CN108772937B - 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
CN108772937B
CN108772937B CN201810403685.2A CN201810403685A CN108772937B CN 108772937 B CN108772937 B CN 108772937B CN 201810403685 A CN201810403685 A CN 201810403685A CN 108772937 B CN108772937 B CN 108772937B
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China
Prior art keywords
printing
underground cavity
control computer
coordinate
scanner
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CN201810403685.2A
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CN108772937A (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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Zhangcun Coal Mine Of Shanxi Lu'an Environmental Protection And Energy Development Co ltd
China University of Mining and Technology CUMT
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Application filed by Zhangcun Coal Mine Of Shanxi Lu'an Environmental Protection And Energy Development Co ltd, China University of Mining and Technology CUMT filed Critical Zhangcun Coal Mine Of Shanxi Lu'an Environmental Protection And Energy Development Co ltd
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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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B1/00—Producing shaped prefabricated articles from the material
    • B28B1/001—Rapid manufacturing of 3D objects by additive depositing, agglomerating or laminating of material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive 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
    • B29C64/10—Processes of additive manufacturing
    • B29C64/141—Processes of additive manufacturing using only solid materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive 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
    • B29C64/30—Auxiliary operations or equipment
    • B29C64/386—Data acquisition or data processing for additive manufacturing
    • B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE 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
    • B33Y10/00—Processes of additive manufacturing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE 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
    • B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE 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
    • B33Y50/00—Data acquisition or data processing for additive manufacturing
    • B33Y50/02—Data 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 constructed after sniffing robot unit is completed to the scanning of underground cavity, the central control computer of electronic control unit is concentrated to analyze application stress field calculation is carried out outside it, and based on underground cavity three-dimensional space model, space three-dimensional model for anchor successively is generated to the stress concentration point position building model for anchor of interior surface thereof 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 that the artificial ground activity such as large area coal seam burned out area formed during changing generates 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 technique
Underground cavity refers to the space that earth's surface or less is covered by rock stratum, generally refers to the biggish 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 extract in coal containing can component, become physics and mine and mine for chemistry, be that will controlledly be burnt in the coal of underground, it is 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 of abandoning, and can be also used for recovery well work and be difficult to exploit or exploit the poor girdle of economy, safety, depth Portion coal seam, " under three " press coal and high-sulfur, high ash, high gas layer, 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 also will form in Underground Coal Gasification Process；In addition, natural geological movement is on ground Also a series of underground cavities can be generated 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 development and utilization of the underground space are faced with serious safety Problem.It is carried out in particular with geotechnical engineering artificial ground in underground is movable to deep, the original of stope answers after orebody mining Power state is destroyed, so that stress is caused to redistribute, under the action of the factors such as burden pressure and underground water, 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 will cause a degree of surface subsidence, therefore whole caving methods and support envelope The use condition for closing facture improvement underground cavity is stringenter, usually requires that: 1. the ore of underground cavity or country rock 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 that country rock is supported with filling material to slow down or prevent the deformation of country rock, keep the relatively stable of country rock.Filling method is current Underground cavity administers most common method.
The existing placement method for underground cavity be usually utilize the barren rock of outdoor removing 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 Filling material 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 conventional press filling method generallys use the biggish conveying equipment of occupied space and tamping apparatus, and is both needed to Operator's manual operation control filling and compacting, pack effectiveness are lower；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 mobile 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 It there is the disadvantages of difficulty of construction is big, at high cost, operational security is poor, therefore blindly be fully populated with being bound to cause resource Waste and cost raising, meanwhile, the mode being fully populated with utilize the void space of underground cavity can not.
