CN108729470B

CN108729470B - Underground space construction method

Info

Publication number: CN108729470B
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: 2020-04-17
Anticipated expiration: 2038-04-28
Also published as: CN108729470A

Abstract

The invention discloses an underground space construction method which comprises the steps of underground space construction preparation, underground cavity inner cavity scanning, underground space three-dimensional modeling, redundant underground cavity original inner surfaces removal, 3D printing of underground space three-dimensional entities and the like. After the terrain detection and processing robot unit finishes scanning the underground cavity, a three-dimensional space model of the underground cavity is built, the central control computer sequentially fits and builds a surface supporting layer model, a cylindrical supporting model, a wallboard model and a floor slab model according to a stress calculation analysis result and an input safety coefficient and generates a printing path and printing reference coordinates, and after the terrain detection and processing robot unit removes the inner surface of a part of a goaf, the 3D printing robot unit directly prints an entity of the three-dimensional model of the underground space in a 3D mode in the underground cavity according to the printing path.

Description

Underground space construction method

Technical Field

The invention relates to an underground space construction method, in particular to an underground space construction method based on underground cavities such as underground coal goafs under coal mines, large-area coal bed combustion goafs formed in the underground coal gasification process and the like generated by artificial geotechnical activities or natural underground cavities such as a series of cavities generated under the ground by natural geological motion and the like, and belongs to the technical field of underground engineering.

Background

The underground space is a term mainly used in the construction field and is a wide range of building spaces such as underground malls, underground parking lots, subways, sea-penetrating tunnels and the like. The development and utilization of the underground space are products of the city development to a certain stage, and the urbanization accelerated development ensures that the development and utilization of the underground space of the city are synchronously accelerated and inevitably developed.

The existing underground space development and utilization in China are mostly developed and utilized aiming at the underground shallow part, the underground shallow part is completely utilized along with the development and utilization of the underground space of the first-line city in China, the underground space development gradually develops to the deep layer in order to comprehensively utilize underground space resources, and the development and utilization of the deep underground space resources become the main subject of the modern construction of the future cities.

A subterranean cavity is a space below the surface of the earth that is covered by rock formations, and is generally a large subterranean cavity located deep below the surface of the earth. Artificial rock and soil activities such as underground mining accounts for 60% of coal mine production in the world in coal mine mining, and large areas of coal goafs are usually left to form underground cavities after underground coal or coal gangue and the like are mined in the underground mining process; in addition, the underground coal gasification technology can not only recover the coal resources abandoned by the mine, but also be used for mining thin coal seams, deep coal seams, coal pressing under the third layer and high-sulfur, high-ash and high-gas coal seams which are difficult to mine by miners or have poor economy and safety, and although ash residues after underground coal gasification and combustion are left underground, large-area coal seam combustion space area underground cavities can be formed in the underground coal gasification process; in addition, natural geological motion can also create a series of subsurface voids in the subsurface.

Although the underground cavity can be used as a development foundation of a deep underground space, the traditional development of the deep underground space is different from the development of a shallow underground space, the deep underground space cannot be constructed in a foundation pit after a foundation pit is excavated on the earth surface like the shallow underground space development, the traditional development of the deep underground space is usually based on a BIM technology and deep excavation equipment and technology, the construction procedures of hoisting and splicing are usually carried out by adopting PC components such as a prefabricated reinforced concrete column foundation, a prefabricated outer wall, a prefabricated floor slab and the like after excavation and supporting are usually carried out, and then the subsequent construction procedures such as pressure grouting, cast-in-place node treatment and the like are carried out. In the traditional deep underground space development and construction process, conveying equipment, supporting equipment and hoisting equipment which occupy larger space are generally needed, a large amount of manpower and material resources are generally needed to be consumed, and the deep underground space development cost is larger; in addition, the original stress state of the deep underground space is usually destroyed after the deep underground space is excavated, so that the stress is redistributed, and under the action of factors such as overburden pressure, underground water and the like in the construction process of the deep underground space, various geological disasters such as rib spalling, roof collapse, water inrush, rock burst and the like easily occur in the deep underground space, so that the construction environment is severe, and the construction operation safety is poor.

Disclosure of Invention

In order to solve the problems, the invention provides the underground space construction method which is high in automation degree, can realize the construction of the deep underground space based on the underground cavity on the premise of effectively supporting the inside of the underground cavity, simultaneously reduces the development cost and the construction potential safety hazard, and is particularly suitable for the construction operation of the deep underground space based on the underground cavity.

In order to achieve the purpose, the underground space construction system comprises a terrain detection and processing robot unit, a 3D printing robot unit and a centralized electric control unit;

the terrain detection and processing robot unit comprises an all-terrain walking chassis I, a detection mechanical arm, a rotary digging mechanical arm and a vehicle-mounted electric control device; the all-terrain traveling chassis I is arranged at the bottom of the terrain detection and processing robot unit and comprises an electric control driving mechanism I and a steering control mechanism I; the bottom end of the detection mechanical arm is installed on the all-terrain walking chassis I, the top end of the detection mechanical arm is provided with a detection device, the detection device comprises a detection head, the detection head comprises a distance sensor, a scanner, a gyroscope and a detection head angle positioning control drive, and the detection head angle positioning control drive at least comprises an A coordinate rotation driving mechanism which rotates and moves along the left and right horizontal directions as a central axis and a B coordinate rotation driving mechanism which rotates and moves along the front and back horizontal directions as a central axis; the bottom end of the rotary excavating mechanical arm is mounted on the all-terrain walking chassis I, the rotary excavating mechanical arm comprises a rotary excavating mechanical arm drive, the rotary excavating mechanical arm drive at least comprises an X coordinate drive mechanism for controlling the rotary excavating mechanical arm to move in the left-right horizontal direction, a Y coordinate drive mechanism for controlling the rotary excavating mechanical arm to move in the front-back horizontal direction and a Z coordinate drive mechanism for controlling the rotary excavating mechanical arm to move in the vertical direction, and a rotary excavating cutting head with rotary excavating drive is arranged on the tail section of the rotary excavating mechanical arm; the vehicle-mounted electric control device is fixedly arranged on the all-terrain walking chassis I and comprises an industrial control computer, a walking control circuit of a detection robot, a detection head detection angle control circuit and a rotary digging control circuit, wherein the industrial control computer is respectively and electrically connected with an electric control driving mechanism I and a steering control mechanism I of the all-terrain walking chassis I;

the 3D printing robot unit comprises an all-terrain walking chassis II, a printing mechanical arm, a printing material input device and a printing electric control device; the all-terrain traveling chassis II is arranged at the bottom of the 3D printing robot unit and comprises an electric control driving mechanism II and a steering control mechanism II; the printing mechanical arm is installed on the all-terrain walking chassis II and comprises a printing mechanical arm drive, the printing mechanical arm drive at least comprises an X coordinate driving mechanism for controlling the printing mechanical arm to move in the left-right horizontal direction, a Y coordinate driving mechanism for controlling the printing mechanical arm to move in the front-back horizontal direction and a Z coordinate driving mechanism for controlling the printing mechanical arm to move in the vertical direction, a 3D printing device is arranged on the tail section of the printing mechanical arm, and the 3D printing device comprises a 3D printing nozzle; the printing material input device comprises a printing material pumping mechanism, the input end of the printing material pumping mechanism is connected with a printing material supply subunit, the printing material supply subunit supplies printing materials, and the output end of the printing material pumping mechanism is connected with the 3D printing nozzle through a printing material output pipeline; the printing electric control device is fixedly arranged on the all-terrain walking chassis II and comprises an industrial control computer, a 3D printing robot walking control loop, a 3D printing spray head position control loop and a printing material pumping mechanism control loop, wherein the industrial control computer is respectively and electrically connected with an electric control driving mechanism II and a steering control mechanism II of the all-terrain walking chassis II, and the industrial control computer is respectively and electrically connected with a printing mechanical arm driving mechanism and a printing material pumping mechanism;

the centralized electric control unit comprises a central control computer, a detection control loop, a data modeling loop, a detection robot position feedback correction loop, a terrain processing loop and a 3D printing control loop, wherein the central control computer is respectively and electrically connected with a distance sensor, a scanner and a gyroscope of the detection head, and is respectively and electrically connected with an industrial control computer of the vehicle-mounted electric control device and an industrial control computer of the printing electric control device;

the underground space construction method specifically comprises the following steps:

a. underground space construction preparation: after detecting the approximate position of the underground cavity through a geological radar, selecting a proper tunneling through point on the premise of ensuring higher support strength of an original rock stratum near the tunneling through point, tunneling a roadway communicated with the underground cavity in and out through the tunneling through point through a tunneling machine and effectively supporting the roadway, and then placing a terrain detection and processing robot unit and a 3D printing robot unit in the roadway communicated with the underground cavity;

b. scanning an inner cavity of an underground cavity: the centralized electric control unit controls the detection control loop, the detection robot position feedback correction loop and the data modeling loop to start working, the central control computer sends an instruction to enable the industrial control computer of the vehicle-mounted electric control device to control the terrain detection and processing robot unit to step towards the interior of the underground cavity, scan the inner cavity of the underground cavity and then return the coordinates to an initial position, and the central control computer performs the same-reference fitting and three-dimensional modeling on the plane scanning data to generate an underground cavity three-dimensional space model and then stores the model;

