CN108729470A

CN108729470A - A kind of underground space construction method

Info

Publication number: CN108729470A
Application number: CN201810403691.8A
Authority: CN
Inventors: 马占国; 王东飞; 龚鹏; 郭和平; 刘飞; 高峰; 杨宝智; 张帆; 马云靖; 上官建华
Original assignee: China University of Mining and Technology CUMT
Current assignee: China University of Mining and Technology CUMT
Priority date: 2018-04-28
Filing date: 2018-04-28
Publication date: 2018-11-02
Anticipated expiration: 2038-04-28
Also published as: CN108729470B

Abstract

The invention discloses a kind of underground space construction method, including underground space structure preparations, the scanning of underground cavity inner cavity, underground space three-dimensional modeling, remove the extra original inner surface of underground cavity, 3D printing underground space 3D solid.Underground cavity three-dimensional space model is built after terrain detection and handling machine people's unit are completed to the scanning of underground cavity, central control computer is fitted structure surface supporting layer model successively according to Stress calculation analysis result and the safety coefficient of input, cylindricality model for anchor, wall model and model of slabs simultaneously generate printing path and printing reference coordinate, after the inner surface in terrain detection and handling machine people's unit removal part goaf, 3D printing robot cell according to printing path direct 3D printing underground space threedimensional model inside underground cavity entity, operation is built especially suitable for the Deep underground space based on underground cavity.

Description

A kind of underground space construction method

Technical field

It is specifically a kind of based on such as underground coal mine coal goaf, coal the present invention relates to a kind of underground space construction method Underground cavity that the artificial ground activity such as large area coal seam burned out area formed in charcoal underground gasification process generates or natively A series of underground space construction method of the natural underground cavity such as cavities that matter movement generates under earth's surface, belongs to underground engineering skill Art field.

Background technology

The underground space refers to belonging to earth's surface hereinafter, mainly for a noun for building aspect, its range is very wide, Such as the spaces such as underground commercial center, underground parking, subway, the tunnels Chuan Hai.The utilization of the underground space are urban developments To the product of certain phase, urbanization accelerated development makes Urban Underground Space Excavation utilizes to synchronize to accelerate development as inevitable.

The existing underground space development in China is mostly the utilization carried out for underground shallow layer part, and with me The utilization of one line urban underground space of state, underground shallow layer part will utilize and finish, in order to comprehensively utilize underground space money Source, underground space development will be gradually to Deep Developments, and the utilization of Deep underground space resource have become the future city modern times Change the major subjects built.

Underground cavity refers to the space that earth's surface or less is covered by rock stratum, generally refer to space it is larger, be located at earth's surface below The underground cavity pocket of deep layer.Artificial ground activity underground mining such as in coal mining accounts for the 60% of world's coal production, and underground The coal goaf that large area is often left after the completion of the exploitations such as underground coal or gangue is formed into underground sky in recovery process Hole；In addition, coal underground gasification technology can not only recycle the coal resources of mine abandonment, but also it can be also used for recovery well work It is difficult to exploit or exploit the poor girdle of economy, safety, deep fractures, " under three " press coal and high-sulfur, high ash, high methane Coal seam, although the lime-ash after underground coal gasification(UCG) burning stays in underground, the big face that can be also formed in Underground Coal Gasification Process Product coal seam burned out area underground cavity；In addition, natural geological movement also will produce a series of underground cavities under earth's surface.

Although underground cavity can be as the exploitation basis of Deep underground space, the exploitation of traditional Deep underground space Different from the exploitation of Subsurface, Deep underground space exploitation is equally first opened in earth's surface without the exploitation of image of Buddha Subsurface It digs foundation pit, construct in foundation pit again, the exploitation of traditional Deep underground space is normally based on BIM technology and deep excavation dress On the basis of standby and technology, typically first carry out excavating and after supporting using such as prefabricated reinforced concrete column foundation, prefabricated The PC such as exterior wall, precast floor slab components carry out lifting concatenation construction process, then carry out pressure grouting and cast-in-place node processing etc. subsequently Working procedure.The larger conveying equipment of space hold, supporting are usually required in traditional Deep underground space exploitation work progress Equipment and lifting equipment, it usually needs expend a large amount of manpower and materials, Deep underground space development cost is larger；In addition, deep layer Down space virgin state of stress of Deep underground space after excavation is usually destroyed, to cause stress to redistribute, deep layer During underground space construction under the action of the factors such as burden pressure and underground water, such as piece easily occurs for Deep underground space The geological disaster of the diversified forms such as side, roof fall, gushing water, rock burst, bump, construction environment is severe and construction operation safety It is poor.

Invention content

In view of the above-mentioned problems, the present invention provides a kind of underground space construction method, high degree of automation can be in realization pair The structure for carrying out realizing the Deep underground space based on underground cavity inside underground cavity under the premise of effective support, is realized simultaneously It reduces development cost, reduce construction safety hidden danger, operation is built especially suitable for the Deep underground space based on underground cavity.

To achieve the above object, underground space structure system includes terrain detection and handling machine people unit, 3D printer Device people unit and concentration electronic control unit；

The terrain detection and handling machine people's unit includes full landform walking chassis, detection mechanical arm, rotary drilling machinery Arm and controlled vehicle-mounted electrical device；The bottom in terrain detection and handling machine people's unit, full landform row is arranged in full landform walking chassis It includes automatically controlled driving mechanism and course changing control mechanism to walk chassis；The bottom end for detecting mechanical arm is mounted in full landform walking chassis, The top for detecting mechanical arm is equipped with detection device, and detection device includes detecting head, detecting head include range sensor, scanner, Gyroscope, the driving of detecting head angle&orientation control, the driving of detecting head angle&orientation control, which is included at least along left and right horizontal direction, is The A coordinates rotary drive mechanism of central axes moving in rotation and along anterior-posterior horizontal direction be central axes moving in rotation B coordinates rotate Driving mechanism；The bottom end of rotary drilling machinery arm is mounted in full landform walking chassis, and rotary drilling machinery arm includes the driving of rotary drilling machinery arm, The driving of rotary drilling machinery arm includes at least the X-coordinate driving mechanism of control rotary drilling machinery arm left and right horizontal direction movement, control rotary digging The Y coordinate driving mechanism of mechanical arm anterior-posterior horizontal direction movement, the Z coordinate driving machine of control rotary drilling machinery arm vertical direction movement The minor details of structure, rotary drilling machinery arm are equipped with the rotary digging cutterhead with rotary digging driving；Controlled vehicle-mounted electrical device is fixedly mounted on entirely In shape walking chassis, controlled vehicle-mounted electrical device includes industrial control computer, sniffing robot travelling control circuit, detecting head detection Angle control loop, rotary digging control loop, industrial control computer respectively with the automatically controlled driving mechanism of full landform walking chassis and Course changing control mechanism is electrically connected, and industrial control computer is electrically connected with the driving of the detecting head angle&orientation control of detecting head, industry Control computer is electrically connected with the driving of rotary drilling machinery arm, the rotary digging of rotary digging cutterhead driving respectively；

The 3D printing robot cell includes full landform walking chassis, print machinery arm, printed material input unit With printing electric control gear；Full landform walking chassis is arranged in the bottom of 3D printing robot cell, and full landform walking chassis includes Automatically controlled driving mechanism and course changing control mechanism；Print machinery arm is mounted in full landform walking chassis, and print machinery arm includes beating Mechanical arm driving is printed, the driving of print machinery arm includes at least the X-coordinate driving of control print machinery arm left and right horizontal direction movement Mechanism, the Y coordinate driving mechanism of control print machinery arm anterior-posterior horizontal direction movement, control print machinery arm vertical direction movement Z coordinate driving mechanism, the minor details of print machinery arm are equipped with 3D printing device, and 3D printing device includes 3D printing nozzle；It beats Print material input includes that printed material is pumped into mechanism, and printed material is pumped into the input terminal and printed material supply son list of mechanism First connection, printed material supply subelement and supply printed material, and printed material is pumped into the output end of mechanism and 3D printing nozzle leads to Cross the connection of printed material output pipe；Printing electric control gear is fixedly mounted in full landform walking chassis, prints electric control gear packet Include industrial control computer, 3D printing robot travelling control circuit, 3D printing nozzle position control loop, printed material are pumped into Mechanism controls circuit, industrial control computer are electric with the automatically controlled driving mechanism of full landform walking chassis and course changing control mechanism respectively Connection, industrial control computer are pumped into mechanism and are electrically connected with the driving of print machinery arm, printed material respectively；

The concentration electronic control unit includes central control computer, detection control loop, data modeling circuit, explorer Device people's position feedback corrective loop, landform treatment loop, 3D printing control loop, central control computer respectively with detecting head Range sensor, scanner, gyroscope electrical connection, central control computer are calculated with the Industry Control of controlled vehicle-mounted electrical device respectively The industrial control computer electrical connection of machine and printing electric control gear；

Underground space construction method specifically includes following steps：

A. underground space structure prepares：After Position Approximate by geologic radar detection underground cavity, passed through ensureing to tunnel Suitable driving breakthrough point is selected under the premise of the supporting intensity of pristine formation near logical point is larger, by development machine through driving Breakthrough point tunnels out the tunnel penetrated through with underground cavity and carries out effective support to the tunnel, then by terrain detection and processor Device people unit and 3D printing robot cell are placed in the tunnel being connected to underground cavity；

B. underground cavity inner cavity is scanned：Electronic control unit control detection control loop, sniffing robot position feedback is concentrated to repair Positive circuit, data modeling loop starts, central control computer, which sends out instruction, makes the Industry Control meter of controlled vehicle-mounted electrical device Calculation machine controls terrain detection and handling machine people unit to stepping inside underground cavity and is scanned to the inner cavity of underground cavity Coordinate retracts to initial position afterwards, and flat scanning data are carried out fitting and the three-dimensional modeling of same benchmark by central control computer Underground cavity three-dimensional space model is generated afterwards, is then stored；

