AU2019259069B2

AU2019259069B2 - Underground space intelligent construction system and method

Info

Publication number: AU2019259069B2
Application number: AU2019259069A
Authority: AU
Inventors: Xuebin BAO; Shixing CHENG; Peng Gong; Zhuopeng HAN; Yang JU; Feng Li; Fei Liu; Mingjun LV; Yunjing MA; Zhanguo MA; Hongwei NIU; Junhua TANG; Manyuan TANG; Qiang Wang; Jixian YANG; Fan Zhang
Original assignee: Jiangsu Gaoshenghuayu Power Equipment Manufacturing Co Ltd; China University of Mining and Technology CUMT; Shandong Lutai Holding Group Co Ltd; Shanxi Luan Environmental Energy Development Co Ltd
Current assignee: Jiangsu Gaoshenghuayu Power Equipment Manufacturing Co Ltd; China University of Mining and Technology CUMT; Shandong Lutai Holding Group Co Ltd; Shanxi Luan Environmental Energy Development Co Ltd
Priority date: 2018-04-28
Filing date: 2019-04-28
Publication date: 2021-05-13
Anticipated expiration: 2039-04-28
Also published as: AU2019259069C1; WO2019206319A1; AU2019259069A1

Abstract

Provided is an underground space intelligent construction system and method, comprising a terrain detection and processing robot unit, a 3D printing robot unit and a centralized electronic control unit; the terrain detection and processing robot unit comprises an all-terrain walking chassis, a detecting robotic arm, a rotary robotic arm and a vehicle-mounted electric control device; the 3D printing robot unit comprises an all-terrain walking chassis, a printing robotic arm, a printing material input device and a printing electronic control device; the centralized electronic control unit comprises a central control computer, a detection control loop, a data modeling loop, a detection robot position feedback correction loop, a terrain processing loop and a 3D printing control loop. The underground space intelligent construction system has high degree of automation, the construction of deep underground space based on underground cavities can be realized under the premise of effectively supporting the interior of the underground cavity, meanwhile, the development cost and the hidden dangers of construction safety can be reduced, which is especially suitable for the construction work of deep underground space based on underground cavities.

Description

UNDERGROUND SPACE INTELLIGENT CONSTRUCTION SYSTEM AND METHOD FIELD OF THE INVENTION

[0001] The present invention relates to an underground space intelligent construction system and method, specifically, to an underground space intelligent construction system based on coal mine goafs under coal mine wells, or underground cavities generated by man-made geotechnical activities such as large-scale coal seam combustion cavities formed during underground coal gasification, or natural underground cavities such as a series of cavities generated by natural geological movements below the earth's surface, and belongs to the technical field of underground engineering.

DESCRIPTION OF RELATED ART

[0002] Underground space refers to a space below the earth's surface, which is a term mainly used in architecture. The underground space includes various kinds of architectural space, for example, underground shopping malls, underground parking lots, subways, and undersea tunnels. The development and utilization of underground space is an outcome of urban development to a certain stage. The accelerated development of urbanization makes it inevitable that the development and utilization of urban underground space is accelerated at the same time.

[0003] The existing development and utilization of underground space in China is mostly the development and utilization for shallow underground parts. With the development and utilization of underground space in first-tier cities in China, the shallow underground parts will be used up. To comprehensively utilize underground space resources, the development of underground space will gradually develop to a deeper level, and the development and utilization of deep underground space resources has become a main topic of urban modernization in the future.

[0004] Underground cavity refers to a space covered by rock formations below the earth's surface, which generally refers to an underground cavity that has a large space and is located deep below the earth's surface. In the man-made geotechnical activities,

I underground mining in coal mining accounts for 60% of the world's coal mine production. In the underground mining process, a large area of coal mine goaf is often left to form an underground cavity after the mining of underground coal or coal gangue is completed. In addition, the underground coal gasification technology can be used to recover coal resources abandoned in mines, and to mine thin coal seams, deep coal seams, "three-under" coals, and high sulfur, high ash and high gas coal seams that have poor economy and safety and that are difficult for miners to mine. Although the ash after underground coal gasification and combustion remains underground, the underground cavities in large-scale coal seam combustion cavities will also be formed during underground coal gasification. In addition, natural geological movements also generate a series of underground cavities below the earth's surface.

[0005] Although the underground cavities may be used as a basis for the deep underground space development, the traditional deep underground space development is different from the shallow underground space development. In the shallow underground space development, a foundation pit is first excavated on the surface and then the construction is carried out in the foundation pit, and this method is not suitable for the deep underground space development. In the traditional deep underground space development, based on the BIM technology and the deep excavation equipment and technology, excavation and support are first carried out, then PC components such as a prefabricated reinforced concrete column foundation, a prefabricated external wall, and a prefabricated floor slab are used for hoisting and splicing construction procedures, and then subsequent construction procedures such as pressure grouting and cast-in place node processing are carried out. In the traditional deep underground space development and construction process, transportation equipment, supporting equipment and lifting equipment that take up a large amount of space are usually required, a lot of manpower and material resources are usually consumed, and the development cost of deep underground space is relatively large. In addition, after excavation of the deep underground space, an original stress state of the deep underground space is usually destroyed, resulting in redistribution of stress. In this case, under the influence of overburden pressure and groundwater during the construction of deep underground space, deep underground space is prone to various forms of geological disasters such as nicking, roof fall, water inrush, rock burst, and pressure bump, resulting in harsh construction environment and poor safety of construction work.

SUMMARY OF THE INVENTION

[0006] In view of the above problems, the present invention provides an underground space intelligent construction system and method. The underground space intelligent construction system has high degree of automation, the construction of deep underground space based on underground cavities may be implemented under the premise of effectively supporting the interior of the underground cavity, and the development cost and the hidden dangers of construction safety may be reduced, so that the underground space intelligent construction system is especially suitable for the construction work of deep underground space based on underground cavities.

[0007] To achieve the above objectives, the underground space intelligent construction system includes a terrain detection and processing robot unit, a 3D printing robot unit, and a centralized electronic control unit.

[0008] The terrain detection and processing robot unit includes an all-terrain walking chassis, a detecting robotic arm, a rotary digging robotic arm, and a vehicle-mounted electronic control device; the all-terrain walking chassis is disposed at the bottom of the terrain detection and processing robot unit, and includes an electronically controlled drive mechanism and a steering control mechanism; a bottom end of the detecting robotic arm is mounted on the all-terrain walking chassis, a top end of the detecting robotic arm is provided with a detecting device, the detecting device includes a detection head, the detection head includes a distance sensor, a scanner, a gyroscope, and a detection head angle positioning control drive, and the detection head angle positioning control drive at least includes an A-coordinate rotary drive mechanism that rotates and moves with a left-right horizontal direction as a central axis and a B coordinate rotary drive mechanism that rotates and moves with a front-rear horizontal direction as a central axis; a bottom end of the rotary digging robotic arm is mounted on the all-terrain walking chassis, the rotary digging robotic arm includes a rotary digging robotic arm drive, the rotary digging robotic arm drive at least includes an X coordinate drive mechanism for controlling movement of the rotary digging robotic arm in a left-right horizontal direction, a Y-coordinate drive mechanism for controlling movement of the rotary digging robotic arm in a front-rear horizontal direction, and a Z-coordinate drive mechanism for controlling movement of the rotary digging robotic arm in a vertical direction, an end section of the rotary digging robotic arm is provided with a rotary digging cutting head including a rotary digging drive; the vehicle-mounted electronic control device is fixedly mounted on the all-terrain walking chassis, and includes an industrial control computer, a detecting robot walking control loop, a detection head detection angle control loop, and a rotary digging control loop, the industrial control computer is electrically connected to the electronically controlled drive mechanism and the steering control mechanism of the all-terrain walking chassis, the industrial control computer is electrically connected to the detection head angle positioning control drive of the detection head, and the industrial control computer is electrically connected to the rotary digging robotic arm drive and the rotary digging drive of the rotary digging cutting head.

