Exploration flat hole construction operation system

Abstract

The utility model provides a kind of exploration flat hole construction operation system, the system of the utility model includes: central control system is responsible for control, monitoring, collaborative scheduling construction equipment;Intelligent rock drilling jumbo is responsible for drilling, charging operation;Intelligent slagging machine is responsible for the cleaning and loading of loose rock;Intelligent slag transport vehicle is used for receiving the slag transported by intelligent slagging machine, performing point loading operation, and transporting slag to outside the hole;Intelligent rock drilling jumbo, intelligent slagging machine, intelligent slag transport vehicle are equipped with laser radar and global intelligent vehicle terminal;The wrong lane is arranged in the exploration flat hole, and the intelligent slag transport vehicle is accommodated when it runs relatively, and the UWB positioning base station is arranged at the hole of the exploration flat hole and in the exploration flat hole.In the exploration flat hole, the wrong lane is arranged, and the construction equipment positioning system and the central control system are combined with the collaborative function, to improve the efficiency of multi-device collaborative operation in the process of exploration flat hole construction operation by active avoidance of empty car, process connection of construction equipment and the like.

Description

Technical Field

[0001] This utility model belongs to the field of water conservancy and hydropower engineering exploration and underground engineering automation technology, and in particular relates to an exploration tunnel construction operation system. Background Technology

[0002] There are fundamental differences between hydroelectric exploration tunnels and mine roadways, railway tunnels, and highway tunnels: First, the typical cross-section of the tunnel is only 2.0 m × 2.5 m, and the size is strictly limited, making it impossible for traditional mining equipment to enter. Smaller, highly mobile, and automated equipment is required. Second, exploration tunnels are generally 200 m to 500 m long, which is relatively short, making it less economical to use full-face tunnel boring machines (TBMs). Third, the working environment is harsh and the safety risks are prominent. Manual operation in narrow spaces faces the threat of water inrush and collapse, while temporary wooden supports, shotcrete, and other support structures further reduce the safety margin of equipment operation.

[0003] In traditional exploration tunnel excavation, surveyors first use a total station to lay out the center coordinates of the tunnel face. On-site workers then manually measure and mark the locations of blast holes using simple tools based on experience. Next, operators use handheld drilling fans and rely on intuition to determine the location, direction, and angle of the blast holes. After drilling, explosives are manually loaded into the holes, detonators are placed, and the detonation network is connected before personnel and equipment are evacuated for blasting. After blasting, forced ventilation is achieved using fans, supplemented by manual water spraying, while waiting for the dust to settle naturally. Once the air quality meets standards, loading machinery enters to shovel the blasted rock debris onto transport vehicles. These vehicles then shuttle back and forth within the narrow tunnel to transport the debris out for unloading. Finally, the total station remeasures the tunnel axis and re-lays out the center, completing one tunneling cycle. Throughout this process, each step is performed sequentially, heavily relying on manual operation and experience-based judgment, lacking coherent and efficient collaborative work between equipment.

[0004] Traditional exploration tunnel construction has long faced the following technical bottlenecks: First, manual operation poses significant safety hazards. Core processes such as drilling, loading explosives, and muck removal rely on close-range manual operation, posing major safety risks such as explosion injuries and landslides. Among all processes, the drilling and blasting process has the harshest working environment, requiring workers to wade through water and endure high-intensity noise and high-concentration dust pollution, seriously threatening their physical and mental health. Second, process coordination is inefficient. Post-blast dust removal, muck loading, and transportation lack automated coordination, with process switching times generally exceeding 15 minutes, severely restricting construction continuity. Third, existing equipment lacks environmental adaptability. Traditional equipment often exhibits positioning deviations exceeding 30cm in high-dust, low-light environments, and manual drilling in complex rock formations fluctuates in accuracy by as much as ±10cm, leading to unstable construction quality. Finally, there is a lack of a unified scheduling mechanism between individual automated equipment. Spatial conflicts easily occur in the movement paths of construction equipment, severely restricting the efficiency of multi-equipment collaborative operations. These problems collectively make it difficult to achieve breakthroughs in safety, efficiency, and intelligence levels in underground exploration operations. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing an exploration tunnel construction system that improves the efficiency of multi-equipment collaborative operation during exploration tunnel construction.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] An exploration tunnel construction operation system includes a central control system, construction equipment, a passing lane, a UWB positioning base station, and a laser scanner;