c. three-dimensional modeling of an underground space: the method comprises the steps that a central control computer conducts applied stress field calculation analysis on the exterior of an underground cavity three-dimensional space model according to input geological data of the peripheral environment of an underground cavity, and conducts calculation analysis on the evolution process of stability, stress, displacement, cracks, permeability, acoustic characteristics, optical characteristics, electrical characteristics, magnetic characteristics and structural characteristic parameters of the underground cavity three-dimensional space model, then the central control computer conducts fitting construction on the inner surface of the underground cavity three-dimensional space model on the basis of the underground cavity three-dimensional space model and on the basis of the principle that the original inner surface of the underground cavity is not exposed, an initial surface supporting layer model is built, then the central control computer conducts fitting on the outer portion on the basis of the initial surface supporting layer model according to the maximization principle of the underground cavity space, a second surface supporting layer model is generated, and then the central control computer conducts fitting on the basis of the second surface supporting layer model on the basis of the original inner surface of the exposed part of the underground cavity The surface is removed in a simulation mode, then the central control computer conducts recalculation analysis on the stress field applied to the outer portion of the underground cavity three-dimensional space model of the original inner surface of the removed part of the underground cavity according to input geological data of the peripheral environment of the underground cavity, and the like is conducted until a final surface support layer model within a set safety coefficient range is generated and stored in a fitting mode, and then the central control computer generates and stores an exposed original inner surface model of the underground cavity to be removed in a fitting mode on the basis of the final surface support layer model; then, the central control computer fits and constructs a cylindrical supporting model at the stress concentration point position and the position with low stability of the inner surface of the corresponding underground cavity three-dimensional space model in sequence according to the stress calculation analysis result and the input safety coefficient on the basis of the final surface supporting layer model, then fits and constructs a wallboard model and a floor slab model which are connected between the cylindrical supporting models according to the spatial layout of the underground cavity on the basis of the cylindrical supporting model, finally fits and generates an underground space three-dimensional model with a layered partition structure and stores the coordinate position information of the underground space three-dimensional model; then, the central control computer plans and stores a removal path and a removal reference coordinate of the exposed underground cavity original inner surface model to be removed by using the reference coordinate origin, plans and stores a printing path and a printing reference coordinate of the final surface support layer model by using the reference coordinate origin, plans and stores a printing path and a printing reference coordinate of the cylindrical support model by using the reference coordinate origin, and plans and stores a printing path and a printing reference coordinate of the wallboard model and the floor slab model by using the reference coordinate origin;

d. removing the original inner surface of the redundant underground cavity: the method comprises the following steps that a terrain processing loop starts to work, a central control computer sends an instruction to enable an industrial control computer of a vehicle-mounted electric control device to control a terrain detection and processing robot unit to move to a removal reference coordinate position according to removal path coordinates of an exposed underground cavity original inner surface model to be removed, then the industrial control computer of the vehicle-mounted electric control device controls a rotary excavating mechanical arm to drive and rotary excavating to drive to enable a rotary excavating cutting head to sequentially carry out rotary excavating removal on the inner surface of an underground cavity according to the removal path coordinate movement of the exposed underground cavity original inner surface model to be removed, partial inner surface of the underground cavity is removed until the end point of a removal path, rotary excavating processing of the inner surface of the underground cavity is completed, and the terrain detection and processing robot unit returns to the;

e.3D prints underground space three-dimensional entity: the 3D printing control loop starts to work, the central control computer sends an instruction to enable the 3D printing robot walking control loop of the printing electric control device to start to work, the industrial control computer of the printing electric control device controls the electric control driving mechanism II and the steering control mechanism II of the all-terrain walking chassis II of the 3D printing robot unit to move the 3D printing robot unit to a set position corresponding to the underground space three-dimensional model coordinate position in the underground cavity according to the printing path and the printing reference coordinate of the surface support layer model, the printing path and the printing reference coordinate of the cylindrical support model, the printing path and the printing reference coordinate of the wall plate model and the floor plate model, and the 3D printing nozzle position control loop starts to work, the industrial control computer of the printing electric control device controls the driving action of the printing mechanical arm according to the printing path to enable the 3D printing nozzle coordinate to move to the printing reference coordinate position, the printing material pumping mechanism control loop starts to work, the industrial control computer of the printing electric control device controls the action of the printing material pumping mechanism of the printing material input device to enable pumped printing materials to be output through the 3D printing nozzle, then the industrial control computer of the printing electric control device controls the driving action of the printing mechanical arm to enable the 3D printing nozzle to sequentially perform 3D printing on the surface supporting layer model, the cylindrical supporting model, the wallboard model and the floor slab model according to the coordinate movement of the printing path, the solid printing of the underground space three-dimensional model is completed when the end point of the printing path is reached, and the 3D printing robot unit returns to the initial position.

As a further improvement of the invention, in the process that the terrain detection and processing robot unit in the step b steps towards the interior of the underground cavity and scans the inner cavity of the underground cavity, the central control computer firstly sends out an instruction to enable a probe head detection angle control loop of the vehicle-mounted electric control device to start working, the industrial control computer of the vehicle-mounted electric control device controls the probe head angle positioning control driving action to enable a scanner of the probe head to rotate within 360 degrees in a base point scanning plane to perform base point plane scanning with an initial position as a reference coordinate origin, the scanner of the probe head simultaneously sends base point plane scanning data to the central control computer, meanwhile, a gyroscope of the probe head sends scanner coordinate position data of the reference coordinate origin to the central control computer, and the central control computer stores the base point plane scanning data and the scanner coordinate position data of the reference coordinate origin;

then the central control computer sends out an instruction to make the walking control loop of the detection robot of the vehicle-mounted electric control device start to work, the industrial control computer of the vehicle-mounted electric control device controls the electric control driving mechanism I and the steering control mechanism I of the all-terrain walking chassis I of the terrain detection and processing robot unit to act so that the terrain detection and processing robot unit integrally moves and steps a set step distance to the coordinates in the underground cavity by taking the initial position as a reference coordinate origin and stops, then the gyroscope of the detection head firstly sends the scanner coordinate position data of the set step distance stop position to the central control computer, then the central control computer stores and simultaneously compares the scanner coordinate position data fed back by the gyroscope of the set step distance stop position with the scanner coordinate position data of the reference coordinate origin position, and calculates the scanner coordinate position of the set step distance stop position and the scanner coordinate position of the reference coordinate origin position The industrial control computer of the vehicle-mounted electric control device controls the angle positioning control driving action of the probe head to rotate the probe head positioned at the set step pitch stop position and position the probe head to the position where the scanning plane of the scanner positioned at the set step pitch stop position is parallel to the base point scanning plane, then the industrial control computer of the vehicle-mounted electric control device controls the angle positioning control driving action of the probe head to rotate the scanner within 360 degrees in the corrected scanning plane to perform first step plane scanning, the scanner of the probe head transmits the first step plane scanning data to the central control computer, and the central control computer performs same-reference fitting and three-dimensional modeling on the first step plane scanning data and the base point plane scanning data according to the stored coordinate deviation and then performs storage Storing;

then the central control computer sends out an instruction to make the industrial control computer of the vehicle-mounted electric control device control the terrain detection and processing robot unit to move and step the coordinate of the set step stop position as a reference coordinate point to the inner coordinates of the underground cavity again by a set step and stop the movement, and so on, the terrain detection and processing robot unit moves and steps by a set step once, the gyroscope of the probe firstly sends the scanner coordinate position data of the set step stop position to the central control computer, then the central control computer stores the data and compares the scanner coordinate position data fed back by the gyroscope of the set step stop position with the scanner coordinate position data fed back by the gyroscope of the last set step stop position, calculates and stores the coordinate deviation between the scanner coordinate position of the set step stop position and the scanner coordinate position of the last set step stop position, then the central control computer sends out an instruction according to the coordinate deviation to enable the detecting head positioned at the set step pitch stop position to rotate and position the scanning plane of the scanner positioned at the set step pitch stop position to be parallel to the scanning plane of the scanner positioned at the last set step pitch stop position, then the industrial control computer of the vehicle-mounted electric control device controls the angle positioning control driving action of the detecting head to enable the scanner to rotate within 360 degrees in the corrected scanning plane to carry out step pitch plane scanning, the scanner of the detecting head sends step pitch plane scanning data to the central control computer, the central control computer carries out same-reference fitting and three-dimensional modeling on the step pitch plane scanning data at the set step pitch stop position and the step pitch plane scanning data at the last set step pitch stop position according to the stored coordinate deviation and then stores the step pitch plane scanning data until the scanning of the whole underground cavity is finished according to the feedback of the distance sensor of the detecting head, and the central control computer stores the final underground cavity three-dimensional space model.

