CN108772937A - A kind of underground cavity intelligence placement method - Google Patents

A kind of underground cavity intelligence placement method Download PDF

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Publication number
CN108772937A
CN108772937A CN201810403685.2A CN201810403685A CN108772937A CN 108772937 A CN108772937 A CN 108772937A CN 201810403685 A CN201810403685 A CN 201810403685A CN 108772937 A CN108772937 A CN 108772937A
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China
Prior art keywords
printing
underground cavity
control computer
scanner
control
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Granted
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CN201810403685.2A
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CN108772937B (en
Inventor
马占国
龚鹏
唐军华
张亮
韩卓鹏
刘飞
王强
张帆
马云靖
成世兴
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Shanxi Lu'an Environmental Protection Energy Development Co., Ltd. Zhangcun Coal
China University of Mining and Technology CUMT
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China University of Mining and Technology CUMT
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Priority to CN201810403685.2A priority Critical patent/CN108772937B/en
Publication of CN108772937A publication Critical patent/CN108772937A/en
Priority to PCT/CN2019/084726 priority patent/WO2019206319A1/en
Priority to AU2019259069A priority patent/AU2019259069C1/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B28WORKING CEMENT, CLAY, OR STONE
    • B28BSHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B1/00Producing shaped prefabricated articles from the material
    • B28B1/001Rapid manufacturing of 3D objects by additive depositing, agglomerating or laminating of material
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/10Processes of additive manufacturing
    • B29C64/141Processes of additive manufacturing using only solid materials
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/30Auxiliary operations or equipment
    • B29C64/386Data acquisition or data processing for additive manufacturing
    • B29C64/393Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B33ADDITIVE MANUFACTURING TECHNOLOGY
    • B33YADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y10/00Processes of additive manufacturing
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B33ADDITIVE MANUFACTURING TECHNOLOGY
    • B33YADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y30/00Apparatus for additive manufacturing; Details thereof or accessories therefor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B33ADDITIVE MANUFACTURING TECHNOLOGY
    • B33YADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y50/00Data acquisition or data processing for additive manufacturing
    • B33Y50/02Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Materials Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Ceramic Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a kind of underground cavity intelligence placement method, including filling prepares, the scanning of underground cavity inner cavity, filling data modeling, 3D printing filling.Underground cavity three-dimensional space model is built after sniffing robot unit is completed to the scanning of underground cavity, concentrate the central control computer of electronic control unit to carrying out applying stress field calculation analysis outside it, and based on underground cavity three-dimensional space model, space three-dimensional model for anchor is generated to the stress concentration point position of interior surface thereof structure model for anchor successively according to the safety coefficient for applying stress field calculation analysis result and input, and generate 3D printing path and printing reference coordinate, then 3D printing robot cell 3D printing space three-dimensional supporting entity inside underground cavity, controllable supporting quality and controllable charging quantity may be implemented, higher pack effectiveness and higher safety, spatial reuse even may be implemented, operation is administered in filling especially suitable for underground cavity.

Description

A kind of underground cavity intelligence placement method
Technical field
It is specifically a kind of for such as underground coal mine coal goaf, coal underground gas the present invention relates to a kind of placement method The underground cavity or natural geological movement for changing the artificial ground activity generation such as large area coal seam burned out area formed in the process exist A series of placement method of the intelligent filling system of the nature underground cavity such as cavities generated under earth's surface, belongs to underground engineering skill Art field.
Background technology
Underground cavity refers to the space that earth's surface or less is covered by rock stratum, generally refers to the larger underground cavity pocket in space.Artificially Ground activity underground mining such as in coal mining accounts for the 60% of world's coal production, and by underground coal during underground mining Or the coal goaf formation underground cavity of large area is often left after the completion of the exploitations such as gangue;Underground coal gasification(UCG) is substantially Only the component containing energy, change physics mine and mine into chemistry in extraction coal, are that the coal for being in underground is controlledly burnt, logical The process that heat effect and chemical action to coal generate fuel gas is crossed, coal underground gasification technology can not only recycle mine something lost The coal resources abandoned, and can be also used for recovery well work and be difficult to exploit or exploit the poor girdle of economy, safety, depth Coal and high-sulfur, high ash, high gas layer are pressed in portion coal seam, " under three ", although the lime-ash after underground coal gasification(UCG) burning stays in underground, But the large area coal seam burned out area underground cavity that can be also formed in Underground Coal Gasification Process;In addition, natural geological movement is on ground Also a series of underground cavities be will produce under table.
With the fast development of economic construction of China, the importance of subterranean resource exploitation and underground space development is increasingly It highlights, the presence of underground cavity makes the safe working of subterranean resource, the utilization of the underground space are faced with serious safety Problem.It is carried out to deep in particular with geotechnical engineering artificial ground in underground is movable, the original of stope answers after orebody mining Power state is destroyed, to cause stress to redistribute, under the action of the factors such as burden pressure and underground water, and underground cavity pole Such as wall caving, roof fall, gushing water, earthquake, rock burst, bump, surface collapse, surface subsidence, ground fissure easily occurs and is led by it The geological disaster of the diversified forms such as landslide, mud-rock flow, the surface vegetation destruction of cause, underground cavity have become restriction underground engineering One important problem of development.
Whole caving methods, filling method, support Seal treatment method is usually taken for underground cavity improvement in China at this stage.Its Middle whole caving method and support Seal treatment method can cause a degree of surface subsidence, therefore whole caving methods and support are sealed The use condition for closing facture improvement underground cavity is stringenter, usually requires that:1. the ore or country rock of underground cavity are extremely firm, mine Body thickness is little with deepening, buries not deep, earth's surface permission avalanche;2. the isolated underground cavity of deeper dispersion is buried, it need to be from main Ore body or production district are farther out and top no operatton area.And fill rule and be suitable for the situation that earth's surface does not allow large area to collapse, it fills The method of filling out is to support country rock with casting resin to slow down or prevent the deformation of country rock, keep stablizing relatively for country rock.Filling method is current Underground cavity administers most common method.
The existing placement method for underground cavity be typically using the barren rock of outdoor stripping in earth's surface, exploitation barren rock or Beneficiation tailing establishes filling system as main filling aggregate, then will by the drilling of underground cavity, courtyard or filling pipeline Casting resin gravity flow (or pressurization) is fills up to underground cavity, and the cavity of underground cavity is fully populated with.Although this traditional Filling method, which can be realized, keeps the metastable purpose of country rock, but on the one hand, the filling method of traditional gravity flow mode can not be controlled Filling quality processed, and the conveying equipment and tamping apparatus that conventional press filling method generally use occupied space is larger, and be both needed to Operating personnel's manual operation control filling and compacting, pack effectiveness are relatively low;On the other hand, the mode of traditional dry stowing fills Certain gap is still remained between filling aggregate particle afterwards, and obturation would generally after the mode of traditional flushing fills There are certain Compression Settlements, therefore the ability that traditional filling method prevents rock from moving is limited;In another aspect, under base area Cavity specific location and shape, stress situation carry out data analysis as a result, often only stress concentration point position need to be carried out The supporting of respective direction can meet supporting requirement, be fully populated with carry out supporting without carry out cavity, in view of filling method itself The shortcomings of difficulty of construction is big, of high cost, operational security is poor is there is, therefore blindly be fully populated with being bound to cause resource Waste and cost raising, meanwhile, the mode being fully populated with makes the void space of underground cavity that can not be utilized.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of underground cavity intelligence placement method, high degree of automation, Ke Yi It realizes and realizes saving resource under the premise of carrying out effective support to underground cavity inside, reduces filling cost, especially suitable for ground Operation is administered in the filling in lower cavity.
