Tunnel drilling and blasting method mechanized full strip inverted arch rapid closure construction method

Abstract

The application discloses a tunnel drill-and-blast method mechanized full-belt inverted arch rapid sealing construction method, and belongs to the technical field of tunnel construction; the method comprises the following steps: S00, dividing a tunnel longitudinally into multiple parallel operation zones, and dynamically adjusting interval distances by a central control unit; S10, adopting a digital assembly type inverted arch construction in an inverted arch sealing zone; in an initial support zone, integrally hoisting a prefabricated articulated steel frame on an arch frame assembling trolley, and synchronously re-spraying by a wet spraying manipulator; S20, synchronously executing current cycle anchor rod drilling and next cycle blasting hole drilling by a three-arm rock drilling rig trolley in the same cycle; S30, generating equipment scheduling instructions in real time by the central control unit, and executing safety interlocking, so that multiple machines are cooperatively operated; and S40, automatically optimizing drilling and blasting parameters for a next cycle after each cycle is completed; by process reorganization, equipment cooperation and data closed loop, the application realizes intelligentization, high efficiency and self-adaptation of the tunnel drill-and-blast method construction, and remarkably shortens a construction period, improves quality, reduces cost and enhances safety.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction technology, and in particular to a mechanized, fully-severed, rapid closure construction method for tunnel drilling and blasting with an inverted arch. Background Technology

[0002] The mechanized full-section invert arch rapid closure construction of tunnels using the drill-and-blast method is a comprehensive construction technology solution that, in order to improve tunnel safety and efficiency, involves large-scale mechanized operations during drill-and-blast excavation to construct the entire invert arch at the bottom of the tunnel in one go, thereby quickly forming a structural closed loop. Based on this, while existing technologies involve tunnel support in the context of full-section mechanized rapid closure construction of highway / railway tunnels in Class III-IV surrounding rock, they fail to achieve full-section mechanized collaborative construction, particularly lacking a complete solution for multi-stage simultaneous drilling with a three-arm drilling rig, process reorganization, and mechanical coordination. Furthermore, the traditional drill-and-blast method suffers from three major technical defects: (1) Over-excavation is serious. Manual drilling results in excessively large external angles of the surrounding holes, with an over-excavation coefficient of 2.18, which increases the cost of shotcrete. (2) The process connection efficiency is low, the sequence of erecting the frame and drilling is unreasonable, and equipment such as rock drilling rigs and arch frame rigs enter and exit the construction face multiple times, resulting in long cycle time and affecting the construction progress. (3) Insufficient equipment coordination: large equipment (rock drilling rig, arch frame rig, etc.) failed to work together effectively, resulting in waste of resources and delays in the construction period. Summary of the Invention

[0003] In order to overcome the shortcomings of the existing technology, the technical problem to be solved by the present invention is to propose a mechanized full-section rupture arch rapid closure construction method of tunnel drilling and blasting. The method solves the problems of high over-excavation rate and low process connection efficiency of traditional construction methods by means of process reorganization, full-section one-time blasting and forming, and mechanical collaborative operation technology.

[0004] To achieve this objective, the present invention adopts the following technical solution: This invention provides a mechanized, fully-fledged, rapid closure method for tunnel boring machine (TBM) arches with a broken tunnel section, comprising the following steps: S00: The tunnel construction space is divided into several parallel operation zones along the longitudinal direction, which include the invert arch closure zone, the initial support zone, the drilling and blasting zone and the advance zone in sequence along the construction and excavation direction; the central control unit collects construction data, geological information and equipment status of each zone in real time, and constructs and dynamically updates a digital twin model containing five-dimensional information of geometry, geology, equipment, technology and quality. S10: In the closed area of ​​the invert arch, the digital prefabricated invert arch construction method is used to simultaneously carry out invert arch excavation, steel frame installation and concrete pouring. In the initial support area, the arch frame assembly trolley hoists the prefabricated articulated steel arch frame as a whole, and the wet spraying robot performs the re-spraying operation simultaneously. S20: Within the drilling and blasting zone, the three-arm drilling rig simultaneously performs the current cycle's anchor bolt or locking foot drilling operation and the next cycle's peripheral and advance hole drilling operation within the same work cycle; the central control unit generates blast hole layout parameters based on the digital twin model and advance geological prediction data through a multi-objective dynamic optimization algorithm, and automatically imports them into the rig control system to achieve high-precision positioning drilling. S30: The central control unit adopts a distributed collaborative architecture of "cloud-edge-device", which generates equipment scheduling instructions in real time based on digital twin model and multi-objective optimization algorithm, and executes safety interlocking mechanisms such as safety distance matrix and electronic fence; S40: After each cycle, point clouds of the face and initial support surface are obtained by 3D laser scanning, and the over-excavation and under-excavation volume and contour quality are automatically identified; based on reinforcement learning, the blasting effect is used as a reward parameter to automatically optimize the drilling and blasting parameters and support parameters for the next cycle. S50: Dynamic adjustment of surrounding rock adaptability. Based on real-time monitoring and measurement data and surrounding rock classification, it automatically adjusts the construction method type, cycle advance, support parameters and parallelism to ensure a balance between safety and efficiency.

[0005] S60: Intelligent ventilation and environmental control. Online dust sensor monitoring data triggers the central control unit to automatically link the dust extraction system and dynamically adjust the fan frequency to achieve on-demand ventilation.