[0009] The 3D printing robot unit includes an all-terrain walking chassis, a printing robotic arm, a printing material input device, and a printing electronic control device; the all-terrain walking chassis is disposed at the bottom of the 3D printing robot unit, and includes an electronically controlled drive mechanism and a steering control mechanism; the printing robotic arm is mounted on the all-terrain walking chassis, the printing robotic arm includes a printing robotic arm drive, the printing robotic arm drive at least includes an X-coordinate drive mechanism for controlling movement of the printing robotic arm in a left-right horizontal direction, a Y-coordinate drive mechanism for controlling movement of the printing robotic arm in a front-rear horizontal direction, and a Z-coordinate drive mechanism for controlling movement of the printing robotic arm in a vertical direction, an end section of the printing robotic arm is provided with a 3D printing device, and the 3D printing device includes a 3D printing nozzle; the printing material input device includes a printing material pumping mechanism, an input end of the printing material pumping mechanism is connected to a printing material supply subunit, the printing material supply subunit supplies a printing material, and an output end of the printing material pumping mechanism is connected to the 3D printing nozzle through a printing material output line; and the printing electronic control device is fixedly mounted on the all-terrain walking chassis, and includes an industrial control computer, a 3D printing robot walking control loop, a 3D printing nozzle position control loop, and a printing material pumping mechanism control loop, the industrial control computer is electrically connected to the electronically controlled drive mechanism and the steering control mechanism of the all-terrain walking chassis, and the industrial control computer is electrically connected to the printing robotic arm drive and the printing material pumping mechanism.

[0010] The centralized electronic control unit includes a central control computer, a detection control loop, a data modeling loop, a detection robot position feedback correction loop, a terrain processing loop, and a 3D printing control loop, the central control computer is electrically connected to the distance sensor, the scanner, and the gyroscope of the detection head, and the central control computer is electrically connected to the industrial control computer of the vehicle-mounted electronic control device and the industrial control computer of the printing electronic control device.

[0011] As a further improvement of the present invention, the rotary digging robotic arm drive further includes an A-coordinate rotary drive mechanism that rotates and moves with a left-right horizontal direction as a central axis or a B-coordinate rotary drive mechanism that rotates and moves with a front-rear horizontal direction as a central axis, and a C-coordinate rotary drive mechanism that rotates and moves with a vertical direction as a central axis.

[0012] As a further improvement of the present invention, a pattern recognition sensor is further disposed at a position that is at the end section of the rotary digging robotic arm and that corresponds to the rotary digging cutting head, the centralized electronic control unit further includes a rotary digging correction loop, and the central control computer is electrically connected to the pattern recognition sensor at the end section of the rotary digging robotic arm.

[0013] As a further improvement of the present invention, the detecting robotic arm of the underground space intelligent construction system includes a detecting robotic arm drive, and the detecting robotic arm drive at least includes an X-coordinate drive mechanism for controlling movement of the detecting robotic arm in a left-right horizontal direction, or a Y-coordinate drive mechanism for controlling movement of the detecting robotic arm in a front-rear horizontal direction, or a Z-coordinate drive mechanism for controlling movement of the detecting robotic arm in a vertical direction; the vehicle-mounted electronic control device further includes a detecting robotic arm control loop, and the industrial control computer of the vehicle-mounted electronic control device is electrically connected to the detecting robotic arm drive of the detecting robotic arm; and the centralized electronic control unit further includes a scanning pitch control loop.

[0014] As a further improvement of the present invention, the printing robotic arm drive of the underground space intelligent construction system further includes an A coordinate rotary drive mechanism that rotates and moves with a left-right horizontal direction as a central axis or a B-coordinate rotary drive mechanism that rotates and moves with a front-rear horizontal direction as a central axis, or further includes an A coordinate rotary drive mechanism that rotates and moves with a left-right horizontal direction as a central axis and a B-coordinate rotary drive mechanism that rotates and moves with a front-rear horizontal direction as a central axis.

[0015] As a further improvement of the present invention, the printing nozzle of the underground space intelligent construction system is further provided with a pattern recognition sensor, the centralized electronic control unit further includes a 3D printing entity correction loop, and the central control computer is electrically connected to the pattern recognition sensor on the printing nozzle.

[0016] As a further improvement of the present invention, the central control computer of the centralized electronic control unit is wirelessly electrically connected to the industrial control computer of the vehicle-mounted electronic control device and the industrial control computer of the printing electronic control device. Data is transmitted both between the central control computer and the industrial control computer of the vehicle-mounted electronic control device and between the central control computer and the industrial control computer of the printing electronic control device through wireless communication.

[0017] As a further improvement of the present invention, the terrain detection and processing robot unit further includes a slag temporary storage device, the slag temporary storage device includes a scraper loader mechanism disposed below the rotary digging robotic arm and a transshipment and temporary storage mechanism disposed at the rear of the scraper loader mechanism, the scraper loader mechanism and the transshipment and temporary storage mechanism are each electrically connected to the industrial control computer of the vehicle-mounted electronic control device, and the vehicle-mounted electronic control device further includes a slag collection and treatment loop.

[0018] As another implementation of inputting the printing material in the present invention, the printing material includes stone waste powder; and the printing material supply subunit is disposed in an underground roadway, and is electrically connected to the central control computer of the centralized electronic control unit, the printing material supply subunit includes a raw material preparation device, and the raw material preparation device includes a crusher.

[0019] As a further improvement of the present invention, the terrain detection and processing robot unit further includes a slag temporary storage device, the slag temporary storage device includes a scraper loader mechanism disposed below the rotary digging robotic arm and a transshipment and temporary storage mechanism disposed at the rear of the scraper loader mechanism, the scraper loader mechanism and the transshipment and temporary storage mechanism are each electrically connected to the industrial control computer of the vehicle-mounted electronic control device, and the vehicle-mounted electronic control device further includes a slag collection and recycling loop.

[0020] The underground space intelligent construction method in which the foregoing underground space intelligent construction system is used includes:

[0021] The underground space construction method specifically includes the following steps:

a. underground space construction preparation: after a geological radar detects an approximate location of an underground cavity, a suitable tunneling through point is selected under the premise of ensuring that the supporting intensity of an original rock layer near the tunneling through point is large, a roadheader excavates a roadway in communication with the underground cavity through the tunneling through point and the roadway is effectively supported; and then the terrain detection and processing robot unit and the 3D printing robot unit are placed in the roadway in communication with the underground cavity;