To achieve the above object, used underground cavity intelligence filling system includes that sniffing robot unit, 3D are beaten It prints robot cell and concentrates electronic control unit;
The sniffing robot unit includes full landform walking chassis, detection mechanical arm and controlled vehicle-mounted electrical device;Quan Di Shape walking chassis is arranged in the bottom of sniffing robot unit, and full landform walking chassis includes automatically controlled driving mechanism and course changing control Mechanism;The bottom end for detecting mechanical arm is mounted in full landform walking chassis, and the top for detecting mechanical arm is equipped with detection device, detection Device includes detecting head, and detecting head includes range sensor, scanner, gyroscope, the driving of detecting head angle&orientation control, detection Head angle&orientation control driving include at least along left and right horizontal direction be central axes moving in rotation A coordinates rotary drive mechanism and It is the B coordinate rotary drive mechanisms of central axes moving in rotation along anterior-posterior horizontal direction;Controlled vehicle-mounted electrical device is fixedly mounted on entirely In shape walking chassis, controlled vehicle-mounted electrical device includes industrial control computer, sniffing robot travelling control circuit, detecting head detection Angle control loop, industrial control computer are electric with the automatically controlled driving mechanism of full landform walking chassis and course changing control mechanism respectively Connection, industrial control computer are electrically connected with the driving of the detecting head angle&orientation control of detecting head;
The 3D printing robot cell includes full landform walking chassis, print machinery arm, printed material input unit With printing electric control gear;Full landform walking chassis is arranged in the bottom of 3D printing robot cell, and full landform walking chassis includes Automatically controlled driving mechanism and course changing control mechanism;Print machinery arm is mounted in full landform walking chassis, and print machinery arm includes beating Mechanical arm driving is printed, the driving of print machinery arm includes at least the X-coordinate driving of control print machinery arm left and right horizontal direction movement Mechanism, the Y coordinate driving mechanism of control print machinery arm anterior-posterior horizontal direction movement, control print machinery arm vertical direction movement Z coordinate driving mechanism, the minor details of print machinery arm are equipped with 3D printing device, and 3D printing device includes 3D printing nozzle;It beats Print material input includes that printed material is pumped into mechanism, and printed material is pumped into the input terminal and printed material supply son list of mechanism First connection, printed material supply subelement and supply printed material, and printed material is pumped into the output end of mechanism and 3D printing nozzle leads to Cross the connection of printed material output pipe;Printing electric control gear is fixedly mounted in full landform walking chassis, prints electric control gear packet Include industrial control computer, 3D printing robot travelling control circuit, 3D printing nozzle position control loop, printed material are pumped into Mechanism controls circuit, industrial control computer are electric with the automatically controlled driving mechanism of full landform walking chassis and course changing control mechanism respectively Connection, industrial control computer are pumped into mechanism and are electrically connected with the driving of print machinery arm, printed material respectively;
The concentration electronic control unit includes central control computer, detection control loop, data modeling circuit, explorer Device people's position feedback corrective loop, 3D printing control loop, central control computer respectively with the range sensor of detecting head, sweep Instrument, gyroscope electrical connection are retouched, central control computer is automatically controlled with the industrial control computer of controlled vehicle-mounted electrical device and printing respectively The industrial control computer of device is electrically connected;
Placement method specifically includes following steps:
A. filling prepares:After Position Approximate by geologic radar detection underground cavity, ensureing near driving breakthrough point Pristine formation supporting intensity it is larger under the premise of select suitable driving breakthrough point, by development machine through tunneling breakthrough point pick The tunnel of disengaging and underground cavity perforation simultaneously carries out effective support to the tunnel, then by sniffing robot unit and 3D printer Device people's unit is placed in the tunnel being connected to underground cavity;
B. underground cavity inner cavity is scanned:Electronic control unit control detection control loop, sniffing robot position feedback is concentrated to repair Positive circuit, data modeling loop starts, central control computer, which sends out instruction, makes the Industry Control meter of controlled vehicle-mounted electrical device Calculation machine controls sniffing robot unit to stepping inside underground cavity and is scanned rear coordinate to the inner cavity of underground cavity and retracts To initial position, central control computer by flat scanning data carry out same benchmark fitting and three-dimensional modeling after generate underground Empty three-dimensional space model, is then stored;
C. data modeling is filled:Central control computer is according to the underground cavity peripheral environment geologic data of input to underground The outside of empty three-dimensional space model carry out apply Stress calculation analysis, and to the stability of underground cavity three-dimensional space model, Stress, displacement, the evolutionary process progress in crack, permeability, sound characteristics, light characteristic, electrical characteristics, magnetic characteristic and structural property parameter Calculate analysis, and based on underground cavity three-dimensional space model, according to apply stress field calculation analysis result and input peace Overall coefficient generates underground to the stress concentration point position of underground cavity three-dimensional space model interior surface structure model for anchor successively Void space three-dimensional model for anchor simultaneously stores co-ordinate position information, then central control computer carry out 3D printing path planning and Reference coordinate planning is printed, and stores 3D printing path and printing reference coordinate;
D.3D printing filling:3D printing control loop is started to work, and central control computer, which sends out instruction, keeps printing automatically controlled The 3D printing robot travelling control loop starts of device, print the industrial control computer of electric control gear according to 3D printing The automatically controlled driving mechanism and course changing control mechanism action of the full landform walking chassis of path clustering 3D printing robot cell make 3D Printer device people's unit coordinate is moved to the setting position of corresponding space three-dimensional model for anchor coordinate position inside underground cavity, so 3D printing nozzle position control loop is started to work afterwards, and the industrial control computer for printing electric control gear is controlled according to 3D printing path The print machinery arm drive actions of print machinery arm processed make 3D printing nozzle coordinate be moved to printing reference coordinate location, print material Material is pumped into mechanism controls loop starts, prints the industrial control computer control printed material input unit of electric control gear Printed material, which is pumped into mechanism action, makes the printed material pumped out be exported through 3D printing nozzle, then prints the industry control of electric control gear The print machinery arm drive actions of computer control print machinery arm processed make 3D printing nozzle be moved according to 3D printing path coordinate 3D printing is carried out, until completing the physical print of space three-dimensional model for anchor, 3D printing robot cell when 3D printing path termination It retracts to initial position.