[0006] The beneficial effects of this invention are as follows: (1) By dividing the tunnel longitudinally into multiple parallel operation zones (advance zone, drilling and blasting zone, initial support zone, and invert arch closure zone), the "long tunnel, short construction" was achieved, with each process advancing synchronously in different zones, significantly shortening the critical path time. The use of a three-arm drilling rig to simultaneously perform anchor drilling in the current cycle and blasting drilling in the next cycle within the same cycle further compressed the process connection time, and the single cycle operation time could be controlled within 20 hours, significantly increasing the average daily progress. (2) Based on three-dimensional scanning and digital twin model, the millimeter-level precise positioning of the invert arch steel frame is achieved, reducing the use of pad blocks and ensuring perfect fit between the steel frame and the base; the blast hole layout parameters are generated by multi-objective dynamic optimization algorithm, and the drilling and blasting parameters are adaptively optimized by reinforcement learning, effectively controlling over-excavation and under-excavation, reducing the over-excavation coefficient to below 1.75, and improving the contour flatness by more than 28%; digital prefabricated invert arch construction and intelligent vibration and temperature stress monitoring ensure the uniformity and crack prevention effect of the invert arch concrete; (3) Adopting a distributed collaborative architecture of “cloud-edge-device”, the central control unit collects the equipment position, attitude and task progress in real time, and generates a collaborative instruction once at a set time interval through a multi-objective optimization algorithm. Combined with the safety distance matrix, electronic fence and local obstacle avoidance algorithm, it enables multiple large equipment to operate in an orderly and safe parallel manner in a narrow tunnel space, avoids interference and collision, and ensures construction safety. (4) Based on real-time monitoring and measurement data and advanced geological forecasting, the central control unit can dynamically adjust the construction method type, cyclic advance, support parameters, and safety distance of parallel operation zones to achieve adaptive response to changes in Class III-IV surrounding rock, ensuring a dynamic balance between construction safety and efficiency. At the same time, the reinforcement learning algorithm enables drilling and blasting parameters to iterate automatically according to geological conditions; (5) Construct a digital twin model containing five dimensions of information: geometry, geology, equipment, process, and quality, to achieve data closure and self-optimization throughout the entire construction life cycle. The intelligent ventilation system adjusts the fan frequency in real time according to the dust concentration to achieve ventilation on demand, reduce energy consumption and improve the working environment. All operation records are traceable, providing complete data support for quality management and accident analysis. Attached Figure Description

[0007] Figure 1 This is a schematic diagram showing the distribution of multiple parallel operation areas in a mechanized, fully-fledged, rapid closure construction method for tunnel drilling and blasting arches provided in a specific embodiment of the present invention. Figure 2 This is a schematic diagram of drilling using a rock drilling rig in a mechanized, fully-fledged, rapid closure construction method for tunnel drilling and blasting of a tunnel arch with a broken section, provided in a specific embodiment of the present invention. Figure 3 This is a schematic diagram of the blast hole layout for a mechanized, fully-severed, rapid closure construction method for tunnel drilling and blasting arches, provided in a specific embodiment of the present invention. Detailed Implementation

[0008] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0009] To address the problems of severe over-excavation, low efficiency in process connection, and insufficient equipment coordination in traditional tunnel drilling and blasting methods during the construction of the tunnel bottom invert arch, this invention takes a three-dimensional approach: systematic process reconstruction, precise equipment coordination, and full life-cycle data closure. It focuses on spatial process reorganization and parallel operation, control-dimensional equipment coordination and safety interlocking, and information-dimensional data closure and self-optimization. This invention provides a mechanized, fully-fledged, rapid closure method for tunnel drilling and blasting invert arch mechanization. The core idea is based on a holistic concept of process reorganization (from linear to parallel), specific mechanisms for equipment coordination (from independent to clustered), and the completeness of the data closure (from open-loop to adaptive optimization). Specifically, it includes the following steps: S00: The tunnel construction space is divided longitudinally into several parallel operation zones, sequentially including the invert arch closure zone (for invert arch excavation, steel frame installation, and concrete pouring to achieve initial support closure), the initial support zone (for arch frame installation, shotcreting, and other initial support operations), the drilling and blasting zone (centered on the tunnel face for drilling, charging, and blasting operations), and the advance zone (located in front of the tunnel face for advanced geological prediction and advance support). Unlike traditional linear construction methods that cannot achieve full-section coordinated construction, this approach allows the tunnel to be divided into dynamically adjustable parallel operation zones for concurrent construction. Operations within each zone can be carried out simultaneously; for example, drilling can be performed in the drilling and blasting zone while arch frame installation occurs in the initial support zone, and invert arch pouring takes place in the invert arch closure zone. This allows the static construction plan to be adjusted according to different surrounding rock geology and construction conditions. During tunnel construction, the tunnel face serves as the reference point, such as... Figure 1 As shown, this can be further summarized as follows: the advance zone is at the very front (in front of the tunnel face), followed by the drilling and blasting zone (at the tunnel face), the initial support zone is immediately behind the drilling and blasting zone, and the invert arch closure zone is located behind the initial support zone. This divides the long tunnel into different parallel operation zones, achieving the effect of "shortening the tunnel in a short time." Multiple processes are carried out simultaneously in different areas, which can significantly shorten the overall construction period. Preferably, longitudinal distance is reserved between each zone. , , The central control unit dynamically adjusts the work area based on real-time construction progress, equipment location, and surrounding rock conditions to ensure safe parallel operation. Further, depending on actual needs, the parallel operation area also includes a secondary lining area, located behind the invert arch closure area, used for waterproofing membrane laying, rebar tying, and secondary lining pouring. A dynamically adjustable longitudinal distance is reserved between several parallel operation areas along the tunnel's longitudinal direction, adjusted in real-time by the central control unit according to construction progress and equipment status. Based on this, the central control unit collects construction data, geological information, and equipment status from each area in real-time, constructing and dynamically updating a system containing several... The five-dimensional digital twin model (geometry, geology, equipment, process, and quality) serves as the core, forming the data foundation for all subsequent optimization, scheduling, and decision-making. This model includes: geometry (such as tunnel outline and equipment dimensions, which form the basis for collision detection); geology (such as TSP and ground-penetrating radar data, used to determine blasting parameters and support timing); equipment (including location, attitude, hydraulic pressure, and energy consumption, determining the feasibility of coordinated scheduling); process (comparison of standard operating procedures (SOP) with real-time operating conditions for quality control); and quality (such as over-excavation, under-excavation, and flatness, serving as the basis for feedback optimization).