b. inner cavity scanning of underground cavity: the centralized electronic control unit controls the detection control loop, the detection robot position feedback correction loop, and the data modeling loop to start working, the central control computer issues an instruction to cause the industrial control computer of the vehicle-mounted electronic control device to control the terrain detection and processing robot unit to step toward the inside of the underground cavity, scan the inner cavity of the underground cavity, and then step back to an initial position, and the central control computer fits plane scanning data to the same benchmark and performs three-dimensional modeling to generate a three-dimensional space model of the underground cavity, and then stores the model; c. three-dimensional modeling of underground space: the central control computer calculates and analyzes an applied stress field outside the three-dimensional space model of the underground cavity based on the input surrounding environmental geological data of the underground cavity, and calculates and analyzes the evolution process of parameters such as stability, stress, displacement, crack, permeability, acoustic characteristics, optical characteristics, electrical characteristics, magnetic characteristics, and structural characteristics of the three-dimensional space model of the underground cavity; the central control computer constructs an initial surface support layer model by fitting on the inner surface of the three-dimensional space model of the underground cavity based on the three-dimensional space model of the underground cavity and the principle of not exposing an original inner surface of the underground cavity, then the central control computer generates a second surface support layer model by expanding to the outside and fitting based on the initial surface support layer model and the principle of maximizing the utilization of underground cavity space, then the central control computer simulates, based on the second surface support layer model, the removal of part of the original inner surface of the underground cavity that is on the second surface support layer model and that has been exposed, then the central control computer recalculates and reanalyzes, based on the input surrounding environmental geological data of the underground cavity, the applied stress field outside the three-dimensional space model of the underground cavity of which part of the original inner surface has been removed, and so on, until the central control computer generates a final surface support layer model that is within a set safety factor range by fitting and stores the final surface support layer model, then the central control computer generates, by fitting based on the final surface support layer model, an original inner surface model of the underground cavity that has been exposed and that needs to be removed and stores the original inner surface model, then the central control computer constructs cylindrical support models by sequentially fitting the positions corresponding to stress concentration points on the inner surface of the three dimensional space model of the underground cavity and the positions where the stability is not high according to the results of stress calculation and analysis and input safety factors and based on the final surface support layer model, then the central control computer constructs a wallboard model and a floor slab model that are connected between the cylindrical support models by fitting according to the spatial layout of the underground cavity and based on the cylindrical support models, and the central control computer finally generates a three-dimensional model of the underground space with a layered partition structure by fitting and stores coordinate position information of the three-dimensional model of the underground space; then the central control computer first plans and stores a removal path and removal reference coordinates of the original inner surface model of the underground cavity that has been exposed and that needs to be removed at a reference coordinate origin, then plans and stores a printing path and printing reference coordinates of the final surface support layer model at the reference coordinate origin, then plans and stores a printing path and printing reference coordinates of the cylindrical support models at the reference coordinate origin, and finally plans and stores a printing path and printing reference coordinates of the wallboard model and the floor slab model at the reference coordinate origin; d. removal of excessive original inner surface of underground cavity: the terrain processing loop starts working, the central control computer issues an instruction to cause the industrial control computer of the vehicle-mounted electronic control device to control the terrain detection and processing robot unit to move to removal reference coordinate positions according to removal path coordinates of the original inner surface model of the underground cavity that has been exposed and that needs to be removed, then the industrial control computer of the vehicle-mounted electronic control device controls the rotary digging robotic arm drive and the rotary digging drive to act to cause the rotary digging cutting head to move according to the removal path coordinates of the original inner surface model of the underground cavity that has been exposed and that needs to be removed and sequentially perform the rotary digging treatment on the inner surface of the underground cavity to remove part of the inner surface of the underground cavity, the rotary digging treatment on the inner surface of the underground cavity is completed until the rotary digging cutting head moves to an end of the removal path, and the terrain detection and processing robot unit moves back to an initial position; and e. 3D printing of three-dimensional entity ofunderground space: the 3D printing control loop starts working, the central control computer issues an instruction to cause the 3D printing robot walking control loop of the printing electronic control device to start working, the industrial control computer of the printing electronic control device controls the electronically controlled drive mechanism and the steering control mechanism of the all-terrain walking chassis of the 3D printing robot unit to act to cause the 3D printing robot unit to move to a set coordinate position corresponding to the coordinate position of the three-dimensional model of the underground space inside the underground cavity according to the printing path and the printing reference coordinates of the surface support layer model, the printing path and the printing reference coordinates of the cylindrical support models, the printing path and the printing reference coordinates of the wallboard model and the floor slab model in sequence, then the 3D printing nozzle position control loop starts working, the industrial control computer of the printing electronic control device controls the printing robotic arm drive of the printing robotic arm to act to cause the 3D printing nozzle to move to a printing reference coordinate position according to the printing path, the printing material pumping mechanism control loop starts working, the industrial control computer of the printing electronic control device controls the printing material pumping mechanism of the printing material input device to act to cause the pumped printing material to be output through the 3D printing nozzle, then the industrial control computer of the printing electronic control device controls the printing robotic arm drive of the printing robotic arm to act to cause the 3D printing nozzle to move according to the printing path coordinates and perform 3D printing of the surface support layer model, 3D printing of the cylindrical support models, and 3D printing of the wallboard model and the floor slab model in sequence, physical printing of the three-dimensional model of the underground space is completed until the 3D printing nozzle moves to an end of the printing path, and the 3D printing robot unit moves back to the initial position.

[0022] Compared with the prior art, the underground space intelligent construction system includes the terrain detection and processing robot unit, the 3D printing robot unit, and the centralized electronic control unit, the three-dimensional space model of the underground cavity is constructed after the terrain detection and processing robot unit completes the scanning of the underground cavity, the central control computer of the centralized electronic control unit calculates and analyzes the applied stress field outside the three-dimensional space model of the underground cavity based on the surrounding environmental geological data of the underground cavity such as input underground cavity geographical location data and surrounding rock data, the surface support layer model is constructed by calculation in sequence based on the three dimensional space model of the underground cavity and the principle of not exposing the original inner surface of the underground cavity until the central control computer generates the final surface support layer model that is within a set safety factor range by fitting and stores the final surface support layer model, then the central control computer generates, by fitting based on the final surface support layer model, the original inner surface model of the underground cavity that has been exposed and that needs to be removed and stores the original inner surface model, then the central control computer constructs the cylindrical support models by sequentially fitting the positions corresponding to the stress concentration points on the inner surface of the three dimensional space model of the underground cavity according to the results of stress calculation and analysis and the input safety factors and based on the final surface support layer model, then the central control computer constructs the wallboard model and the floor slab model that are connected between the cylindrical support models by fitting according to the spatial layout of the underground cavity and based on the cylindrical support models, the central control computer finally generates the three dimensional model of the underground space with a layered partition structure by fitting, and then the central control computer first plans and stores the removal path and removal reference coordinates of the original inner surface model of the underground cavity that has been exposed and that needs to be removed at the reference coordinate origin, and then plans and stores the printing path and printing reference coordinates of the surface support layer model, the cylindrical support models, and the wallboard model and the floor slab model at the reference coordinate origin in sequence. After the terrain detection and processing robot unit completes the rotary digging treatment on the inner surface of the underground cavity according to the removal path, the 3D printing robot unit can directly perform 3D printing of the three-dimensional model entity of the underground space inside the underground cavity according to the printing path and the printing reference coordinates. The three-dimensional model entity of the underground space is formed by direct 3D printing according to the results of stress calculation and analysis of the underground cavity and the input safety factors, which is a basic entity building with targeted support and can fully satisfy the support strength. After the physical printing of the three-dimensional model of the underground space is completed, construction personnel can enter the underground space to carry out subsequent construction such as water and electricity construction and wall decoration construction. The way of direct 3D printing and forming can save a lot of manpower and material resources, does not require transportation equipment, supporting equipment and lifting equipment that take up a large amount of space, reduces the development cost of deep underground space, and has high construction efficiency. The construction operation does not require personnel to enter the underground cavity, the surface support layer model is printed first and the cylindrical support models are then printed in the physical printing process, and the printing of the cylindrical support models is based on a descending order of stress concentration, so that targeted sequential entity forming is implemented, the construction safety is high, and the underground space intelligent construction system is especially suitable for the construction work of deep underground space based on underground cavities.

BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Fig. 1 is a schematic structural view of an underground space intelligent construction system.

[0024] Fig. 2 is a schematic structural view of an underground cavity when an inner cavity of the underground cavity is scanned by using the present invention.

[0025] Fig. 3 is a schematic structural view of an underground cavity after an excessive original inner surface of the underground cavity is removed by using the present invention.

[0026] Fig. 4 is a schematic structural view of an underground cavity after the underground space is constructed by using the present invention.

[0027] In the figures: 1, terrain detection and processing robot unit; 11, detecting robotic arm; 12, vehicle-mounted electronic control device; 13, detection head; 2, 3D printing robot unit; 21, printing robotic arm; 22, printing material input device; 23, printing electronic control device; 24, 3D printing nozzle; 3, centralized electronic control unit.

DETAILED DESCRIPTION OF THE INVENTION

[0028] The present invention is further described below with reference to the accompanying drawings.

[0029] As shown in Fig. 1, an underground space intelligent construction system includes a terrain detection and processing robot unit 1, a 3D printing robot unit 2, and a centralized electronic control unit 3.