As a further improvement scheme of the invention, the detection mechanical arm of the underground space construction system comprises a detection mechanical arm drive, and the detection mechanical arm drive at least comprises an X coordinate drive mechanism for controlling the detection mechanical arm to move in the left-right horizontal direction, a Y coordinate drive mechanism for controlling the detection mechanical arm to move in the front-back horizontal direction, or a Z coordinate drive mechanism for controlling the detection mechanical arm to move in the vertical direction; the vehicle-mounted electric control device also comprises a detection mechanical arm control loop, and an industrial control computer of the vehicle-mounted electric control device is electrically connected with the detection mechanical arm of the detection mechanical arm in a driving way; the centralized electric control unit also comprises a scanning interval control loop;

step b, when the terrain detection and processing robot unit steps by one step, the central control computer sends out an instruction according to the coordinate deviation to enable the detection head at the set step pitch stop position to rotate and position the scanning plane of the scanner at the set step pitch stop position to be parallel to the scanning plane of the scanner at the last set step pitch stop position, the central control computer sends out an instruction according to the coordinate deviation to enable a detection mechanical arm control loop of the vehicle-mounted electric control device to work, the vehicle-mounted electric control device controls the driving action of the detection mechanical arm to enable the distance between the scanning plane of the scanner with the set step pitch stop position and the scanning plane of the scanner with the previous set step pitch stop position to be adjusted to a set distance, then the industrial control computer of the vehicle-mounted electric control device controls the angle positioning control driving action of the detecting head to enable the scanner to rotate within 360 degrees in the corrected scanning plane to carry out step plane scanning.

As a further improvement of the present invention, the mechanical arm drive of the rotary excavating machine of the underground space constructing system further comprises an a coordinate rotation driving mechanism which rotationally moves along the left and right horizontal directions as a central axis, or a B coordinate rotation driving mechanism which rotationally moves along the front and back horizontal directions as a central axis, and a C coordinate rotation driving mechanism which rotationally moves along the vertical direction as a central axis; a pattern recognition sensor is arranged on the tail section of the rotary excavating mechanical arm corresponding to the position of the rotary excavating cutting head, the centralized electric control unit (3) further comprises a rotary excavating correction loop, and the central control computer is electrically connected with the pattern recognition sensor on the tail section of the rotary excavating mechanical arm;

in the process of removing the redundant original inner surface of the underground cavity, the industrial control computer of the vehicle-mounted electric control device 12 can flexibly control the rotary excavating cutting head to be close to the original inner surface of the goaf to be removed according to the model of the exposed original inner surface of the goaf to be removed, and the original inner surface of the goaf to be removed is milled in the direction that the rotation axis of the rotary excavating cutting head is vertical to or parallel to the original inner surface of the goaf to be removed; feeding back the body size data of the original inner surface of the goaf to be removed to a central control computer in real time by a pattern recognition sensor on the tail section of the rotary excavating mechanical arm, working a rotary excavating correction loop, comparing the body size data of the original inner surface of the goaf to be removed with stored model data of the original inner surface of the exposed goaf to be removed by the central control computer, and if the body size data of the original inner surface of the goaf to be removed is smaller than the model data of the original inner surface of the exposed goaf to be removed, sending an instruction by the central control computer to control the rotary excavating mechanical arm to enable a rotary excavating cutting head to continuously approach the goaf in a stepping direction close to the original inner surface of the goaf to be removed until the body size data of the original inner surface of the goaf to be removed is larger than or equal to the model data of the original inner surface model of the exposed, the rotary drilling is stopped.

As a further improvement of the present invention, the printer arm drive of the underground space construction system further includes an a-coordinate rotation drive mechanism that rotationally moves along the left and right horizontal directions as central axes or a B-coordinate rotation drive mechanism that rotationally moves along the front and rear horizontal directions as central axes, or further includes an a-coordinate rotation drive mechanism that rotationally moves along the left and right horizontal directions as central axes and a B-coordinate rotation drive mechanism that rotationally moves along the front and rear horizontal directions as central axes; the printing nozzle of the underground space construction system is also provided with a pattern recognition sensor, the centralized electric control unit also comprises a 3D printing entity correction loop, and the central control computer is electrically connected with the pattern recognition sensor;

step e, in the process of entity printing of the three-dimensional model of the underground space, the 3D printing entity correction loop works, the mode identification sensor feeds back the body size data of the 3D printing entity to the central control computer in real time, the central control computer compares the body size data of the 3D printing entity with the stored model data of the corresponding part on the three-dimensional model of the underground space, if the body size data of the 3D printing entity is smaller than the model data of the corresponding part on the three-dimensional model of the underground space, the central control computer sends an instruction to control the 3D printing nozzle to interrupt the printing path, and 3D printing of the part of the printing path is repeatedly carried out according to the model data of the corresponding part on the three-dimensional model of the underground space and the printing path of the part until the body size data of the 3D printing entity is larger than or equal to the model data of the corresponding part on the three-dimensional model of the, and then the central control computer sends out an instruction to control the 3D printing nozzle to continue to perform 3D printing according to the planned printing path.

As a further improvement of the invention, in the step b, in the process that the terrain detection and processing robot unit steps towards the interior of the underground cavity and scans the inner cavity of the underground cavity, the scanning mode of the scanner of the detection head adopts a non-contact potential measurement mode based on wireless power transmission.

As a further improvement scheme of the invention, the central control computer of the centralized electric control unit is respectively in radio connection with the industrial control computer of the vehicle-mounted electric control device and the industrial control computer of the printing electric control device, and data transmission between the central control computer and the industrial control computers of the vehicle-mounted electric control device and the printing electric control device is realized in a wireless communication mode.

As a further improvement of the invention, in the step c, in the process of printing path planning and printing reference coordinate planning of the surface support layer model, the cylindrical support model, the wallboard model and the floor slab model, the central control computer takes the initial position of the 3D printing robot unit as a reference coordinate origin, and in the process of printing path planning and printing reference coordinate planning of the cylindrical support model, the printing path planning and the printing reference coordinate planning are carried out according to the sequence of stress concentration in the three-dimensional space model of the underground cavity from large to small.

As an embodiment of the printing material input of the present invention, the printing material includes stone waste powder; the printing material supply subunit is arranged in the underground roadway and is electrically connected with the central control computer of the centralized electric control unit, the printing material supply subunit comprises a raw material preparation device, the raw material preparation device comprises a crusher, and the central control computer of the centralized electric control unit controls the printing material supply subunit to enable the crusher to directly crush the coal gangue on site.

As a further improvement scheme of the invention, the terrain detection and processing robot unit (1) further comprises a slag temporary storage device, the slag temporary storage device comprises a raking mechanism arranged below the rotary excavating mechanical arm and a transshipment temporary storage mechanism arranged at the rear part of the raking mechanism, the raking mechanism and the transshipment temporary storage mechanism are respectively and electrically connected with an industrial control computer of the vehicle-mounted electric control device, and the vehicle-mounted electric control device further comprises a slag collection and reuse loop;

and d, simultaneously starting working of the slag collecting and processing loop in the process of removing redundant original inner surfaces of the underground cavities by the action of the rotary digging mechanical arm, harrowing the dropped slag by the harrowing mechanism and transferring the dropped slag to the transferring temporary storage mechanism for temporary storage, returning the terrain detection and processing robot unit to an initial position after rotary digging processing of the inner surfaces of the underground cavities, and directly sending the slag in the transferring temporary storage mechanism into a crusher of the printing material supply subunit for recycling.

Compared with the prior art, the local lower space construction system comprises a terrain detection and processing robot unit, a 3D printing robot unit and a centralized electric control unit, wherein a three-dimensional space model of the underground cavity is constructed after the terrain detection and processing robot unit finishes scanning the underground cavity, a central control computer of the centralized electric control unit carries out stress field calculation and analysis on the outer part of the three-dimensional space model of the underground cavity according to the geological data of the peripheral environment of the underground cavity such as the input geographical position data and surrounding rock data of the underground cavity, and sequentially calculates and constructs a surface supporting layer model on the basis of the three-dimensional space model of the underground cavity and on the basis of the original inner surface of the unexposed underground cavity until a final surface supporting layer model within a set safety coefficient range is generated and stored by fitting, and then the central control computer generates and stores the original inner surface model of the exposed underground cavity needing to be removed by fitting the final surface supporting layer model, then, on the basis of a final surface support layer model, a cylindrical support model is built in a fitting mode at the stress concentration point position of the inner surface of the corresponding underground cavity three-dimensional space model in sequence according to a stress calculation analysis result and an input safety coefficient, then, on the basis of the cylindrical support model, a wallboard model and a floor slab model connected between the cylindrical support models are built in a fitting mode according to the spatial layout of the underground cavity, the underground space three-dimensional model with a layered partition structure is generated in a fitting mode finally, then, a removal path and removal reference coordinates of the exposed underground cavity original inner surface model needing to be removed are planned and stored according to a reference coordinate origin, then, printing paths and printing reference coordinates of the surface support layer model, the cylindrical support model, the wallboard model and the floor slab model are planned and stored according to the reference coordinate origin in sequence, a terrain detection and processing robot unit completes rotary excavating processing on the inner surface of the underground cavity according to the removal path Printing a reference coordinate, and directly 3D printing an entity of the underground space three-dimensional model in the underground cavity, calculating an analysis result and inputting a safety coefficient according to the stress of the underground cavity, wherein the 3D directly printed and formed underground space three-dimensional model entity is a foundation solid building with a targeted support, and can completely meet the support strength; the direct 3D printing and forming mode can save a large amount of manpower and material resources, does not need conveying equipment, supporting equipment and hoisting equipment which occupy larger space, reduces the cost of deep underground space development, and has higher construction efficiency; meanwhile, as no personnel need to enter the underground cavity during construction operation, the surface support layer model is printed firstly and then the cylindrical support model is printed in the solid printing process, and the printing of the cylindrical support model is performed according to the sequence of stress concentration from large to small, the targeted sequential solid forming is realized, the construction safety is higher, and the method is particularly suitable for construction operation of deep underground space based on the underground cavity.