[0010] In the closed zone and initial support zone of the invert arch, traditional invert arch construction requires formwork, steel reinforcement binding, pouring, and curing. Support operations, such as scaffolding erection and shotcreting, are often carried out in separate steps and rely on manual labor. This results in slow invert arch construction and unstable support quality. Therefore, step S10 enables digitalized rapid operation of the invert arch and initial support. Specifically, within the closed zone, a digitalized prefabricated invert arch construction method is used to simultaneously perform invert arch excavation, steel frame installation, and concrete pouring. The digitalized prefabricated construction of the invert arch (simultaneous excavation, installation, and pouring) significantly accelerates the closure speed of the bottom structure, forming a stable load-bearing ring as early as possible and controlling tunnel settlement and deformation. This is crucial for safe construction in Class III-IV surrounding rock. Specifically, the digitalized prefabricated invert arch construction method includes: S11: Prefabrication and hoisting. The inverted arch steel frame is prefabricated and assembled outside the tunnel, and then precisely hoisted by a robotic arm on the inverted arch trestle. This direct grabbing and hoisting of the pre-assembled steel frame as a whole shortens the assembly work inside the tunnel, which originally took several hours, to tens of minutes, and is safer and of higher quality. S12: Scanning and accurate positioning. Based on 3D scanning, the system acquires the point cloud of the invert arch excavation outline and automatically generates the installation coordinates of the invert arch steel frame, achieving millimeter-level positioning. After the invert arch is excavated, the base is often uneven. Traditional surveying and setting out can only measure at fixed points and cannot fully reflect the base shape, resulting in the bottom of the steel frame being suspended or unevenly stressed, requiring a large number of shims for adjustment. During the installation of the invert arch steel frame, manual measurement, manual drawing, and manual installation will accumulate errors step by step, eventually leading to the steel frame being misaligned. The 3D scanning in step S12 acquires a "topographic map" of the entire invert arch excavation surface. Based on this, the system automatically calculates the optimal installation position and height of the steel frame, allowing the steel frame to fit perfectly with the base, reducing or even eliminating the need for shims. The millimeter-level positioning data is directly imported into the robotic arm control system to ensure the absolute accuracy of the steel frame installation position, laying a solid foundation for subsequent processes such as waterproofing membrane laying. At the same time, each scan data is stored in a digital twin model as a quality traceability archive. S13: Quick locking. The connection between the inverted arch steel frame and the arch wall steel frame adopts a quick locking device (such as a wedge lock or a snap-lock connection), which is manually locked through the suspended platform. S14: Pouring and monitoring. The invert arch concrete pouring adopts an automatic material placement system and intelligent vibration, and temperature stress is monitored by pre-embedded sensors. In this way, the automatic material placement system can be poured in layers, symmetrically and continuously to ensure the uniformity of concrete. The intelligent vibration system automatically determines the vibration time and position to ensure that the concrete is dense and not over-vibrated. The pre-embedded sensors monitor the temperature gradient and stress development inside the concrete in real time to control temperature and prevent cracking.

[0011] Within the initial support area, the arch frame assembly trolley hoists the prefabricated articulated steel arch frame as a whole, while the wet spraying robot simultaneously performs the re-spraying operation. This combination of hoisting the prefabricated articulated arch frame (reducing manual assembly errors) and simultaneously re-spraying with the wet spraying robot integrates the erection and shotcreting processes, further reducing the critical path time occupied by the initial support. Specifically, the arch frame assembly trolley uses an overall hoisting method to install the prefabricated articulated steel arch frame, which is lifted and positioned by the mechanical gripper of the three-arm rock drilling rig. Workers complete the articulation locking and fastening on the suspended platform. Simultaneously, the wet spraying robot performs re-spraying in the area behind the already installed arch frame. The spraying path is automatically generated based on 3D scanning to identify over-excavated areas, employing a three-stage spraying strategy of "filling pits, filling, and surface sweeping." The preferred initial spraying material is C25 concrete with a thickness of 4±0.5 cm, achieving a strength ≥10MPa 8 hours after the initial spraying.

[0012] In the drilling and blasting zone and the advance zone, the traditional process of anchor bolt (support) drilling and blasting drilling is carried out separately. The equipment needs to enter the site twice, and the drilling is done manually based on experience. The external angle cannot be controlled, resulting in over-excavation. Therefore, step S20 can be used to deeply reorganize the drilling process and design intelligent blasting. That is, in the drilling and blasting zone, the three-arm drilling rig simultaneously performs the anchor bolt or locking foot drilling operation of the current cycle and the peripheral hole and advance hole drilling operation of the next cycle in the same working cycle (referring to the start of the blasting and muck removal or the completion of the face cleaning, until the initial support (including the invert arch) is closed into a ring and the conditions for the next cycle of blasting are met, the same below). Specifically, the three hydraulic arms of the three-arm drilling rig perform the following operations: the first arm drills the locking foot anchor bolt hole of the current cycle, the second arm drills the anchor bolt hole of the current cycle, the third arm drills the anchor bolt hole of the current cycle, the fourth arm drills the anchor bolt hole of the current cycle, the fifth arm drills the anchor bolt hole of the current cycle, the sixth arm drills the anchor bolt hole of the current cycle, the seventh arm drills the anchor bolt hole of the current cycle, the eighth arm drills the anchor bolt hole of the current cycle, the ninth arm drills the anchor bolt hole of the current cycle, the eleventh ... The second arm drills the system anchor bolt holes (radial) for the current cycle, while the third arm drills the peripheral holes and advanced geological boreholes for the next cycle. The drilling positioning accuracy is controlled within 3cm by a visual recognition unit and 3D point cloud fusion. This three-arm drilling rig utilizes its multi-arm advantage, allowing one arm to drill the support holes (anchor bolts / locking feet) for the current cycle within the same shift, while another arm drills the blasting holes (peripheral holes / advance holes) for the next cycle. This allows the equipment to complete the current cycle's task while simultaneously preparing for the next cycle, significantly reducing preparation time. Furthermore, the central control unit, based on a digital twin model and advanced geological prediction data, generates borehole layout parameters through a multi-objective dynamic optimization algorithm and automatically imports them into the rig control system to achieve high-precision drilling positioning. The objective function of the multi-objective dynamic optimization algorithm is:

[0013] in, The goal is to minimize the total cost in the optimization direction; Total construction time for each district; The probability of equipment interference (i.e., conflict risk) is used to predict the probability of spatial interference or collision between multiple pieces of equipment (such as a three-arm drilling rig, an arch frame assembly rig, and a wet spraying robot) in a limited tunnel space under the current scheduling scheme. These are the weighting coefficients of the equipment interference probability in the objective function; Total energy consumption refers to the total energy that all equipment is expected to consume under the current scheduling scheme. The weighting coefficients for total energy consumption in the objective function are as follows: Based on digital twins and geological prediction, a multi-objective dynamic optimization algorithm is used to generate borehole parameters (hole depth, angle, charge) and automatically import them into the trolley to solve the over-excavation problem. Specifically, the process is summarized as follows: a. Blast Hole Layout and Drilling: Based on the blasting design, the central control unit generates a full-section blast hole layout diagram for this cycle (based on blast hole layout parameters), including cut holes, auxiliary holes, peripheral holes, and blast holes in the invert arch; the three-arm drilling rig automatically performs blast hole drilling for the upper, middle, and lower benches and the invert arch according to the layout diagram, and the drilling depth, angle, and spacing are automatically checked and stored. b. Bottom hole inspection and cleaning: After drilling is completed, guide rod inspection, inclination angle verification and depth verification are carried out, and compressed air is used to clean the hole wall to remove dust and ensure the quality of the charge. c. Charging and sealing: The operators carry out the charging operation through the three basket platforms of the three-arm drilling rig, using segmented charging, interval charging and stemming sealing methods, with the length of each sealing section as designed; after charging, the detonating cord and detonators are manually connected and multiple checks are performed; d. Smooth blasting and ventilation: A single-stage blasting method with upper, middle and lower steps is adopted. After the blasting is completed, forced ventilation is carried out to discharge the blasting smoke to a safe concentration. Subsequently, the slag removal operation is carried out, and the three-dimensional scanning data of the blasting section is sent back to the central control unit for over-excavation and under-excavation analysis, providing a basis for optimizing the drilling and blasting parameters of the next cycle.

[0014] Within a confined tunnel space, the simultaneous operation of the drilling rig, arch frame rig, and wet shotcrete machine in the aforementioned steps is highly susceptible to collisions or mutual interference, leading to frequent equipment avoidance maneuvers and downtime. Furthermore, the traditional layered command system is ill-suited to handle complex dynamic changes on-site. This is one of the key issues this project addresses. To resolve this, in step S30, the central control unit employs a "cloud-edge-device" distributed collaborative architecture. The cloud performs global optimization planning, while the edge (field controller) issues real-time commands at the millisecond level, ensuring that multiple devices function like an orchestra, each fulfilling its specific role and working closely together. Specifically, the "cloud-edge-device" distributed collaborative architecture includes: Cloud-based: Stores historical data and trains collaborative scheduling models to form a device collaboration knowledge base; Edge: The central control unit is deployed inside the tunnel to collect real-time data on device location, attitude, and task progress. It uses a multi-objective dynamic optimization algorithm to calculate collaborative instructions every 30 seconds and sends them out via 5G. Terminal: Each device has a built-in local obstacle avoidance algorithm (based on lidar, millimeter-wave radar, or visual sensors, etc.), which can autonomously decelerate or stop in case of emergencies and report to the central control unit; it generates equipment scheduling instructions in real time based on a digital twin model and multi-objective optimization algorithm, and executes safety interlocking mechanisms such as safety distance matrix and electronic fence, the safety interlocking mechanisms including: S31: Establish a safety distance matrix between devices and define the minimum safety distance; S32: Electronic fences shall be used to delineate the operating areas for each piece of equipment, and crossing the boundaries is prohibited; S33: When the lifting height of the arch frame assembly trolley exceeds the threshold, the rotation angle of the three-arm drilling trolley is automatically limited. S34: In an emergency, manual one-button shutdown is permitted, and all operation records are traceable; Thus, in step S30, the three-arm drilling rig, the arch frame assembly rig, and the wet spraying robot work together in coordination, as scheduled by the central control unit, to simultaneously close the initial support structure of the invert arch. The specific process is as follows: a. Equipment scheduling and interlocking: The central control unit obtains the location, task status and safety interlocking information of the three-arm rock drilling rig, arch frame assembly rig and wet spraying robot in real time, and arranges each piece of equipment to enter the work area and adjusts their work sequence according to priority to avoid interference between equipment; b. Synchronous closure structure: While the arch frame assembly trolley is hoisting the arch frame, the wet spraying robot can perform local spraying operations in advance in the front contour area; the three-arm rock drilling trolley performs anchor bolt construction at the rear, and the three form an overlapping operation flow to complete the rapid closure of the invert arch and the surrounding initial support.

[0015] c. Ring-forming verification: After the invert arch, locking foot and arch frame are all sprayed, the central control unit calls the 3D scanner to collect the formed section and automatically compares it with the design section to determine whether the current cycle has met the "initial support structure closure" condition; after the closure condition is met, the next cycle of construction is automatically released.

[0016] d. Anomaly Handling and Recording: If the scan results show insufficient thickness in some areas or excessive misalignment of the arch frame, the central control unit will automatically issue rectification instructions, including additional spraying, adjustment, or partial rework; at the same time, the equipment actions, point cloud data, torque records, grouting records, and spraying logs for this cycle will be archived.

[0017] In traditional construction, the effectiveness of blasting is only assessed in a single instance, and good experiences or bad lessons cannot influence subsequent operations. Therefore, in step S40, after each cycle, point clouds of the tunnel face and initial support surface are acquired through 3D laser scanning to automatically identify over- and under-excavation volumes and contour quality. Based on reinforcement learning, the blasting effect is used as a reward parameter to automatically optimize the drilling and blasting parameters and support parameters for the next cycle. In this way, by using 3D laser scanning of the tunnel, the over- and under-excavation volumes are accurately measured. The reinforcement learning algorithm uses "less over-excavation and compliant under-excavation" as a positive reward to automatically adjust the drilling and blasting parameters in S20 (such as adjusting the spacing between surrounding holes and the amount of explosives). As construction progresses, the system accumulates a massive amount of "geological-drilling-blasting" data. The model becomes smarter with use, and the blasting effect becomes more and more accurate, truly realizing the self-iteration of construction technology.