[0030] The terrain detection and processing robot unit 1 includes an all-terrain walking chassis, a detecting robotic arm 11, a rotary digging robotic arm, and a vehicle-mounted electronic control device 12. The all-terrain walking chassis is disposed at the bottom of the terrain detection and processing robot unit 1, and includes an electronically controlled drive mechanism and a steering control mechanism. A bottom end of the detecting robotic arm 11 is mounted on the all-terrain walking chassis, and a top end of the detecting robotic arm 11 is provided with a detecting device. The detecting device includes a detection head 13, and the detection head 13 includes a distance sensor, a scanner, a gyroscope, and a detection head angle positioning control drive. The detection head angle positioning control drive at least includes an A-coordinate rotary drive mechanism that rotates and moves with a left-right horizontal direction as a central axis and a B-coordinate rotary drive mechanism that rotates and moves with a front-rear horizontal direction as a central axis. A bottom end of the rotary digging robotic arm is mounted on the all-terrain walking chassis, and the rotary digging robotic arm includes a rotary digging robotic arm drive. The rotary digging robotic arm drive at least includes an X-coordinate drive mechanism for controlling movement of the rotary digging robotic arm in a left-right horizontal direction, a Y-coordinate drive mechanism for controlling movement of the rotary digging robotic arm in a front-rear horizontal direction, and a Z-coordinate drive mechanism for controlling movement of the rotary digging robotic arm in a vertical direction. An end section of the rotary digging robotic arm is provided with a rotary digging cutting head including a rotary digging drive. The vehicle-mounted electronic control device 12 is fixedly mounted on the all-terrain walking chassis, and includes an industrial control computer, a detecting robot walking control loop, and a detection head detection angle control loop. The industrial control computer is electrically connected to the electronically controlled drive mechanism and the steering control mechanism of the all-terrain walking chassis, the industrial control computer is electrically connected to the detection head angle positioning control drive of the detection head 13, and the industrial control computer is electrically connected to the rotary digging robotic arm drive and the rotary digging drive of the rotary digging cutting head.

[0031] The 3D printing robot unit 2 includes an all-terrain walking chassis, a printing robotic arm 21, a printing material input device 22, and a printing electronic control device 23. The all-terrain walking chassis is disposed at the bottom of the 3D printing robot unit 2, and includes an electronically controlled drive mechanism and a steering control mechanism. The printing robotic arm 21 is mounted on the all-terrain walking chassis, and includes a printing robotic arm drive. The printing robotic arm drive at least includes an X-coordinate drive mechanism for controlling movement of the printing robotic arm in a left-right horizontal direction, a Y-coordinate drive mechanism for controlling movement of the printing robotic arm in a front-rear horizontal direction, and a Z-coordinate drive mechanism for controlling movement of the printing robotic arm in a vertical direction. An end section of the printing robotic arm 21 is provided with a 3D printing device, and the 3D printing device includes a 3D printing nozzle 24. The printing material input device 22 includes a printing material pumping mechanism, an input end of the printing material pumping mechanism is connected to a printing material supply subunit, the printing material supply subunit supplies a printing material, and an output end of the printing material pumping mechanism is connected to the 3D printing nozzle 24 through a printing material output line. The printing electronic control device 23 is fixedly mounted on the all-terrain walking chassis, and includes an industrial control computer, a 3D printing robot walking control loop, a 3D printing nozzle position control loop, and a printing material pumping mechanism control loop. The industrial control computer is electrically connected to the electronically controlled drive mechanism and the steering control mechanism of the all-terrain walking chassis, and the industrial control computer is electrically connected to the printing robotic arm drive and the printing material pumping mechanism.

[0032] The centralized electronic control unit 3 includes a central control computer, a detection control loop, a data modeling loop, a detection robot position feedback correction loop, a terrain processing loop, and a 3D printing control loop. The central control computer is electrically connected to the distance sensor, the scanner, and the gyroscope of the detection head 13, and the central control computer is electrically connected to the industrial control computer of the vehicle-mounted electronic control device 12 and the industrial control computer of the printing electronic control device 23.

[0033] Before the underground space intelligent construction system is used, for an underground cavity generated by natural geological movements, after a geological radar detects an approximate location of the underground cavity, a suitable tunneling through point is selected under the premise of ensuring that the supporting intensity of an original rock layer near the tunneling through point is large, a roadheader excavates a roadway in communication with the underground cavity through the tunneling through point and the roadway is effectively supported. For the underground cavities formed by man-made geotechnical activities such as the underground cavity in the coal mine goaf or the underground cavity in the coal seam combustion cavity, each underground cavity formed by man-made geotechnical activities has a roadway in communication with the underground cavity, so that the step may be skipped.

[0034] The coal mine goaf is used as an example. As shown in Fig. 2, the terrain detection and processing robot unit 1 and the 3D printing robot unit 2 are placed in the roadway in communication with the coal mine goaf, then the centralized electronic control unit 3 controls the detection control loop, the detection robot position feedback correction loop, and the data modeling loop to start working, the central control computer first issues an instruction to cause the detection head detection angle control loop of the vehicle-mounted electronic control device 12 to start working, the industrial control computer of the vehicle-mounted electronic control device 12 controls the detection head angle positioning control drive of the detection head 13 to act to cause the scanner of the detection head 13 to rotate within 360 degrees within the base point scanning plane to perform the base point plane scanning with the initial position as the reference coordinate origin. At the same time, the scanner of the detection head 13 sends the base point plane scanning data to the central control computer, and the gyroscope of the detection head 13 sends coordinate position data of the scanner at the reference coordinate origin to the central control computer. The central control computer stores the base point plane scanning data and the coordinate position data of the scanner at the reference coordinate origin.

[0035] Then the central control computer issues an instruction to cause the detecting robot walking control loop of the vehicle-mounted electronic control device 12 to start working, the industrial control computer of the vehicle-mounted electronic control device 12 controls the electronically controlled drive mechanism and the steering control mechanism of the all-terrain walking chassis of the terrain detection and processing robot unit 1 to act to cause the whole terrain detection and processing robot unit 1 to move to the internal coordinate of the coal mine goaf by a set step with the initial position as the reference coordinate origin and stop, then the gyroscope of the detection head 13 first sends the coordinate position data of the scanner at the step position to the central control computer, then the central control computer stores the coordinate position data of the scanner at the step position and compares the coordinate position data of the scanner at the step position fed back by the gyroscope with the coordinate position data of the scanner at the reference coordinate origin, and calculates a coordinate deviation between the coordinate position of the scanner at the step position and the coordinate position of the scanner at the reference coordinate origin and stores the coordinate deviation, then the central control computer issues, according to the coordinate deviation, an instruction to cause the detection head detection angle control loop of the vehicle-mounted electronic control device 12 to work again, the industrial control computer of the vehicle-mounted electronic control device 12 controls the detection head angle positioning control drive of the detection head 13 to act to cause the detection head 13 at the step position to rotate and be positioned to a position where the scanning plane of the scanner at the step position is parallel to the base point scanning plane, then the industrial control computer of the vehicle-mounted electronic control device 12 controls the detection head angle positioning control drive of the detection head 13 to act to cause the scanner to rotate within 360 degrees within the corrected scanning plane to perform the first step plane scanning, the scanner of the detection head 13 sends the first step plane scanning data to the central control computer, and the central control computer fits the first step plane scanning data and the base point plane scanning data to the same benchmark according to the stored coordinate deviation, performs three-dimensional modeling and stores the model.

[0036] Then the central control computer issues an instruction to cause the industrial control computer of the vehicle-mounted electronic control device 12 to control the whole terrain detection and processing robot unit 1 to move to the internal coordinate of the coal mine goaf by a set step again with the coordinate point of the previous step position as the reference coordinate point and stop, and so on. Each time the terrain detection and processing robot unit 1 advances by one step, the gyroscope of the detection head 13 first sends the coordinate position data of the scanner at the step position to the central control computer, then the central control computer stores the coordinate position data of the scanner at the step position and compares the coordinate position data of the scanner at the step position fed back by the gyroscope with the coordinate position data of the scanner at the previous step position fed back by the gyroscope, and calculates a coordinate deviation between the coordinate position of the scanner at the step position and the coordinate position of the scanner at the previous step position and stores the coordinate deviation, then the central control computer issues, according to the coordinate deviation, an instruction to cause the detection head 13 at the step position to rotate and be positioned to a position where the scanning plane of the scanner at the step position is parallel to the scanning plane of the scanner at the previous step position, then the industrial control computer of the vehicle-mounted electronic control device 12 controls the detection head angle positioning control drive of the detection head 13 to act to cause the scanner to rotate within 360 degrees within the corrected scanning plane to perform the step plane scanning, the scanner of the detection head 13 sends the step plane scanning data to the central control computer, the central control computer fits the step plane scanning data of the step position and the step plane scanning data of the previous step position to the same benchmark according to the stored coordinate deviation, performs three-dimensional modeling and stores the model until the scanning of the whole coal mine goaf is completed according to the feedback of the distance sensor of the detection head 13. The central control computer issues an instruction to cause the terrain detection and processing robot unit 1 to step back to an initial position, and stores a final three-dimensional space model of the goaf.