[0008] The central control system is connected to the construction equipment, UWB positioning base station, and laser scanner via a communication bus. It is responsible for collecting construction data of the exploration tunnel and controlling, monitoring, and coordinating the scheduling of the construction equipment.

[0009] The construction equipment includes intelligent rock drilling rigs, intelligent muck loaders, and intelligent muck trucks.

[0010] The intelligent rock drilling rig is used for drilling and charging operations; the intelligent rock drilling rig is equipped with lidar and a full-domain intelligent vehicle terminal.

[0011] The intelligent muck loader is used to clean and load loose rocks; the intelligent muck loader is equipped with lidar and a full-domain intelligent vehicle terminal;

[0012] The intelligent muck truck is used to receive the muck from the intelligent muck loader, perform fixed-point loading operations, and transport the muck to the outside of the tunnel; the intelligent muck truck is equipped with lidar and a full-domain intelligent vehicle terminal;

[0013] The passing lane is located inside the exploration tunnel and is used to accommodate empty intelligent muck trucks when they are running relative to each other.

[0014] The UWB positioning base station is set up at the entrance of the exploration tunnel and inside the exploration tunnel;

[0015] The laser scanner is used to collect spatial point cloud data of the exploration tunnel and construct a three-dimensional model of the exploration tunnel.

[0016] This invention employs a positioning scheme combining LiDAR-based environmental perception positioning with UWB positioning base stations to maintain stable positioning accuracy in dusty environments. The invention also incorporates passing lanes within the exploration tunnel, integrating the construction equipment positioning system with the central control system's collaborative functions. This improves the efficiency of multi-equipment collaborative operations during exploration tunnel construction through features such as active yielding to empty vehicles and seamless workflow coordination.

[0017] Furthermore, a weight sensor is installed on the intelligent muck truck, and the central control system is connected to the weight sensor via a communication bus. The weight sensor collects the loading amount of the intelligent muck truck and transmits the loading amount to the central control system via the communication bus. When the loading amount of the intelligent muck truck reaches 80%, the central control system issues a return command, and the intelligent muck truck transports the muck outside the tunnel.

[0018] Furthermore, the exploration tunnel construction system also includes dust removal fans, a construction environment monitoring instrument, and cameras installed inside the exploration tunnel. The central control system is connected to the dust removal fans, the construction environment monitoring instrument, and the cameras via a communication bus. The construction environment monitoring instrument monitors the air quality inside the exploration tunnel, and the central control system starts the dust removal fans after the exploration tunnel is blasted.

[0019] Furthermore, the central control system is responsible for switching the intelligent muck truck to manual remote control mode and turning on the emergency lighting inside the exploration tunnel when the intelligent muck truck is located abnormally multiple times.

[0020] Furthermore, the communication bus adopts parallel transmission of CAN bus and WiFi dual channels.

[0021] Furthermore, traffic control points are set up in the passing lanes, and the central control system is connected to the traffic control points via a communication bus.

[0022] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0023] The traditional manual, step-by-step drilling and charging process has been replaced by an intelligent rock drilling rig. This intelligent rock drilling rig integrates drilling and charging functions, and through high-precision laser positioning and an automatic charging mechanism, it enables rapid and continuous operation of a single hole, simplifying multi-person collaboration to single-person remote monitoring.