[0018] In actual construction, Class III-IV surrounding rock changes frequently, and local fracture zones may appear. If the original construction methods and advance are adhered to, it may lead to collapse; if it is too conservative, it will reduce efficiency. Therefore, step S50 is also included: dynamic adjustment of surrounding rock adaptability. Based on real-time monitoring and measurement data and surrounding rock classification, the construction method type, cyclic advance, support parameters and parallelism are automatically adjusted to ensure a balance between safety and efficiency. In this way, the monitoring and measurement data (crown settlement, perimeter convergence) are used as real-time input, and the system can automatically judge the stability of the surrounding rock. This also makes the construction plan have self-adjusting capabilities, and can adjust its behavior according to environmental (geological) changes like a living organism.

[0019] The preferred method also includes step S60 for intelligent ventilation and environmental control. The online dust sensor monitors the data and triggers the central control unit to automatically link the dust extraction system and dynamically adjust the fan frequency to achieve ventilation on demand. The dust concentration is monitored in real time by the sensor, and the dust removal system is activated as needed. The fan frequency is dynamically adjusted according to the required air volume to reduce construction energy consumption and provide a cleaner and healthier working environment for construction personnel.

[0020] The technical solution of the present invention will be further elaborated below by providing examples from three aspects: different surrounding rock conditions, adaptive adjustment mechanism, and intelligent algorithm implementation.

[0021] Example 1: (1) Project Overview This embodiment mainly focuses on efficient construction under Class III surrounding rock conditions. Taking a double-track railway tunnel as an example, the section it traverses is mainly Class III surrounding rock with good rock integrity and undeveloped joints and fissures. The tunnel cross-sectional area is about 85m², and the full-section method is used for construction. (2) Construction preparation 2.1) Equipment configuration: 2 ZYS123 three-arm rock drilling rigs, 1 SCD133 arch frame assembly rig, 1 TSR3016 wet spraying robot, 2 C950E side-dump loaders, central control unit (including edge computing server), and 2 sets of 3D scanners. 2.2) Digital Twin Modeling: Before construction, geological information 30m ahead of the tunnel face is obtained through ground-penetrating radar and advanced drilling, and imported into the central control unit to construct an initial geological model. Simultaneously, a geometric model is established based on the design cross-section, forming the basic framework of the digital twin. (3) Construction steps 3.1) Dynamic Partition Setting The central control unit divides the tunnel into sections based on the surrounding rock conditions and equipment capabilities: Enclosed area for invert arch: 6m in length, invert arch construction will be carried out simultaneously; Initial support zone: 8m in length, adjacent to the rear of the borehole blasting zone; Drilling and blasting zone: 12m in length, including the current working face and the next working face ahead; Longitudinal spacing between zones: 3m between the borehole blasting zone and the initial support zone, and 2m between the initial support zone and the invert arch closure zone, which are adjusted in real time by the central control unit; 3.2) Slag removal and initial spraying sealing After the blasting was completed, two C950E loaders worked with eight dump trucks to remove the slag, which took 1.5 hours. Clear the loose material from the invert arch and reserve a 2.0m wide passage for the rock drilling rig to advance; The TSR3016 wet spraying robot enters the working face, and after high-pressure air removes loose rocks, the vehicle-mounted 3D scanner performs a short-range scan (scanning time 45 seconds) to generate point cloud data and upload it to the central control unit. The central control unit compares the design cross-section, identifies over-excavation areas (maximum over-excavation depth 12cm) and pit locations, and generates the spraying path; The wet spraying robot sprays C25 concrete in layers from bottom to top, with an initial spray thickness of 4.2cm (controlled within the range of 4±0.5cm) and a spraying time of 25 minutes. The strength test result 8 hours after the initial spraying was 11.2 MPa, which meets the requirement of ≥10 MPa; 3.3) Intelligent Drilling Operation The ZYS123 three-arm rock drilling rig enters the drilling and blasting area. The visual recognition unit scans the working face and identifies the traces of the previous cycle's blast holes (recognition rate 98%). After being fused with the 3D point cloud, closed-loop positioning is achieved. The central control unit optimized the drilling and blasting parameters for this cycle based on a digital twin model: 38cm spacing between peripheral holes, 7 pairs of cut holes (100cm spacing at the bottom), and 4.5m advance per cycle. Division of labor among the three arms: Left arm: Drill anchor bolt holes for the current circulation system (Φ25mm, depth 3.5m, spacing 1.2m×1.2m), a total of 42 holes; Mid-arm: Drill the next cycle of peripheral holes (Φ42mm, depth 4.7m, spacing 38cm), a total of 58 holes; Right arm: Drill the current cycle anchor bolt holes (Φ42mm, inclination angle 30°, depth 4.0m), a total of 12 holes; During the drilling process, each arm transmits drilling data (depth, angle, speed) back in real time, and the central control unit monitors the deviation (maximum deviation 2.4cm, <3cm). After drilling is completed, the hole is automatically cleaned (compressed air blowing + soft rod sweeping), and the hole cleaning data is used for quality judgment; 3.4) Arch frame installation and respraying The SCD133 arch frame assembly trolley entered the initial support area and hoisted two prefabricated articulated steel arch frames as a whole. The ZYS123 trolley uses a central hydraulic arm mechanical gripper to lift the arch frame to the top of the arch, while the hydraulic arms on both sides assist in positioning. The operators complete the hinged locking on the suspended platform. The verticality of the two-dimensional laser positioning instrument is calibrated with a deviation of 0.8% (<1%). While the arch frame is being installed, the TSR3016 wet spraying robot performs a second spraying in the area behind where the arch frame has already been installed, employing a three-stage strategy of "filling craters, filling, and sweeping". Repairing pits: Identify over-excavated areas (maximum depth 11cm) and locally repair them by spraying until they are flush with the design cross-section; Filling: Cover the steel frame and steel mesh, with an initial spray thickness of 3cm; Surface sweeping: The second spraying should reach the designed thickness (total thickness 12cm), with a surface flatness of ≤4mm / m; After the respraying is completed, a 3D scanner scans the initial support surface and automatically generates a thickness distribution map (minimum thickness 11.2cm, which meets the requirements). 3.5) Enclosed invert arch Within the enclosed area of ​​the invert arch, a digital prefabricated invert arch construction method is adopted: The two inverted arch steel frames were prefabricated and assembled outside the tunnel, and then hoisted by a robotic arm using the inverted arch trestle bridge. Based on the point cloud of the invert arch excavation outline obtained by 3D scanning, the installation coordinates are automatically generated (longitudinal error ±2mm, lateral error ±1.5mm). A quick-locking device is used at the connection between the steel frame and the arch wall steel frame, and the workers manually lock it on the suspended platform. The concrete pouring adopts an automatic material placement system, combined with intelligent vibration, and pre-embedded sensors monitor temperature stress (maximum stress 2.8MPa, which meets the requirements). 3.6) Intelligent scheduling and safety interlocking The central control unit adopts a "cloud-edge-device" architecture: Cloud-based: Stores historical construction data (120 cycles completed) and trains collaborative scheduling models; Edge: The collaborative command is calculated every 30 seconds and sent to each device via 5G; Terminal: Each device has a built-in local obstacle avoidance algorithm, which autonomously avoids interference during operation; Safety interlock mechanism: Establish a safety distance matrix (minimum distance: 5m between trolleys, 3m between trolleys and trestle). The electronic fence delineates the work area, and when the arch frame assembly trolley is lifted, the rotation angle of the three-arm rock drilling trolley is automatically limited. This cycle triggered two safety warnings (equipment approaching the threshold), both of which resulted in automatic deceleration and adjustment without any interference events. 3.7) Data closure and adaptive optimization After blasting, a 3D scanner was used to acquire point clouds of the tunnel face and identify the over-excavation volume (0.8 m³ over-excavation in this cycle, with an over-excavation coefficient of 1.68 < 1.75). The central control unit integrates geological forecast data (without anomalies) and updates the surrounding rock geological model; Based on reinforcement learning, the drilling and blasting parameters of this cycle (38cm spacing between holes and 0.9kg charge per hole) are correlated with the blasting effect (overcutting amount and contour smoothness) to optimize the parameters of the next cycle (it is recommended to adjust the spacing between holes to 39cm). The optimized blast hole layout diagram is automatically imported into the three-arm drilling rig control system for the next drilling cycle; (4) Construction effect Single cycle time: 18.5 hours (≤20h); Average daily progress: 4.85m (under Class III surrounding rock conditions); Over-excavation coefficient: 1.68 (<1.75); Cost savings: Shotcrete saves 1820 yuan per linear meter; Safety indicators: The initial support closure time is shortened by 42% compared with the traditional construction method, and the surrounding rock convergence deformation is reduced by 36%.