Scheme as a further improvement on the present invention, step b sniffing robots unit is to stepping inside underground cavity and right During the inner cavity of underground cavity is scanned, central control computer sends out instruction first makes the detection of controlled vehicle-mounted electrical device Head detection angle control loop is started to work, the detecting head angle of the industrial control computer control detecting head of controlled vehicle-mounted electrical device Location control drive actions make the scanner of detecting head be rotated into row within the scope of 360 ° in the basic point plane of scanning motion with initial position The basic point flat scanning data are sent to center by the scanner for the basic point flat scanning of reference coordinates origin, detecting head simultaneously The scanner coordinate position data of reference coordinates origin position is sent to center by the gyroscope of control computer while detecting head Control computer, central control computer is by the scanner coordinate position of basic point flat scanning data and reference coordinates origin position Data are stored;
Then central control computer, which sends out instruction, makes the sniffing robot travelling control circuit of controlled vehicle-mounted electrical device start Work, the automatically controlled driving of the full landform walking chassis of the industrial control computer control sniffing robot unit of controlled vehicle-mounted electrical device It is reference coordinates origin to underground cavity that mechanism and course changing control mechanism action, which keep sniffing robot unit whole using initial position, One setting step pitch of intrinsic coordinates movement stepping simultaneously stops, and then the gyroscope of detecting head is first by the scanner of the stepping position Coordinate position data is sent to central control computer, by the stepping position while then central control computer is stored Gyroscope feedback scanner coordinate position data will with the scanner coordinate position data of reference coordinates origin position carry out Compare, calculate the seat between the scanner coordinate position of the stepping position and the scanner coordinate position of reference coordinates origin position Mark deviation simultaneously stores, and then central control computer sends out instruction according to the grid deviation makes the detecting head of controlled vehicle-mounted electrical device visit Task, the detecting head angle of the industrial control computer control detecting head of controlled vehicle-mounted electrical device position measuring angle control loop again Control drive actions make the detecting head of the stepping position rotate and the plane of scanning motion positioned to the scanner of the stepping position is parallel In the position of the basic point plane of scanning motion, then the detecting head angle of the industrial control computer control detecting head of controlled vehicle-mounted electrical device is fixed Position control drive actions make scanner be rotated into row first step anomaly Surface scan within the scope of 360 ° in the revised plane of scanning motion, First step anomaly Surface scan data are sent to central control computer by the scanner of detecting head, and central control computer is according to depositing First step anomaly Surface scan data and basic point flat scanning data are carried out fitting and the three-dimensional of same benchmark by the grid deviation of storage It is stored after modeling;
Then central control computer, which sends out instruction, makes the industrial control computer of controlled vehicle-mounted electrical device control detection machine The coordinate points of the whole above stepping position of people's unit are that reference coordinates point moves stepping one to underground cavity intrinsic coordinates again A setting step pitch simultaneously stops, and so on, sniffing robot unit often walks further, and the gyroscope of detecting head is first by the stepping The scanner coordinate position data of position is sent to central control computer, while then central control computer is stored The scanning that the scanner coordinate position data that the gyroscope of the stepping position is fed back and the gyroscope of previous step into position are fed back Instrument coordinate position data is compared, calculates the scanner coordinate position of the stepping position and the scanner of previous step into position is sat Grid deviation between cursor position and storage, then central control computer sends out instruction according to the grid deviation makes the stepping position The detecting head set rotate and position to the plane of scanning motion of the scanner of the stepping position be parallel to previous step into position scanner The plane of scanning motion position, then controlled vehicle-mounted electrical device industrial control computer control detecting head detecting head angle positioning control Drive actions processed make scanner be rotated into row step pitch flat scanning within the scope of 360 ° in the revised plane of scanning motion, detecting head Step pitch flat scanning data are sent to central control computer by scanner, and central control computer is according to the grid deviation of storage The step pitch flat scanning data of the step pitch flat scanning data of the stepping position and previous step into position are subjected to same benchmark It is fitted and is stored after three-dimensional modeling, until completing entire underground cavity inner cavity according to the feedback of the range sensor of detecting head Scanning, central control computer stores final underground cavity three-dimensional space model.
The detection mechanical arm of scheme as a further improvement on the present invention, underground cavity intelligence filling system includes detection Mechanical arm drives, and detection mechanical arm driving includes at least the X-coordinate driving machine of control detection mechanical arm left and right horizontal direction movement The Y coordinate driving mechanism or control detection mechanical arm vertical direction of structure or the direction movement of control detection mechanical arm anterior-posterior horizontal are moved Dynamic Z coordinate driving mechanism;Controlled vehicle-mounted electrical device further includes detection mechanical arm control loop, the Industry Control of controlled vehicle-mounted electrical device Computer is electrically connected with the detection mechanical arm driving of detection mechanical arm;It further includes sweep span control loop to concentrate electronic control unit;
Step b sniffing robots unit often walks further, and central control computer sends out instruction according to the grid deviation to be made The detecting head of the stepping position, which is rotated and positioned to the plane of scanning motion of the scanner of the stepping position, is parallel to previous step into position Scanner the plane of scanning motion position after, send out instruction according to the grid deviation makes controlled vehicle-mounted electrical to central control computer simultaneously The detection mechanical arm control loop of device works, and controlled vehicle-mounted electrical device control detection mechanical arm drive actions make the stepping position To setpoint distance, then the plane of scanning motion and previous step of scanner are adjusted into the spacing between the plane of scanning motion of the scanner of position The detecting head angle&orientation control drive actions of the industrial control computer control detecting head of controlled vehicle-mounted electrical device make scanner exist Row step pitch flat scanning is rotated into the revised plane of scanning motion within the scope of 360 °.
The print machinery arm driving of scheme as a further improvement on the present invention, underground cavity intelligence filling system is also wrapped Include along left and right horizontal direction be central axes moving in rotation A coordinates rotary drive mechanism or along anterior-posterior horizontal direction be central axes revolve The dynamic B coordinate rotary drive mechanisms of transfer, or further include being rotated for the A coordinates of central axes moving in rotation along left and right horizontal direction Driving mechanism and along anterior-posterior horizontal direction be central axes moving in rotation B coordinate rotary drive mechanisms.
Scheme as a further improvement on the present invention is additionally provided with mould on the printing head of underground cavity intelligence filling system Formula identification sensor, it further includes 3D printing entity corrective loop to concentrate electronic control unit, and central control computer is passed with pattern-recognition Sensor is electrically connected;
During the physical print of step d space three-dimensional model for anchor, the work of 3D printing entity corrective loop, pattern-recognition Sensor feeds back the feature dimension data of 3D printing entity to central control computer in real time, and central control computer beats the 3D The model data for printing corresponding part on the feature dimension data of entity and the underground cavity space three-dimensional model for anchor of storage carries out Compare, if the feature dimension data of 3D printing entity are less than the pattern number of corresponding part on underground cavity space three-dimensional model for anchor According to then central control computer sends out instruction control 3D printing nozzle and interrupts void space three under 3D printing path and base area The model data of corresponding part repeats this part 3D printing path according to the 3D printing path of this part on dimension model for anchor 3D printing, until the feature dimension data of 3D printing entity be greater than or equal to it is corresponding on underground cavity space three-dimensional model for anchor Partial model data, then central control computer send out instruction control 3D printing nozzle again and continue 3D printing road by planning Diameter carries out 3D printing.
Scheme as a further improvement on the present invention, step b sniffing robots unit is to stepping inside underground cavity and right During the inner cavity of underground cavity is scanned, the scan mode of the scanner of detecting head is used non-to be connect based on what is wirelessly conducted electricity Electric shock position measurement method.
Scheme as a further improvement on the present invention, step c central control computers are peripheral according to the underground cavity of input Environmental geology data carry out after applying stress field calculation analysis the outside of underground cavity three-dimensional space model, and center control calculates Prow is first fitted in the interior surface of underground cavity three-dimensional space model based on underground cavity three-dimensional space model and generates table Face supporting layer model, then further according to application stress field calculation analysis result and input on the basis of the supporting layer model of surface Safety coefficient corresponds to the stress concentration point of underground cavity three-dimensional space model on the inner surface of surface supporting layer model successively Position builds model for anchor and generates void space three-dimensional model for anchor seat under underground cavity space three-dimensional model for anchor and storage Cursor position information, then central control computer first plan the printing path of surface supporting layer model, plan model for anchor again Printing path;During the physical print of step d space three-dimensional model for anchor, 3D printing robot cell is first to underground cavity The entity that inner surface carries out 3D printing surface supporting layer model entity, carries out 3D printing model for anchor inside underground cavity again.
Scheme as a further improvement on the present invention, step c carry out 3D printing path planning and printing reference coordinate planning In the process, central control computer using the initial position of 3D printing robot cell as reference coordinates origin, according to underground cavity The sequence of stress concentration from large to small carries out 3D printing path planning and printing reference coordinate planning in space three-dimensional model for anchor.
Scheme as a further improvement on the present invention, the step c generate underground cavity space three-dimensional model for anchor In the process, there is support column in underground cavity, there is the build up outside support reinforcement layer of support column shortly.