C. underground space three-dimensional modeling：Central control computer is according to the underground cavity peripheral environment geologic data pair of input The outside of underground cavity three-dimensional space model carries out applying stress field calculation analysis, and to the steady of underground cavity three-dimensional space model The evolution of the parameters such as qualitative, stress, displacement, crack, permeability, sound characteristics, light characteristic, electrical characteristics, magnetic characteristic and architectural characteristic Process carries out calculating analysis, then central control computer based on underground cavity three-dimensional space model, with not exposed under The original inner surface in cavity is interior surface fitting structure initial surface branch sheath mould of the principle in underground cavity three-dimensional space model Type, then void space utilizes maximized principle in the base of initial surface supporting layer model under central control computer base area Fitting being extended to outside on plinth and generating second surface supporting layer model, then central control computer is with second surface branch sheath mould The original inner surface of part underground cavity exposed on second surface supporting layer model is subjected to simulation removal based on type, so Central control computer is original interior to having removed part underground cavity according to the underground cavity peripheral environment geologic data of input afterwards The outside of the underground cavity three-dimensional space model on surface carries out application stress field and recalculates analysis, and so on, until fitting It generates the final surface supporting layer model within the scope of the safety coefficient of setting and stores, then central control computer is with final table What fitting generation need to remove based on face supporting layer model has exposed the original inner surface model of underground cavity and has stored；Then central Control computer on the basis of final surface supporting layer model further according to Stress calculation analysis result and the safety coefficient of input according to The secondary position not high in the stress concentration point position of corresponding underground cavity three-dimensional space model interior surface and stability is fitted structure Cylindricality model for anchor is built, column is then connected to according to the space layout of underground cavity fitting structure on the basis of cylindricality model for anchor Wall model between shape model for anchor and model of slabs, final fitting generate the underground space threedimensional model of stratiform compartment structure And store underground space threedimensional model co-ordinate position information；Then central control computer is first planned and is deposited with reference coordinates origin The removal path for having exposed the original inner surface model of underground cavity that need to be removed and removal reference coordinate are stored up, then with reference coordinates original Point is planned and stores the printing path and printing reference coordinate of final surface supporting layer model, then is planned simultaneously with reference coordinates origin The printing path and printing reference coordinate for storing cylindricality model for anchor, are finally planned with reference coordinates origin and store wall model With the printing path and printing reference coordinate of model of slabs；

D. the original inner surface of extra underground cavity is removed：Landform handles loop starts, central control computer hair Going out instruction makes the industrial control computer of controlled vehicle-mounted electrical device control terrain detection and handling machine people unit according to need to remove The removal path coordinate for having exposed the original inner surface model of underground cavity is moved to removal reference coordinate location, then controlled vehicle-mounted electrical The industrial control computer control rotary drilling machinery arm driving of device and rotary digging drive actions make rotary digging cutterhead according to need to remove The removal path coordinate movement for having exposed the original inner surface model of underground cavity carries out rotary digging to the inner surface of underground cavity successively The inner surface of part underground cavity is removed, until completing the rotary digging processing of underground cavity inner surface when removal path termination, landform is visited It surveys and handling machine people's unit retracts to initial position；

E.3D underground space 3D solid is printed：3D printing control loop is started to work, and central control computer sends out finger Enabling makes the 3D printing robot travelling control loop starts of printing electric control gear, and the Industry Control for printing electric control gear calculates Machine is successively according to the printing path of surface supporting layer model and printing reference coordinate, the printing path of cylindricality model for anchor and printing Reference coordinate, wall model and model of slabs printing path and printing reference coordinate control 3D printing robot cell entirely The automatically controlled driving mechanism and course changing control mechanism action of shape walking chassis make 3D printing robot cell's coordinate be moved to underground sky The setting position of underground space threedimensional model coordinate position is corresponded to inside hole, then 3D printing nozzle position control loop starts work Make, the industrial control computer for printing electric control gear controls the print machinery arm drive actions of print machinery arm according to printing path 3D printing nozzle coordinate is set to be moved to printing reference coordinate location, printed material is pumped into mechanism controls loop starts, printing What the printed material of the industrial control computer control printed material input unit of electric control gear was pumped into that mechanism action makes to pump out beats It prints material to export through 3D printing nozzle, then prints the printer of the industrial control computer control print machinery arm of electric control gear Tool arm drive actions make 3D printing nozzle carry out surface supporting layer model, cylindricality supporting mould successively according to the movement of printing path coordinate The 3D printing of type, wall model and model of slabs, until the physical print of underground space threedimensional model is completed when printing path terminal, 3D printing robot cell retracts to initial position.

Scheme as a further improvement on the present invention, step b terrain detections and handling machine people's unit are into underground cavity Portion's stepping and during being scanned to the inner cavity of underground cavity, central control computer sends out instruction first makes controlled vehicle-mounted electrical The detecting head detection angle control loop of device is started to work, the industrial control computer control detecting head of controlled vehicle-mounted electrical device Detecting head angle&orientation control drive actions make the scanner of detecting head be rotated into row within the scope of 360 ° in the basic point plane of scanning motion Using initial position as the basic point flat scanning of reference coordinates origin, the scanner of detecting head is simultaneously by the basic point flat scanning data The gyroscope of central control computer while detecting head is sent to by the scanner coordinate position data of reference coordinates origin position It is sent to central control computer, central control computer is by the scanning of basic point flat scanning data and reference coordinates origin position Instrument coordinate position data is stored；

Then central control computer, which sends out instruction, makes the sniffing robot travelling control circuit of controlled vehicle-mounted electrical device start Work, the industrial control computer control terrain detection of controlled vehicle-mounted electrical device and the full landform walking chassis of handling machine people's unit Automatically controlled driving mechanism and course changing control mechanism action make terrain detection and handling machine people unit it is whole with initial position be ginseng To underground cavity intrinsic coordinates movement stepping one setting step pitch and stop according to coordinate origin, then the gyroscope of detecting head is first The scanner coordinate position data of the stepping position is sent to central control computer, then central control computer is deposited The scanner coordinate position data of the gyroscope of stepping position feedback will be swept with reference coordinates origin positions while storage Instrument coordinate position data is retouched to be compared, calculate the scanner coordinate position of the stepping position and sweeping for reference coordinates origin position The grid deviation between instrument coordinate position and storage are retouched, then central control computer sends out instruction according to the grid deviation makes vehicle The detecting head detection angle control loop of load electric control gear again visit by task, the industrial control computer control of controlled vehicle-mounted electrical device The detecting head angle&orientation control drive actions of gauge head make the detecting head of the stepping position rotate and position to the stepping position The plane of scanning motion of scanner is parallel to the position of the basic point plane of scanning motion, then the industrial control computer control of controlled vehicle-mounted electrical device The detecting head angle&orientation control drive actions of detecting head make scanner be rotated within the scope of 360 ° in the revised plane of scanning motion First step anomaly Surface scan is carried out, first step anomaly Surface scan data are sent to center control and calculated by the scanner of detecting head Machine, central control computer according to the grid deviation of storage by first step anomaly Surface scan data and basic point flat scanning data into It is stored after the fitting of the same benchmark of row and three-dimensional modeling；

Then central control computer, which sends out instruction, makes the industrial control computer of controlled vehicle-mounted electrical device control terrain detection And more than handling machine people unit entirety the coordinate points of one stepping position are reference coordinates point again to underground cavity intrinsic coordinates One setting step pitch of mobile stepping simultaneously stops, and so on, terrain detection and handling machine people unit often walk further, detecting head Gyroscope the scanner coordinate position data of the stepping position is sent to central control computer first, then center control By the scanner coordinate position data and previous step carry of the gyroscope of the stepping position feedback while computer is stored The scanner coordinate position data for the gyroscope feedback set is compared, calculate the scanner coordinate position of the stepping position with it is upper Grid deviation between the scanner coordinate position of one stepping position and storage, then central control computer is inclined according to the coordinate Difference, which sends out instruction, to be made the detecting head of the stepping position rotate and positions to the plane of scanning motion of the scanner of the stepping position to be parallel to Previous step is detected into the position of the plane of scanning motion of the scanner of position, then the industrial control computer control of controlled vehicle-mounted electrical device The detecting head angle&orientation control drive actions of head make scanner be rotated into row within the scope of 360 ° in the revised plane of scanning motion Step pitch flat scanning data are sent to central control computer, center control meter by the scanner of step pitch flat scanning, detecting head Calculation machine is according to the grid deviation of storage by the step pitch flat scanning data of the stepping position and previous step into the step pitch plane of position Scan data is stored after carrying out the fitting of same benchmark and three-dimensional modeling, until according to the anti-of the range sensor of detecting head The scanning of entire underground cavity inner cavity is completed in feedback, and central control computer deposits final underground cavity three-dimensional space model Storage.

Scheme as a further improvement on the present invention, the detection mechanical arm that the underground space builds system include detection mechanical arm Driving, detection mechanical arm driving include at least X-coordinate driving mechanism or the control of control detection mechanical arm left and right horizontal direction movement The Y coordinate driving mechanism of system detection mechanical arm anterior-posterior horizontal direction movement or the Z of control detection mechanical arm vertical direction movement are sat Mark driving mechanism；Controlled vehicle-mounted electrical device further includes detection mechanical arm control loop, the industrial control computer of controlled vehicle-mounted electrical device It is electrically connected with the detection mechanical arm driving of detection mechanical arm；It further includes sweep span control loop to concentrate electronic control unit；

Step b terrain detections and handling machine people unit often walk further, and central control computer is according to the grid deviation Sending out instruction makes the detecting head of the stepping position rotate and positions to the plane of scanning motion of the scanner of the stepping position to be parallel to Behind the position of the plane of scanning motion of the scanner of one stepping position, central control computer sends out instruction according to the grid deviation simultaneously The detection mechanical arm control loop of controlled vehicle-mounted electrical device is set to work, controlled vehicle-mounted electrical device control detection mechanical arm drive actions make this The plane of scanning motion of the scanner of stepping position and previous step are adjusted into the spacing between the plane of scanning motion of the scanner of position to setting Set a distance, then controlled vehicle-mounted electrical device industrial control computer control detecting head detecting head angle&orientation control drive actions Scanner is set to be rotated into row step pitch flat scanning within the scope of 360 ° in the revised plane of scanning motion.