Drawings

FIG. 1 is a schematic structural view of a subterranean space construction system;

FIG. 2 is a schematic view of an underground cavity structure during scanning of an inner cavity of the underground cavity using the present invention;

FIG. 3 is a schematic view of the structure of a subterranean cavity after removal of excess of its original inner surface using the present invention;

FIG. 4 is a schematic diagram of the structure of an underground cavity after the underground space is constructed by using the present invention.

In the figure: 1. the automatic printing and processing system comprises a terrain detection and processing robot unit, 11, a detection mechanical arm, 12, a vehicle-mounted electric control device, 13, a detection head, 2, 3D printing robot units, 21, a printing mechanical arm, 22, a printing material input device, 23, a printing electric control device, 24, 3D printing nozzles and a 3 centralized electric control unit.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

As shown in fig. 1, the underground space constructing system includes a terrain detection and processing robot unit 1, a 3D printing robot unit 2, and a centralized electronic control unit 3.

The terrain detection and processing robot unit 1 comprises an all-terrain walking chassis I, a detection mechanical arm 11, a rotary digging mechanical arm and a vehicle-mounted electric control device 12; the all-terrain traveling chassis I is arranged at the bottom of the terrain detection and processing robot unit 1 and comprises an electric control driving mechanism I and a steering control mechanism I; the bottom end of the detection mechanical arm 11 is installed on the all-terrain walking chassis I, the top end of the detection mechanical arm 11 is provided with a detection device, the detection device comprises a detection head 13, the detection head 13 comprises a distance sensor, a scanner, a gyroscope and a detection head angle positioning control drive, and the detection head angle positioning control drive at least comprises an A coordinate rotation driving mechanism which rotates and moves along the left and right horizontal directions as a central axis and a B coordinate rotation driving mechanism which rotates and moves along the front and back horizontal directions as a central axis; the bottom end of the rotary excavating mechanical arm is mounted on the all-terrain walking chassis I, the rotary excavating mechanical arm comprises a rotary excavating mechanical arm drive, the rotary excavating mechanical arm drive at least comprises an X coordinate drive mechanism for controlling the rotary excavating mechanical arm to move in the left-right horizontal direction, a Y coordinate drive mechanism for controlling the rotary excavating mechanical arm to move in the front-back horizontal direction and a Z coordinate drive mechanism for controlling the rotary excavating mechanical arm to move in the vertical direction, and a rotary excavating cutting head with rotary excavating drive is arranged on the tail section of the rotary excavating mechanical arm; the vehicle-mounted electric control device 12 is fixedly installed on the all-terrain walking chassis I, the vehicle-mounted electric control device 12 comprises an industrial control computer, a walking control circuit of a detection robot and a detection head detection angle control circuit, the industrial control computer is respectively and electrically connected with an electric control driving mechanism I and a steering control mechanism I of the all-terrain walking chassis I, the industrial control computer is electrically connected with a detection head angle positioning control driving circuit of a detection head 13, and the industrial control computer is respectively and electrically connected with a rotary digging mechanical arm driving part and a rotary digging driving part of a rotary digging mechanical head.

The 3D printing robot unit 2 comprises an all-terrain walking chassis II, a printing mechanical arm 21, a printing material input device 22 and a printing electric control device 23; the all-terrain traveling chassis II is arranged at the bottom of the 3D printing robot unit 2 and comprises an electric control driving mechanism II and a steering control mechanism II; the printing mechanical arm 21 is installed on the all-terrain walking chassis II, the printing mechanical arm 21 comprises a printing mechanical arm drive, the printing mechanical arm drive at least comprises an X coordinate drive mechanism for controlling the printing mechanical arm to move in the left-right horizontal direction, a Y coordinate drive mechanism for controlling the printing mechanical arm to move in the front-back horizontal direction and a Z coordinate drive mechanism for controlling the printing mechanical arm to move in the vertical direction, a 3D printing device is arranged on the tail section of the printing mechanical arm 21, and the 3D printing device comprises a 3D printing nozzle 24 and a gyroscope; the printing material input device 22 comprises a printing material pumping mechanism, the input end of the printing material pumping mechanism is connected with a printing material supply subunit, the printing material supply subunit supplies printing materials, and the output end of the printing material pumping mechanism is connected with the 3D printing spray head 24 through a printing material output pipeline; print electrically controlled device 23 fixed mounting on all-terrain walking chassis II, it includes the industrial control computer to print electrically controlled device 23, 3D printing robot walking control circuit, 3D printing robot position feedback correction circuit, 3D prints shower nozzle position control circuit, it goes into mechanism control circuit to print the material pump, the industrial control computer is connected with all-terrain walking chassis II's automatically controlled actuating mechanism II and steering control mechanism II electricity respectively, the industrial control computer drives with the printing arm respectively, it goes into the mechanism electricity to be connected to print the material pump.

The centralized electric control unit 3 comprises a central control computer, a detection control loop, a data modeling loop, a detection robot position feedback correction loop, a terrain processing loop and a 3D printing control loop, wherein the central control computer is respectively and electrically connected with a distance sensor, a scanner and a gyroscope of the detection head 13 and a gyroscope of the 3D printing robot unit 2, and the central control computer is respectively and electrically connected with an industrial control computer of the vehicle-mounted electric control device 12 and an industrial control computer of the printing electric control device 23.

Before the underground space building system is used, after the approximate position of an underground cavity generated by natural geological motion is detected by a geological radar, a proper tunneling through point is selected on the premise of ensuring that the support strength of an original rock stratum near the tunneling through point is high, and a tunnel communicated with the underground cavity is tunneled in and out through the tunneling through point by a tunneling machine and is effectively supported. And aiming at the underground cavities formed by artificial rock-soil activities such as the coal mine goaf underground cavity or the coal bed combustion goaf underground cavity, the step can be omitted because the underground cavities formed by the artificial rock-soil activities are all provided with the tunnels communicated with the underground cavities.

Taking a coal mine goaf as an example, as shown in fig. 2, a terrain detection and processing robot unit 1 and a 3D printing robot unit 2 are placed in a roadway communicated with the coal mine goaf, then a centralized electric control unit 3 controls a detection control loop, a detection robot position feedback correction loop and a data modeling loop to start working, a central control computer firstly sends out an instruction to enable a detection head detection angle control loop of a vehicle-mounted electric control device 12 to start working, an industrial control computer of the vehicle-mounted electric control device 12 controls a detection head angle positioning control driving action of a detection head 13 to enable a scanner of the detection head 13 to rotate within a range of 360 degrees in a base point scanning plane to carry out base point plane scanning with an initial position as a reference coordinate origin, the scanner of the detection head 13 simultaneously sends the base point plane scanning data to the central control computer, and a gyroscope of the detection head 13 sends the scanner coordinate position data of the reference coordinate origin to the central control computer, the central control computer stores the scanning data of the base point plane and the data of the scanner coordinate position of the reference coordinate origin position;

then the central control computer sends out an instruction to enable a detection robot walking control loop of the vehicle-mounted electric control device 12 to start working, an industrial control computer of the vehicle-mounted electric control device 12 controls an electric control driving mechanism I and a steering control mechanism I of an all-terrain walking chassis I of the terrain detection and processing robot unit 1 to act to enable the terrain detection and processing robot unit 1 to move and step by a set step distance towards the coordinates in the coal mine goaf by taking an initial position as a reference coordinate origin and stop, then a gyroscope of the detection head 13 firstly sends scanner coordinate position data of a set step distance stop position to the central control computer, and then the central control computer stores the scanner coordinate position data fed back by the gyroscope of the set step distance stop position and compares the scanner coordinate position data of the reference coordinate origin position, Calculating and storing the coordinate deviation between the scanner coordinate position of the set step stop position and the scanner coordinate position of the reference coordinate origin position, then sending an instruction by the central control computer according to the coordinate deviation to make the probe head detection angle control circuit of the vehicle-mounted electric control device 12 work again, controlling the probe head angle positioning control driving action of the probe head 13 by the industrial control computer of the vehicle-mounted electric control device 12 to rotate the probe head 13 of the set step stop position and position the probe head to the position where the scanning plane of the scanner of the set step stop position is parallel to the base point scanning plane, controlling the probe head angle positioning control driving action of the probe head 13 by the industrial control computer of the vehicle-mounted electric control device 12 to rotate the scanner within 360 degrees in the corrected scanning plane to perform first step plane scanning, and sending the first step plane scanning data to the central control computer by the scanner of the probe head 13, the central control computer performs same-reference fitting and three-dimensional modeling on the first step plane scanning data and the base point plane scanning data according to the stored coordinate deviation, and then stores the data;