Summary of the invention
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 I, detection mechanical arm and controlled vehicle-mounted electrical device；Quan Di The bottom of sniffing robot unit is arranged in shape walking chassis I, and full landform walking chassis I includes automatically controlled driving mechanism I and turns to Control mechanism I；The bottom end of detection mechanical arm is mounted in full landform walking chassis I, and the top for detecting mechanical arm is equipped with detection dress It sets, detection device includes detecting head, and detecting head includes range sensor, scanner, gyroscope, the drive of detecting head angle&orientation control Dynamic, the driving of detecting head angle&orientation control is included at least to rotate along left and right horizontal direction for the A coordinate of central axes moving in rotation and be driven Motivation structure and along anterior-posterior horizontal direction be central axes moving in rotation B coordinate rotary drive mechanism；The fixed peace of controlled vehicle-mounted electrical device In full landform walking chassis I, controlled vehicle-mounted electrical device include industrial control computer, sniffing robot travelling control circuit, Detecting head detection angle control loop, industrial control computer respectively with the automatically controlled driving mechanism I of full landform walking chassis I and turn It is electrically connected to control mechanism I, industrial control computer is 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 II, print machinery arm, printed material input dress Set and print electric control gear；The bottom of 3D printing robot cell, full landform walking chassis is arranged in full landform walking chassis II II includes automatically controlled driving mechanism II and course changing control mechanism II；Print machinery arm is mounted in full landform walking chassis II, printing Mechanical arm includes the driving of print machinery arm, and it is mobile that the driving of print machinery arm includes at least control print machinery arm left and right horizontal direction X-coordinate driving mechanism, the mobile Y-coordinate driving mechanism in control print machinery arm anterior-posterior horizontal direction, control print machinery arm The minor details of the mobile Z coordinate driving mechanism of vertical direction, print machinery arm are equipped with 3D printing device, and 3D printing device includes 3D Printing head；Printed material input unit includes that printed material is pumped into mechanism, and printed material is pumped into input terminal and the printing of mechanism Material supplies subelement connection, and printed material supplies subelement and supplies printed material, printed material be pumped into the output end of mechanism with 3D printing spray head is connected by printed material output pipe；Printing electric control gear is fixedly mounted in full landform walking chassis II, Printing electric control gear includes that industrial control computer, 3D printing robot travelling control circuit, 3D printing nozzle position control back Road, printed material are pumped into mechanism controls circuit, the industrial control computer automatically controlled driving machine with full landform walking chassis II respectively Structure II and course changing control mechanism II are electrically connected, and industrial control computer is pumped into machine with the driving of print machinery arm, printed material respectively Structure electrical connection；
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 the following steps:
A. filling prepares: after the Position Approximate by geologic radar detection underground cavity, guaranteeing near driving breakthrough point Pristine formation supporting intensity it is biggish under the premise of select suitable driving breakthrough point, by development machine through driving 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 being concentrated to repair Positive circuit, data modeling loop starts, central control computer, which issues instruction, makes the Industry Control meter of controlled vehicle-mounted electrical device Calculation machine controls sniffing robot unit and is scanned rear coordinate rollback to stepping inside underground cavity and to the inner cavity of underground cavity 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. fill data modeling: central control computer is according to the underground cavity peripheral environment geologic data of input to underground The outside of empty three-dimensional space model 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 Analysis is calculated, and analyzes the peace of result and input based on underground cavity three-dimensional space model, according to application stress field calculation Overall coefficient successively generates underground to the stress concentration point position building model for anchor of underground cavity three-dimensional space model interior surface 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 sending instruction makes to print 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 II and course changing control mechanism II of the full landform walking chassis II of path clustering 3D printing robot cell are dynamic Make the setting for making 3D printing robot cell's coordinate be moved to corresponding space three-dimensional model for anchor coordinate position inside underground cavity Position, then 3D printing nozzle position control loop is started to work, and the industrial control computer for printing electric control gear is beaten according to 3D The print machinery arm drive actions of print path clustering print machinery arm make 3D printing spray head coordinate be moved to printing reference coordinate position It sets, printed material is pumped into mechanism controls loop starts, prints the industrial control computer control printed material of electric control gear The printed material of input unit, which is pumped into mechanism action, exports the printed material pumped out through 3D printing spray head, then prints automatically controlled dress The print machinery arm drive actions for the industrial control computer control print machinery arm set make 3D printing spray head according to 3D printing road Diameter coordinate is mobile to carry out 3D printing, until completing the physical print of space three-dimensional model for anchor, 3D printing when 3D printing path termination Robot cell retracts to initial position.