Scheme as a further improvement on the present invention, the rotary drilling machinery arm driving that the underground space builds system further includes along a left side Right horizontal direction is the A coordinates rotary drive mechanism of central axes moving in rotation or is central axes moving in rotation along anterior-posterior horizontal direction B coordinates rotary drive mechanism and vertically be central axes moving in rotation C coordinate rotary drive mechanisms；Rotary drilling machinery arm Minor details on correspond to the position of rotary digging cutterhead and be additionally provided with pattern-recognition sensor, it further includes that rotary digging is repaiied to concentrate electronic control unit (3) Positive circuit, central control computer are electrically connected with the pattern-recognition sensor in rotary drilling machinery arm minor details；

During step d removes the original inner surface of extra underground cavity, the Industry Control of controlled vehicle-mounted electrical device 12 calculates Machine can flexibly control rotary digging cutterhead close to adopting of need to removing according to the original inner surface model in goaf that exposed that need to be removed The original inner surface in dead zone, with the rotation axis of rotary digging cutterhead perpendicular or parallel to the side for the original inner surface in goaf that need to be removed Milling is carried out to the original inner surface in the goaf that need to be removed；Pattern-recognition sensor in rotary drilling machinery arm minor details is in real time in The feature dimension data for the original inner surface in goaf that centre control computer feedback need to remove, the work of rotary digging corrective loop, center Control computer adopts the feature dimension data of the original inner surface in the goaf that need to be removed and having exposed for the need of storage removal The original inner surface model data in dead zone is compared, if the feature dimension data of the original inner surface in the goaf that need to be removed are less than What need to be removed has exposed the original inner surface model data in goaf, then central control computer sends out instruction control rotary drilling machinery arm Rotary digging cutterhead is set to continue close to the direction stepping close to the original inner surface in the goaf that need to be removed, until what this need to be removed The feature dimension data of the original inner surface in goaf be greater than or equal to need to remove exposed goaf original inner surface model Model data then stops rotary digging.

Scheme as a further improvement on the present invention, the print machinery arm driving that the underground space builds system further includes along a left side Right horizontal direction is the A coordinates rotary drive mechanism of central axes moving in rotation or is central axes moving in rotation along anterior-posterior horizontal direction B coordinate rotary drive mechanisms, or further include along left and right horizontal direction be central axes moving in rotation A coordinate rotary driving machines Structure and along anterior-posterior horizontal direction be central axes moving in rotation B coordinate rotary drive mechanisms；The underground space builds the printing of system Pattern-recognition sensor is additionally provided on nozzle, it further includes 3D printing entity corrective loop to concentrate electronic control unit, and center control calculates Machine is electrically connected with pattern-recognition sensor；

During the physical print of step e underground space threedimensional models, the work of 3D printing entity corrective loop, pattern-recognition Sensor feeds back the feature dimension data of 3D printing entity to central control computer in real time, and central control computer beats the 3D The feature dimension data of print entity are compared with the model data of corresponding part on the underground space threedimensional model of storage, if 3D The feature dimension data for printing entity are less than the model data of corresponding part on underground space threedimensional model, then center control calculates Machine sends out instruction control 3D printing nozzle and interrupts printing path and according to the pattern number of corresponding part on underground space threedimensional model According to the 3D printing for repeating this part printing path according to the printing path of this part, until the feature dimension of 3D printing entity Data are greater than or equal to the model data of corresponding part on underground space threedimensional model, and then central control computer sends out finger again Control 3D printing nozzle is enabled to continue to carry out 3D printing by the printing path of planning.

Scheme as a further improvement on the present invention, step b terrain detections and handling machine people's unit are into underground cavity Portion's stepping and during being scanned to the inner cavity of underground cavity, the scan mode of the scanner of detecting head is used based on wireless The non-contact potential measurement mode to conduct electricity.

Scheme as a further improvement on the present invention, concentrate the central control computer of electronic control unit respectively with controlled vehicle-mounted electrical The industrial control computer radio connection of the industrial control computer of device and printing electric control gear, central control computer with Data transmission between the industrial control computer of controlled vehicle-mounted electrical device and the industrial control computer for printing electric control gear is logical Cross the mode of wireless telecommunications.

Scheme as a further improvement on the present invention, step c carry out surface supporting layer model, cylindricality model for anchor, wallboard The printing path of model and model of slabs plans and prints in reference coordinate planning process that central control computer is with 3D printer The initial position of device people's unit is reference coordinates origin, and carries out printing path planning and the printing benchmark seat of cylindricality model for anchor It marks in planning process and carries out printing path planning according to the sequence of stress concentration in underground cavity three-dimensional space model from large to small With printing reference coordinate planning.

A kind of embodiment of printed material input as the present invention, the printed material includes building stones waste powder End；Printed material supplies subelement and is arranged in underground passage, and printed material supplies subelement and concentrates the center of electronic control unit Control computer is electrically connected, and it includes raw material device for formulating that printed material, which supplies subelement, and raw material device for formulating includes crusher, collection The central control computer control printed material supply subelement of middle electronic control unit makes crusher that gangue directly be carried out scene It is broken.

Scheme as a further improvement on the present invention, terrain detection and handling machine people unit (1) further include that disintegrating slag is temporary Device, disintegrating slag apparatus for temporary storage include the raking loader structure being arranged below rotary drilling machinery arm, the reprinting at raking loader structure rear portion are arranged Temporary storage mechanism, raking loader structure and reprinting temporary storage mechanism are electrically connected with the industrial control computer of controlled vehicle-mounted electrical device respectively, vehicle-mounted Electric control gear further includes that disintegrating slag collects reuse circuit；

Step d disintegrating slags during the extra underground cavity of rotary drilling machinery arm action removal original inner surface are collected Treatment loop starts simultaneously at work, and the disintegrating slag that raking loader structure will fall off carries out rake dress and reprint to reprinting temporary storage mechanism to keep in, complete It retracts to initial position and will reprint temporary at terrain detection after the rotary digging processing of underground cavity inner surface and handling machine people's unit It deposits disintegrating slag within the organization and is sent directly into progress reuse in the crusher of printed material supply subelement.

Compared with prior art, this underground space builds system due to including terrain detection and handling machine people unit, 3D Printer device people unit and concentration electronic control unit, after terrain detection and handling machine people's unit are completed to the scanning of underground cavity Underground cavity three-dimensional space model is built, concentrates the central control computer of electronic control unit according to the underground cavity geography position of input The underground cavities peripheral environment geologic data such as data and country rock data is set to apply the outside of underground cavity three-dimensional space model Add stress field calculation to analyze, and is based on underground cavity three-dimensional space model, not expose the original inner surface of underground cavity Principle passes sequentially through calculating structure surface supporting layer model, until fitting generates the final surface within the scope of the safety coefficient of setting Supporting layer model simultaneously stores, and then central control computer is fitted what generation need to remove based on final surface supporting layer model It has exposed the original inner surface model of underground cavity and has stored, then further according to stress meter on the basis of final surface supporting layer model The safety coefficient of analysis result and input is calculated successively in the stress concentration point of corresponding underground cavity three-dimensional space model interior surface Position fitting structure cylindricality model for anchor, is then fitted structure on the basis of cylindricality model for anchor according to the space layout of underground cavity The wall model and model of slabs between being connected to cylindricality model for anchor are built, the underground that final fitting generates stratiform compartment structure is empty Between threedimensional model, then first planned with reference coordinates origin and store need to remove exposed the original inner surface model of underground cavity Removal path and removal reference coordinate, then successively with reference coordinates origin planning and storage surface supporting layer model, cylindricality branch Protect the printing path and printing reference coordinate, terrain detection and handling machine people's unit root of model, wall model and model of slabs 3D printing robot cell is according to printing path and printing base after completing the rotary digging processing of underground cavity inner surface according to removal path Quasi coordinates can inside underground cavity direct 3D printing underground space threedimensional model entity, according to underground cavity stress meter point counting Analysis result and the underground space threedimensional model entity of input safety coefficient and the direct printing shapings of 3D have specific aim supporting Basic entity building, can fully meet supporting intensity, after the physical print for completing underground space threedimensional model, construction personnel can Such as water route construction of cable run, wall decoration construction subsequent construction is carried out inside into the underground space；The molding side of direct 3D printing Formula can save a large amount of manpower and materials, not need the larger conveying equipment of space hold, support apparatus and lifting equipment, reduce The cost of Deep underground space exploitation, and there is higher construction efficiency；Simultaneously because construction operation, which does not need personnel, enters ground Lower cavity, and first print surface supporting layer model during physical print, cylindricality model for anchor, while cylindricality supporting mould are printed again The printing of type is the sequence according to stress concentration from large to small, thus realize specific aim sequential entity molding, working security compared with Height builds operation especially suitable for the Deep underground space based on underground cavity.

Description of the drawings

Fig. 1 is the structural schematic diagram of underground space structure system；

Fig. 2 is the underground cavity structural schematic diagram carried out using the present invention when underground cavity inner cavity is scanned；

Fig. 3 is the underground cavity structural representation being removed using the present invention after the original inner surface of extra underground cavity Figure；

Fig. 4 is the underground cavity structural schematic diagram carried out using the present invention after underground space structure.