[0024] The construction equipment employs a positioning scheme combining LiDAR-based environmental perception positioning with UWB positioning base stations to maintain stable positioning accuracy in dusty environments. Passing lanes are installed within the exploration tunnel, and combined with the collaborative functions of the construction equipment positioning system and the central control system, the efficiency of multi-equipment collaborative operations during the exploration tunnel construction process is improved through features such as active yielding when empty, return trip triggered by loads, and seamless coordination of various construction equipment processes. This eliminates the burden of manual route finding and scheduling.

[0025] It can achieve automatic process connection (such as automatic dust removal after blasting) and emergency mode switching, avoiding time and space conflicts caused by manual coordination. Attached Figure Description

[0026] Figure 1 This is a topology diagram of the exploration tunnel construction operation system according to an embodiment of the present utility model;

[0027] Figure 2 This is a flowchart illustrating the multi-machine collaborative operation of the exploration tunnel construction system according to an embodiment of the present invention.

[0028] Figure 3 This diagram illustrates the safety obstacle avoidance strategy for the exploration tunnel construction system according to an embodiment of this utility model.

[0029] In the diagram, 1-Intelligent rock drilling rig, 2-Intelligent muck loader, 3-Intelligent muck truck, 4-All-domain intelligent vehicle terminal, 5-Laser scanner, 6-Camera, 7-Construction environment monitoring instrument, 8-Central control system, 9-UWB positioning base station, 10-Traffic control point, 11-Passing lane, 12-LiDAR, 13-Entrance, 14-Muck dump. Detailed Implementation

[0030] The present invention will be described in detail below with reference to the embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other. For ease of description, the words "up," "down," "left," and "right" appearing below only indicate that they are consistent with the up, down, left, and right directions of the drawings themselves, and do not limit the structure.

[0031] Example 1

[0032] This embodiment provides an exploration tunnel construction operation system that integrates intelligent rock drilling, precise muck removal and unmanned transportation functions, mainly serving the exploration tunnel construction scenarios of hydropower and water conservancy projects.

[0033] like Figure 1 , Figure 3The exploration tunnel construction operation system includes a central control system 8, construction equipment, a passing lane 11, a UWB positioning base station 9, and a laser scanner 5. The central control system 8 is connected to the construction equipment, UWB positioning base station 9, and laser scanner 5 via a communication bus. It is responsible for collecting exploration tunnel construction data and controlling, monitoring, and coordinating the scheduling of construction equipment.

[0034] The construction equipment includes an intelligent rock drilling rig 1, an intelligent muck loader 2, and an intelligent muck truck 3. The intelligent rock drilling rig 1 is responsible for drilling and loading operations; it is equipped with a lidar sensor 12 and a full-area intelligent vehicle-mounted terminal 4. The intelligent muck loader 2 is responsible for clearing and loading loose rocks; it is also equipped with a lidar sensor 12 and a full-area intelligent vehicle-mounted terminal 4. The intelligent muck truck 3 receives the muck transferred by the intelligent muck loader 2, performs fixed-point loading operations, and transports the muck to the outside of the tunnel; it is also equipped with a lidar sensor 12 and a full-area intelligent vehicle-mounted terminal 4. A weight sensor is installed on the intelligent muck truck 3, and the central control system is connected to the weight sensor via a communication bus. The weight sensor collects the loading amount of the intelligent muck truck and transmits this data to the central control system via the communication bus. When the loading amount of the intelligent muck truck reaches 80%, the central control system 8 issues a return command, and the intelligent muck truck 3 transports the muck to the outside of the tunnel.

[0035] The passing lane 11 is set inside the exploration tunnel to accommodate the empty intelligent muck truck 3 when the intelligent muck truck 3 is running relative to it; the UWB positioning base station 9 is set at the entrance 13 of the exploration tunnel and inside the exploration tunnel; the laser scanner 5 is used to collect spatial point cloud data of the exploration tunnel and construct a three-dimensional model of the exploration tunnel.