As a further improvement of the present invention, step b sniffing robot unit is to stepping inside underground cavity and right During the inner cavity of underground cavity is scanned, central control computer issues 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 simultaneously by the scanner for the basic point flat scanning of reference coordinates origin, detecting head Control computer, the scanner coordinate position data of reference coordinates origin position is sent to center by the gyroscope of detecting head simultaneously Computer is controlled, 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 issues instruction, starts the sniffing robot travelling control circuit of controlled vehicle-mounted electrical device Work, the automatically controlled drive of the full landform walking chassis I of the industrial control computer control sniffing robot unit of controlled vehicle-mounted electrical device Motivation structure I and the movement of course changing control mechanism I keep sniffing robot unit whole with initial position reference coordinates origin to underground The mobile one setting step pitch of stepping of empty intrinsic coordinates simultaneously stops, then the gyroscope of detecting head sweeping the stepping position first It retouches instrument coordinate position data and is sent to central control computer, by the stepping while then central control computer is stored The scanner coordinate position data of the gyroscope feedback of position is by the scanner coordinate position data with reference coordinates origin position It is compared, calculates between the scanner coordinate position of the stepping position and the scanner coordinate position of reference coordinates origin position Grid deviation and storage, then central control computer, which issues instruction according to the grid deviation, makes the detection of controlled vehicle-mounted electrical device Task, the industrial control computer of controlled vehicle-mounted electrical device control the detecting head angle of detecting head to head detection angle control loop again Location control drive actions rotate the detecting head of the stepping position and position to the plane of scanning motion of the scanner of the stepping position It is parallel to the position of the basic point plane of scanning motion, then the detection brilliance of the industrial control computer control detecting head of controlled vehicle-mounted electrical device Degree location control drive actions make scanner be rotated into row first step anomaly face within the scope of 360 ° in the revised plane of scanning motion First step anomaly Surface scan data are sent to central control computer, central control computer by scanning, the scanner of detecting head First step anomaly Surface scan data and basic point flat scanning data are carried out to the fitting of same benchmark according to the grid deviation of storage And it is stored after three-dimensional modeling；
Then central control computer, which issues 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 reference coordinates point again to the mobile stepping one of underground cavity intrinsic coordinates A setting step pitch simultaneously stops, and so on, the every step of sniffing robot unit is 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 By the scanning of the scanner coordinate position data that the gyroscope of the stepping position is fed back and the gyroscope feedback that previous step carry is set The scanner that instrument coordinate position data was compared, calculated the scanner coordinate position of the stepping position and previous step carry is set is sat Grid deviation and storage between cursor position, then central control computer, which issues instruction according to the grid deviation, makes the stepping position The detecting head set, which is rotated and positioned to the plane of scanning motion of the scanner of the stepping position, is parallel to the scanner that previous step carry is set The plane of scanning motion position, then controlled vehicle-mounted electrical device industrial control computer control detecting head detecting head angle position 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 that the step pitch flat scanning data of the stepping position and previous step carry are set 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.
As a further improvement of the present invention, the detection mechanical arm of underground cavity intelligence filling system includes detection Mechanical arm driving, detection mechanical arm driving include at least the mobile X-coordinate driving machine in control detection mechanical arm left and right horizontal direction The Y-coordinate driving mechanism or control detection mechanical arm vertical direction of structure or control detection mechanical arm anterior-posterior horizontal direction movement 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；Concentrating electronic control unit further includes sweep span control loop；
The every step of step b sniffing robot unit is further, and central control computer, which issues instruction according to the grid deviation, to be made The detecting head of the stepping position, which is rotated and positioned, to be parallel to previous step carry to the plane of scanning motion of the scanner of the stepping position and sets Scanner the plane of scanning motion position after, central control computer simultaneously according to the grid deviation issue instruction make controlled vehicle-mounted electrical 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 Spacing between the plane of scanning motion for the scanner that the plane of scanning motion and previous step carry of scanner are set is adjusted to set distance, then 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 °.
As a further improvement of the present invention, the print machinery arm driving of underground cavity intelligence filling system is also wrapped Include be along left and right horizontal direction central axes moving in rotation A coordinate rotary drive mechanism or along anterior-posterior horizontal direction be central axes revolve The dynamic B coordinate rotary drive mechanism of transfer, or further include being rotated along left and right horizontal direction for the A coordinate of central axes moving in rotation Driving mechanism and along anterior-posterior horizontal direction be central axes moving in rotation B coordinate rotary drive mechanism.
As a further improvement of the present invention, mould is additionally provided on the printing head of underground cavity intelligence filling system Formula identification sensor, concentrating electronic control unit further includes 3D printing entity corrective loop, and central control computer and pattern-recognition pass Sensor electrical connection；
During the physical print of step d space three-dimensional model for anchor, the work of 3D printing entity corrective loop, pattern-recognition For sensor in real time to the feature dimension data of central control computer feedback 3D printing entity, 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 issues instruction control 3D printing spray head 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 issues the 3D printing road for instructing control 3D printing spray head to continue by planning again Diameter carries out 3D printing.
As a further improvement of the present invention, step b sniffing robot unit is to stepping inside underground cavity and right During the inner cavity of underground cavity is scanned, the scanning mode of the scanner of detecting head is used non-to be connect based on what is wirelessly conducted electricity Get an electric shock position measurement method.