A kind of embodiment of printed material input as the present invention, the printed material includes building stones waste powder End;Printed material supplies subelement setting on ground, and printed material supply subelement includes raw material device for formulating and extends to ground Input terminal lower and that mechanism is pumped into printed material be connected to the conveyance conduit connected, and the input mode of printed material is adopted in step d With the mode for preparing and inputting underground on the ground;Or printed material supply subelement is arranged in underground passage, printed material supplies It is electrically connected to subelement with the central control computer of electronic control unit is concentrated, printed material supply subelement includes that raw material prepares dress It sets, raw material device for formulating includes crusher, and the building stones waste scene of carrying out is crushed by crusher, and printed material is defeated in step d Enter mode by the way of underground extemporaneous preparation and input.
Compared with prior art, this underground cavity intelligence filling system is due to including sniffing robot unit, 3D printing Robot cell and concentration electronic control unit, underground cavity three is built after sniffing robot unit is completed to the scanning of underground cavity Dimension space model concentrates the central control computer of electronic control unit according to the underground cavity geographic position data and country rock number of input The outside of underground cavity three-dimensional space model is carried out according to equal underground cavities peripheral environment geologic data to apply stress field calculation point Analysis, and based on underground cavity three-dimensional space model, according to apply stress field calculation analysis result and input safety coefficient It is empty that underground cavity is generated to the stress concentration point position of underground cavity three-dimensional space model interior surface structure model for anchor successively Between three-dimensional model for anchor, and carry out 3D printing path planning and printing reference coordinate plane-generating 3D printing path and printing benchmark Coordinate, 3D printing robot cell can the direct 3D printings inside underground cavity according to 3D printing path and printing reference coordinate The entity of lower void space three-dimensional model for anchor, the underground cavity space three-dimensional model for anchor entity by Stress calculation is that have Controllable supporting quality and can may be implemented in the specific aim supporting for meeting supporting intensity under the premise of fully meeting supporting intensity The charging quantity of control, more traditional mode that is fully populated with can realize lower filling cost, and due to be not required to setting occupy it is empty Between larger conveying equipment and tamping apparatus, therefore there is higher pack effectiveness and higher safety, it might even be possible on ground The internal recycling for carrying out realizing excess room under the premise of effective support in lower cavity, the filling especially suitable for underground cavity are controlled Manage operation.
Description of the drawings
Fig. 1 is the structural schematic diagram of underground cavity intelligence filling system;
Fig. 2 is the underground cavity structural schematic diagram before being filled using the present invention;
Fig. 3 is the underground cavity structural schematic diagram after being filled using the present invention.
In figure:1, sniffing robot unit, 11, detection mechanical arm, 12, controlled vehicle-mounted electrical device, 13, detecting head, 2,3D beats Print robot cell, 21, print machinery arm, 22, printed material input unit, 23, printing electric control gear, 24,3D printing nozzle, 3, electronic control unit is concentrated.
Specific implementation mode
The present invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1, underground cavity intelligence filling system includes sniffing robot unit 1,3D printing robot cell 2 With concentration electronic control unit 3.
The sniffing robot unit 1 includes full landform walking chassis, detection mechanical arm 11 and controlled vehicle-mounted electrical device 12; Full landform walking chassis is arranged in the bottom of sniffing robot unit 1, and full landform walking chassis includes automatically controlled driving mechanism and turns To control mechanism;The bottom end for detecting mechanical arm 11 is mounted in full landform walking chassis, and the top of detection mechanical arm 11, which is equipped with, to be visited Device is surveyed, detection device includes detecting head 13, and detecting head 13 is fixed including range sensor, scanner, gyroscope, detecting head angle Position controls driving, and the driving of detecting head angle&orientation control is including at least the A seats for along left and right horizontal direction being central axes moving in rotation Mark rotary drive mechanism and the B coordinate rotary drive mechanisms along anterior-posterior horizontal direction for central axes moving in rotation;Controlled vehicle-mounted electrical fills It sets 12 to be fixedly mounted in full landform walking chassis, controlled vehicle-mounted electrical device 12 includes industrial control computer, sniffing robot row Walk control loop, detecting head detection angle control loop, the industrial control computer automatically controlled drive with full landform walking chassis respectively Motivation structure and the electrical connection of course changing control mechanism, the detecting head angle&orientation control driving electricity of industrial control computer and detecting head 13 Connection.
The 3D printing robot cell 2 includes full landform walking chassis, print machinery arm 21, printed material input dress Set 22 and printing electric control gear 23;Full landform walking chassis is arranged at the bottom of 3D printing robot cell 2, full landform walking bottom Disk includes automatically controlled driving mechanism and course changing control mechanism;Print machinery arm 21 is mounted in full landform walking chassis, print machinery Arm 21 drives including print machinery arm, and the driving of print machinery arm includes at least the movement of control print machinery arm left and right horizontal direction X-coordinate driving mechanism, the Y coordinate driving mechanism of control print machinery arm anterior-posterior horizontal direction movement, control print machinery arm are perpendicular Histogram is equipped with 3D printing device to mobile Z coordinate driving mechanism, the minor details of print machinery arm 21, and 3D printing device includes 3D Printing head 24;Printed material input unit 22 is pumped into mechanism including printed material, printed material be pumped into the input terminal of mechanism with Printed material supplies subelement connection, and printed material supplies subelement and supplies printed material, and printed material is pumped into the output of mechanism End is connect with 3D printing nozzle 24 by printed material output pipe;Printing electric control gear 23 is fixedly mounted on full landform walking bottom On disk, printing electric control gear 23 includes industrial control computer, 3D printing robot travelling control circuit, 3D printing nozzle position Control loop, printed material are pumped into mechanism controls circuit, the industrial control computer automatically controlled drive with full landform walking chassis respectively Motivation structure and the electrical connection of course changing control mechanism, industrial control computer are pumped into machine with the driving of print machinery arm, printed material respectively Structure is electrically connected.
The concentration electronic control unit 3 includes central control computer, detection control loop, data modeling circuit, detection Robot position feedback corrective loop, 3D printing control loop, the central control computer Distance-sensing with detecting head 13 respectively Device, scanner, gyroscope electrical connection, central control computer respectively with the industrial control computer of controlled vehicle-mounted electrical device 12 and beat Print the industrial control computer electrical connection of electric control gear 23.
This underground cavity intelligence filling system passes through before use, for the underground cavity that natural geological movement generates It is larger in the supporting intensity for ensureing the pristine formation near driving breakthrough point after the Position Approximate of geologic radar detection underground cavity Under the premise of select suitable driving breakthrough point, the tunnel penetrated through with underground cavity is tunneled out through tunneling breakthrough point by development machine And effective support is carried out to the tunnel.And it is directed to the artificial ground such as coal mine gob underground cavity or coal seam burned out area underground cavity The underground cavity that activity is formed all has the tunnel penetrated through with underground cavity due to the underground cavity that artificial ground activity is formed, because This can be omitted the step.