[0037] The data modeling loop starts working, the central control computer calculates and analyzes an applied stress field outside the three-dimensional space model of the goaf based on the surrounding environmental geological data of the goaf such as input goaf geographical location data and surrounding rock data, and calculates and analyzes the evolution process of parameters such as stability, stress, displacement, crack, permeability, acoustic characteristics, optical characteristics, electrical characteristics, magnetic characteristics, and structural characteristics of the three-dimensional space model of the goaf, then the central control computer constructs an initial surface support layer model by fitting on the inner surface of the three-dimensional space model of the goaf based on the three-dimensional space model of the goaf and the principle of not exposing the original inner surface of the goaf, then the central control computer generates a second surface support layer model by expanding to the outside and fitting based on the initial surface support layer model and the principle of maximizing the utilization of goaf space, then the central control computer simulates, based on the second surface support layer model, the removal of part of the original inner surface of the goaf that is on the second surface support layer model and that has been exposed, and then the central control computer recalculates and reanalyzes the applied stress field outside the three-dimensional space model of the goaf of which part of the original inner surface has been removed based on the input surrounding environmental geological data of the goaf, and so on, until the central control computer generates a final surface support layer model that is within a set safety factor range by fitting and stores the final surface support layer model. Then the central control computer generates, by fitting based on the final surface support layer model, an original inner surface model of the goaf that has been exposed and that needs to be removed and stores the original inner surface model. Then the central control computer constructs cylindrical support models by sequentially fitting the positions corresponding to the stress concentration points on the inner surface of the three-dimensional space model of the goaf and the positions where the stability is not high according to the results of stress calculation and analysis and input safety factors and based on the final surface support layer model, then the central control computer constructs a wallboard model and a floor slab model that are connected between the cylindrical support models by fitting according to the spatial layout of the goaf and based on the cylindrical support models, and the central control computer finally generates a three-dimensional model of the underground space with a layered partition structure by fitting and stores coordinate position information of the three-dimensional model of the underground space. Then the central control computer first plans and stores a removal path and removal reference coordinates of the original inner surface model of the underground cavity that has been exposed and that needs to be removed with an initial position of the terrain detection and processing robot unit 1 as a reference coordinate origin, then plans and stores a printing path and printing reference coordinates of the final surface support layer model with an initial position of the 3D printing robot unit 2 as the reference coordinate origin, then plans and stores a printing path and printing reference coordinates of the cylindrical support models with the initial position of the 3D printing robot unit 2 as the reference coordinate origin and based on a descending order of stress concentration in the three-dimensional model of the underground space, and finally plans and stores a printing path and printing reference coordinates of the wallboard model and the floor slab model with the initial position of the 3D printing robot unit 2 as the reference coordinate origin.

[0038] The terrain processing loop starts working. As shown in Fig. 3, the central control computer issues an instruction to cause the industrial control computer of the vehicle-mounted electronic control device 12 to control the terrain detection and processing robot unit 1 to move to removal reference coordinate positions according to removal path coordinates of the original inner surface model of the goaf that has been exposed and that needs to be removed, then the industrial control computer of the vehicle-mounted electronic control device 12 controls the rotary digging robotic arm drive and the rotary digging drive to act to cause the rotary digging cutting head to move according to the removal path coordinates of the original inner surface model of the goaf that has been exposed and that needs to be removed and sequentially perform the rotary digging treatment on the inner surface of the goaf to remove part of the inner surface of the goaf, the rotary digging treatment on the inner surface of the goaf is completed until the rotary digging cutting head moves to an end of the removal path, and the terrain detection and processing robot unit 1 moves back to an initial position.

[0039] The 3D printing control loop starts working, the central control computer issues an instruction to cause the 3D printing robot walking control loop of the printing electronic control device 23 to start working, the industrial control computer of the printing electronic control device 23 controls the electronically controlled drive mechanism and the steering control mechanism of the all-terrain walking chassis of the 3D printing robot unit 2 to act to cause the 3D printing robot unit 2 to move to a set coordinate position corresponding to the coordinate position of the three-dimensional model of the underground space inside the coal mine goaf according to the printing path and the printing reference coordinates of the surface support layer model, the printing path and the printing reference coordinates of the cylindrical support models, the printing paths and the printing reference coordinates of the wallboard model and the floor slab model in sequence, then the 3D printing nozzle position control loop starts working, the industrial control computer of the printing electronic control device 23 controls the printing robotic arm drive of the printing robotic arm 21 to act to cause the 3D printing nozzle 24 to move to a printing reference coordinate position according to the printing path, the printing material pumping mechanism control loop starts working, the industrial control computer of the printing electronic control device 23 controls the printing material pumping mechanism of the printing material input device 22 to act to cause the pumped printing material to be output through the 3D printing nozzle 24, then the industrial control computer of the printing electronic control device 23 controls the printing robotic arm drive of the printing robotic arm 21 to act to cause the 3D printing nozzle 24 to move according to the printing path coordinates and perform 3D printing, and the part with greater 3D printing stress concentration may be first supported based on the descending order of stress concentration, to further ensure the safety of subsequent 3D printing. As shown in Fig. 4, the physical printing of the three dimensional model of the underground space is completed until the 3D printing nozzle 24 moves to an end of the printing path, and the 3D printing robot unit 2 moves back to an initial position.

[0040] For the existing supporting coal pillars in the coal mine goaf, according to the magnitude of the stress concentration, calculations may be made in sequence based on the three-dimensional space model of the goaf where the stress field is applied and the coal pillars have been removed and according to the redistribution of the stress field, to ensure that under the premise of stable support, the cylindrical support models are first 3D printed at the recalculated stress concentration point, and then the existing supporting coal pillars are removed.

[0041] The three-dimensional model entity of the underground space constructed by using the underground space intelligent construction system is a basic entity building with targeted support and can fully satisfy the support strength. After the physical printing of the three-dimensional model of the underground space is completed, construction personnel can enter the underground space to carry out subsequent construction such as water and electricity construction and wall decoration construction.

[0042] To increase the flexibility of the rotary digging robotic arm and implement all round rotary digging operations, as a further improvement of the present invention, the rotary digging robotic arm drive further includes an A-coordinate rotary drive mechanism that rotates and moves with a left-right horizontal direction as a central axis or a B-coordinate rotary drive mechanism that rotates and moves with a front-rear horizontal direction as a central axis, and a C-coordinate rotary drive mechanism that rotates and moves with a vertical direction as a central axis. The industrial control computer of the vehicle-mounted electronic control device 12 may flexibly control, according to the original inner surface model of the goaf that has been exposed and that needs to be removed, the rotary digging cutting head to approach the original inner surface of the goaf that needs to be removed, and mill, in a direction that the axis of rotation of the rotary digging cutting head is perpendicular to or parallel to the original inner surface of the goaf that needs to be removed, the original inner surface of the goaf that needs to be removed.

[0043] To further accurately ensure the effect of the rotary digging removal, as a further improvement of the present invention, a pattern recognition sensor is further disposed at a position that is at the end section of the rotary digging robotic arm and that corresponds to the rotary digging cutting head, the centralized electronic control unit 3 further includes a rotary digging correction loop, and the central control computer is electrically connected to the pattern recognition sensor at the end section of the rotary digging robotic arm. During terrain processing, the pattern recognition sensor at the end section of the rotary digging robotic arm feeds back shape size data of the original inner surface of the goaf that needs to be removed to the central control computer in real time, the rotary digging correction loop is working, and the central control computer compares the shape size data of the original inner surface of the goaf that needs to be removed with the stored data of the original inner surface model of the goaf that has been exposed and that needs to be removed. If the shape size data of the original inner surface of the goaf that needs to be removed is less than the data of the original inner surface model of the goaf that has been exposed and that needs to be removed, the central control computer issues an instruction to control the rotary digging robotic arm to cause the rotary digging cutting head to continue to step closer to the original inner surface of the goaf that needs to be removed, and the rotary digging is stopped until the shape size data of the original inner surface of the goaf that needs to be removed is greater than or equal to the model data of the original inner surface model of the goaf that has been exposed and that needs to be removed.