In figure：1, terrain detection and handling machine people's unit, 11, detection mechanical arm, 12, controlled vehicle-mounted electrical device, 13, detection Head, 2,3D printing robot cell, 21, print machinery arm, 22, printed material input unit, 23, printing electric control gear, 24,3D Printing head, 3, concentrate electronic control unit.

Specific implementation mode

The present invention will be further described below in conjunction with the accompanying drawings.

As shown in Figure 1, underground space structure system includes terrain detection and handling machine people unit 1,3D printing robot Unit 2 and concentration electronic control unit 3.

The terrain detection and handling machine people unit 1 includes full landform walking chassis, detection mechanical arm 11, Spiral digging machine Tool arm and controlled vehicle-mounted electrical device 12；The bottom in terrain detection and handling machine people unit 1, Quan Di is arranged in full landform walking chassis Shape walking chassis includes automatically controlled driving mechanism and course changing control mechanism；The bottom end for detecting mechanical arm 11 is mounted on full landform walking bottom On disk, the top of detection mechanical arm 11 is equipped with detection device, and detection device includes detecting head 13, and detecting head 13 includes Distance-sensing Device, scanner, gyroscope, the driving of detecting head angle&orientation control, the driving of detecting head angle&orientation control are included at least along left and right Horizontal direction is the A coordinates rotary drive mechanism of central axes moving in rotation and is central axes moving in rotation along anterior-posterior horizontal direction B coordinate rotary drive mechanisms；The bottom end of rotary drilling machinery arm is mounted in full landform walking chassis, and rotary drilling machinery arm includes Spiral digging machine Tool arm drives, the driving of rotary drilling machinery arm include at least the movement of control rotary drilling machinery arm left and right horizontal direction X-coordinate driving mechanism, The Z of the Y coordinate driving mechanism, control rotary drilling machinery arm vertical direction movement that control the movement of rotary drilling machinery arm anterior-posterior horizontal direction is sat Driving mechanism is marked, the minor details of rotary drilling machinery arm are equipped with the rotary digging cutterhead with rotary digging driving；Controlled vehicle-mounted electrical device 12 is fixed In full landform walking chassis, controlled vehicle-mounted electrical device 12 includes industrial control computer, sniffing robot travelling control time Road, detecting head detection angle control loop, industrial control computer respectively with the automatically controlled driving mechanism of full landform walking chassis and Course changing control mechanism is electrically connected, and industrial control computer is electrically connected with the driving of the detecting head angle&orientation control of detecting head 13, work Industry control computer is electrically connected with the driving of rotary drilling machinery arm, the rotary digging of rotary digging cutterhead driving respectively.

The 3D printing robot cell 2 includes full landform walking chassis, print machinery arm 21, printed material input dress Set 22 and printing electric control gear 23；Full landform walking chassis is arranged at the bottom of 3D printing robot cell 2, full landform walking bottom Disk includes automatically controlled driving mechanism and course changing control mechanism；Print machinery arm 21 is mounted in full landform walking chassis, print machinery Arm 21 drives including print machinery arm, and the driving of print machinery arm includes at least the movement of control print machinery arm left and right horizontal direction X-coordinate driving mechanism, the Y coordinate driving mechanism of control print machinery arm anterior-posterior horizontal direction movement, control print machinery arm are perpendicular Histogram is equipped with 3D printing device to mobile Z coordinate driving mechanism, the minor details of print machinery arm 21, and 3D printing device includes 3D Printing head 24 and gyroscope；Printed material input unit 22 is pumped into mechanism including printed material, and printed material is pumped into mechanism Input terminal is connect with printed material supply subelement, and printed material supplies subelement and supplies printed material, and printed material is pumped into machine The output end of structure is connect with 3D printing nozzle 24 by printed material output pipe；Printing electric control gear 23 is fixedly mounted on entirely In shape walking chassis, printing electric control gear 23 includes industrial control computer, 3D printing robot travelling control circuit, 3D printing Robot position feedback corrective loop, 3D printing nozzle position control loop, printed material are pumped into mechanism controls circuit, industry control Computer processed is electrically connected with the automatically controlled driving mechanism of full landform walking chassis and course changing control mechanism respectively, industrial control computer It is pumped into mechanism with the driving of print machinery arm, printed material respectively and is electrically connected.

The concentration electronic control unit 3 includes central control computer, detection control loop, data modeling circuit, detection Robot position feedback corrective loop, landform treatment loop, 3D printing control loop, central control computer respectively with detecting head The gyroscope electrical connection of 13 range sensor, scanner, gyroscope, 3D printing robot cell 2, central control computer point It is not electrically connected with the industrial control computer of the industrial control computer of controlled vehicle-mounted electrical device 12 and printing electric control gear 23.

This underground space builds system before use, for the underground cavity that natural geological movement generates, and passes through geology thunder Up to after the Position Approximate in Underground cavity, in the premise that the supporting intensity for ensureing the pristine formation near driving breakthrough point is larger The lower suitable driving breakthrough point of selection, the tunnel penetrated through with underground cavity is tunneled out and to this by development machine through tunneling breakthrough point Tunnel carries out effective support.And for the artificial ground activity shape such as coal mine gob underground cavity or coal seam burned out area underground cavity At underground cavity, due to artificial ground activity formed underground cavity all have the tunnel penetrated through with underground cavity, can To omit the step.

By taking coal mine gob as an example, as shown in Fig. 2, by terrain detection and handling machine people unit 1 and 3D printing robot Unit 2 is placed in the tunnel being connected to coal mine gob, then concentrates the control detection of electronic control unit 3 control loop, detection machine People's position feedback corrective loop, data modeling loop starts, central control computer sends out instruction first makes controlled vehicle-mounted electrical The detecting head detection angle control loop of device 12 is started to work, the industrial control computer control detection of controlled vehicle-mounted electrical device 12 First 13 detecting head angle&orientation control drive actions make the scanner of detecting head 13 in the basic point plane of scanning motion within the scope of 360 ° Rotation is carried out using initial position as the basic point flat scanning of reference coordinates origin, and the scanner of detecting head 13 simultaneously puts down the basic point Surface scan data are sent to the gyroscope of central control computer while detecting head 13 by the scanner of reference coordinates origin position Coordinate position data is sent to central control computer, and central control computer is former by basic point flat scanning data and reference coordinates The scanner coordinate position data of point position is stored；

Then central control computer, which sends out instruction, makes the sniffing robot travelling control circuit of controlled vehicle-mounted electrical device 12 open Beginning work, the industrial control computer control terrain detection of controlled vehicle-mounted electrical device 12 and the full landform row of handling machine people unit 1 Walking the automatically controlled driving mechanism on chassis and course changing control mechanism action keeps terrain detection and handling machine people unit 1 whole with initial bit Reference coordinates origin is set to coal mine gob intrinsic coordinates movement stepping one setting step pitch and stops, then detecting head 13 The scanner coordinate position data of the stepping position is sent to central control computer by gyroscope first, then center control meter It will be with reference coordinates original by the scanner coordinate position data of the gyroscope of the stepping position feedback while calculation machine is stored The scanner coordinate position data of point position is compared, calculates the scanner coordinate position and reference coordinates original of the stepping position Grid deviation between the scanner coordinate position of point position and storage, then central control computer is according to grid deviation hair Go out to instruct the detecting head detection angle control loop for making controlled vehicle-mounted electrical device 12 task again, the industry control of controlled vehicle-mounted electrical device 12 The detecting head angle&orientation control drive actions of computer control detecting head 13 processed make the detecting head 13 of the stepping position rotate simultaneously It positions to the plane of scanning motion of the scanner of the stepping position and is parallel to the position of the basic point plane of scanning motion, then controlled vehicle-mounted electrical device 12 Industrial control computer control detecting head 13 detecting head angle&orientation control drive actions so that scanner is swept revised It retouches and is rotated into row first step anomaly Surface scan in plane within the scope of 360 °, the scanner of detecting head 13 is by first step anomaly Surface scan Data are sent to central control computer, and central control computer is according to the grid deviation of storage by first step anomaly Surface scan number According to being stored after the fitting and three-dimensional modeling for carrying out same benchmark with basic point flat scanning data；

Then central control computer, which sends out instruction, makes the industrial control computer of controlled vehicle-mounted electrical device 12 control landform spy It surveys and the coordinate points of the whole above stepping position of handling machine people unit 1 is reference coordinates point again to inside coal mine gob One setting step pitch of coordinate movement stepping simultaneously stops, and so on, terrain detection and handling machine people unit 1 often walk further, The scanner coordinate position data of the stepping position is sent to central control computer by the gyroscope of detecting head 13 first, then While central control computer is stored by the gyroscope of the stepping position feedback scanner coordinate position data with it is upper The scanner coordinate position data of the gyroscope feedback of one stepping position is compared, calculates the scanner coordinate of the stepping position Position and previous step into the grid deviation between the scanner coordinate position of position and storage, then central control computer according to The grid deviation, which sends out instruction, makes the detecting head 13 of the stepping position rotate and position to the scanning of the scanner of the stepping position Plane is parallel to previous step into the position of the plane of scanning motion of the scanner of position, then the Industry Control meter of controlled vehicle-mounted electrical device 12 The detecting head angle&orientation control drive actions of calculation machine control detecting head 13 make scanner 360 ° in the revised plane of scanning motion Row step pitch flat scanning is rotated into range, step pitch flat scanning data are sent to center control meter by the scanner of detecting head 13 Calculation machine, central control computer according to the grid deviation of storage by the step pitch flat scanning data of the stepping position and previous step into The step pitch flat scanning data of position are stored after carrying out the fitting of same benchmark and three-dimensional modeling, until according to detecting head 13 The feedback of range sensor complete the scanning of entire coal mine gob, central control computer send out instruction make terrain detection and 1 coordinate of handling machine people unit retracts to initial position and stores final goaf three-dimensional space model.