[0036] The exploration tunnel construction system also includes a dust removal fan, a construction environment monitoring instrument 7, and a camera 6 installed inside the exploration tunnel. The central control system 8 is connected to the dust removal fan, the construction environment monitoring instrument 7, and the camera 6 via a communication bus. The construction environment monitoring instrument monitors the air quality inside the exploration tunnel. After blasting in the exploration tunnel, the central control system starts the dust removal fan.

[0037] The central control system is responsible for switching the intelligent muck truck to manual remote control mode and turning on the emergency lighting inside the exploration tunnel when the intelligent muck truck is located abnormally multiple times.

[0038] The communication bus uses CAN bus and WiFi dual-channel parallel transmission.

[0039] A spoil heap 14 is set up near the entrance of the exploration tunnel. Virtual traffic lights (traffic control point 10) are implemented at the intersections inside the exploration tunnel. The central control system is connected to the traffic control point 10 via a communication bus.

[0040] like Figure 2The multi-machine collaborative operation process of the exploration tunnel construction system includes:

[0041] 1) Environmental 3D scanning: The laser scanner completes the spatial point cloud data acquisition of the exploration tunnel and constructs a 3D model of the working environment of the exploration tunnel with an accuracy of <5cm.

[0042] 2) Intelligent rock drilling rig operation: The intelligent rock drilling rig performs drilling and charging operations according to the design parameters, and the drilling time for each hole does not exceed 3 minutes.

[0043] 3) Intelligent muck loader operation: The intelligent muck loader performs intelligent path planning based on the three-dimensional model of the working environment of the exploration tunnel, and is responsible for cleaning and loading loose rocks.

[0044] 4) Loading of transport vehicles (intelligent muck trucks): Receive the muck from the intelligent muck loader, perform fixed-point loading operations, transport the muck outside the tunnel, and pile it in the muck dump.

[0045] 5) Cyclic judgment: The central control system evaluates whether the daily workload has been completed. If not, the work process continues.

[0046] 6) Complete the task: Once the task for the day is completed, the central control system generates a task report and uploads it to the management platform.

[0047] The construction equipment is equipped with an all-around lidar capable of detecting objects within a 50-meter range, achieving centimeter-level precise positioning in conjunction with high-precision navigation equipment. In environments with extremely high dust concentrations and obstructed visibility, a backup positioning system (positioning base stations are set up every 20 meters within the exploration tunnel) is activated to maintain a positional error of no more than 10 centimeters. The transportation route employs intelligent scheduling rules: empty intelligent muck trucks automatically yield to heavily loaded intelligent muck trucks, with a passing lane set up every S meters (see formula 1-2). The loading time of the intelligent muck trucks is equal to the travel time of the adjacent passing lane, minimizing the waiting time for transport vehicles (intelligent muck trucks) throughout the process. Virtual traffic lights (traffic control points) are implemented at intersections (passing lanes) within the exploration tunnel. Weight sensors are installed inside the intelligent muck trucks; when the muck load reaches 80%, the central control system automatically issues a return command.

[0048] T1 = T2 (1)

[0049] S = T2 × v (2)

[0050] In the formula, T1 is the slag loading time (s), T2 is the travel time between the two passing lanes (s), v is the speed of the intelligent slag transport vehicle in the exploration tunnel (m / s), and S is the distance between the two passing lanes (m).

[0051] The hardware layer of the central control system adopts a dual-machine hot standby architecture consisting of a main control PLC and a backup industrial control computer, connecting various devices via an industrial Ethernet network. The exploration tunnel working environment modeling module is equipped with a mobile 3D laser scanner with a scanning rate of 120,000 points / second, updating the 3D digital map of the exploration tunnel every 2 minutes. The collaborative scheduling engine includes three main functions: ① Process connection optimization: After blasting, the dust removal fan is automatically started, with a 30-second delay, and the intelligent muck loader is activated when the dust concentration drops below 100mg / m³; ② Conflict prediction system: Collects positioning and motion data of construction equipment, establishes a prediction model of the movement trajectory of construction equipment, and provides a 10-second advance warning of the spatial interference risk between the robotic arm of the intelligent muck loader and the transport vehicle; ③ Emergency handling protocol: When the transport vehicle experiences three consecutive positioning anomalies, it automatically switches to manual remote control mode and illuminates the emergency lighting inside the exploration tunnel.