[0044] In the underground space intelligent construction system, the scanning plane of the scanner of the detection head 13 may be a horizontal scanning plane or a vertical scanning plane according to specific working conditions, and the scanning method may be radar scanning based on a radar technology, laser scanning based on a laser technology, infrared scanning based on infrared imaging, ultrasonic scanning based on ultrasonic positioning, magnetic scanning based on magnetic signals, or the like.

[0045] To obtain the lithologic data of the surrounding rock around the underground cavity while the underground cavity is scanned, so as to facilitate the subsequent stress calculations, as a further improvement of the present invention, the scanning method of the scanner of the detection head 13 is the non-contact potential measurement method based on wireless power transmission.

[0046] To make full use of wastes generated by man-made geotechnical activities such as coal gangue and construction waste, as a further improvement of the present invention, the printing material includes stone waste powder such as coal gangue or construction waste.

[0047] For the underground cavity generated by natural geological movements, as an implementation of the printing material supply subunit of the present invention, the printing material supply subunit is disposed on the ground, and the printing material supply subunit includes a raw material preparation device and a transportation pipeline that extends to the underground and is in communication with the input end of the printing material pumping mechanism.

[0048] For the underground cavity formed by man-made geotechnical activities, as another implementation of the printing material supply subunit of the present invention, and the printing material supply subunit is disposed in an underground roadway, and is electrically connected to the central control computer of the centralized electronic control unit 3. The printing material supply subunit includes a raw material preparation device, and the raw material preparation device includes a crusher. The central control computer of the centralized electronic control unit 3 controls the printing material supply subunit to cause the crusher to directly crush the coal gangue in the field, thereby avoiding extra power consumption caused by transporting the coal gangue out of the coal mine.

[0049] After the excessive original inner surface of the goaf is removed, to automatically clean the fallen slag, so as to facilitate the subsequent 3D printing, as a further improvement of the present invention, the terrain detection and processing robot unit 1 further includes a slag temporary storage device. The slag temporary storage device includes a scraper loader mechanism disposed below the rotary digging robotic arm and a transshipment and temporary storage mechanism disposed at the rear of the scraper loader mechanism. The scraper loader mechanism and the transshipment and temporary storage mechanism are each electrically connected to the industrial control computer of the vehicle-mounted electronic control device 12. The vehicle-mounted electronic control device 12 further includes a slag collection and treatment loop. The slag collection and treatment loop starts working while the rotary digging robotic arm acts to remove the excessive original inner surface of the goaf, the scraper loader mechanism scraps and loads the fallen slag and transships the fallen slag to the transshipment and temporary storage mechanism for temporary storage. After the rotary digging treatment on the inner surface of the goaf is completed, the terrain detection and processing robot unit 1 moves back to the initial position and releases the slag in the transshipment and temporary storage mechanism, or directly feeds the slag in the transshipment and temporary storage mechanism into the crusher of the printing material supply subunit for recycling.

[0050] To implement the uniformity among the scanning planes, so as to more accurately generate a three-dimensional space model of the goaf by fitting, as a further improvement of the present invention, the detecting robotic arm 11 includes a detecting robotic arm drive, and the detecting robotic arm drive at least includes an X-coordinate drive mechanism for controlling movement of the detecting robotic arm 11 in a left right horizontal direction, or a Y-coordinate drive mechanism for controlling movement of the detecting robotic arm 11 in a front-rear horizontal direction, or a Z-coordinate drive mechanism for controlling movement of the detecting robotic arm 11 in a vertical direction. The vehicle-mounted electronic control device 12 further includes a detecting robotic arm control loop, and the industrial control computer of the vehicle-mounted electronic control device 12 is electrically connected to the detecting robotic arm drive of the detecting robotic arm 11. The centralized electronic control unit 3 further includes a scanning pitch control loop. Each time the terrain detection and processing robot unit 1 advances by one step, after the central control computer issues, according to the coordinate deviation, an instruction to cause the detection head 13 at the step position to rotate and be positioned to a position where the scanning plane of the scanner at the step position is parallel to the scanning plane of the scanner at the previous step position, the central control computer issues, according to the coordinate deviation, an instruction to cause the detecting robotic arm control loop of the vehicle-mounted electronic control device 12 to work at the same time, the vehicle-mounted electronic control device 12 controls the detecting robotic arm drive to act to adjust a distance between the scanning plane of the scanner at the step position and the scanning plane of the scanner at the previous step position to a set distance, and then the industrial control computer of the vehicle-mounted electronic control device 12 controls the detection head angle positioning control drive of the detection head 13 to act to cause the scanner to rotate within 360 degrees within the corrected scanning plane to perform the step plane scanning.

[0051] To increase the flexibility of the printing nozzle 24 and implement all-round 3D printing, as a further improvement of the present invention, the printing robotic arm drive further includes an A-coordinate rotary drive mechanism that rotates and moves with a left-right horizontal direction as a central axis or a B-coordinate rotary drive mechanism that rotates and moves with a front-rear horizontal direction as a central axis, or further includes an A-coordinate rotary drive mechanism that rotates and moves with a left-right horizontal direction as a central axis and a B-coordinate rotary drive mechanism that rotates and moves with a front-rear horizontal direction as a central axis.

[0052] To further accurately ensure the effect of 3D printing, as a further improvement of the present invention, the printing nozzle 24 is further provided with a pattern recognition sensor, the centralized electronic control unit 3 further includes a 3D printing entity correction loop, and the central control computer is electrically connected to the pattern recognition sensor. In the process of 3D printing, the pattern recognition sensor feeds back shape size data of the 3D printing entity to the central control computer in real time, the 3D printing entity correction loop is working, and the central control computer compares the shape size data of the 3D printing entity with the stored model data of corresponding part on the three-dimensional model of the underground space. If the shape size data of the 3D printing entity is less than the model data of corresponding part on the three-dimensional model of the underground space, the central control computer issues an instruction to control the 3D printing nozzle 24 to interrupt the printing path, and repeat the 3D printing according to the printing path of the part and based on the model data of corresponding part on the three-dimensional model of the underground space until the shape size data of the 3D printing entity is greater than or equal to the model data of corresponding part on the three-dimensional model of the underground space, and then the central control computer issues an instruction to control the 3D printing nozzle 24 to continue to perform the 3D printing according to the planned printing path.