Data modeling loop starts, central control computer is according to the goaf geographic position data and country rock of input The goafs such as data peripheral environment geologic data carries out the outside of goaf three-dimensional space model to apply Stress calculation analysis, and To the stability of goaf three-dimensional space model, stress, displacement, crack, permeability, sound characteristics, light characteristic, electrical characteristics, Ci Te The evolutionary process of the parameters such as property and architectural characteristic carries out calculating analysis, and then central control computer is with goaf three dimensions mould It is fitted structure based on type, not expose interior surface of the original inner surface in goaf as principle in goaf three-dimensional space model Initial surface supporting layer model, then central control computer according to the maximized principle of goaf space utilization in initial surface Fitting being extended to outside on the basis of supporting layer model and generating second surface supporting layer model, then central control computer is with the Based on two surface supporting layer models by the original inner surface in part goaf exposed on second surface supporting layer model into Row simulation removal, then central control computer is mined out to having removed part according to the goaf peripheral environment geologic data of input The outside of the goaf three-dimensional space model of the original inner surface in area carries out application stress field and recalculates analysis, and so on, directly To fitting generate setting safety coefficient within the scope of final surface supporting layer model and store, then central control computer with What fitting generation need to remove based on final surface supporting layer model has exposed the original inner surface model in goaf and has stored；Then Central control computer is on the basis of final surface supporting layer model further according to the safety system of Stress calculation analysis result and input Position not high in the stress concentration point position of corresponding goaf three-dimensional space model interior surface and stability successively is counted to be fitted Cylindricality model for anchor is built, column is then connected to according to the space layout in goaf fitting structure on the basis of cylindricality model for anchor Wall model between shape model for anchor and model of slabs, final fitting generate the underground space threedimensional model of stratiform compartment structure And store underground space threedimensional model co-ordinate position information；Then central control computer is first with terrain detection and handling machine people The initial position of unit 1 be reference coordinates origin plan and store need to remove exposed underground cavity original inner surface model Path and removal reference coordinate are removed, then plans and deposits using the initial position of 3D printing robot cell 2 as reference coordinates origin The printing path and printing reference coordinate of final surface supporting layer model are stored up, then with the initial position of 3D printing robot cell 2 For reference coordinates origin, according to the sequential program(me) from large to small of stress concentration in underground space threedimensional model and store cylindricality supporting The printing path and printing reference coordinate of model, finally using the initial position of 3D printing robot cell 2 as reference coordinates origin Plan and store the printing path and printing reference coordinate of wall model and model of slabs.

Landform handles loop starts, as shown in figure 3, central control computer, which sends out instruction, makes controlled vehicle-mounted electrical device 12 Industrial control computer control terrain detection and handling machine people unit 1 exposed the original interior table in goaf according to what need to be removed The removal path coordinate of surface model is moved to removal reference coordinate location, then the industrial control computer of controlled vehicle-mounted electrical device 12 The driving of control rotary drilling machinery arm and rotary digging drive actions make rotary digging cutterhead expose the original interior table in goaf according to what need to be removed The removal path coordinate movement of surface model carries out the inner surface that rotary digging removes part goaf to the inner surface in goaf successively, until The rotary digging processing of goaf inner surface is completed when removing path termination, terrain detection and handling machine people unit 1 retract to initial Position.

3D printing control loop is started to work, and central control computer, which sends out instruction, makes the 3D printing of printing electric control gear 23 Robot ambulation control loop is started to work, and prints the industrial control computer of electric control gear 23 successively according to surface branch sheath mould Printing path and printing reference coordinate, the printing path of cylindricality model for anchor and printing reference coordinate, wall model and building of type The automatically controlled driving of the printing path of Slab and the full landform walking chassis of printing reference coordinate control 3D printing robot cell 2 Mechanism and course changing control mechanism action make 2 coordinate of 3D printing robot cell be moved to the corresponding underground space inside coal mine gob The setting position of threedimensional model coordinate position, then 3D printing nozzle position control loop start-up operation, prints electric control gear 23 Industrial control computer control the print machinery arm drive actions of print machinery arm 21 according to printing path and make 3D printing nozzle 24 coordinates are moved to printing reference coordinate location, and printed material is pumped into mechanism controls loop starts, prints electric control gear 23 The printed material of industrial control computer control printed material input unit 22 be pumped into the printed material that mechanism action makes to pump out It is exported through 3D printing nozzle 24, then prints the printer of the industrial control computer control print machinery arm 21 of electric control gear 23 Tool arm drive actions make 3D printing nozzle 24 be moved according to printing path coordinate to carry out 3D printing, stress concentration from large to small suitable Sequence may be implemented the position that 3D printing stress concentration is larger first and carry out supporting first, to be further ensured that the peace of follow-up 3D printing Quan Xing, as shown in figure 4, to the physical print for completing the underground space threedimensional model when printing path terminal, 3D printing robot list Member 2 retracts to initial position.

There is supporting coal pillar in coal mine gob, can successively be applied after removing coal column according to stress concentration size Add and calculated according to the redistribution of stress field on the basis of the goaf threedimensional model of stress field, is ensured under the premise of consolidating supporting Stress concentration point position elder generation 3D printing cylindricality model for anchor after recalculating removes have supporting coal pillar again.

The entity that this underground space builds the underground space threedimensional model of system structure is the basis for having specific aim supporting Entity is built, and supporting intensity can be fully met, and after the physical print for completing underground space threedimensional model, construction personnel can enter Such as water route construction of cable run, wall decoration construction subsequent construction is carried out inside the underground space.

In order to increase the flexibility ratio of rotary drilling machinery arm, realize comprehensive rotary digging operation, as further changing for the present invention Into scheme, rotary drilling machinery arm driving further includes rotating to drive for the A coordinates of central axes moving in rotation along left and right horizontal direction Motivation structure is the B coordinates rotary drive mechanism of central axes moving in rotation along anterior-posterior horizontal direction and is vertically central axes The C coordinate rotary drive mechanisms of moving in rotation.The industrial control computer of controlled vehicle-mounted electrical device 12 can be according to need to remove The exposure original inner surface model in goaf flexibly controls rotary digging cutterhead close to the original inner surface in goaf that need to be removed, with rotary digging The rotation axis of cutterhead is former to the goaf that need to be removed perpendicular or parallel to the direction for the original inner surface in goaf that need to be removed Beginning inner surface carries out milling.

For the further accurate effect for ensureing rotary digging removal, scheme as a further improvement on the present invention, rotary drilling machinery The position that rotary digging cutterhead is corresponded in the minor details of arm is additionally provided with pattern-recognition sensor, and it further includes that rotary digging is repaiied to concentrate electronic control unit 3 Positive circuit, central control computer are electrically connected with the pattern-recognition sensor in rotary drilling machinery arm minor details.During landform processing, The goaf that pattern-recognition sensor in rotary drilling machinery arm minor details need to be removed to central control computer feedback in real time is original interior The feature dimension data on surface, the work of rotary digging corrective loop, central control computer is by the original interior table in the goaf that need to be removed The feature dimension data in face are compared with the original inner surface model data in goaf that exposed that the need of storage remove, if this is needed The feature dimension data of the original inner surface in goaf of removal have exposed the original inner surface pattern number in goaf less than what need to be removed According to, then central control computer send out instruction control rotary drilling machinery arm make rotary digging cutterhead continue to close to this need to remove it is mined out The direction stepping of the original inner surface in area is close, until the original inner surface in the goaf that need to be removed feature dimension data be more than or Equal to the model data for having exposed the original inner surface model in goaf that need to be removed, then stop rotary digging.

The plane of scanning motion that this underground space builds the scanner of system detecting head 13 can be according to specific operating mode using horizontal The plane of scanning motion uses vertical sweep plane, and scan mode may be used radar scanning based on Radar Technology, be based on laser The laser scanning of technology, the ultrasonic scanning based on ultrasonic wave positioning, is based on magnetic signal at the infrared scanning based on infrared imaging Magnetic scanning etc..

In order to obtain the lithology data of country rock around underground cavity while being scanned to underground cavity, in turn Convenient for subsequent Stress calculation, scheme, the scan mode of the scanner of detecting head 13 use as a further improvement on the present invention Based on the non-contact potential measurement mode wirelessly to conduct electricity.

For the waste for making full use of the artificial ground activity of such as gangue, building waste to generate, as the present invention's It is further improved scheme, the printed material includes by the building stones waste powder such as gangue, building waste.

For the underground cavity that natural geological movement generates, a kind of implementation of subelement is supplied as printed material of the present invention Mode, printed material supply subelement setting on ground, and printed material supply subelement includes raw material device for formulating and extends to Underground and the input terminal that mechanism is pumped into printed material are connected to the conveyance conduit of connection.

For the underground cavity that artificial ground activity is formed, the another kind that subelement is supplied as printed material of the present invention is real Mode is applied, printed material supplies subelement and is arranged in underground passage, and printed material supplies subelement and concentrates electronic control unit 3 Central control computer is electrically connected, and printed material supply subelement includes raw material device for formulating, and raw material device for formulating includes broken Machine.Concentrate electronic control unit 3 central control computer control printed material supply subelement make crusher directly by gangue into Row scene is broken, and the extra power of well on spoil is avoided to consume.