[0022] Example 2: (1) Project Overview This embodiment is an adaptive adjustment under Class IV surrounding rock conditions. Taking a highway tunnel crossing a section mainly composed of Class IV surrounding rock as an example, the rock mass is fractured, joints are well developed, and there are local fault fracture zones. The tunnel cross-sectional area is approximately 72m², and the micro-step method (step length 3m) is used for construction. (2) Construction preparation 2.1) Equipment configuration: 1 ZY123 three-arm rock drilling rig, 1 LHZZ110 arch frame assembly rig, 1 WHP30F wet spraying robot, central control unit (including edge computing server), 2 sets of 3D scanners, and environmental management unit (including dust sensor and intelligent fan).

[0023] 2.2) Digital twin modeling: The initial modeling is the same as in Example 1, but a dynamic update module for surrounding rock grading is added; (3) Construction steps (Based on Example 1, only the key steps are listed in this example) 3.1) Dynamic adjustment of surrounding rock adaptability During the fifth construction cycle, monitoring data showed that the settlement rate of the arch reached 2.5 mm / d (exceeding the warning value of 2.0 mm / d). The central control unit automatically triggers the surrounding rock classification review, and combined with the ground-penetrating radar detection (there is a fracture zone 8m ahead), adjusts the surrounding rock classification from Level IV to Level IV Enhanced; Automatically adjust construction parameters: Construction method type: The full-section method was adjusted to the micro-step method (step length 3m); Cyclic advance: reduced from 4.0m to 3.2m; Support parameters: The spacing between system anchor bolts was increased from 1.2m to 1.0m, and the spacing between steel frames was increased from 0.8m to 0.6m; Parallelism adjustment: The distance between the closed area of ​​the invert arch and the initial support area is shortened from 2m to 1.5m, accelerating the closure into a ring; 3.2) Intelligent Drilling and Blasting Three-arm rock drilling rig in the same cycle: Left arm: Drill anchor bolt holes for the current circulation system (Φ25mm, depth 3.0m, spacing 1.0m×1.0m). Mid-arm: Drill the next cycle of peripheral holes (Φ42mm, depth 3.4m, spacing 35cm, more dense than Class III surrounding rock). Right arm: Drill the current circulation anchor bolt hole (Φ42mm, inclination angle 30°, depth 3.5m); Optimized blasting design: 35cm spacing between perimeter holes, 6 pairs of slotting holes (80cm spacing at the bottom), and a cycle advance of 3.2m; 3.3) Intelligent ventilation and environmental control After the blast, the online dust sensor detected a dust concentration of 12 mg / m³ (exceeding the threshold of 10 mg / m³). The central control unit automatically activates the dust suppression and exhaust system (starting water curtain dust suppression + local exhaust), and dynamically adjusts the fan frequency from 45Hz to 52Hz; After 15 minutes, the dust concentration dropped to 3 mg / m³, meeting the operational requirements; Governance events are automatically recorded (time, concentration, measures, effects) and incorporated into a digital twin model. Post-blasting 3D scanning showed an over-excavation volume of 0.6 m³ and an over-excavation coefficient of 1.72. 3.4) Enhanced safety interlocks Due to the poor surrounding rock conditions, the safety interlocking mechanism has been enhanced: The safety distance matrix has been tightened: the minimum distance between workshops has been adjusted from 5m to 8m; The electronic fence adds a "no-entry zone": when the arch frame assembly trolley is in operation, other equipment is prohibited from entering within a radius of 10m; This cycle triggered 3 safety warnings (2 for equipment proximity and 1 for arch frame height exceeding limit), all of which were handled automatically without any safety incidents. (4) Construction effect Single cycle time: 19.2 hours; Average daily progress: 3.05m (meets the 3.0~4.05m requirement for Class IV surrounding rock); Over-excavation coefficient: 1.72; Safety indicators: The settlement rate of the arch crown was reduced to 1.2 mm / d after adjustment, and the surrounding rock was stable.