[0052] The construction equipment features multiple safety safeguards in key components: the communication bus utilizes a dual-channel parallel transmission of CAN bus and WiFi; the equipment positioning function is supported by both LiDAR and inertial navigation, ensuring accurate location even if some components fail; the power unit employs dual battery packs that support hot-swappable replacement, guaranteeing continuous power supply. The central control system continuously monitors the equipment's operating status, analyzing parameters such as the motor and hydraulic systems to predict drill bit wear in advance, with a prediction error controlled within 8 hours, and issues replacement reminders. The robotic arm employs intelligent path optimization technology, reducing nearly one-third of unnecessary movements and improving operational smoothness.

[0053] Intelligent path optimization technology for the robotic arm of an intelligent rock drilling rig is a core component in improving the efficiency, accuracy, and safety of tunnel and underground engineering construction. This technology integrates automated control, algorithm optimization, and engineering experience to achieve efficient motion planning for the robotic arm in complex working environments. It is primarily applied in drill-and-blast construction scenarios such as borehole positioning, borehole trajectory adjustment, and multi-arm collaborative operations.

[0054] Rock grade adaptation: For different rock grades (such as grades I-V), the drilling angle and path of the robotic arm are adjusted in real time based on geological data. For example, a short path straight drilling mode is used in hard rock of grade III and above, and the path is optimized in soft rock to reduce disturbance to the rock mass.

[0055] Over-excavation and under-excavation control: By combining tunnel cross-section contour scanning data and optimizing the path, linear over-excavation is controlled within 15-20cm, and the over-consumption rate of shotcrete is reduced by 32% compared with traditional methods, significantly reducing material waste.

[0056] The exploration tunnel construction system in this embodiment improves the safety of manual operations and reduces operational difficulty by replacing manual labor with machinery, while solving five major technical challenges in exploration tunnel construction:

[0057] (1) Low efficiency of process interruption: The traditional manual step-by-step drilling and charging mode has been replaced by intelligent rock drilling rig. This intelligent rock drilling rig integrates drilling and charging functions. Through high-precision laser positioning and automatic charging mechanism, it can realize rapid and continuous operation of single hole, simplifying multi-person collaboration to single-person remote monitoring.

[0058] (2) High safety risks of manual operation: Workers are transformed from traditional on-site operation in the tunnel to remote monitoring, completely avoiding direct threats such as collapse and dust; the system monitors environmental risks such as abnormal construction equipment, water inrush, and mud inrush in real time, triggering audible and visual alarms in advance to notify personnel to evacuate and automatically executing protective actions such as grab bucket retraction and work suspension; machinery replaces manual labor to complete high-risk actions such as muck removal in collapse areas and explosive loading at blasting faces, eliminating the risk of personnel injury from the root. This solution transforms safety protection from post-event remediation to pre-event prevention, achieving an inherently safe upgrade of exploration operations through a dual mechanism of reducing the frequency of personnel entry and intelligent risk interception.

[0059] (3) Inaccurate positioning in environments without GPS: The unmanned transport vehicle group (intelligent slag transport vehicle) adopts a multi-source fusion positioning scheme that combines environmental perception positioning based on millimeter-wave radar / lidar SLAM with precise ranging correction by UWB positioning base stations to maintain centimeter-level stable positioning accuracy in dusty environments. Through intelligent scheduling rules such as active avoidance when empty and return trip triggered by load, the burden of manual route finding and scheduling is eliminated.