After removing the extra original inner surface in goaf the disintegrating slag fallen is cleared up automatically, in order to rear in order to realize Continuous 3D printing, as a further improvement on the present invention scheme, terrain detection and handling machine people unit 1 further include that disintegrating slag is temporary Device, disintegrating slag apparatus for temporary storage include the raking loader structure being arranged below rotary drilling machinery arm, the reprinting at raking loader structure rear portion are arranged Temporary storage mechanism, raking loader structure and reprinting temporary storage mechanism are electrically connected with the industrial control computer of controlled vehicle-mounted electrical device 12 respectively, vehicle It further includes that disintegrating slag collects treatment loop to carry electric control gear 12.The extra original inner surface in goaf is removed in the action of rotary drilling machinery arm Disintegrating slag collects treatment loop and starts simultaneously at work in the process, and the disintegrating slag that raking loader structure will fall off carries out rake dress and reprints temporary to reprinting It deposits mechanism to keep in, terrain detection and handling machine people unit 1 retract to initial bit after the rotary digging processing of completion goaf inner surface It sets and discharges the disintegrating slag reprinted in temporary storage mechanism, or the disintegrating slag reprinted in temporary storage mechanism is sent directly into printed material It supplies and realizes reuse in the crusher of subelement.

Goaf three dimensions mould is generated in order to realize the uniformity between each plane of scanning motion and then more accurately be fitted Type, scheme, the detection mechanical arm 11 include detection mechanical arm driving as a further improvement on the present invention, detect mechanical arm Driving includes at least the X-coordinate driving mechanism or control detection mechanical arm of control detection mechanical arm 11 left and right horizontal direction movement The Y coordinate driving mechanism of 11 anterior-posterior horizontal directions movement or the Z coordinate driving machine of control detection 11 vertical direction of mechanical arm movement Structure；Controlled vehicle-mounted electrical device 12 further includes detection mechanical arm control loop, the industrial control computer of controlled vehicle-mounted electrical device 12 and spy Survey the detection mechanical arm driving electrical connection of mechanical arm 11；The concentration electronic control unit 3 further includes sweep span control loop.Ground Shape detects and handling machine people unit 1 often walks further, and central control computer sends out instruction according to the grid deviation makes the step Detecting head 13 into position, which is rotated and positioned to the plane of scanning motion of the scanner of the stepping position, is parallel to previous step into position Behind the position of the plane of scanning motion of scanner, central control computer sends out instruction according to the grid deviation simultaneously makes controlled vehicle-mounted electrical fill 12 detection mechanical arm control loop work is set, the control detection mechanical arm drive actions of controlled vehicle-mounted electrical device 12 make the stepping position Scanner the plane of scanning motion and previous step adjusted to setpoint distance, so into the spacing between the plane of scanning motion of the scanner of position The detecting head angle&orientation control drive actions of the industrial control computer control detecting head 13 of vehicle-mounted electric control gear 12 make to sweep afterwards It retouches instrument and is rotated into row step pitch flat scanning within the scope of 360 ° in the revised plane of scanning motion.

In order to increase the flexibility ratio of printing head 24, realize comprehensive 3D printing, as a further improvement on the present invention Scheme, print machinery arm driving further include along left and right horizontal direction be central axes moving in rotation A coordinates rotary drive mechanism or It is the B coordinate rotary drive mechanisms of central axes moving in rotation along anterior-posterior horizontal direction, or further includes being along left and right horizontal direction The A coordinates rotary drive mechanism of central axes moving in rotation and along anterior-posterior horizontal direction be central axes moving in rotation B coordinates rotate Driving mechanism.

For the further accurate effect for ensureing 3D printing, scheme as a further improvement on the present invention, printing head 24 On be additionally provided with pattern-recognition sensor, it further includes 3D printing entity corrective loop to concentrate electronic control unit 3, central control computer with Pattern-recognition sensor is electrically connected.During 3D printing, pattern-recognition sensor is beaten to central control computer feedback 3D in real time The feature dimension data of entity are printed, the work of 3D printing entity corrective loop, central control computer is by the shape of the 3D printing entity Body dimension data is compared with the model data of corresponding part on the underground space threedimensional model of storage, if 3D printing entity Feature dimension data are less than the model data of corresponding part on underground space threedimensional model, then central control computer sends out instruction It controls 3D printing nozzle 24 and interrupts printing path and according to the model data of corresponding part on underground space threedimensional model according to this Partial printing path repeats the 3D printing of this part printing path, until the feature dimension data of 3D printing entity are more than Or the model data equal to corresponding part on underground space threedimensional model, then central control computer is sent out again instructs control 3D Printing head 24 continues to carry out 3D printing by the printing path of planning.

This underground space builds system due to including terrain detection and handling machine people unit 1,3D printing robot cell 2 With concentration electronic control unit 3, underground cavity is built after terrain detection and handling machine people unit 1 are completed to the scanning of underground cavity Three-dimensional space model is concentrated the central control computer of electronic control unit 3 according to the underground cavity geographic position data of input and is enclosed The underground cavities peripheral environment geologic data such as rock data carries out the outside of underground cavity three-dimensional space model to apply stress field meter Point counting is analysed, and is led to successively as principle based on underground cavity three-dimensional space model, not expose the original inner surface of underground cavity Calculating structure surface supporting layer model is crossed, until fitting generates the final surface supporting layer model within the scope of the safety coefficient of setting And store, then central control computer be fitted based on final surface supporting layer model generate need to remove exposed under The original inner surface model in cavity simultaneously stores, then further according to Stress calculation analysis result on the basis of final surface supporting layer model With the safety coefficient of input structure is fitted in the stress concentration point position of corresponding underground cavity three-dimensional space model interior surface successively Cylindricality model for anchor is built, column is then connected to according to the space layout of underground cavity fitting structure on the basis of cylindricality model for anchor Wall model between shape model for anchor and model of slabs, final fitting generate the underground space three-dimensional mould of stratiform compartment structure Then type is first planned with reference coordinates origin and stores the removal road for having exposed the original inner surface model of underground cavity that need to be removed Diameter and removal reference coordinate, then successively with the planning of reference coordinates origin and storage surface supporting layer model, cylindricality model for anchor, wall The printing path of Slab and model of slabs and printing reference coordinate, terrain detection and handling machine people unit 1 are according to removal road 3D printing robot cell 2 can according to printing path and printing reference coordinate after the rotary digging processing of diameter completion underground cavity inner surface The entity of direct 3D printing underground space threedimensional model inside underground cavity, according to underground cavity Stress calculation analysis result and The underground space threedimensional model entity for inputting safety coefficient and the direct printing shapings of 3D is the basic entity for having specific aim supporting Building, can fully meet supporting intensity, and after the physical print for completing underground space threedimensional model, construction personnel can enter underground Space interior carries out such as water route construction of cable run, wall decoration construction subsequent construction；The direct molding mode of 3D printing can save It saves a large amount of manpower and materials, need the larger conveying equipment of space hold, support apparatus and lifting equipment, reduce deeper subsurface The cost of space development, and there is higher construction efficiency；Simultaneously because construction operation, which does not need personnel, enters underground cavity, and First print surface supporting layer model during physical print prints cylindricality model for anchor, while the printing of cylindricality model for anchor again It is sequence from large to small according to stress concentration, therefore realizes the molding of specific aim sequential entity, working security is higher, especially suitable Operation is built for the Deep underground space based on underground cavity.

Claims

1. a kind of underground space construction method, used underground space structure system includes that terrain detection and handling machine people are single First (1), 3D printing robot cell (2) and concentration electronic control unit (3)；

The terrain detection and handling machine people unit (1) includes full landform walking chassis, detection mechanical arm (11), Spiral digging machine Tool arm and controlled vehicle-mounted electrical device (12)；Full landform walking chassis is arranged in terrain detection and the bottom of handling machine people unit (1), Full landform walking chassis includes automatically controlled driving mechanism and course changing control mechanism；The bottom end for detecting mechanical arm (11) is mounted on full landform In walking chassis, the top of detection mechanical arm (11) is equipped with detection device, and detection device includes detecting head (13), detecting head (13) Including range sensor, scanner, gyroscope, detecting head angle&orientation control driving, detecting head angle&orientation control drive to To include along left and right horizontal direction less be the A coordinates rotary drive mechanism of central axes moving in rotation and is axis along anterior-posterior horizontal direction The B coordinate rotary drive mechanisms of line moving in rotation；The bottom end of rotary drilling machinery arm is mounted in full landform walking chassis, rotary drilling machinery Arm includes the driving of rotary drilling machinery arm, and the driving of rotary drilling machinery arm includes at least the X of control rotary drilling machinery arm left and right horizontal direction movement Coordinate driving mechanism, the Y coordinate driving mechanism of control rotary drilling machinery arm anterior-posterior horizontal direction movement, control rotary drilling machinery arm are vertical The minor details of the Z coordinate driving mechanism of direction movement, rotary drilling machinery arm are equipped with the rotary digging cutterhead with rotary digging driving；Vehicle mounted electric Control device (12) is fixedly mounted in full landform walking chassis, and controlled vehicle-mounted electrical device (12) includes industrial control computer, detection Robot ambulation control loop, detecting head detection angle control loop, rotary digging control loop, industrial control computer respectively with entirely The automatically controlled driving mechanism and course changing control mechanism of landform walking chassis are electrically connected, the spy of industrial control computer and detecting head (13) Gauge head angle&orientation control driving electrical connection, industrial control computer respectively with rotary drilling machinery arm driving, rotary digging cutterhead rotation Dig driving electrical connection；