[0024] Example 3: This example is based on the Class III surrounding rock construction data of Example 1, and explains in detail how the central control unit achieves multi-objective dynamic optimization and reinforcement learning drilling and blasting parameter optimization.

[0025] (1) Implementation of multi-objective optimization algorithm 1.1) Assume the central control unit calculates the coordination command every 30 seconds, and the objective function is:

[0026] in, The total construction time (minutes) for each zone is collected in real time from each device; C is the device interference probability, predicted and calculated based on device location and movement trajectory; E is the total energy consumption (kWh), estimated based on device power and operating time. Weighting coefficients, in this embodiment , (Set according to the principle of safety first); 1.2) Optimization variables The order in which each piece of equipment enters the work area; The operating speed of each device is adjustable from 0 to 100%. Safety distance between devices (dynamically adjustable); 1.3) Example of optimization results Taking the 10th cycle as an example, the initial scheduling scheme is expected to... , C=0.15, E=850kWh, Z=1120+0.3×0.15+0.1×850=1120+0.045+85=1205.045; Optimized solution: Adjust the entry time of the three-arm rock drilling rig to 15 minutes earlier; The running speed of the arch frame assembly trolley was reduced from 80% to 60%, reducing path intersections with the wet spraying robot. final =1105 minutes C=0.08, E=845kWh, Z=1105+0.3×0.08+0.1×845=1105+0.024+84.5=1189.524, the optimization effect is good.

[0027] (2) Reinforcement learning to optimize drilling and blasting parameters 2.1) State Space Definition State S = {surrounding rock classification, three-dimensional contour features of the tunnel face, blasting effect of the previous cycle, geological prediction information} 2.2) Definition of Action Space Action A = {Spacing of perimeter holes (35~45cm), Number of cut hole pairs (6~8 pairs), Spacing between cut hole bottoms (80~120cm), Charge amount (0.8~1.2kg / hole), Detonation sequence (3 modes)} 2.3) Reward Function Design Reward R = w1 × (Benchmark Over-excavation Coefficient - Actual Over-excavation Coefficient) + w2 × Profile Smoothness Score + w3 × Safety Factor (based on vibration monitoring) 2.4) Learning Process Initial phase: Pre-train the Q-network based on historical data (first 50 cycles); Online learning: Calculate the reward value and update the Q network after each cycle is completed; A strategy evaluation is performed every 10 cycles, and the exploration rate ε is adjusted accordingly. 2.5) Optimization effect Taking the Class III surrounding rock in Example 1 as an example of 30 consecutive cycles: Cycles 1-10: Average over-excavation coefficient 1.82, average profile flatness deviation 8.5mm; Cycles 11-20: The model gradually converged, with an average over-excavation coefficient of 1.74 and an average profile flatness deviation of 7.2 mm; Cycles 21-30: Average over-excavation coefficient 1.67, average profile flatness deviation 6.1mm; Comparison of cycle 30 and cycle 1: Over-excavation coefficient decreased by 8.2%, and profile quality improved by 28%; (3) Data closed-loop implementation 3.1) Real-time data acquisition Device status data: collected every 100ms (position, velocity, attitude, task progress); Quality inspection data: 3D scan after each cycle (accuracy ±2mm); Environmental data: Dust concentration was collected every 10 seconds; 3.2) Digital Twin Update Geometric model: Updated based on 3D scan after each loop; Geological model: Updated every 3 cycles or when an anomaly is encountered; Equipment model: Real-time updates of location and status; Process model: The drilling and blasting parameters are updated and their effects are correlated in each cycle; Quality model: Updates indicators such as over-excavation and flatness in each cycle; 3.3) Instruction Issuance The optimized blast hole layout diagram is transmitted to the three-arm drilling rig via 5G and automatically converted into a drilling path. Optimized spray path: Issued to the wet spraying robot for automatic execution; Dispatch instructions: Issued to each piece of equipment to guide the order of entry and the speed of operation.

[0028] This invention has been described through preferred embodiments. Those skilled in the art will understand that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. This invention is not limited to the specific embodiments disclosed herein; other embodiments falling within the scope of the claims are also within the protection scope of this invention.

Claims

1. A mechanized, fully-fledged, rapid closure method for tunnel boring machine (TBM) arch construction, characterized in that: Includes the following steps: S00: The tunnel construction space is divided into several parallel operation zones along the longitudinal direction, which include the invert arch closure zone, the initial support zone, the drilling and blasting zone and the advance zone in sequence along the construction and excavation direction; the central control unit collects construction data, geological information and equipment status of each zone in real time, and constructs and dynamically updates a digital twin model containing five-dimensional information of geometry, geology, equipment, technology and quality. S10: In the closed area of ​​the invert arch, the digital prefabricated invert arch construction method is used to simultaneously carry out invert arch excavation, steel frame installation and concrete pouring. In the initial support area, the arch frame assembly trolley hoists the prefabricated articulated steel arch frame as a whole, and the wet spraying robot performs the re-spraying operation simultaneously. S20: Within the drilling and blasting zone, the three-arm drilling rig simultaneously performs the current cycle's anchor bolt or locking foot drilling operation and the next cycle's peripheral and advance hole drilling operation within the same work cycle; the central control unit generates blast hole layout parameters based on the digital twin model and advance geological prediction data through a multi-objective dynamic optimization algorithm, and automatically imports them into the rig control system to achieve high-precision positioning drilling. S30: The central control unit adopts a "cloud-edge-device" distributed collaborative architecture, which generates equipment scheduling instructions in real time based on a digital twin model and multi-objective optimization algorithm, and executes safety interlocking mechanisms such as safety distance matrix and electronic fence; S40: After each cycle, point clouds of the working face and initial support surface are obtained by three-dimensional laser scanning, and the over-excavation and under-excavation volume and contour quality are automatically identified. Based on reinforcement learning, the blasting effect is used as a reward parameter to automatically optimize the drilling and blasting parameters and support parameters for the next cycle.