[0060] (4) Frequent conflicts in multi-equipment coordination: The central control system realizes automatic connection of processes (e.g., automatic dust removal after blasting), prediction of equipment movement trajectory and emergency mode switching, avoiding conflicts in time and space caused by manual coordination.

[0061] (5) Multiple fault-tolerant designs ensure system stability: Dual-channel communication, redundant positioning modules, hot-swappable power units, fault pre-diagnosis mechanisms and slag removal path optimization designs significantly reduce the need for manual maintenance.

[0062] This exploration tunnel construction system fully replaces high-risk manual labor with mechanized automation. While improving positioning accuracy, process connection and system reliability, it liberates workers from the risk of dust and landslides, and simplifies complex operations to remote monitoring, achieving technological breakthroughs in making the working environment safer, the operation more universal, and the exploration process more efficient.

[0063] Advantages of the exploration tunnel construction system in this embodiment:

[0064] (1) The efficiency of the entire process has been significantly improved.

[0065] Through seamless collaboration and automated control of intelligent construction equipment, the efficiency of the entire process—drilling, loading, muck removal, and transportation—is improved by more than 30%. Actual test data shows that the single-cycle operation time is reduced from 120 minutes in the traditional manual mode to 68 minutes, with the time between processes reduced from over 15 minutes to less than 2 minutes. After the transport vehicles adopted a platoon-following mode, the efficiency of muck transportation was significantly improved, doubling the efficiency compared to traditional agricultural vehicles.

[0066] (2) Safety risks have been significantly reduced

[0067] By implementing fully automated operation, the need for manual entry into hazardous areas is reduced by more than 85%. Multi-level obstacle avoidance provides a tiered response of 10-meter warning, 5-meter deceleration, and 1-meter emergency stop. Combined with intelligent scheduling rules for transportation routes, this reduces the collision rate of construction equipment by 95%. The loading process utilizes remote robotic arm operation, extending the minimum safe distance between personnel and the blasting point from 3 meters to 50 meters, mitigating the risk of explosive impact.

[0068] (3) Breakthrough in adaptability to complex environments

[0069] Even under extreme conditions such as dust concentrations exceeding 200 mg / m³ and low light levels below 5 Lux, the construction equipment still maintains stable operation: the positioning accuracy of the unmanned transport vehicle (intelligent muck truck) remains within ±10 cm; the drilling depth error of the intelligent rock drilling rig does not exceed ±2 cm; and the full capacity recognition accuracy of the intelligent muck loader's grab bucket is improved, avoiding secondary cleaning caused by muck spillage.

[0070] (4) Optimization of operation and maintenance costs and energy consumption

[0071] Long-term cost reduction is achieved through intelligent prediction and adaptive adjustment technologies: the lifespan of the drill bit of the intelligent rock drilling rig is extended by 30%, thanks to the intelligent load reduction strategy based on vibration spectrum analysis; the invalid movement of the robotic arm of the intelligent rock drilling rig is reduced by 40%, achieved through the Bezier curve trajectory optimization algorithm; the overall energy consumption is reduced by 25%, due to the reduction of idle waiting time by the collaborative scheduling of construction equipment; the demand for operation and maintenance personnel is reduced, and the equipment failure response time is shortened.

[0072] Vibration spectrum analysis is a core technology for equipment fault diagnosis and condition monitoring. By analyzing the frequency components, amplitude distribution, and characteristic frequencies of vibration signals, abnormal equipment conditions (such as imbalance, misalignment, and bearing defects) can be accurately identified. Intelligent load reduction strategies dynamically adjust the load based on the equipment's operating status to avoid fault escalation or downtime risks. Spectrum analysis captures early signs of equipment faults, triggering intelligent systems to implement load reduction or protective interventions.

[0073] Bézier curves, as parametric curves whose shape is defined by control points, have significant application value in the trajectory optimization of intelligent rock drilling rig robotic arms. Their core advantage lies in the ability to flexibly adjust the curve shape by regulating control points, and their mathematical expression possesses recursive properties, facilitating engineering implementation.