then the central control computer sends out an instruction to make the industrial control computer of the vehicle-mounted electric control device 12 control the terrain detection and processing robot unit 1 to move and step the coordinate of the set step stop position as a reference coordinate point to the inner coordinate of the coal mine goaf again by a set step and stop, and so on, the terrain detection and processing robot unit 1 moves by one step each step, the gyroscope of the probe 13 firstly sends the scanner coordinate position data of the set step stop position to the central control computer, then the central control computer stores and compares the scanner coordinate position data fed back by the gyroscope of the set step stop position with the scanner coordinate position data fed back by the gyroscope of the last set step stop position, calculates and stores the coordinate deviation between the scanner coordinate position of the set step stop position and the scanner coordinate position of the last set step stop position, then the central control computer sends out an instruction according to the coordinate deviation to enable the detecting head 13 at the set step pitch stop position to rotate and position to the position where the scanning plane of the scanner at the set step pitch stop position is parallel to the scanning plane of the scanner at the last set step pitch stop position, then the industrial control computer of the vehicle-mounted electronic control device 12 controls the angle positioning control driving action of the detecting head 13 to enable the scanner to rotate within the range of 360 degrees in the corrected scanning plane to carry out step pitch plane scanning, the scanner of the detecting head 13 sends step pitch plane scanning data to the central control computer, the central control computer carries out same-reference fitting and three-dimensional modeling on the step pitch plane scanning data at the set step pitch stop position and the step pitch plane scanning data at the last set step pitch stop position according to the stored coordinate deviation, and then stores the step pitch plane scanning data and the three-dimensional modeling until the scanning of the whole coal mine goaf is completed according to the feedback of the distance sensor of the detecting head 13, and the central control computer sends out an instruction to enable the coordinates of the terrain detection and processing robot unit 1 to retreat to the initial position, and the final goaf three-dimensional space model is stored.

The data modeling loop starts to work, the central control computer applies stress calculation analysis to the outside of the three-dimensional space model of the gob according to input geological data of the peripheral environment of the gob such as geological position data, surrounding rock data and the like of the gob, and performs calculation analysis on the evolution process of parameters such as stability, stress, displacement, crack, permeability, acoustic characteristic, optical characteristic, electrical characteristic, magnetic characteristic, structural characteristic and the like of the three-dimensional space model of the gob, then the central control computer fits and constructs an initial surface support layer model on the inner surface of the three-dimensional space model of the gob on the basis of the three-dimensional space model of the gob and on the basis of the principle that the original inner surface of the gob is not exposed, and then the central control computer expands and fits to the outside on the basis of the initial surface support layer model according to the utilization of the maximum of the gob space to generate a second surface support layer model, then, the central control computer simulates and removes the exposed original inner surface of the goaf on the second surface support layer model on the basis of the second surface support layer model, then the central control computer carries out recalculation analysis on the stress field applied to the outside of the goaf three-dimensional space model of the removed original inner surface of the goaf according to the input geological data of the peripheral environment of the goaf, and the like until a final surface support layer model within a set safety coefficient range is generated and stored by fitting, and then the central control computer fits and generates and stores the exposed original inner surface model of the goaf to be removed on the basis of the final surface support layer model; then, the central control computer fits and constructs a cylindrical support model at the stress concentration point position and the position with low stability of the inner surface of the corresponding goaf three-dimensional space model in sequence according to the stress calculation analysis result and the input safety coefficient on the basis of the final surface support layer model, then fits and constructs a wallboard model and a floor slab model connected between the cylindrical support models according to the space layout of the goaf on the basis of the cylindrical support model, finally fits and generates an underground space three-dimensional model with a layered partition structure and stores coordinate position information of the underground space three-dimensional model; then, the central control computer plans and stores a removal path and a removal reference coordinate of the exposed underground cavity original inner surface model to be removed by taking the initial position of the terrain detection and processing robot unit 1 as a reference coordinate origin, plans and stores a printing path and a printing reference coordinate of the final surface support layer model by taking the initial position of the 3D printing robot unit 2 as the reference coordinate origin, plans and stores a printing path and a printing reference coordinate of the cylindrical support layer model by taking the initial position of the 3D printing robot unit 2 as the reference coordinate origin and according to the sequence of stress concentration in the underground space three-dimensional model from large to small, and plans and stores a printing path and a printing reference coordinate of the wallboard model and the floor slab model by taking the initial position of the 3D printing robot unit 2 as the reference coordinate origin.

The terrain processing loop starts to work, as shown in fig. 3, the central control computer sends an instruction to enable the industrial control computer of the vehicle-mounted electronic control device 12 to control the terrain detecting and processing robot unit 1 to move to a removal reference coordinate position according to the removal path coordinate of the exposed goaf original inner surface model to be removed, then the industrial control computer of the vehicle-mounted electronic control device 12 controls the rotary excavating machine arm to drive and rotary excavating to drive to enable the rotary excavating cutting head to move according to the removal path coordinate of the exposed goaf original inner surface model to be removed to sequentially remove part of the inner surface of the goaf in a rotary excavating mode on the inner surface of the goaf, rotary excavating processing on the inner surface of the goaf is completed when the removal path is finished, and the terrain detecting and processing robot unit 1 is retracted to an initial position.

The 3D printing control loop starts to work, the central control computer sends an instruction to enable the 3D printing robot walking control loop of the printing electric control device 23 to start to work, the industrial control computer of the printing electric control device 23 controls the electric control driving mechanism II and the steering control mechanism II of the all-terrain walking chassis II of the 3D printing robot unit 2 to move the 3D printing robot unit 2 to the set position corresponding to the underground space three-dimensional model coordinate position in the coal mine goaf according to the printing path and the printing reference coordinate of the surface support layer model, the printing path and the printing reference coordinate of the cylindrical support model, the printing path and the printing reference coordinate of the wall plate model and the floor plate model, and the printing path and the printing reference coordinate in sequence, and then the 3D printing nozzle position control loop starts to work, and the industrial control computer of the printing electric control device 23 controls the driving action of the printing mechanical arm 21 to enable the 3D printing nozzle 24 to move to the printing reference coordinate of the printing mechanical The position, the printing material pumping mechanism control loop starts to work, the industrial control computer of the printing electric control device 23 controls the printing material pumping mechanism of the printing material input device 22 to act to enable pumped printing materials to be output through the 3D printing nozzle 24, then the industrial control computer of the printing electric control device 23 controls the printing mechanical arm driving action of the printing mechanical arm 21 to enable the 3D printing nozzle 24 to move to perform 3D printing according to the printing path coordinate, the stress concentration sequence from large to small can realize that firstly the part with large stress concentration of 3D printing is firstly supported, so as to further ensure the safety of subsequent 3D printing, as shown in figure 4, the solid printing of the underground space three-dimensional model is completed when the printing path is at the end point, and the 3D printing robot unit 2 is required to be retracted to the initial position.

Aiming at supporting coal pillars in the goaf of the coal mine, the method can calculate according to the stress concentration and the redistribution of the stress field on the basis of a three-dimensional goaf model with a stress field applied after the coal pillars are removed, and firstly 3D prints a cylindrical supporting model at the position of the recalculated stress concentration point and then removes the supporting coal pillars on the premise of ensuring stable supporting.

The entity of the underground space three-dimensional model constructed by the local lower space construction system is a foundation entity building with targeted support, the support strength can be completely met, and after the entity printing of the underground space three-dimensional model is completed, construction personnel can enter the underground space to perform subsequent construction such as waterway circuit construction, wall decoration construction and the like.

In order to increase the flexibility of the rotary excavating mechanical arm and realize the omnibearing rotary excavating operation, as a further improvement scheme of the invention, the rotary excavating mechanical arm drive further comprises an A coordinate rotary drive mechanism which rotates and moves along the left-right horizontal direction as a central axis, a B coordinate rotary drive mechanism which rotates and moves along the front-back horizontal direction as a central axis, and a C coordinate rotary drive mechanism which rotates and moves along the vertical direction as a central axis. The industrial control computer of the vehicle-mounted electric control device 12 can flexibly control the rotary drilling cutting head to be close to the original inner surface of the goaf to be removed according to the model of the original inner surface of the exposed goaf to be removed, and the original inner surface of the goaf to be removed is milled in the direction that the rotation axis of the rotary drilling cutting head is vertical to or parallel to the original inner surface of the goaf to be removed.

In order to further accurately ensure the effect of rotary digging removal, as a further improvement scheme of the invention, the tail section of the rotary digging mechanical arm is also provided with a pattern recognition sensor corresponding to the position of the rotary digging cutting head, the centralized electric control unit 3 also comprises a rotary digging correction loop, and the central control computer is electrically connected with the pattern recognition sensor on the tail section of the rotary digging mechanical arm. In the process of topographic treatment, a pattern recognition sensor on the tail section of the rotary excavating mechanical arm feeds back the body size data of the original inner surface of the gob to be removed to a central control computer in real time, the rotary excavating correction loop works, the central control computer compares the body size data of the original inner surface of the gob to be removed with stored model data of the original inner surface of the exposed gob to be removed, if the body size data of the original inner surface of the gob to be removed is smaller than the model data of the original inner surface of the exposed gob to be removed, the central control computer sends an instruction to control the rotary excavating mechanical arm to enable the rotary excavating cutting head to continuously approach the original inner surface of the gob to be removed in a stepping manner until the body size data of the original inner surface of the gob to be removed is larger than or equal to the model data of the original inner surface model of the exposed gob to be removed, the rotary drilling is stopped.