[0053] The underground space intelligent construction system includes the terrain detection and processing robot unit 1, the 3D printing robot unit 2, and the centralized electronic control unit 3, the three-dimensional space model of the underground cavity is constructed after the terrain detection and processing robot unit 1 completes scanning of the underground cavity, the central control computer of the centralized electronic control unit 3 calculates and analyzes the applied stress field outside the three dimensional space model of the underground cavity based on the surrounding environmental geological data of the underground cavity such as input underground cavity geographical location data and surrounding rock data, the surface support layer model is constructed by calculation in sequence based on the three-dimensional space model of the underground cavity and the principle of not exposing the original inner surface of the underground cavity until the central control computer generates the final surface support layer model that is within a set safety factor range by fitting and stores the final surface support layer model, then the central control computer generates, by fitting based on the final surface support layer model, the original inner surface model of the underground cavity that has been exposed and that needs to be removed and stores the original inner surface model, then the central control computer constructs the cylindrical support models by sequentially fitting the positions corresponding to the stress concentration points on the inner surface of the three-dimensional space model of the underground cavity according to the results of stress calculation and analysis and the input safety factors and based on the final surface support layer model, then the central control computer constructs the wallboard model and the floor slab model that are connected between the cylindrical support models by fitting according to the spatial layout of the underground cavity and based on the cylindrical support models, the central control computer finally generates the three-dimensional model of the underground space with a layered partition structure by fitting, and then the central control computer first plans and stores the removal path and removal reference coordinates of the original inner surface model of the underground cavity that has been exposed and that needs to be removed at the reference coordinate origin, and then plans and stores the printing path and printing reference coordinates of the surface support layer model, the cylindrical support models, and the wallboard model and the floor slab model at the reference coordinate origin in sequence. After the terrain detection and processing robot unit 1 completes the rotary digging treatment on the inner surface of the underground cavity according to the removal path, the 3D printing robot unit 2 can directly perform 3D printing of the three-dimensional model entity of the underground space inside the underground cavity according to the printing path and the printing reference coordinates. The three-dimensional model entity of the underground space is formed by direct 3D printing according to the results of stress calculation and analysis of the underground cavity and the input safety factors, which is a basic entity building with targeted support and can fully satisfy the support strength. After the physical printing of the three-dimensional model of the underground space is completed, construction personnel can enter the underground space to carry out subsequent construction such as water and electricity construction and wall decoration construction. The way of direct 3D printing and forming can save a lot of manpower and material resources, does not require transportation equipment, supporting equipment and lifting equipment that take up a large amount of space, reduces the development cost of deep underground space, and has high construction efficiency. The construction operation does not require personnel to enter the underground cavity, the surface support layer model is printed first and the cylindrical support models are then printed in the physical printing process, and the printing of the cylindrical support models is based on a descending order of stress concentration, so that targeted sequential entity forming is implemented, the construction safety is high, and the underground space intelligent construction system is especially suitable for the construction work of deep underground space based on underground cavities.

Claims

What is claimed is:

1. An underground space intelligent construction system, comprising

a terrain detection and processing robot unit (1),

a 3D printing robot unit (2), and

a centralized electronic control unit (3), wherein

the terrain detection and processing robot unit (1) comprises

a first all-terrain walking chassis,

a detecting robotic arm (11),

a rotary digging robotic arm, and

a vehicle-mounted electronic control device (12);

the first all-terrain walking chassis is disposed at the bottom of the terrain detection and processing robot unit (1), and the first all-terrain walking chassis comprises an electronically controlled drive mechanism and a steering control mechanism;

a bottom end of the detecting robotic arm (11) is mounted on the first all-terrain walking chassis, a top end of the detecting robotic arm (11) is provided with a detecting device, the detecting device comprising

a detection head (13), the detection head (13) comprises

a distance sensor,

a scanner,

a gyroscope, and

a detection head angle positioning control drive, and

the detection head angle positioning control drive at least comprises an A-coordinate rotary drive mechanism that rotates and moves with a left-right horizontal direction as a central axis and a B-coordinate rotary drive mechanism that rotates and

moves with a front-rear horizontal direction as a central axis;

a bottom end of the rotary digging robotic arm is mounted on the first all-terrain walking chassis, the rotary digging robotic arm comprises a rotary digging robotic arm drive, the rotary digging robotic arm drive at least comprises an X-coordinate drive mechanism for controlling movement of the rotary digging robotic arm in a left-right horizontal direction, a Y-coordinate drive mechanism for controlling movement of the rotary digging robotic arm in a front-rear horizontal direction, and a Z-coordinate drive mechanism for controlling movement of the rotary digging robotic arm in a vertical direction, an end section of the rotary digging robotic arm is provided with a rotary digging cutting head comprising a rotary digging drive; the vehicle-mounted electronic control device (12) is fixedly mounted on the first all-terrain walking chassis, and the vehicle-mounted electronic control device (12) comprises an industrial control computer, a detecting robot walking control loop, a detection head detection angle control loop, and a rotary digging control loop, the industrial control computer is electrically connected to the electronically controlled drive mechanism and the steering control mechanism of the first all-terrain walking chassis, the industrial control computer is electrically connected to the detection head angle positioning control drive of the detection head (13), and the industrial control computer is electrically connected to the rotary digging robotic arm drive and the rotary digging drive of the rotary digging cutting head; the 3D printing robot unit (2) comprises a second all-terrain walking chassis, a printing robotic arm (21), a printing material input device (22), and a printing electronic control device (23); the second all-terrain walking chassis is disposed at the bottom of the 3D printing robot unit (2), and the second all-terrain walking chassis comprises an electronically controlled drive mechanism and a steering control mechanism; the printing robotic arm (21) is mounted on the second all-terrain walking chassis, the printing robotic arm (21) comprises a printing robotic arm drive, the printing robotic arm drive at least comprises an X-coordinate drive mechanism for controlling movement of the printing robotic arm in a left-right horizontal direction, a Y-coordinate drive mechanism for controlling movement of the printing robotic arm in a front-rear horizontal direction, and a Z-coordinate drive mechanism for controlling movement of the printing robotic arm in a vertical direction, an end section of the printing robotic arm (21) is provided with a 3D printing device, and the 3D printing device comprisng a 3D printing nozzle (24); the printing material input device (22) comprises a printing material pumping mechanism, wherein an input end of the printing material pumping mechanism is connected to a printing material supply subunit, the printing material supply subunit supplies a printing material, and an output end of the printing material pumping mechanism is connected to the 3D printing nozzle (24) through a printing material output line; and the printing electronic control device (23) is fixedly mounted on the second all-terrain walking chassis, and the printing electronic control device (23) comprises an industrial control computer, a 3D printing robot walking control loop, a 3D printing nozzle position control loop, and a printing material pumping mechanism control loop, the industrial control computer is electrically connected to the electronically controlled drive mechanism and the steering control mechanism of the second all-terrain walking chassis, and the industrial control computer is electrically connected to the printing robotic arm drive and the printing material pumping mechanism; and the centralized electronic control unit (3) comprises a central control computer, a detection control loop, a data modeling loop, a detection robot position feedback correction loop, a terrain processing loop, and a 3D printing control loop, wherein the central control computer is electrically connected to the distance sensor, the scanner, and the gyroscope of the detection head (13), and the central control computer is electrically connected to the industrial control computer of the vehicle-mounted electronic control device (12) and the industrial control computer of the printing electronic control device (23).

2. The underground space intelligent construction system according to claim 1, wherein the rotary digging robotic arm drive further comprises an A-coordinate rotary drive mechanism that rotates and moves with a left-right horizontal direction as a central axis or a B-coordinate rotary drive mechanism that rotates and moves with a front-rear horizontal direction as a central axis, and a C-coordinate rotary drive mechanism that rotates and moves with a vertical direction as a central axis.

3. The underground space intelligent construction system according to claim 2, wherein a pattern recognition sensor is further disposed at a position that is at the end section of the rotary digging robotic arm and that corresponds to the rotary digging cutting head, the centralized electronic control unit (3) further comprises a rotary digging correction loop, and the central control computer is electrically connected to the pattern recognition sensor at the end section of the rotary digging robotic arm.

4. The underground space intelligent construction system according to claim 1, wherein the detecting robotic arm (11) of the underground space intelligent construction system comprises a detecting robotic arm drive, and the detecting robotic arm drive at least comprises an X coordinate drive mechanism for controlling movement of the detecting robotic arm (11) in a left-right horizontal direction, or a Y-coordinate drive mechanism for controlling movement of the detecting robotic arm (11) in a front-rear horizontal direction, or a Z-coordinate drive mechanism for controlling movement of the detecting robotic arm (11) in a vertical direction; the vehicle-mounted electronic control device (12) further comprises a detecting robotic arm control loop, and the industrial control computer of the vehicle-mounted electronic control device (12) is electrically connected to the detecting robotic arm drive of the detecting robotic arm (11); and the centralized electronic control unit (3) further comprises a scanning pitch control loop.

5. The underground space intelligent construction system according to claim 1, wherein the printing robotic arm drive of the underground space intelligent construction system further comprises an A-coordinate rotary drive mechanism that rotates and moves with a left-right horizontal direction as a central axis or a B-coordinate rotary drive mechanism that rotates and moves with a front-rear horizontal direction as a central axis, or further comprises an A coordinate rotary drive mechanism that rotates and moves with a left-right horizontal direction as a central axis and a B-coordinate rotary drive mechanism that rotates and moves with a front rear horizontal direction as a central axis.