[0074] In rock drilling rig scenarios, Bézier curves can be used to optimize the motion path of the robotic arm, reduce joint impact, and improve trajectory smoothness, making them particularly suitable for drilling operations that require frequent starts, stops, or changes of direction.

[0075] Bézier curves, through their continuously differentiable polynomial properties, ensure the continuous variation of the speed and acceleration of the end effector of a robotic arm, reducing mechanical wear. For example, a third-order Bézier curve can achieve smooth start-stop by adjusting intermediate control points (P1, P2) to make the curvature of the trajectory zero at the start and end points.

[0076] (5) Scalability and standardized applications

[0077] It supports modular deployment and flexible expansion, and can be adapted to exploration scenarios of different scales: it supports parallel scheduling of multiple transport vehicles; the control parameter library pre-stores various typical rock strata operation modes, such as granite and mudstone; and it realizes remote centralized control across horizontal tunnels through 5G / fiber optic dual channels.

[0078] Example 2

[0079] A scenario involving an exploration tunnel in a granite stratum is selected. The tunnel is designed to be 300m long with a cross-sectional dimension of 2.0m × 2.5m. The rock mass has a hardness coefficient f = 8~10, classifying it as medium-hard rock, and generates a large amount of dust after blasting. This embodiment aims to illustrate in detail the automated collaborative operation process of the system under complex geological conditions.

[0080] (1) 3D environmental modeling and automatic process connection

[0081] Following the blasting and ventilation, a mobile 3D laser scanner immediately enters the tunnel face area to acquire spatial point cloud data. The central control system completes the point cloud data processing and fusion within 2 minutes, updates the 3D model of the exploration tunnel with an accuracy better than 5cm, and identifies the outline and volume of the blast pile.

[0082] Once the 3D model update is complete, the central control system's collaborative scheduling engine is automatically triggered. The engine then issues a preparation command to the intelligent muck loader, while simultaneously checking the real-time data from the construction environment monitoring instrument. When the system confirms that the dust concentration has been reduced from the post-blast peak (>500 mg / m³) to below the safe threshold after being treated by the dust removal fan, it immediately authorizes the intelligent muck loader to start and move to the work face, achieving a fully automated process connection from blasting dust removal to muck removal, with the connection time controlled within 3 minutes.

[0083] (2) Intelligent slag removal and conflict prediction

[0084] The intelligent muck-loading machine automatically plans an efficient cleaning path based on the latest 3D model. Its onboard LiDAR detects the surrounding environment in real time, constructing a local dynamic obstacle map.

[0085] The conflict prediction system of the central control system continuously collects the motion trajectory of the intelligent muck loader's robotic arm and the real-time position of the intelligent muck truck. When the system calculates through the motion trajectory prediction model that an approaching intelligent muck truck will enter the turning radius of the muck loader's robotic arm in 8 seconds, it immediately issues a warning to both devices. Specifically, the central control system instructs the muck loader to pause its boom swing, and simultaneously instructs the muck truck to temporarily stop at a safe distance. Only after the robotic arm completes its current loading action and returns to a safe position is the muck truck authorized to continue to the loading point. This process achieves the prediction and resolution of dynamic spatial conflicts, ensuring the safety of multiple devices operating in parallel.

[0086] (3) Intelligent scheduling and emergency response of the central control system

[0087] The central control system dynamically dispatches three intelligent muck trucks to form a circular transport team based on the slag volume calculated from the 3D model. Following the principle of "empty trucks actively yielding to loaded trucks," the system uses UWB positioning data to precisely direct empty muck trucks to wait in passing lanes, ensuring unimpeded passage for loaded trucks.

[0088] The weight sensor inside the intelligent muck truck transmits data back to the central control system in real time. When the loading reaches a preset threshold of 80%, the system automatically issues a "return to the muck dump outside the tunnel" instruction to the muck truck and simultaneously dispatches an empty truck to take over its loading position, achieving a seamless switch in the transportation process.