2. The method for rapid closure of a tunnel invert arch using mechanized full-span rupture construction according to claim 1, characterized in that: In step S00, the parallel operation area also includes a secondary lining area, which is located behind the invert arch closure area and is used for waterproofing membrane laying, rebar binding and secondary lining pouring; a dynamically adjustable longitudinal distance is reserved between several parallel operation areas along the tunnel longitudinal direction, which is adjusted in real time by the central control unit according to the construction progress and equipment status.

3. The method for rapid closure of a fully mechanized, completely broken-span inverted arch using the tunnel drilling and blasting method according to claim 2, characterized in that, In step S10, the arch frame assembly trolley is used to install the prefabricated articulated steel arch frame by overall hoisting. The arch frame is lifted and positioned by the mechanical grab of the three-arm rock drilling trolley, and the operators complete the articulation locking and fastening on the suspended platform. The wet spraying robot simultaneously performs re-spraying in the area where the arch frame has been installed behind. The spraying path is automatically generated based on the over-excavated area identified by 3D scanning, and a three-stage spraying strategy of "filling holes, filling, and sweeping the surface" is adopted. The initial spraying uses C25 concrete with a thickness of 4±0.5 cm, and the strength is ≥10 MPa 8 hours after the initial spraying.

4. The method for rapid closure of a fully mechanized tunnel arch with complete rupture using the tunnel drilling and blasting method according to claim 3, characterized in that, In step S10, the digital prefabricated invert arch construction method includes: S11: The inverted arch steel frame is prefabricated and assembled outside the tunnel, and then precisely hoisted by a robotic arm on the inverted arch trestle bridge; S12: Based on 3D scanning, the point cloud of the invert arch excavation outline is obtained, and the installation coordinates of the invert arch steel frame are automatically generated to achieve millimeter-level positioning. S13: A quick-locking device is used at the connection between the inverted arch steel frame and the arch wall steel frame, which is manually locked by the suspended platform; S14: The invert arch concrete pouring adopts an automatic material placement system and intelligent vibration, and temperature stress is monitored by pre-embedded sensors.

5. The method for rapid closure of a fully mechanized tunnel arch with complete rupture zone using the tunnel drilling and blasting method according to claim 2, characterized in that, In step S20, the three hydraulic arms of the three-arm drilling rig perform the following operations respectively: the first arm drills the anchor bolt hole for the current cycle, the second arm drills the system anchor bolt hole for the current cycle, and the third arm drills the peripheral eye and advanced geological borehole for the next cycle; the drilling positioning accuracy is controlled within 3cm by the fusion of the visual recognition unit and the three-dimensional point cloud.

6. The method for rapid closure of a fully mechanized tunnel arch with a complete break in the tunnel boring machine (TBM) according to claim 5, characterized in that, In step S30, the "cloud-edge-device" distributed collaborative architecture includes: Cloud-based: Stores historical data and trains collaborative scheduling models to form a device collaboration knowledge base; Edge: The central control unit is deployed inside the tunnel to collect real-time data on device location, attitude, and task progress. It uses a multi-objective dynamic optimization algorithm to calculate collaborative instructions every 30 seconds and sends them out via 5G. Terminal: Each device has a built-in local obstacle avoidance algorithm, which can automatically slow down or stop in case of emergencies and report to the central control unit.

7. A method for rapid closure of a fully mechanized, fully-severed invert arch tunnel using the drill-and-blast method according to claim 5, characterized in that, In step S30, the objective function of the multi-objective dynamic optimization algorithm is: in, The goal is to minimize the total cost in the optimization direction; Total construction time for each district; The probability of equipment interference (i.e., conflict risk) is used to predict the probability of spatial interference or collision between multiple pieces of equipment (such as a three-arm drilling rig, an arch frame assembly rig, and a wet spraying robot) in a limited tunnel space under the current scheduling scheme. These are the weighting coefficients of the equipment interference probability in the objective function; Total energy consumption refers to the total energy that all equipment is expected to consume under the current scheduling scheme. The weighting coefficient of total energy consumption in the objective function.

8. A method for rapid closure of a fully mechanized tunnel arch with a complete break in the tunnel boring machine (TBM) according to claim 7, characterized in that, In step S30, the safety interlock mechanism includes: S31: Establish a safety distance matrix between devices and define the minimum safety distance; S32: Electronic fences shall be used to delineate the operating areas for each piece of equipment, and crossing the boundaries is prohibited; S33: When the lifting height of the arch frame assembly trolley exceeds the threshold, the rotation angle of the three-arm drilling trolley is automatically limited. S34: In an emergency, manual one-click shutdown is allowed, and all operation records are traceable.

9. A method for rapid closure of a fully mechanized tunnel arch with a complete break in the tunnel boring machine (TBM) according to claim 7, characterized in that, It also includes step S50: dynamic adjustment of surrounding rock adaptability, which automatically adjusts the construction method type, cyclic advance, support parameters and parallelism based on real-time monitoring and measurement data and surrounding rock classification, to ensure a balance between safety and efficiency.

10. A method for rapid closure of a tunnel invert arch using mechanized full-span rupture construction according to claim 7, characterized in that, It also includes step S60: intelligent ventilation and environmental protection control, where online dust sensor monitoring data triggers the central control unit to automatically link the dust extraction system and dynamically adjust the fan frequency to achieve on-demand ventilation.

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