and anchor drilling rig location, multiple anchor drilling rig paths are planned, and the optimal anchor drilling rig path and anchor drilling rig speed are selected according to the optimal coordination time decision principle. Input the optimal anchor drilling rig path and anchor drilling rig speed into the collaborative control module to control the anchor drilling rig to perform the corresponding operations; Based on the location of the anchor drilling rig and the area to be drilled as nodes, a topology graph is constructed with the path between two nodes that can be reached directly without passing through a third node as the edge. The system receives the support task requirements of the drilling area in real time and generates the operation task instructions for each anchor drilling rig and the feature vector of each node. The feature vectors and topology of each node are input into the path planning model based on graph neural network, and the target node information to which the anchor drilling rig should move next is output, thereby realizing the collaborative path planning of multiple anchor drilling rigs. The node feature vector is used to represent the following: Whether each anchor drilling rig is located at this node, whether this node is a neighboring node of other anchor drilling rigs, the supply and demand matching relationship between the current task status of the anchor drilling rigs located at this node and the task requirements of each drilling area, and whether this node is a target node with support needs or has been assigned anchor drilling rig tasks.

2. The TBM anchor drilling rig remote control automatic following system according to claim 1, characterized in that, The tunneling machine node is also connected to the terminal signal. The node includes a 3D laser scanner, which scans the tunnel to generate a 3D point cloud and inputs it into the terminal.

3. The TBM anchor drilling rig remote control automatic following system according to claim 1, characterized in that, The position sensing module uses the gyroscope and accelerometer inside the inertial measurement unit to output linear acceleration and angular velocity information in real time. Through dead reckoning, the position and attitude of the anchor drilling rig node in the tunnel are initially estimated, and the inertial navigation position of the anchor drilling rig is recursively derived.

4. The TBM anchor drilling rig remote control automatic following system according to claim 3, characterized in that, The specific location of the anchor drilling rig in the tunnel generated in the collaborative control module includes: The laser radar unit is used to scan the positioning and identification reference point to obtain the relative position vector between the laser radar and the positioning and identification reference point, and this vector is regarded as the observation value in the carrier coordinate system. Using the real-time attitude matrix provided by the inertial measurement unit, the relative position vector between the lidar and the positioning and identification reference point is transformed into the navigation coordinate system to obtain the navigation coordinate vector of the reference point relative to the lidar. Based on the distance vector of the reference point relative to the lidar in the navigation system and the known navigation coordinates of the reference point, the observation position of the lidar in the navigation coordinate system is calculated and regarded as the observation position of the anchor drilling rig in the navigation coordinate system. Using a Kalman filter as the fusion framework, the observed position of the anchor drilling rig in the navigation coordinate system and the inertial navigation position are optimally estimated, thus completing the fusion of inertial navigation and lidar data and achieving high-precision positioning and orientation of the anchor drilling rig.

5. The TBM anchor drilling rig remote control automatic following system according to claim 1, characterized in that, The anchor drilling rig node also includes a displacement sensor for detecting the position vector of the anchor drilling rig node relative to the tunneling machine node; The linkage protection module is equipped with a multi-level safety interlock mechanism. When abnormal sensor information is detected, the system automatically triggers the interlock. The interlock commands are divided into stop commands and single control commands. The methods for triggering a shutdown command include: when the pressure of the propulsion cylinder exceeds the first safety threshold, when the position vector of the anchor drilling rig node relative to the tunneling machine node exceeds the second safety threshold, and when the position deviation of the anchor drilling rig node exceeds a preset value. A single control command is used to ensure the uniqueness of control authority: a hard interlock is set between automatic / manual mode and local / remote mode, allowing only one control mode to be effective at any given time. When remote communication is lost, it automatically enters local security mode to avoid loss of control.

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