The 3D printing robot cell (2) includes full landform walking chassis, print machinery arm (21), printed material input dress Set (22) and printing electric control gear (23)；Full landform walking chassis is arranged in the bottom of 3D printing robot cell (2), full landform Walking chassis includes automatically controlled driving mechanism and course changing control mechanism；Print machinery arm (21) is mounted in full landform walking chassis, Print machinery arm (21) includes the driving of print machinery arm, and the driving of print machinery arm includes at least control print machinery arm left and right horizontal The X-coordinate driving mechanism of direction movement, the Y coordinate driving mechanism of control print machinery arm anterior-posterior horizontal direction movement, control are beaten The Z coordinate driving mechanism of mechanical arm vertical direction movement is printed, the minor details of print machinery arm (21) are equipped with 3D printing device, and 3D is beaten Printing equipment is set including 3D printing nozzle (24)；Printed material input unit (22) includes that printed material is pumped into mechanism, printed material pump The input terminal for entering mechanism is connect with printed material supply subelement, and printed material supplies subelement and supplies printed material, prints material The output end that material is pumped into mechanism is connect with 3D printing nozzle (24) by printed material output pipe；It is solid to print electric control gear (23) In full landform walking chassis, printing electric control gear (23) includes industrial control computer, 3D printing robot ambulation for Dingan County Control loop, 3D printing nozzle position control loop, printed material are pumped into mechanism controls circuit, industrial control computer respectively with The automatically controlled driving mechanism of full landform walking chassis and the electrical connection of course changing control mechanism, industrial control computer respectively with print machinery Arm driving, printed material are pumped into mechanism electrical connection；

The concentration electronic control unit (3) includes central control computer, detection control loop, data modeling circuit, explorer Device people's position feedback corrective loop, landform treatment loop, 3D printing control loop, central control computer respectively with detecting head (13) range sensor, scanner, gyroscope electrical connection, the central control computer work with controlled vehicle-mounted electrical device (12) respectively The electrical connection of the industrial control computer of industry control computer and printing electric control gear (23)；

It is characterized in that, underground space construction method specifically includes following steps：

A. underground space structure prepares：After Position Approximate by geologic radar detection underground cavity, ensureing to tunnel breakthrough point Suitable driving breakthrough point is selected under the premise of the supporting intensity of neighbouring pristine formation is larger, is penetrated through through driving by development machine Point tunnels out the tunnel penetrated through with underground cavity and carries out effective support to the tunnel, then by terrain detection and handling machine people Unit (1) and 3D printing robot cell (2) are placed in the tunnel being connected to underground cavity；

B. underground cavity inner cavity is scanned：Electronic control unit (3) is concentrated to control detection control loop, sniffing robot position feedback amendment Circuit, data modeling loop starts, central control computer, which sends out instruction, makes the Industry Control of controlled vehicle-mounted electrical device (12) Computer controls terrain detection and handling machine people unit (1) and is carried out to stepping inside underground cavity and to the inner cavity of underground cavity Coordinate retracts to initial position after scanning, and flat scanning data are carried out fitting and the three-dimensional of same benchmark by central control computer Underground cavity three-dimensional space model is generated after modeling, is then stored；

C. underground space three-dimensional modeling：Central control computer is according to the underground cavity peripheral environment geologic data of input to underground The outside of empty three-dimensional space model carries out applying stress field calculation analysis, and to the stabilization of underground cavity three-dimensional space model The evolution of the parameters such as property, stress, displacement, crack, permeability, sound characteristics, light characteristic, electrical characteristics, magnetic characteristic and architectural characteristic Cheng Jinhang calculates analysis, and then central control computer exposed to descends empty based on underground cavity three-dimensional space model, with not The original inner surface in hole is interior surface fitting structure initial surface supporting layer model of the principle in underground cavity three-dimensional space model, Then void space utilizes maximized principle on the basis of initial surface supporting layer model under central control computer base area On to outside extend fitting generate second surface supporting layer model, then central control computer is with second surface supporting layer model Based on the original inner surface of part underground cavity exposed on second surface supporting layer model is subjected to simulation removal, then Central control computer is according to the underground cavity peripheral environment geologic data of input to having removed the original interior table of part underground cavity The outside of the underground cavity three-dimensional space model in face carries out application stress field and recalculates analysis, and so on, until fitting life It at the final surface supporting layer model within the scope of the safety coefficient of setting and stores, then central control computer is with final surface What fitting generation need to remove based on supporting layer model has exposed the original inner surface model of underground cavity and has stored；Then center control Computer processed on the basis of final surface supporting layer model further according to Stress calculation analysis result and the safety coefficient of input successively In the stress concentration point position of corresponding underground cavity three-dimensional space model interior surface and stability, not high position is fitted structure Then cylindricality model for anchor is connected to cylindricality on the basis of cylindricality model for anchor according to the space layout of underground cavity fitting structure Wall model between model for anchor and model of slabs, final fitting generate the underground space threedimensional model of stratiform compartment structure simultaneously Store underground space threedimensional model co-ordinate position information；Then central control computer is first planned and is stored with reference coordinates origin The removal path for having exposed the original inner surface model of underground cavity that need to be removed and removal reference coordinate, then with reference coordinates origin The printing path and printing reference coordinate of final surface supporting layer model are planned and stored, then plans and deposits with reference coordinates origin Store up cylindricality model for anchor printing path and printing reference coordinate, finally plan with reference coordinates origin and store wall model with The printing path and printing reference coordinate of model of slabs；

D. the original inner surface of extra underground cavity is removed：Landform handles loop starts, and central control computer sends out finger Order makes the industrial control computer of controlled vehicle-mounted electrical device (12) control terrain detection and handling machine people unit (1) according to needing to remove The removal path coordinate for having exposed the original inner surface model of underground cavity be moved to removal reference coordinate location, then vehicle mounted electric The industrial control computer control rotary drilling machinery arm driving of control device (12) and rotary digging drive actions make rotary digging cutterhead according to need Removal exposed the original inner surface model of underground cavity removal path coordinate move successively to the inner surface of underground cavity into Row rotary digging removes the inner surface of part underground cavity, until the rotary digging processing of underground cavity inner surface is completed when removal path termination, Terrain detection and handling machine people unit (1) retract to initial position；

E.3D underground space 3D solid is printed：3D printing control loop is started to work, and central control computer, which sends out instruction, to be made Print the 3D printing robot travelling control loop starts of electric control gear (23), the Industry Control of printing electric control gear (23) Computer successively according to the printing path of surface supporting layer model and printing reference coordinate, cylindricality model for anchor printing path and The printing path and printing reference coordinate for printing reference coordinate, wall model and model of slabs control 3D printing robot cell (2) the automatically controlled driving mechanism and course changing control mechanism action of full landform walking chassis make 3D printing robot cell (2) coordinate It is moved to the setting position of corresponding underground space threedimensional model coordinate position inside underground cavity, then 3D printing nozzle position control The industrial control computer of loop starts processed, printing electric control gear (23) controls print machinery arm (21) according to printing path Print machinery arm drive actions so that 3D printing nozzle (24) coordinate is moved to printing reference coordinate location, printed material is pumped into machine Structure control loop is started to work, the industrial control computer control printed material input unit (22) of printing electric control gear (23) Printed material, which is pumped into mechanism action, makes the printed material pumped out be exported through 3D printing nozzle (24), then prints electric control gear (23) The print machinery arm drive actions of industrial control computer control print machinery arm (21) make 3D printing nozzle (24) according to beating The 3D printing that path coordinate movement carries out surface supporting layer model, cylindricality model for anchor, wall model and model of slabs successively is printed, To the physical print for completing the underground space threedimensional model when printing path terminal, 3D printing robot cell (2) retracts to initial Position.

2. underground space construction method according to claim 1, which is characterized in that step b terrain detections and handling machine People's unit (1) is to during stepping inside underground cavity and being scanned the inner cavity of underground cavity, central control computer Sending out instruction first makes the detecting head detection angle control loop of controlled vehicle-mounted electrical device (12) start to work, controlled vehicle-mounted electrical device (12) the detecting head angle&orientation control drive actions of industrial control computer control detecting head (13) make detecting head (13) Scanner is rotated into row in the basic point plane of scanning motion and is swept by the basic point plane of reference coordinates origin of initial position within the scope of 360 ° It retouches, which is sent to central control computer while detecting head by the scanner of detecting head (13) simultaneously (13) the scanner coordinate position data of reference coordinates origin position is sent to central control computer, center control by gyroscope Computer processed stores the scanner coordinate position data of basic point flat scanning data and reference coordinates origin position；

Then central control computer, which sends out instruction, makes the sniffing robot travelling control circuit of controlled vehicle-mounted electrical device (12) start Work, the industrial control computer control terrain detection of controlled vehicle-mounted electrical device (12) and the full landform of handling machine people unit (1) The automatically controlled driving mechanism and course changing control mechanism action of walking chassis keep terrain detection and handling machine people unit (1) whole with first Beginning position is that reference coordinates origin moves one setting step pitch of stepping to underground cavity intrinsic coordinates and stops, then detecting head (13) the scanner coordinate position data of the stepping position is sent to central control computer by gyroscope first, then central The scanner coordinate position data for feeding back the gyroscope of the stepping position while control computer is stored will be with reference The scanner coordinate position data of coordinate origin position is compared, calculates scanner coordinate position and the reference of the stepping position Grid deviation between the scanner coordinate position of coordinate origin position and storage, then central control computer is according to the coordinate Deviation, which sends out instruction, makes the detecting head detection angle control loop of controlled vehicle-mounted electrical device (12) task again, controlled vehicle-mounted electrical device (12) the detecting head angle&orientation control drive actions of industrial control computer control detecting head (13) make the stepping position Detecting head (13) rotates and positions to the plane of scanning motion of the scanner of the stepping position position for being parallel to the basic point plane of scanning motion, so The detecting head angle&orientation control drive actions of the industrial control computer control detecting head (13) of vehicle-mounted electric control gear (12) afterwards Scanner is set to be rotated into row first step anomaly Surface scan within the scope of 360 ° in the revised plane of scanning motion, detecting head (13) are swept It retouches instrument and first step anomaly Surface scan data is sent to central control computer, central control computer is inclined according to the coordinate of storage Difference by first step anomaly Surface scan data and basic point flat scanning data carry out same benchmark fitting and three-dimensional modeling after carry out Storage；