6. The underground space intelligent construction system according to claim 5, wherein the printing nozzle (24) of the underground space intelligent construction system is further provided with a pattern recognition sensor, the centralized electronic control unit (3) further comprises a 3D printing entity correction loop, and the central control computer is electrically connected to the pattern recognition sensor on the printing nozzle (24).

7. The underground space intelligent construction system according to any one of claims 1 to 6, wherein the central control computer of the centralized electronic control unit (3) is wirelessly electrically connected to the industrial control computer of the vehicle-mounted electronic control device (12) and the industrial control computer of the printing electronic control device (23); and the terrain detection and processing robot unit (1) further comprises a slag temporary storage device, the slag temporary storage device comprises a scraper loader mechanism disposed below the rotary digging robotic arm and a transshipment and temporary storage mechanism disposed at the rear of the scraper loader mechanism, the scraper loader mechanism and the transshipment and temporary storage mechanism are each electrically connected to the industrial control computer of the vehicle-mounted electronic control device (12), and the vehicle-mounted electronic control device (12) further comprises a slag collection and treatment loop.

8. The underground space intelligent construction system according to any one of claims 1 to 6, wherein the printing material comprises stone waste powder; and the printing material supply subunit is disposed in an underground roadway, and the printing material supply subunit is electrically connected to the central control computer of the centralized electronic control unit (3), the printing material supply subunit comprises a raw material preparation device, and the raw material preparation device comprises a crusher.

9. The underground space intelligent construction system according to claim 8, wherein the terrain detection and processing robot unit (1) further comprises a slag temporary storage device, the slag temporary storage device comprises a scraper loader mechanism disposed below the rotary digging robotic arm and a transshipment and temporary storage mechanism disposed at the rear of the scraper loader mechanism, the scraper loader mechanism and the transshipment and temporary storage mechanism are each electrically connected to the industrial control computer of the vehicle-mounted electronic control device (12), and the vehicle-mounted electronic control device (12) further comprises a slag collection and recycling loop.

10. An underground space intelligent construction method of the underground space intelligent construction system according to any one of claims 1 to 9, specifically comprising the following steps:

a. underground space construction preparation: after a geological radar detects an approximate location of an underground cavity, a suitable tunneling through point is selected under the premise of ensuring that the supporting intensity of an original rock layer near the tunneling through point is large, a roadheader excavates a roadway in communication with the underground cavity through the tunneling through point and the roadway is effectively supported; and then the terrain detection and processing robot unit (1) and the 3D printing robot unit (2) are placed in the roadway in communication with the underground cavity; b. inner cavity scanning of underground cavity: the centralized electronic control unit (3) controls the detection control loop, the detection robot position feedback correction loop, and the data modeling loop to start working, the central control computer issues an instruction to cause the industrial control computer of the vehicle-mounted electronic control device (12) to control the terrain detection and processing robot unit (1) to step toward the inside of the underground cavity, scan the inner cavity of the underground cavity, and then step back to an initial position, and the central control computer fits plane scanning data to the same benchmark and performs three-dimensional modeling to generate a three-dimensional space model of the underground cavity, and then stores the model; c. three-dimensional modeling of underground space: the central control computer calculates and analyzes an applied stress field outside the three-dimensional space model of the underground cavity based on the input surrounding environmental geological data of the underground cavity, and calculates and analyzes the evolution process of parameters such as stability, stress, displacement, crack, permeability, acoustic characteristics, optical characteristics, electrical characteristics, magnetic characteristics, and structural characteristics of the three-dimensional space model of the underground cavity; the central control computer constructs an initial surface support layer model by fitting on the inner surface of the three dimensional space model of the underground cavity based on the three-dimensional space model of the underground cavity and the principle of not exposing an original inner surface of the underground cavity, then the central control computer generates a second surface support layer model by expanding to the outside and fitting based on the initial surface support layer model and the principle of maximizing the utilization of underground cavity space, then the central control computer simulates, based on the second surface support layer model, the removal of part of the original inner surface of the underground cavity that is on the second surface support layer model and that has been exposed, then the central control computer recalculates and reanalyzes, based on the input surrounding environmental geological data of the underground cavity, the applied stress field outside the three-dimensional space model of the underground cavity of which part of the original inner surface has been removed, and so on, until the central control computer generates a final surface support layer model that is within a set safety factor range by fitting and stores the final surface support layer model, then the central control computer generates, by fitting based on the final surface support layer model, an original inner surface model of the underground cavity that has been exposed and that needs to be removed and stores the original inner surface model, then the central control computer constructs cylindrical support models by sequentially fitting the positions corresponding to stress concentration points on the inner surface of the three-dimensional space model of the underground cavity and the positions where the stability is not high according to the results of stress calculation and analysis and input safety factors and based on the final surface support layer model, then the central control computer constructs a wallboard model and a floor slab model that are connected between the cylindrical support models by fitting according to the spatial layout of the underground cavity and based on the cylindrical support models, and the central control computer finally generates a three-dimensional model of the underground space with a layered partition structure by fitting and stores coordinate position information of the three-dimensional model of the underground space; then the central control computer first plans and stores a removal path and removal reference coordinates of the original inner surface model of the underground cavity that has been exposed and that needs to be removed at a reference coordinate origin, then plans and stores a printing path and printing reference coordinates of the final surface support layer model at the reference coordinate origin, then plans and stores a printing path and printing reference coordinates of the cylindrical support models at the reference coordinate origin, and finally plans and stores a printing path and printing reference coordinates of the wallboard model and the floor slab model at the reference coordinate origin; d. removal of excessive original inner surface of underground cavity: the terrain processing loop starts working, the central control computer issues an instruction to cause the industrial control computer of the vehicle-mounted electronic control device (12) to control the terrain detection and processing robot unit (1) to move to removal reference coordinate positions according to removal path coordinates of the original inner surface model of the underground cavity that has been exposed and that needs to be removed, then the industrial control computer of the vehicle-mounted electronic control device (12) controls the rotary digging robotic arm drive and the rotary digging drive to act to cause the rotary digging cutting head to move according to the removal path coordinates of the original inner surface model of the underground cavity that has been exposed and that needs to be removed and sequentially perform the rotary digging treatment on the inner surface of the underground cavity to remove part of the inner surface of the underground cavity, the rotary digging treatment on the inner surface of the underground cavity is completed until the rotary digging cutting head moves to an end of the removal path, and the terrain detection and processing robot unit (1) moves back to an initial position; and e. 3D printing of three-dimensional entity of underground space: the 3D printing control loop starts working, the central control computer issues an instruction to cause the 3D printing robot walking control loop of the printing electronic control device (23) to start working, the industrial control computer of the printing electronic control device (23) controls the electronically controlled drive mechanism and the steering control mechanism of the all-second terrain walking chassis of the 3D printing robot unit (2) to act to cause the 3D printing robot unit (2) to move to a set coordinate position corresponding to the coordinate position of the three-dimensional model of the underground space inside the underground cavity according to the printing path and the printing reference coordinates of the surface support layer model, the printing path and the printing reference coordinates of the cylindrical support models, the printing path and the printing reference coordinates of the wallboard model and the floor slab model in sequence, then the 3D printing nozzle position control loop starts working, the industrial control computer of the printing electronic control device (23) controls the printing robotic arm drive of the printing robotic arm (21) to act to cause the 3D printing nozzle (24) to move to a printing reference coordinate position according to the printing path, the printing material pumping mechanism control loop starts working, the industrial control computer of the printing electronic control device (23) controls the printing material pumping mechanism of the printing material input device (22) to act to cause the pumped printing material to be output through the 3D printing nozzle (24), then the industrial control computer of the printing electronic control device (23) controls the printing robotic arm drive of the printing robotic arm (21) to act to cause the 3D printing nozzle (24) to move according to the printing path coordinates and perform 3D printing of the surface support layer model, 3D printing of the cylindrical support models, and 3D printing of the wallboard model and the floor slab model in sequence, physical printing of the three-dimensional model of the underground space is completed until the 3D printing nozzle (24) moves to an end of the printing path, and the 3D printing robot unit (2) moves back to the initial position.