The scanning plane of the scanner of the probe head 13 of the local lower space building system may be a horizontal scanning plane or a vertical scanning plane according to specific working conditions, and the scanning mode may be radar scanning based on radar technology, laser scanning based on laser technology, infrared scanning based on infrared imaging, ultrasonic scanning based on ultrasonic positioning, magnetic scanning based on magnetic signals, and the like.

In order to scan the underground cavity and obtain the lithology data of the surrounding rock around the underground cavity, thereby facilitating the subsequent stress calculation, as a further improvement of the invention, the scanning mode of the scanner of the probe 13 adopts a non-contact potential measurement mode based on wireless power transmission.

In order to fully utilize the wastes generated by artificial geotechnical activities such as coal gangue, construction wastes and the like, as a further improvement scheme of the invention, the printing material comprises stone waste powder such as coal gangue, construction wastes and the like.

As an embodiment of the printing material supply subunit provided by the invention, the printing material supply subunit is arranged on the ground and comprises a raw material preparation device and a conveying pipeline which extends to the underground and is communicated and connected with the input end of the printing material pumping mechanism.

As another embodiment of the printing material supply subunit of the invention, the printing material supply subunit is arranged in an underground roadway and is electrically connected with a central control computer of the centralized electric control unit 3, and the printing material supply subunit comprises a raw material preparation device which comprises a crusher. The central control computer of the centralized electric control unit 3 controls the printing material supply subunit to ensure that the crusher directly carries out on-site crushing on the coal gangue, thereby avoiding the additional power consumption of the coal gangue on the well.

In order to automatically clean the dropped crushed slag after removing the redundant original inner surface of the goaf and facilitate subsequent 3D printing, as a further improvement of the invention, the terrain detection and processing robot unit 1 further comprises a crushed slag temporary storage device, the crushed slag temporary storage device comprises a rake mounting mechanism arranged below the rotary excavating mechanical arm and a transshipment temporary storage mechanism arranged at the rear part of the rake mounting mechanism, the rake mounting mechanism and the transshipment temporary storage mechanism are respectively electrically connected with an industrial control computer of the vehicle-mounted electric control device 12, and the vehicle-mounted electric control device 12 further comprises a crushed slag collection processing loop. The collecting and processing loop of the broken slag starts to work simultaneously when the rotary excavating mechanical arm moves to remove redundant original inner surfaces of the goaf, the rake-mounting mechanism rake-mounts and transfers the dropped broken slag to the transfer temporary storage mechanism for temporary storage, the terrain detection and processing robot unit 1 returns to an initial position after the rotary excavating processing of the inner surfaces of the goaf is completed and releases the broken slag in the transfer temporary storage mechanism, or the broken slag in the transfer temporary storage mechanism is directly sent into a crusher of a printing material supply subunit to be recycled.

In order to realize the uniformity among all the scanning planes and further more accurately fit and generate a gob three-dimensional space model, as a further improvement of the invention, the detection mechanical arm 11 comprises a detection mechanical arm drive, and the detection mechanical arm drive at least comprises an X coordinate drive mechanism for controlling the detection mechanical arm 11 to move in the left-right horizontal direction, a Y coordinate drive mechanism for controlling the detection mechanical arm 11 to move in the front-back horizontal direction, or a Z coordinate drive mechanism for controlling the detection mechanical arm 11 to move in the vertical direction; the vehicle-mounted electric control device 12 further comprises a detection mechanical arm control loop, and an industrial control computer of the vehicle-mounted electric control device 12 is electrically connected with a detection mechanical arm of the detection mechanical arm 11 in a driving mode; the centralized electric control unit 3 further comprises a scanning interval control loop. After the central control computer sends out an instruction to rotate the detecting head 13 at the set step pitch stop position and position the scanning plane of the scanner at the set step pitch stop position to be parallel to the scanning plane of the scanner at the previous set step pitch stop position every step of the terrain detecting and processing robot unit 1 according to the coordinate deviation, the central control computer sends out an instruction according to the coordinate deviation to enable a detection mechanical arm control loop of the vehicle-mounted electric control device 12 to work, the vehicle-mounted electric control device 12 controls the driving action of the detection mechanical arm to enable the distance between the scanning plane of the scanner with the set step pitch stop position and the scanning plane of the scanner with the previous set step pitch stop position to be adjusted to a set distance, then, the industrial control computer of the vehicle-mounted electronic control device 12 controls the probe head angle positioning control driving action of the probe head 13 to enable the scanner to rotate within 360 degrees in the corrected scanning plane to perform step plane scanning.

In order to increase the flexibility of the printing nozzle 24 and realize the omnidirectional 3D printing, as a further improvement of the present invention, the printer arm drive further includes an a-coordinate rotation drive mechanism that rotates and moves along the left-right horizontal direction as a central axis or a B-coordinate rotation drive mechanism that rotates and moves along the front-back horizontal direction as a central axis, or further includes an a-coordinate rotation drive mechanism that rotates and moves along the left-right horizontal direction as a central axis and a B-coordinate rotation drive mechanism that rotates and moves along the front-back horizontal direction as a central axis.

In order to further accurately ensure the 3D printing effect, as a further improvement of the present invention, the printing nozzle 24 is further provided with a pattern recognition sensor, the centralized electric control unit 3 further comprises a 3D printing entity correction loop, and the central control computer is electrically connected with the pattern recognition sensor. In the 3D printing process, the pattern recognition sensor feeds back the body size data of the 3D printing entity to the central control computer in real time, the 3D printing entity corrects the loop operation, the central control computer compares the body size data of the 3D printing entity with the stored model data of the corresponding part on the underground space three-dimensional model, if the body size data of the 3D printing entity is smaller than the model data of the corresponding part on the underground space three-dimensional model, the central control computer sends an instruction to control the 3D printing nozzle 24 to interrupt the printing path, and 3D printing of the part of the printing path is repeatedly carried out according to the model data of the corresponding part on the underground space three-dimensional model and the printing path of the part of the printing path until the body size data of the 3D printing entity is larger than or equal to the model data of the corresponding part on the underground space three-dimensional model, and then the central control computer sends an instruction to control the 3D printing nozzle 24 to continue 3D printing according to the planned printing path And D, printing.

The local lower space construction system comprises a terrain detection and processing robot unit 1, a 3D printing robot unit 2 and a centralized electric control unit 3, wherein a three-dimensional space model of the underground cavity is constructed after the terrain detection and processing robot unit 1 finishes scanning the underground cavity, a central control computer of the centralized electric control unit 3 carries out stress field calculation and analysis on the outer part of the three-dimensional space model of the underground cavity according to the geological data of the peripheral environment of the underground cavity such as the input geographical position data and surrounding rock data of the underground cavity, and sequentially calculates and constructs a surface supporting layer model on the basis of the three-dimensional space model of the underground cavity and on the basis of the original inner surface of the unexposed underground cavity until a final surface supporting layer model within a set safety coefficient range is generated and stored by fitting, and then the central control computer generates and stores the original inner surface model of the exposed underground cavity needing to be removed by fitting the final surface supporting layer model, then, on the basis of a final surface support layer model, a cylindrical support model is built in a fitting mode at the stress concentration point position of the inner surface of the corresponding underground cavity three-dimensional space model in sequence according to a stress calculation analysis result and an input safety factor, then, on the basis of the cylindrical support model, a wallboard model and a floor slab model connected between the cylindrical support models are built in a fitting mode according to the spatial layout of the underground cavity, the underground space three-dimensional model with a layered partition structure is generated in a fitting mode finally, then, a removal path and removal reference coordinates of the exposed underground cavity original inner surface model needing to be removed are planned and stored according to a reference coordinate origin, then, printing paths and printing reference coordinates of the surface support layer model, the cylindrical support model, the wallboard model and the floor slab model are planned and stored according to the reference coordinate origin in sequence, a terrain detection and processing robot unit 1 completes rotary excavation processing of the underground cavity inner surface according to the removal path, and the path and the printing reference coordinates can be used for directly 3D printing an entity of the underground space three-dimensional model in the underground cavity, the analysis result and the input safety coefficient are calculated according to the stress of the underground cavity, and the 3D directly printed and formed underground space three-dimensional model entity is a foundation entity building with targeted support, the support strength can be completely met, and after the entity printing of the underground space three-dimensional model is completed, constructors can enter the underground space to perform subsequent construction such as waterway circuit construction, wall decoration construction and the like; the direct 3D printing and forming mode can save a large amount of manpower and material resources, does not need conveying equipment, supporting equipment and hoisting equipment which occupy larger space, reduces the cost of deep underground space development, and has higher construction efficiency; meanwhile, as no personnel need to enter the underground cavity during construction operation, the surface support layer model is printed firstly and then the cylindrical support model is printed in the solid printing process, and the printing of the cylindrical support model is performed according to the sequence of stress concentration from large to small, the targeted sequential solid forming is realized, the construction safety is higher, and the method is particularly suitable for construction operation of deep underground space based on the underground cavity.