[0089] During operation, a smart dump truck experienced severe interference with its lidar signal while passing through a flooded area, causing the central control system to receive three consecutive location anomaly alarms. The system immediately activated the emergency response protocol: first, it forcibly switched the dump truck to a low-latency manual remote control mode, allowing a remote operator to take over; second, it activated emergency lighting in the area where the vehicle was located and along the path ahead; simultaneously, it broadcast a message via the CAN bus stating "Equipment malfunction in this area, proceed with caution," guiding other equipment to temporarily adjust their routes until the vehicle safely evacuated.

[0090] (4) System verification

[0091] The application of this system has enabled safe and efficient automated construction in the exploration tunnel of the granite strata. Data comparison shows that the average single-cycle operation time (drilling, charging, blasting, ventilation and dust removal, and muck removal) has been significantly reduced from approximately 6 hours in the traditional manual mode to 3 hours, increasing efficiency by about 50%. This is attributed to the elimination of waiting time through multi-equipment collaborative operation, and the effective reduction of over-excavation due to high-precision drilling and intelligent path planning, resulting in effective control of overall construction costs.

[0092] This embodiment fully demonstrates the comprehensive capabilities of the operating system under specific geological conditions to achieve automatic process connection, intelligent conflict prediction, precise central scheduling, and reliable emergency response.

[0093] The above embodiments should be understood as being used only to illustrate the present invention more clearly, and not to limit the scope of the present invention. After reading the present invention, any modifications of the present invention by those skilled in the art in various equivalent forms fall within the scope defined by the appended claims.

Claims

1. A system for constructing an exploration tunnel, characterized in that, This includes a central control system, construction equipment, passing lanes, UWB positioning base stations, and laser scanners; The central control system is connected to the construction equipment, UWB positioning base station, and laser scanner via a communication bus. It is responsible for collecting construction data of the exploration tunnel and controlling, monitoring, and coordinating the scheduling of the construction equipment. The construction equipment includes intelligent rock drilling rigs, intelligent muck loaders, and intelligent muck trucks. The intelligent rock drilling rig is used for drilling and charging operations; the intelligent rock drilling rig is equipped with lidar and a full-domain intelligent vehicle terminal. The intelligent muck loader is used to clean and load loose rocks; the intelligent muck loader is equipped with lidar and a full-domain intelligent vehicle terminal; The intelligent muck truck is used to receive the muck from the intelligent muck loader, perform fixed-point loading operations, and transport the muck to the outside of the tunnel; the intelligent muck truck is equipped with lidar and a full-domain intelligent vehicle terminal. The passing lane is located inside the exploration tunnel and is used to accommodate empty intelligent muck trucks when they are running relative to each other. The UWB positioning base station is set up at the entrance of the exploration tunnel and inside the exploration tunnel; The laser scanner is used to collect spatial point cloud data of the exploration tunnel and construct a three-dimensional model of the exploration tunnel.

2. The exploration tunnel construction system according to claim 1, characterized in that, The intelligent muck truck is equipped with a weight sensor, and the central control system is connected to the weight sensor via a communication bus. The weight sensor collects the loading amount of the intelligent muck truck and transmits the loading amount of the intelligent muck truck to the central control system via the communication bus.

3. The exploration tunnel construction system according to claim 1, characterized in that, It also includes dust removal fans, construction environment monitoring instruments, and cameras installed inside the exploration tunnel. The central control system is connected to the dust removal fans, construction environment monitoring instruments, and cameras via a communication bus.

4. The exploration tunnel construction system according to claim 1, characterized in that, The communication bus uses CAN bus and WiFi dual-channel parallel transmission.

5. The exploration tunnel construction system according to claim 1, characterized in that, Traffic control points are set up in the passing lanes, and the central control system is connected to the traffic control points via a communication bus.

Images