By taking coal mine gob as an example, before the filling operation of this underground cavity intelligence filling system, as shown in Fig. 2, will detection Robot cell 1 and 3D printing robot cell 2 are placed in the tunnel being connected to coal mine gob, then concentrate electronic control unit 3 Control detection control loop, sniffing robot position feedback corrective loop, data modeling loop starts, center control calculate Prow, which first sends out instruction, makes the detecting head detection angle control loop of controlled vehicle-mounted electrical device 12 start to work, controlled vehicle-mounted electrical device 12 Industrial control computer control detecting head 13 detecting head angle&orientation control drive actions so that the scanner of detecting head 13 is existed Row is rotated into the basic point plane of scanning motion within the scope of 360 ° using initial position as the basic point flat scanning of reference coordinates origin, detecting head The gyroscope that the basic point flat scanning data are sent to central control computer while detecting head 13 by 13 scanner simultaneously will The scanner coordinate position data of reference coordinates origin position is sent to central control computer, and central control computer is by basic point The scanner coordinate position data of flat scanning data and reference coordinates origin position is stored;
Then central control computer, which sends out instruction, makes the sniffing robot travelling control circuit of controlled vehicle-mounted electrical device 12 open Beginning work, the electricity of the full landform walking chassis of the industrial control computer control sniffing robot unit 1 of controlled vehicle-mounted electrical device 12 It is reference coordinates origin to coal that control driving mechanism and course changing control mechanism action, which keep sniffing robot unit 1 whole using initial position, Ore goaf one setting step pitch of intrinsic coordinates movement stepping simultaneously stops, and then the gyroscope of detecting head 13 is first by the stepping position The scanner coordinate position data set is sent to central control computer, will while then central control computer is stored The scanner coordinate position data of the gyroscope feedback of the stepping position is by the scanner coordinate bit with reference coordinates origin position It sets data and is compared, calculates the scanner coordinate position of the stepping position and the scanner coordinate bit of reference coordinates origin position Grid deviation between setting and storage, then central control computer sends out instruction according to the grid deviation makes controlled vehicle-mounted electrical device Task, the industrial control computer of controlled vehicle-mounted electrical device 12 control detecting head 13 to 12 detecting head detection angle control loop again Detecting head angle&orientation control drive actions make the stepping position detecting head 13 rotate and position sweeping to the stepping position The plane of scanning motion for retouching instrument is parallel to the position of the basic point plane of scanning motion, then the industrial control computer control of controlled vehicle-mounted electrical device 12 The detecting head angle&orientation control drive actions of detecting head 13 make scanner 360 ° of range inward turnings in the revised plane of scanning motion Row first step anomaly Surface scan is rotated into, first step anomaly Surface scan data are sent to center control meter by the scanner of detecting head 13 Calculation machine, central control computer is according to the grid deviation of storage by first step anomaly Surface scan data and basic point flat scanning data It is stored after carrying out the fitting of same benchmark and three-dimensional modeling;
Then central control computer, which sends out instruction, makes the industrial control computer of controlled vehicle-mounted electrical device 12 control explorer The coordinate points of the whole above stepping position of device people unit 1 are that reference coordinates point moves step to coal mine gob intrinsic coordinates again Into a setting step pitch and stop, and so on, sniffing robot unit 1 often walks further, and the gyroscope of detecting head 13 is first The scanner coordinate position data of the stepping position is sent to central control computer, then central control computer is deposited It is while storage that the scanner coordinate position data of the gyroscope of stepping position feedback and the gyroscope of previous step into position is anti- The scanner coordinate position data of feedback is compared, calculates the scanner coordinate position of the stepping position and previous step into position Grid deviation between scanner coordinate position and storage, then central control computer instruction is sent out according to the grid deviation and is made The detecting head 13 of the stepping position, which is rotated and positioned to the plane of scanning motion of the scanner of the stepping position, is parallel to previous step carry The position of the plane of scanning motion for the scanner set, the then spy of the industrial control computer control detecting head 13 of controlled vehicle-mounted electrical device 12 It is flat that gauge head angle&orientation control drive actions make scanner be rotated into row step pitch within the scope of 360 ° in the revised plane of scanning motion Step pitch flat scanning data are sent to central control computer, central control computer by the scanner of Surface scan, detecting head 13 According to the grid deviation of storage by the step pitch flat scanning data of the stepping position and previous step into the step pitch flat scanning of position Data are stored after carrying out the fitting of same benchmark and three-dimensional modeling, until according to the feedback of the range sensor of detecting head 13 The scanning of entire coal mine gob is completed, central control computer, which sends out instruction, makes 1 coordinate of sniffing robot unit retract to first Beginning and stores final goaf three-dimensional space model position.
Data modeling loop starts, central control computer is according to the goaf geographic position data and country rock of input The goafs such as data peripheral environment geologic data carries out the outside of goaf three-dimensional space model to apply stress field calculation analysis, And based on the three-dimensional space model of goaf, it is right successively according to the safety coefficient for applying stress field calculation analysis result and input The stress concentration point position structure model for anchor of goaf three-dimensional space model interior surface generates space three-dimensional model for anchor, so Each space model for anchor is fitted to the mesh space model for anchor and memory space three-dimensional branch of connection structure integral structure afterwards Model coordinate location information is protected, then central control computer is using the initial position of 3D printing robot cell 2 as reference coordinates Origin carries out 3D printing path planning and printing benchmark according to the sequence of stress concentration in space three-dimensional model for anchor from large to small Coordinate is planned, and stores 3D printing path and printing reference coordinate;
3D printing control loop is started to work, and central control computer, which sends out instruction, makes the 3D printing of printing electric control gear 23 Robot ambulation control loop is started to work, and prints the industrial control computer of electric control gear 23 according to 3D printing path clustering 3D The automatically controlled driving mechanism and course changing control mechanism action of the full landform walking chassis of printer device people unit 2 make 3D printing robot 2 coordinate of unit is moved to the setting position of corresponding space three-dimensional model for anchor coordinate position inside coal mine gob, and then 3D is beaten It prints nozzle position control loop to start to work, the industrial control computer of printing electric control gear 23 is beaten according to 3D printing path clustering The print machinery arm drive actions of print mechanical arm 21 make 24 coordinate of 3D printing nozzle be moved to printing reference coordinate location, print material Material is pumped into mechanism controls loop starts, and the industrial control computer of printing electric control gear 23 controls printed material input unit 22 printed material, which is pumped into mechanism action, makes the printed material pumped out be exported through 3D printing nozzle 24, then prints electric control gear 23 The print machinery arm drive actions of industrial control computer control print machinery arm 21 make 3D printing nozzle 24 according to 3D printing Path coordinate movement carries out 3D printing, and it is larger that 3D printing stress concentration first may be implemented in the sequence of stress concentration from large to small Position carries out supporting first, to be further ensured that the safety of follow-up 3D printing, as shown in figure 3, when to 3D printing path termination The physical print of space three-dimensional model for anchor is completed, 3D printing robot cell 2 retracts to initial position.
There is stalactite column for having in supporting coal pillar or naturally underground cavity in coal mine gob, it can basis Stress intensity and underground cavity space three-dimensional model for anchor directly have supporting coal pillar or have the external 3D of stalactite column to beat shortly Branch sheath is printed to realize to having supporting coal pillar or having the reinforcement of stalactite column support capacity.
The plane of scanning motion of the scanner of this underground cavity intelligence filling system detecting head 13 can be adopted according to specific operating mode With horizontal scan plane or vertical sweep plane is used, radar scanning based on Radar Technology, base may be used in scan mode Laser scanning in laser technology, the ultrasonic scanning based on ultrasonic wave positioning, is based on the infrared scanning based on infrared imaging The magnetic scanning etc. of magnetic signal.
In order to obtain the lithology data of country rock around underground cavity while being scanned to underground cavity, in turn Convenient for subsequent Stress calculation, scheme, the scan mode of the scanner of detecting head 13 use as a further improvement on the present invention Based on the non-contact potential measurement mode wirelessly to conduct electricity.
Equipment damage is caused in order to avoid the top plate of underground cavity during 3D printing entity falls stone, is simultaneously Ensure that the entity of space three-dimensional model for anchor during 3D printing entity can connect with the surface effective integration of underground cavity Connect, as a further improvement on the present invention scheme, central control computer first based on the three-dimensional space model of goaf The interior surface fitting of goaf three-dimensional space model generates surface branch sheath, then further according to application stress field calculation analysis knot The safety coefficient of fruit and input builds supporting to the stress concentration point position of the interior surface of goaf three-dimensional space model successively Model generates space three-dimensional model for anchor and memory space three-dimensional model for anchor co-ordinate position information, then central control computer It first plans the printing path of surface supporting layer, plan the printing path of model for anchor again;3D printing robot during 3D printing Unit 2 first carries out 3D printing surface branch sheath to the inner surface of underground cavity, carries out space three-dimensional branch inside underground cavity again Protect the 3D physical prints of model.