Claims

1. An underground space construction method is characterized in that an underground space construction system comprises a terrain detection and processing robot unit (1), a 3D printing robot unit (2) and a centralized electric control unit (3);

the terrain detection and processing robot unit (1) comprises an all-terrain walking chassis I, a detection mechanical arm (11), a rotary digging mechanical arm and a vehicle-mounted electric control device (12); the all-terrain traveling chassis I is arranged at the bottom of the terrain detection and processing robot unit (1) and comprises an electric control driving mechanism I and a steering control mechanism I; the bottom end of a detection mechanical arm (11) is installed on an all-terrain walking chassis I, a detection device is arranged at the top end of the detection mechanical arm (11), the detection device comprises a detection head (13), the detection head (13) comprises a distance sensor, a scanner, a gyroscope and a detection head angle positioning control drive, and the detection head angle positioning control drive at least comprises an A coordinate rotation driving mechanism which rotates and moves along the left and right horizontal directions as central axes and a B coordinate rotation driving mechanism which rotates and moves along the front and back horizontal directions as central axes; the bottom end of the rotary excavating mechanical arm is mounted on the all-terrain walking chassis I, the rotary excavating mechanical arm comprises a rotary excavating mechanical arm drive, the rotary excavating mechanical arm drive at least comprises an X coordinate drive mechanism for controlling the rotary excavating mechanical arm to move in the left-right horizontal direction, a Y coordinate drive mechanism for controlling the rotary excavating mechanical arm to move in the front-back horizontal direction and a Z coordinate drive mechanism for controlling the rotary excavating mechanical arm to move in the vertical direction, and a rotary excavating cutting head with rotary excavating drive is arranged on the tail section of the rotary excavating mechanical arm; the vehicle-mounted electric control device (12) is fixedly installed on the all-terrain walking chassis I, the vehicle-mounted electric control device (12) comprises an industrial control computer, a walking control circuit of a detection robot, a detection head detection angle control circuit and a rotary drilling control circuit, the industrial control computer is electrically connected with an electric control driving mechanism I and a steering control mechanism I of the all-terrain walking chassis I respectively, the industrial control computer is electrically connected with a detection head angle positioning control driving circuit of a detection head (13), and the industrial control computer is electrically connected with a rotary drilling mechanical arm drive and a rotary drilling driving circuit of a rotary drilling cutting head respectively;

the 3D printing robot unit (2) comprises an all-terrain walking chassis II, a printing mechanical arm (21), a printing material input device (22) and a printing electric control device (23); the all-terrain traveling chassis II is arranged at the bottom of the 3D printing robot unit (2) and comprises an electric control driving mechanism II and a steering control mechanism II; the printing mechanical arm (21) is installed on the all-terrain walking chassis II, the printing mechanical arm (21) comprises a printing mechanical arm drive, the printing mechanical arm drive at least comprises an X coordinate drive mechanism for controlling the printing mechanical arm to move in the left-right horizontal direction, a Y coordinate drive mechanism for controlling the printing mechanical arm to move in the front-back horizontal direction and a Z coordinate drive mechanism for controlling the printing mechanical arm to move in the vertical direction, a 3D printing device is arranged on the tail section of the printing mechanical arm (21), and the 3D printing device comprises a 3D printing nozzle (24); the printing material input device (22) comprises a printing material pumping mechanism, the input end of the printing material pumping mechanism is connected with a printing material supply subunit, the printing material supply subunit supplies printing materials, and the output end of the printing material pumping mechanism is connected with the 3D printing spray head (24) through a printing material output pipeline; the printing electric control device (23) is fixedly arranged on the all-terrain walking chassis II, the printing electric control device (23) comprises an industrial control computer, a 3D printing robot walking control loop, a 3D printing spray head position control loop and a printing material pumping mechanism control loop, the industrial control computer is respectively and electrically connected with an electric control driving mechanism II and a steering control mechanism II of the all-terrain walking chassis II, and the industrial control computer is respectively and electrically connected with a printing mechanical arm driving mechanism and a printing material pumping mechanism;

the centralized electric control unit (3) comprises a central control computer, a detection control loop, a data modeling loop, a detection robot position feedback correction loop, a terrain processing loop and a 3D printing control loop, wherein the central control computer is respectively and electrically connected with a distance sensor, a scanner and a gyroscope of the detection head (13), and is respectively and electrically connected with an industrial control computer of the vehicle-mounted electric control device (12) and an industrial control computer of the printing electric control device (23);

the underground space construction method is characterized by comprising the following steps:

a. underground space construction preparation: after detecting the approximate position of an underground cavity through a geological radar, selecting a proper tunneling through point on the premise of ensuring higher support strength of an original rock stratum near the tunneling through point, tunneling a roadway communicated with the underground cavity through the tunneling through point by a tunneling machine and effectively supporting the roadway, and then placing a terrain detection and processing robot unit (1) and a 3D printing robot unit (2) in the roadway communicated with the underground cavity;

b. scanning an inner cavity of an underground cavity: the centralized electric control unit (3) controls a detection control loop, a detection robot position feedback correction loop and a data modeling loop to start working, the central control computer sends out an instruction to enable the industrial control computer of the vehicle-mounted electric control device (12) to control the terrain detection and processing robot unit (1) to step towards the interior of the underground cavity, scan the inner cavity of the underground cavity and then return coordinates to an initial position, the central control computer performs the fitting of the same reference on the plane scanning data and performs three-dimensional modeling to generate an underground cavity three-dimensional space model, and then the model is stored;

d. removing the original inner surface of the redundant underground cavity: the terrain processing loop starts to work, the central control computer sends an instruction to enable the industrial control computer of the vehicle-mounted electronic control device (12) to control the terrain detection and processing robot unit (1) to move to a removal reference coordinate position according to the removal path coordinate of the exposed underground cavity original inner surface model to be removed, then the industrial control computer of the vehicle-mounted electronic control device (12) controls the rotary excavating mechanical arm to drive and rotary excavating to drive to enable the rotary excavating cutting head to move according to the removal path coordinate of the exposed underground cavity original inner surface model to be removed to sequentially carry out rotary excavating on the inner surface of the underground cavity to remove part of the inner surface of the underground cavity, rotary excavating processing of the inner surface of the underground cavity is completed when the removal path is finished, and the terrain detection and processing robot unit (1) retracts to an initial position;

e.3D prints underground space three-dimensional entity: the 3D printing control loop starts to work, the central control computer sends an instruction to enable the 3D printing robot walking control loop of the printing electric control device (23) to start to work, the industrial control computer of the printing electric control device (23) controls the electric control driving mechanism II and the steering control mechanism II of the all-terrain walking chassis II of the 3D printing robot unit (2) to move the coordinates of the 3D printing robot unit (2) to the set position corresponding to the underground space three-dimensional model coordinate position in the underground cavity according to the printing path and the printing reference coordinate of the surface support layer model, the printing path and the printing reference coordinate of the cylindrical support model, the printing path and the printing reference coordinate of the wall plate model and the floor plate model, then the 3D printing nozzle position control loop starts to work, and the industrial control computer of the printing electric control device (23) controls the driving action of the mechanical arm of the printing mechanical arm (21) according to the printing path to enable the 3D printing nozzle(s) 24) The coordinates are moved to a printing reference coordinate position, a printing material pumping mechanism control loop starts to work, an industrial control computer of a printing electric control device (23) controls a printing material pumping mechanism of a printing material input device (22) to act to enable pumped printing materials to be output through a 3D printing spray head (24), then the industrial control computer of the printing electric control device (23) controls a printer mechanical arm driving action of a printing mechanical arm (21) to enable the 3D printing spray head (24) to sequentially perform 3D printing of a surface support layer model, a cylindrical support model, a wall plate model and a floor plate model according to the coordinate movement of a printing path, when the end point of the printing path is reached, the solid printing of an underground space three-dimensional model is completed, and a 3D printing robot unit (2) returns to an initial position.

2. The underground space constructing method according to claim 1, wherein in the step b, the terrain detecting and processing robot unit (1) is moved to the inside of the underground cavity and scans the inner cavity of the underground cavity, the central control computer first sends out a command to start the probe head detection angle control loop of the on-board electronic control device (12), the industrial control computer of the on-board electronic control device (12) controls the probe head angle positioning control driving action of the probe head (13) to rotate the scanner of the probe head (13) within 360 ° in the base point scanning plane to perform base point plane scanning with the initial position as the reference coordinate origin, the scanner of the probe head (13) simultaneously sends the base point plane scanning data to the central control computer, and the gyroscope of the probe head (13) sends the scanner coordinate position data with the reference coordinate origin to the central control computer, the central control computer stores the scanning data of the base point plane and the data of the scanner coordinate position of the reference coordinate origin position;

then the central control computer sends out an instruction to enable a detection robot walking control loop of the vehicle-mounted electric control device (12) to start working, an industrial control computer of the vehicle-mounted electric control device (12) controls an electric control driving mechanism I and a steering control mechanism I of an all-terrain walking chassis I of a terrain detection and processing robot unit (1) to act so that the terrain detection and processing robot unit (1) moves to move to the coordinates in the underground cavity by a set step distance by taking an initial position as a reference coordinate origin and stops, then a gyroscope of a detection head (13) firstly sends scanner coordinate position data of a set step distance stop position to the central control computer, and then the central control computer stores and simultaneously compares the scanner coordinate position data fed back by the gyroscope of the set step distance stop position with the scanner coordinate position data of the reference coordinate origin position, Calculating and storing the coordinate deviation between the scanner coordinate position of the set step stopping position and the scanner coordinate position of the reference coordinate origin position, then sending an instruction by the central control computer according to the coordinate deviation to enable a probe head detection angle control loop of the vehicle-mounted electric control device (12) to work again, enabling the industrial control computer of the vehicle-mounted electric control device (12) to control the probe head angle positioning control driving action of the probe head (13) to rotate the probe head (13) positioned at the set step stopping position and position the probe head to the position where the scanning plane of the scanner at the set step stopping position is parallel to the base point scanning plane, then enabling the industrial control computer of the probe head (13) of the vehicle-mounted electric control device (12) to control the probe head angle positioning control driving action to rotate the scanner within the range of 360 degrees in the corrected scanning plane to perform first step plane scanning, the scanner of the detecting head (13) sends the first stepping plane scanning data to the central control computer, and the central control computer performs same-reference fitting and three-dimensional modeling on the first stepping plane scanning data and the base point plane scanning data according to the stored coordinate deviation and then stores the data;