Then central control computer, which sends out instruction, makes the industrial control computer of controlled vehicle-mounted electrical device (12) control terrain detection And the coordinate points of the whole above stepping position of handling machine people unit (1) are reference coordinates point again to sitting inside underground cavity One setting step pitch of the mobile stepping of mark simultaneously stops, and so on, terrain detection and handling machine people unit (1) often walk further, The scanner coordinate position data of the stepping position is sent to central control computer by the gyroscope of detecting head (13) first, so While central control computer is stored afterwards by the gyroscope of the stepping position feedback scanner coordinate position data with The scanner that the scanner coordinate position data that the gyroscope of previous step into position is fed back was compared, calculated the stepping position is sat Cursor position and previous step are into the grid deviation between the scanner coordinate position of position and storage, then central control computer root It is sent out according to the grid deviation and instructs the detecting head (13) for making the stepping position to rotate and position to the scanner of the stepping position The plane of scanning motion is parallel to previous step into the position of the plane of scanning motion of the scanner of position, the then industry of controlled vehicle-mounted electrical device (12) The detecting head angle&orientation control drive actions of control computer control detecting head (13) keep scanner flat in revised scanning Row step pitch flat scanning is rotated into face within the scope of 360 °, step pitch flat scanning data are sent to by the scanner of detecting head (13) Central control computer, central control computer is according to the grid deviation of storage by the step pitch flat scanning data of the stepping position With the step pitch flat scanning data of previous step into position carry out same benchmark fitting and three-dimensional modeling after stored, until root The scanning of entire underground cavity inner cavity is completed according to the feedback of the range sensor of detecting head (13), central control computer will be final Underground cavity three-dimensional space model stored.

3. underground space construction method according to claim 2, which is characterized in that the underground space builds the explorer of system Tool arm (11) includes detection mechanical arm driving, and detection mechanical arm driving includes at least control detection mechanical arm (11) left and right horizontal side The Y coordinate driving mechanism that is moved to mobile X-coordinate driving mechanism or control detection mechanical arm (11) anterior-posterior horizontal direction or The Z coordinate driving mechanism of control detection mechanical arm (11) vertical direction movement；Controlled vehicle-mounted electrical device (12) further includes detection machinery Arm control loop, the industrial control computer of controlled vehicle-mounted electrical device (12) and the detection mechanical arm driving electricity of detection mechanical arm (11) Connection；It further includes sweep span control loop to concentrate electronic control unit (3)；

Step b terrain detections and handling machine people unit (1) often walk further, and central control computer is sent out according to the grid deviation Going out instruction makes detecting head (13) rotation of the stepping position and positions to the plane of scanning motion of the scanner of the stepping position to be parallel to For previous step into behind the position of the plane of scanning motion of the scanner of position, central control computer sends out finger according to the grid deviation simultaneously Order makes the detection mechanical arm control loop of controlled vehicle-mounted electrical device (12) work, and controlled vehicle-mounted electrical device (12) control detection mechanical arm drives Action make the stepping position scanner the plane of scanning motion and previous step between the plane of scanning motion of the scanner of position Away from adjusting to setpoint distance, the then detection brilliance of the industrial control computer control detecting head (13) of controlled vehicle-mounted electrical device (12) Degree location control drive actions make scanner be rotated into row step pitch flat scanning within the scope of 360 ° in the revised plane of scanning motion.

4. underground space construction method according to claim 1, which is characterized in that the underground space builds the Spiral digging machine of system The driving of tool arm further includes along left and right horizontal direction for the A coordinates rotary drive mechanism of central axes moving in rotation or along anterior-posterior horizontal side To for central axes moving in rotation B coordinates rotary drive mechanism and be vertically central axes moving in rotation C coordinates rotation Driving mechanism；The position that rotary digging cutterhead is corresponded in the minor details of rotary drilling machinery arm is additionally provided with pattern-recognition sensor, concentrates automatically controlled Unit (3) further includes rotary digging corrective loop, central control computer and the pattern-recognition sensor electricity in rotary drilling machinery arm minor details Connection；

During step d removes the original inner surface of extra underground cavity, the industrial control computer of controlled vehicle-mounted electrical device 12 can Flexibly to control rotary digging cutterhead close to the goaf that need to be removed according to the original inner surface model in goaf that exposed that need to be removed Original inner surface, with the rotation axis of rotary digging cutterhead perpendicular or parallel to the direction pair for the original inner surface in goaf that need to be removed The original inner surface in goaf that need to be removed carries out milling；Pattern-recognition sensor in rotary drilling machinery arm minor details is controlled to center in real time The feature dimension data for the original inner surface in goaf that computer feedback processed need to remove, the work of rotary digging corrective loop, center control Computer has exposed goaf by what the feature dimension data of the original inner surface in the goaf that need to be removed and the need of storage removed Original inner surface model data is compared, and need to be gone if the feature dimension data of the original inner surface in the goaf that need to be removed are less than That removes has exposed the original inner surface model data in goaf, then central control computer, which sends out instruction control rotary drilling machinery arm, makes rotation Dig cutterhead continue to close to the original inner surface in the goaf that need to be removed direction stepping it is close, until this need to remove it is mined out The feature dimension data of the original inner surface in area are greater than or equal to the model for having exposed the original inner surface model in goaf that need to be removed Data then stop rotary digging.

5. underground space construction method according to claim 1, which is characterized in that the underground space builds the printer of system The driving of tool arm further includes along left and right horizontal direction for the A coordinates rotary drive mechanism of central axes moving in rotation or along anterior-posterior horizontal side To the B coordinate rotary drive mechanisms for central axes moving in rotation, or further include being moved for central axes rotation along left and right horizontal direction Dynamic A coordinates rotary drive mechanism and along anterior-posterior horizontal direction be central axes moving in rotation B coordinate rotary drive mechanisms；Printing Pattern-recognition sensor is additionally provided on nozzle (24), it further includes 3D printing entity corrective loop to concentrate electronic control unit (3), center control Computer processed is electrically connected with pattern-recognition sensor；

During the physical print of step e underground space threedimensional models, the work of 3D printing entity corrective loop, pattern-recognition sensing Device feeds back the feature dimension data of 3D printing entity to central control computer in real time, and central control computer is real by the 3D printing The feature dimension data of body are compared with the model data of corresponding part on the underground space threedimensional model of storage, if 3D printing The feature dimension data of entity are less than the model data of corresponding part on underground space threedimensional model, then central control computer is sent out Go out instruction control 3D printing nozzle (24) and interrupts printing path and according to the pattern number of corresponding part on underground space threedimensional model According to the 3D printing for repeating this part printing path according to the printing path of this part, until the feature dimension of 3D printing entity Data are greater than or equal to the model data of corresponding part on underground space threedimensional model, and then central control computer sends out finger again Control 3D printing nozzle (24) is enabled to continue to carry out 3D printing by the printing path of planning.

6. the underground space construction method according to claim 1 to 5 any claim, which is characterized in that step b landform Detection and handling machine people unit (1) to during stepping inside underground cavity and being scanned to the inner cavity of underground cavity, The scan mode of the scanner of detecting head (13) is used based on the non-contact potential measurement mode wirelessly to conduct electricity.

7. the underground space construction method according to claim 1 to 5 any claim, which is characterized in that concentrate automatically controlled The central control computer of unit (3) respectively with the industrial control computer of controlled vehicle-mounted electrical device (12) and printing electric control gear (23) Industry Control of industrial control computer radio connection, central control computer and controlled vehicle-mounted electrical device (12) calculates Data transmission between machine and the industrial control computer of printing electric control gear (23) is by way of wireless telecommunications.

8. the underground space construction method according to claim 1 to 5 any claim, which is characterized in that step c is carried out Printing path planning and the printing reference coordinate rule of surface supporting layer model, cylindricality model for anchor, wall model and model of slabs During drawing, central control computer carries out column using the initial position of 3D printing robot cell (2) as reference coordinates origin The printing path of shape model for anchor plan and printing reference coordinate planning process according to being answered in underground cavity three-dimensional space model Power concentrates sequence from large to small to carry out printing path planning and printing reference coordinate planning.

9. the underground space construction method according to claim 1 to 5 any claim, which is characterized in that described beats It includes building stones waste powder to print material；Printed material supplies subelement and is arranged in underground passage, and printed material supply is single Member is electrically connected with the central control computer of electronic control unit (3) is concentrated, and it includes raw material device for formulating that printed material, which supplies subelement, Raw material device for formulating includes crusher, and the central control computer control printed material of electronic control unit (3) is concentrated to supply subelement Make crusher that gangue directly be carried out scene broken.

10. underground space construction method according to claim 9, which is characterized in that terrain detection and handling machine people are single First (1) further includes disintegrating slag apparatus for temporary storage, and disintegrating slag apparatus for temporary storage includes that the raking loader structure being arranged below rotary drilling machinery arm, setting exist The reprinting temporary storage mechanism at raking loader structure rear portion, raking loader structure and the reprinting temporary storage mechanism industry with controlled vehicle-mounted electrical device (12) respectively Control computer is electrically connected, and controlled vehicle-mounted electrical device (12) further includes that disintegrating slag collects reuse circuit；

Step d disintegrating slag collections during the extra underground cavity of rotary drilling machinery arm action removal original inner surface are handled Circuit starts simultaneously at work, and the disintegrating slag that raking loader structure will fall off carries out rake dress and reprint to reprinting temporary storage mechanism to keep in, and completes ground Terrain detection and handling machine people unit (1) retract to initial position and temporary by reprinting after the rotary digging processing of lower cavity inner surface Disintegrating slag within the organization is sent directly into the crusher of printed material supply subelement and carries out reuse.