For the waste for making full use of the artificial ground activity of such as gangue, barren rock to generate, as of the invention into one Improvement project is walked, the printed material includes the building stones waste powder such as gangue or building waste or barren rock.
For the underground cavity that natural geological movement generates, a kind of implementation of subelement is supplied as printed material of the present invention Mode, printed material supply subelement setting on ground, and printed material supply subelement includes raw material device for formulating and extends to Underground and the input terminal that mechanism is pumped into printed material are connected to the conveyance conduit of connection.
For the underground cavity that artificial ground activity is formed, the another kind that subelement is supplied as printed material of the present invention is real Mode is applied, printed material supplies subelement and is arranged in underground passage, and printed material supplies subelement and concentrates electronic control unit 3 Central control computer is electrically connected, and printed material supply subelement includes raw material device for formulating, and raw material device for formulating includes broken Machine, concentrate electronic control unit 3 central control computer control printed material supply subelement make crusher directly by gangue into Row scene is broken, and the extra power of well on spoil is avoided to consume.
Goaf three dimensions mould is generated in order to realize the uniformity between each plane of scanning motion and then more accurately be fitted Type, scheme, the detection mechanical arm 11 include detection mechanical arm driving as a further improvement on the present invention, detect mechanical arm Driving includes at least the X-coordinate driving mechanism or control detection mechanical arm of control detection mechanical arm 11 left and right horizontal direction movement The Y coordinate driving mechanism of 11 anterior-posterior horizontal directions movement or the Z coordinate driving machine of control detection 11 vertical direction of mechanical arm movement Structure;Controlled vehicle-mounted electrical device 12 further includes detection mechanical arm control loop, the industrial control computer of controlled vehicle-mounted electrical device 12 and spy Survey the detection mechanical arm driving electrical connection of mechanical arm 11;The concentration electronic control unit 3 further includes sweep span control loop.It visits It surveys robot cell 1 often to walk further, central control computer sends out instruction according to the grid deviation makes the spy of the stepping position Gauge head 13, which rotates and positions the scanner for being parallel to previous step into position to the plane of scanning motion of the scanner of the stepping position, to be swept Behind the position for retouching plane, central control computer sends out instruction according to the grid deviation simultaneously makes the detection of controlled vehicle-mounted electrical device 12 Mechanical arm control loop works, and the control detection mechanical arm drive actions of controlled vehicle-mounted electrical device 12 make the scanner of the stepping position The plane of scanning motion and previous step are adjusted into the spacing between the plane of scanning motion of the scanner of position to setpoint distance, then controlled vehicle-mounted electrical The detecting head angle&orientation control drive actions of the industrial control computer control detecting head 13 of device 12 make scanner correct Row step pitch flat scanning is rotated into the plane of scanning motion afterwards within the scope of 360 °.
In order to increase the flexibility ratio of printing head 24, realize comprehensive 3D printing, as a further improvement on the present invention Scheme, print machinery arm driving further include along left and right horizontal direction be central axes moving in rotation A coordinates rotary drive mechanism or It is the B coordinate rotary drive mechanisms of central axes moving in rotation along anterior-posterior horizontal direction, or further includes being along left and right horizontal direction The A coordinates rotary drive mechanism of central axes moving in rotation and along anterior-posterior horizontal direction be central axes moving in rotation B coordinates rotate Driving mechanism.
For the further accurate effect for ensureing 3D printing, scheme as a further improvement on the present invention, printing head 24 On be additionally provided with pattern-recognition sensor, it further includes 3D printing entity corrective loop to concentrate electronic control unit 3, central control computer with Pattern-recognition sensor is electrically connected.During 3D printing, 3D printing entity corrective loop work, pattern-recognition sensor in real time to Central control computer feeds back the feature dimension data of 3D printing entity, and central control computer is by the body of the 3D printing entity Dimension data is compared with the model data of corresponding part on the underground cavity space three-dimensional model for anchor of storage, if 3D printing The feature dimension data of entity are less than the model data of corresponding part on underground cavity space three-dimensional model for anchor, then center control Computer sends out instruction control 3D printing nozzle 24 and interrupts under 3D printing path and base area on void space three-dimensional model for anchor The model data of corresponding part repeats the 3D printing in this part 3D printing path according to the 3D printing path of this part, until The feature dimension data of 3D printing entity are greater than or equal to the pattern number of corresponding part on underground cavity space three-dimensional model for anchor According to then central control computer sends out instruction control 3D printing nozzle 24 and continues to beat by the 3D printing path progress 3D of planning again Print.
It is arranged to reduce mechanism, as a further improvement on the present invention scheme, sniffing robot unit 1 and 3D printer Device people unit 2 shares the same full landform walking chassis.
This underground cavity intelligence filling system is due to including sniffing robot unit 1,2 sum aggregate of 3D printing robot cell Middle electronic control unit 3 builds underground cavity three-dimensional space model after sniffing robot unit 1 is completed to the scanning of underground cavity, Concentrate the central control computer of electronic control unit 3 according to the undergrounds such as the underground cavity geographic position data of input and country rock data sky Hole peripheral environment geologic data carries out the outside of underground cavity three-dimensional space model to apply stress field calculation analysis, and with underground Successively to underground sky based on empty three-dimensional space model, according to application stress field calculation analysis result and the safety coefficient of input The stress concentration point position structure model for anchor of hole three-dimensional space model interior surface generates underground cavity space three-dimensional supporting mould Type, and carry out 3D printing path planning and printing reference coordinate plane-generating 3D printing path and printing reference coordinate, 3D printing Robot cell 2 according to 3D printing path and printing reference coordinate can inside underground cavity direct 3D printing underground cavity space The entity of three-dimensional model for anchor, the underground cavity space three-dimensional model for anchor entity by Stress calculation are strong with supporting is met The specific aim supporting of degree, may be implemented controllable supporting quality and controllable filling under the premise of fully meeting supporting intensity Amount, more traditional mode that is fully populated with can realize lower filling cost, and larger due to being not required to setting occupied space Conveying equipment and tamping apparatus, therefore there is higher pack effectiveness and higher safety, it might even be possible in underground cavity Portion realized under the premise of effective support the recycling of excess room, and operation is administered in the filling especially suitable for underground cavity.