then the central control computer sends out an instruction to make the industrial control computer of the vehicle-mounted electric control device (12) control the terrain detection and processing robot unit (1) to move and step again to the coordinates in the underground cavity by a set step distance by using a coordinate point of a set step distance stop position as a reference coordinate point and stop, and so on, the terrain detection and processing robot unit (1) sends the scanner coordinate position data of the set step distance stop position to the central control computer by the gyroscope of the detection head (13) at each step, then the central control computer compares the scanner coordinate position data fed back by the gyroscope of the set step distance stop position with the scanner coordinate position data fed back by the gyroscope of the last set step distance stop position while storing, calculates and stores the coordinate deviation between the scanner coordinate position of the set step distance stop position and the scanner coordinate position of the last set step distance stop position, then the central control computer sends out an instruction according to the coordinate deviation to enable the detecting head (13) positioned at the set step pitch stop position to rotate and position the scanning plane of the scanner positioned at the set step pitch stop position to be parallel to the position of the scanning plane of the scanner positioned at the last set step pitch stop position, then the industrial control computer of the vehicle-mounted electric control device (12) controls the detecting head angle positioning control driving action of the detecting head (13) to enable the scanner to rotate within 360 degrees in the corrected scanning plane to carry out step pitch plane scanning, the scanner of the detecting head (13) sends step plane scanning data to the central control computer, the central control computer carries out same-reference three-dimensional modeling on the step plane scanning data at the set step pitch stop position and the step plane scanning data at the last set step pitch stop position according to the stored coordinate deviation and then stores the data, until the scanning of the inner cavity of the whole underground cavity is finished according to the feedback of the distance sensor of the probe (13), the central control computer stores the final underground cavity three-dimensional space model.

3. A method for constructing an underground space according to claim 2, wherein the detection robot (11) of the underground space constructing system includes a detection robot drive, and the detection robot drive includes at least an X coordinate drive mechanism for controlling the detection robot (11) to move in the horizontal direction from side to side, a Y coordinate drive mechanism for controlling the detection robot (11) to move in the horizontal direction from front to back, or a Z coordinate drive mechanism for controlling the detection robot (11) to move in the vertical direction; the vehicle-mounted electric control device (12) further comprises a detection mechanical arm control loop, and an industrial control computer of the vehicle-mounted electric control device (12) is electrically connected with a detection mechanical arm of the detection mechanical arm (11) in a driving mode; the centralized electric control unit (3) also comprises a scanning interval control loop;

b, each step of the terrain detection and processing robot unit (1) is carried out, the central control computer sends out an instruction according to the coordinate deviation to enable the detecting head (13) positioned at the set step pitch stop position to rotate and position the scanning plane of the scanner positioned at the set step pitch stop position to be parallel to the position of the scanning plane of the scanner positioned at the last set step pitch stop position, the central control computer simultaneously sends out an instruction according to the coordinate deviation to enable a detection mechanical arm control loop of the vehicle-mounted electric control device (12) to work, the vehicle-mounted electric control device (12) controls the driving action of the detection mechanical arm to enable the distance between the scanning plane of the scanner positioned at the set step pitch stop position and the scanning plane of the scanner positioned at the last set step pitch stop position to be adjusted to be a set distance, then the industrial control computer of the vehicle-mounted electric control device (12) controls the angle positioning control driving action of the detecting head (13) to enable the scanner to rotate within the range of 360 degrees in the corrected A step plane scan is performed.

4. An underground space constructing method according to claim 1, wherein the driving of the rotary excavating robot of the underground space constructing system further comprises an a-coordinate rotary driving mechanism which rotationally moves along the left and right horizontal directions as a central axis, or a B-coordinate rotary driving mechanism which rotationally moves along the front and rear horizontal directions as a central axis, and a C-coordinate rotary driving mechanism which rotationally moves along the vertical direction as a central axis; a pattern recognition sensor is arranged on the tail section of the rotary excavating mechanical arm corresponding to the position of the rotary excavating cutting head, the centralized electric control unit (3) further comprises a rotary excavating correction loop, and the central control computer is electrically connected with the pattern recognition sensor on the tail section of the rotary excavating mechanical arm;

5. An underground space constructing method according to claim 1, wherein the printer arm drive of the underground space constructing system further comprises an a-coordinate rotation drive mechanism that rotates and moves along the left and right horizontal directions as central axes or a B-coordinate rotation drive mechanism that rotates and moves along the front and rear horizontal directions as central axes, or further comprises an a-coordinate rotation drive mechanism that rotates and moves along the left and right horizontal directions as central axes and a B-coordinate rotation drive mechanism that rotates and moves along the front and rear horizontal directions as central axes; the printing nozzle (24) is also provided with a pattern recognition sensor, the centralized electric control unit (3) also comprises a 3D printing entity correction loop, and the central control computer is electrically connected with the pattern recognition sensor;

step e, in the process of entity printing of the three-dimensional model of the underground space, the 3D printing entity correction loop works, the mode identification sensor feeds back the body size data of the 3D printing entity to the central control computer in real time, the central control computer compares the body size data of the 3D printing entity with the stored model data of the corresponding part on the three-dimensional model of the underground space, if the body size data of the 3D printing entity is smaller than the model data of the corresponding part on the three-dimensional model of the underground space, the central control computer sends an instruction to control the 3D printing nozzle (24) to interrupt the printing path and repeatedly perform 3D printing of the part of the printing path according to the model data of the corresponding part on the three-dimensional model of the underground space and the printing path of the part of the printing path until the body size data of the 3D printing entity is larger than or equal to the model data of the corresponding part on the three-dimensional model of, then the central control computer sends out an instruction again to control the 3D printing nozzle (24) to continue to perform 3D printing according to the planned printing path.

6. A method for constructing an underground space according to any one of claims 1 to 5, wherein in the step b, the topographic exploration and treatment robot unit (1) is used for stepping towards the interior of the underground cavity and scanning the cavity of the underground cavity, and the scanning mode of the scanner of the probing head (13) adopts a non-contact potential measurement mode based on wireless power transmission.

7. A method for constructing an underground space according to any one of claims 1 to 5, wherein the central control computer of the centralized electronic control unit (3) is in radio communication with the industrial control computer of the on-board electronic control unit (12) and the industrial control computer of the print electronic control unit (23), respectively, and data transmission between the central control computer and the industrial control computers of the on-board electronic control unit (12) and the print electronic control unit (23) is performed by wireless communication.

8. The underground space construction method according to any one of claims 1 to 5, wherein in the printing path planning and printing reference coordinate planning process of the surface support layer model, the cylindrical support model, the wallboard model and the floor slab model in the step c, the central control computer takes the initial position of the 3D printing robot unit (2) as a reference coordinate origin, and in the printing path planning and printing reference coordinate planning process of the cylindrical support model, the printing path planning and the printing reference coordinate planning are carried out according to the order of stress concentration in the three-dimensional space model of the underground cavity from large to small.

9. A method of constructing a subterranean space according to any one of claims 1 to 5, wherein the printing material comprises waste powder of stone; the printing material supply subunit is arranged in the underground roadway and is electrically connected with the central control computer of the centralized electric control unit (3), the printing material supply subunit comprises a raw material preparation device, the raw material preparation device comprises a crusher, and the central control computer of the centralized electric control unit (3) controls the printing material supply subunit to enable the crusher to directly crush the coal gangue on site.

10. The underground space construction method according to claim 9, wherein the terrain detection and processing robot unit (1) further comprises a debris temporary storage device, the debris temporary storage device comprises a rake-mounting mechanism arranged below the rotary excavating mechanical arm and a transshipment temporary storage mechanism arranged at the rear part of the rake-mounting mechanism, the rake-mounting mechanism and the transshipment temporary storage mechanism are respectively and electrically connected with an industrial control computer of the vehicle-mounted electric control device (12), and the vehicle-mounted electric control device (12) further comprises a debris collection and reuse loop;

and d, simultaneously starting working of the slag collecting and processing loop in the process of removing redundant original inner surfaces of the underground cavities by the action of the rotary digging mechanical arm, harrowing the dropped slag by the harrowing mechanism and transferring the dropped slag to the transferring temporary storage mechanism for temporary storage, returning the terrain detection and processing robot unit (1) to an initial position after rotary digging processing of the inner surfaces of the underground cavities, and directly sending the slag in the transferring temporary storage mechanism into a crusher of the printing material supply subunit for recycling.