Claims (10)

1. a kind of underground cavity intelligence placement method, used underground cavity intelligence filling system includes sniffing robot Unit (1), 3D printing robot cell (2) and concentration electronic control unit (3);
The sniffing robot unit (1) includes full landform walking chassis, detection mechanical arm (11) and controlled vehicle-mounted electrical device (12);Full landform walking chassis is arranged in the bottom of sniffing robot unit (1), and full landform walking chassis includes automatically controlled driving machine Structure and course changing control mechanism;The bottom end for detecting mechanical arm (11) is mounted in full landform walking chassis, detection mechanical arm (11) Top is equipped with detection device, and detection device includes detecting head (13), and detecting head (13) includes range sensor, scanner, gyro Instrument, the driving of detecting head angle&orientation control, it is axis that the driving of detecting head angle&orientation control, which is included at least along left and right horizontal direction, The A coordinates rotary drive mechanism of line moving in rotation and along anterior-posterior horizontal direction be central axes moving in rotation B coordinates rotate driving Mechanism;Controlled vehicle-mounted electrical device (12) is fixedly mounted in full landform walking chassis, and controlled vehicle-mounted electrical device (12) includes Industry Control Computer, sniffing robot travelling control circuit, detecting head detection angle control loop, industrial control computer respectively with entirely The automatically controlled driving mechanism and course changing control mechanism of shape walking chassis are electrically connected, the detection of industrial control computer and detecting head (13) Head angle&orientation control driving electrical connection;
The 3D printing robot cell (2) includes full landform walking chassis, print machinery arm (21), printed material input dress Set (22) and printing electric control gear (23);Full landform walking chassis is arranged in the bottom of 3D printing robot cell (2), full landform Walking chassis includes automatically controlled driving mechanism and course changing control mechanism;Print machinery arm (21) is mounted in full landform walking chassis, Print machinery arm (21) includes the driving of print machinery arm, and the driving of print machinery arm includes at least control print machinery arm left and right horizontal The X-coordinate driving mechanism of direction movement, the Y coordinate driving mechanism of control print machinery arm anterior-posterior horizontal direction movement, control are beaten The Z coordinate driving mechanism of mechanical arm vertical direction movement is printed, the minor details of print machinery arm (21) are equipped with 3D printing device, and 3D is beaten Printing equipment is set including 3D printing nozzle (24);Printed material input unit (22) includes that printed material is pumped into mechanism, printed material pump The input terminal for entering mechanism is connect with printed material supply subelement, and printed material supplies subelement and supplies printed material, prints material The output end that material is pumped into mechanism is connect with 3D printing nozzle (24) by printed material output pipe;It is solid to print electric control gear (23) In full landform walking chassis, printing electric control gear (23) includes industrial control computer, 3D printing robot ambulation for Dingan County Control loop, 3D printing nozzle position control loop, printed material are pumped into mechanism controls circuit, industrial control computer respectively with The automatically controlled driving mechanism of full landform walking chassis and the electrical connection of course changing control mechanism, industrial control computer respectively with print machinery Arm driving, printed material are pumped into mechanism electrical connection;
The concentration electronic control unit (3) includes central control computer, detection control loop, data modeling circuit, explorer Device people's position feedback corrective loop, 3D printing control loop, the central control computer Distance-sensing with detecting head (13) respectively Device, scanner, gyroscope electrical connection, central control computer respectively with the industrial control computer of controlled vehicle-mounted electrical device (12) and Print the industrial control computer electrical connection of electric control gear (23);
It is characterized in that, placement method specifically includes following steps:
A. filling prepares:After Position Approximate by geologic radar detection underground cavity, ensureing the original near driving breakthrough point Suitable driving breakthrough point is selected under the premise of the supporting intensity of beginning rock stratum is larger, is tunneled out by development machine through tunneling breakthrough point With underground cavity perforation tunnel and to the tunnel carry out effective support, then by sniffing robot unit (1) and 3D printer Device people unit (2) is placed in the tunnel being connected to underground cavity;
B. underground cavity inner cavity is scanned:Electronic control unit (3) is concentrated to control detection control loop, sniffing robot position feedback amendment Circuit, data modeling loop starts, central control computer, which sends out instruction, makes the Industry Control of controlled vehicle-mounted electrical device (12) Computer control sniffing robot unit (1) to stepping inside underground cavity and is scanned rear coordinate to the inner cavity of underground cavity Retract to initial position, central control computer by flat scanning data carry out same benchmark fitting and three-dimensional modeling after generate Underground cavity three-dimensional space model, is then stored;
C. data modeling is filled:Central control computer is according to the underground cavity peripheral environment geologic data of input to underground cavity The outside of three-dimensional space model carry out apply Stress calculation analysis, and the stability to underground cavity three-dimensional space model, stress, Displacement, crack, permeability, sound characteristics, light characteristic, electrical characteristics, the evolutionary process of magnetic characteristic and structural property parameter are calculated Analysis, and be based on underground cavity three-dimensional space model, according to application stress field calculation analysis result and the safety of input Number generates underground cavity to the stress concentration point position of underground cavity three-dimensional space model interior surface structure model for anchor successively Space three-dimensional model for anchor simultaneously stores co-ordinate position information, and then central control computer carries out 3D printing path planning and printing Reference coordinate is planned, and stores 3D printing path and printing reference coordinate;
D.3D printing filling:3D printing control loop is started to work, and central control computer, which sends out instruction, makes printing electric control gear (23) 3D printing robot travelling control loop starts, the industrial control computer of printing electric control gear (23) is according to 3D Printing path controls the automatically controlled driving mechanism of the full landform walking chassis of 3D printing robot cell (2) and course changing control mechanism is moved Making, which makes 3D printing robot cell (2) coordinate be moved to inside underground cavity, corresponds to setting for space three-dimensional model for anchor coordinate position Positioning is set, and then 3D printing nozzle position control loop is started to work, the industrial control computer root of printing electric control gear (23) 3D printing nozzle (24) coordinate is set to be moved to according to the print machinery arm drive actions of 3D printing path clustering print machinery arm (21) Reference coordinate location is printed, printed material is pumped into mechanism controls loop starts, the Industry Control of printing electric control gear (23) The printed material of computer control printed material input unit (22), which is pumped into mechanism action, makes the printed material pumped out through 3D printing Nozzle (24) exports, and then prints the print machinery of the industrial control computer control print machinery arm (21) of electric control gear (23) Arm drive actions make 3D printing nozzle (24) move progress 3D printing according to 3D printing path coordinate, until when 3D printing path termination The physical print of underground cavity space three-dimensional model for anchor is completed, 3D printing robot cell (2) retracts to initial position.
2. underground cavity intelligence placement method according to claim 1, which is characterized in that step b sniffing robot lists First (1) to during stepping inside underground cavity and being scanned to the inner cavity of underground cavity, central control computer is first Sending out instruction makes the detecting head detection angle control loop of controlled vehicle-mounted electrical device (12) start to work, controlled vehicle-mounted electrical device (12) The detecting head angle&orientation control drive actions of industrial control computer control detecting head (13) make the scanner of detecting head (13) Row is rotated within the scope of 360 ° in the basic point plane of scanning motion using initial position as the basic point flat scanning of reference coordinates origin, is detected The basic point flat scanning data are sent to the top of central control computer while detecting head (13) by the scanner of head (13) simultaneously The scanner coordinate position data of reference coordinates origin position is sent to central control computer, central control computer by spiral shell instrument The scanner coordinate position data of basic point flat scanning data and reference coordinates origin position is stored;
Then central control computer, which sends out instruction, makes the sniffing robot travelling control circuit of controlled vehicle-mounted electrical device (12) start Work, the full landform walking chassis of the industrial control computer control sniffing robot unit (1) of controlled vehicle-mounted electrical device (12) Automatically controlled driving mechanism and course changing control mechanism action keep sniffing robot unit (1) whole using initial position as reference coordinates origin To one setting step pitch of underground cavity intrinsic coordinates movement stepping and stop, then the gyroscope of detecting head (13) is first by the step Scanner coordinate position data into position is sent to central control computer, and then central control computer is stored same When the scanner coordinate position data that feeds back the gyroscope of the stepping position will be sat with the scanner of reference coordinates origin position The scanner for the scanner coordinate position and reference coordinates origin position that cursor position data were compared, calculated the stepping position is sat Grid deviation between cursor position and storage, then central control computer sends out instruction according to the grid deviation makes controlled vehicle-mounted electrical Task, the industrial control computer of controlled vehicle-mounted electrical device (12) control the detecting head detection angle control loop of device (12) again The detecting head angle&orientation control drive actions of detecting head (13) make the detecting head (13) of the stepping position rotate and position to this The plane of scanning motion of the scanner of stepping position is parallel to the position of the basic point plane of scanning motion, then the industry of controlled vehicle-mounted electrical device (12) The detecting head angle&orientation control drive actions of control computer control detecting head (13) keep scanner flat in revised scanning It is rotated into row first step anomaly Surface scan in face within the scope of 360 °, the scanner of detecting head (13) is by first step anomaly Surface scan number According to being sent to central control computer, central control computer is according to the grid deviation of storage by first step anomaly Surface scan data With basic point flat scanning data carry out same benchmark fitting and three-dimensional modeling after stored;
Then central control computer, which sends out instruction, makes the industrial control computer of controlled vehicle-mounted electrical device (12) control detection machine The coordinate points of the whole above stepping position of people's unit (1) are that reference coordinates point moves stepping to underground cavity intrinsic coordinates again One setting step pitch simultaneously stops, and so on, sniffing robot unit (1) often walks further, and the gyroscope of detecting head (13) is first The scanner coordinate position data of the stepping position is first sent to central control computer, then central control computer carries out By scanner coordinate position data and the previous step of the gyroscope of stepping position feedback into the gyroscope of position while storage The scanner coordinate position data of feedback be compared, calculate the stepping position scanner coordinate position and previous step into position Scanner coordinate position between grid deviation and storage, then central control computer instruction is sent out according to the grid deviation So that the detecting head (13) of the stepping position is rotated and is positioned to the plane of scanning motion of the scanner of the stepping position and is parallel to previous step Into the position of the plane of scanning motion of the scanner of position, then the industrial control computer of controlled vehicle-mounted electrical device (12) controls detecting head (13) detecting head angle&orientation control drive actions make scanner be rotated within the scope of 360 ° in the revised plane of scanning motion Step pitch flat scanning data are sent to central control computer by the scanner of row step pitch flat scanning, detecting head (13), center Control computer is according to the grid deviation of storage by the step pitch flat scanning data of the stepping position and previous step into the step of position Anomaly Surface scan data are stored after carrying out the fitting of same benchmark and three-dimensional modeling, until according to the distance of detecting head (13) The feedback of sensor completes the scanning of entire underground cavity inner cavity, and central control computer is by final underground cavity three dimensions Model is stored.
3. underground cavity intelligence placement method according to claim 2, which is characterized in that underground cavity intelligence fills The detection mechanical arm (11) of system includes detection mechanical arm driving, and detection mechanical arm driving includes at least control detection mechanical arm (11) the X-coordinate driving mechanism of left and right horizontal direction movement or the Y of control detection mechanical arm (11) anterior-posterior horizontal direction movement are sat Mark driving mechanism or the Z coordinate driving mechanism of control detection mechanical arm (11) vertical direction movement;Controlled vehicle-mounted electrical device (12) is also Including detecting mechanical arm control loop, the detection of the industrial control computer and detection mechanical arm (11) of controlled vehicle-mounted electrical device (12) Mechanical arm driving electrical connection;It further includes sweep span control loop to concentrate electronic control unit (3);
Step b sniffing robots unit (1) often walks further, and central control computer sends out instruction according to the grid deviation makes this The detecting head (13) of stepping position, which is rotated and positioned to the plane of scanning motion of the scanner of the stepping position, is parallel to previous step carry Behind the position of the plane of scanning motion for the scanner set, send out instruction according to the grid deviation makes vehicle mounted electric to central control computer simultaneously The detection mechanical arm control loop work of device (12) is controlled, controlled vehicle-mounted electrical device (12) control detection mechanical arm drive actions make this The plane of scanning motion of the scanner of stepping position and previous step are adjusted into the spacing between the plane of scanning motion of the scanner of position to setting Set a distance, then controlled vehicle-mounted electrical device (12) industrial control computer control detecting head (13) detecting head angle&orientation control Drive actions make scanner be rotated into row step pitch flat scanning within the scope of 360 ° in the revised plane of scanning motion.
4. underground cavity intelligence placement method according to claim 1, which is characterized in that underground cavity intelligence fills System print machinery arm driving further include along left and right horizontal direction be central axes moving in rotation A coordinates rotary drive mechanism or It is the B coordinate rotary drive mechanisms of central axes moving in rotation along anterior-posterior horizontal direction, or further includes being along left and right horizontal direction The A coordinates rotary drive mechanism of central axes moving in rotation and along anterior-posterior horizontal direction be central axes moving in rotation B coordinates rotate Driving mechanism.
5. underground cavity intelligence placement method according to claim 4, which is characterized in that underground cavity intelligence fills Pattern-recognition sensor is additionally provided on the printing head (24) of system, it further includes 3D printing entity amendment to concentrate electronic control unit (3) Circuit, central control computer are electrically connected with pattern-recognition sensor;
During the physical print of step d space three-dimensional model for anchor, the work of 3D printing entity corrective loop, pattern-recognition sensing Device feeds back the feature dimension data of 3D printing entity to central control computer in real time, and central control computer is real by the 3D printing The feature dimension data of body are compared with the model data of corresponding part on the underground cavity space three-dimensional model for anchor of storage, If the feature dimension data of 3D printing entity are less than the model data of corresponding part on underground cavity space three-dimensional model for anchor, Central control computer sends out instruction control 3D printing nozzle (24) and interrupts void space three-dimensional under 3D printing path and base area The model data of corresponding part repeats this part 3D printing path according to the 3D printing path of this part on model for anchor 3D printing, until the feature dimension data of 3D printing entity, which are greater than or equal on underground cavity space three-dimensional model for anchor, corresponds to portion Point model data, then central control computer send out instruction control 3D printing nozzle (24) again and continue 3D printing by planning Path carries out 3D printing.
6. the underground cavity intelligence placement method according to claim 1 to 5 any claim, which is characterized in that step Rapid b sniffing robots unit (1) is to during stepping inside underground cavity and being scanned the inner cavity of underground cavity, detection The scan mode of the scanner of head (13) is used based on the non-contact potential measurement mode wirelessly to conduct electricity.
7. the underground cavity intelligence placement method according to claim 1 to 5 any claim, which is characterized in that step Rapid c central control computers are according to the underground cavity peripheral environment geologic data of input to the outer of underground cavity three-dimensional space model Portion carries out after applying stress field calculation analysis, and central control computer is first on ground based on underground cavity three-dimensional space model The interior surface fitting of lower cavity three-dimensional space model generates surface supporting layer model, then on the basis of surface supporting layer model On further according to applying the safety coefficient of stress field calculation analysis result and input successively on the inner surface of surface supporting layer model The position structure model for anchor of the stress concentration point of corresponding underground cavity three-dimensional space model generates underground cavity space three-dimensional branch Void space three-dimensional model for anchor co-ordinate position information under model and storage is protected, then central control computer first plans surface The printing path of supporting layer model, the printing path for planning model for anchor again;The physical print of step d space three-dimensional model for anchor In the process, 3D printing robot cell (2) first carries out 3D printing surface supporting layer model entity, again to the inner surface of underground cavity The entity of 3D printing model for anchor is carried out inside underground cavity.
8. the underground cavity intelligence placement method according to claim 1 to 5 any claim, which is characterized in that step Rapid c is carried out in 3D printing path planning and printing reference coordinate planning process, and central control computer is with 3D printing robot list The initial position of first (2) is reference coordinates origin, according to stress concentration in underground cavity space three-dimensional model for anchor from large to small Sequence carry out 3D printing path planning and printing reference coordinate planning.
9. the underground cavity intelligence placement method according to claim 1 to 5 any claim, which is characterized in that institute During the step c stated generates underground cavity space three-dimensional model for anchor, there is support column in underground cavity, shortly There is the build up outside support reinforcement layer of support column.
10. the underground cavity intelligence placement method according to claim 1 to 5 any claim, which is characterized in that institute The printed material stated includes building stones waste powder;Printed material supplies subelement and is arranged in underground passage, and printed material supplies It is electrically connected to subelement with the central control computer of electronic control unit (3) is concentrated, it includes that raw material is matched that printed material, which supplies subelement, Device processed, raw material device for formulating include crusher, and the building stones waste scene of carrying out is crushed by crusher, printed material in step d Input mode by the way of underground extemporaneous preparation and input;
Or printed material supply subelement setting, on ground, it includes raw material device for formulating and extension that printed material, which supplies subelement, The input terminal that mechanism is pumped into underground and with printed material is connected to the conveyance conduit of connection, the input side of printed material in step d By the way of formula is prepared using ground and inputs underground.
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