As a further improvement of the present invention, step c central control computer is 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 Interior surface fitting of the prow first based on underground cavity three-dimensional space model in underground cavity three-dimensional space model 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 successively corresponds to the stress concentration point of underground cavity three-dimensional space model on the inner surface of surface supporting layer model Position building model for anchor generates underground cavity space three-dimensional model for anchor and stores underground cavity space three-dimensional model for anchor seat Cursor position information, then central control computer first plans the printing path of surface supporting layer model, plans 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.
As a further improvement of the present invention, step c carries 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 Stress concentrates sequence from large to small to carry out 3D printing path planning and printing reference coordinate planning in space three-dimensional model for anchor.
As a further improvement of the present invention, the step c generates 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.
As a kind of embodiment that printed material of the invention inputs, 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 It is connected to down and with the input terminal that printed material is pumped into mechanism the conveyance conduit of connection, 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 using underground extemporaneous preparation and by the way of inputting.
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, construct underground cavity three 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 to apply stress field calculation point according to equal underground cavities peripheral environment geologic data It analyses, and analyzes the safety coefficient of result and input based on underground cavity three-dimensional space model, according to application stress field calculation It is empty that underground cavity successively is generated to the stress concentration point position building model for anchor of underground cavity three-dimensional space model interior surface 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 The specific aim supporting for meeting supporting intensity, may be implemented controllable supporting quality and can under the premise of fully meeting supporting intensity The charging quantity of control, more traditional mode that is fully populated with can be realized lower filling cost, and occupy sky due to being not required to setting Between biggish conveying equipment and tamping apparatus, therefore pack effectiveness with higher 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.
Detailed description of the invention
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 spray head, 3, electronic control unit is concentrated.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
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 I, detection mechanical arm 11 and controlled vehicle-mounted electrical device 12；The bottom of sniffing robot unit 1 is arranged in full landform walking chassis I, and full landform walking chassis I includes automatically controlled driving mechanism I and course changing control mechanism I；The bottom end of detection mechanical arm 11 is mounted in full landform walking chassis I, detects the top of mechanical arm 11 Equipped with detection device, detection device includes detecting head 13, and detecting head 13 includes range sensor, scanner, gyroscope, detecting head Angle&orientation control driving, it is central axes moving in rotation that the driving of detecting head angle&orientation control, which is included at least along left and right horizontal direction, A coordinate rotary drive mechanism and along anterior-posterior horizontal direction be central axes moving in rotation B coordinate rotary drive mechanism；Vehicle mounted electric Control device 12 is fixedly mounted in full landform walking chassis I, and controlled vehicle-mounted electrical device 12 includes industrial control computer, detection machine People's travelling control circuit, detecting head detection angle control loop, the industrial control computer electricity with full landform walking chassis I respectively It controls driving mechanism I and course changing control mechanism I is electrically connected, the detecting head angle&orientation control of industrial control computer and detecting head 13 Driving electrical connection.
The 3D printing robot cell 2 includes full landform walking chassis II, print machinery arm 21, printed material input Device 22 and printing electric control gear 23；The bottom of 3D printing robot cell 2, full landform row is arranged in full landform walking chassis II Walking chassis II includes automatically controlled driving mechanism II and course changing control mechanism II；Print machinery arm 21 is mounted on full landform walking chassis II On, print machinery arm 21 drives including print machinery arm, and the driving of print machinery arm includes at least control print machinery arm or so water Square to the mobile Y-coordinate driving mechanism in mobile X-coordinate driving mechanism, control print machinery arm anterior-posterior horizontal direction, control The minor details of the mobile Z coordinate driving mechanism of print machinery arm vertical direction, print machinery arm 21 are equipped with 3D printing device, and 3D is beaten Printing equipment is set including 3D printing spray head 24；Printed material input unit 22 includes that printed material is pumped into mechanism, and printed material is pumped into machine The input terminal of structure is connect with printed material supply subelement, and printed material supplies subelement and supplies printed material, printed material pump The output end for entering mechanism is connect with 3D printing spray head 24 by printed material output pipe；Printing electric control gear 23 is fixedly mounted on In full landform walking chassis II, printing electric control gear 23 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 respectively with full landform row Walk chassis II automatically controlled driving mechanism II and course changing control mechanism II be electrically connected, 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, 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 guaranteeing 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, breakthrough point is tunneled by development machine and tunnels out tunnel with underground cavity perforation 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 with underground cavity perforation 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 issues 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 basic point flat scanning data are sent to central control computer simultaneously by 13 scanner, the gyroscope of detecting head 13 will simultaneously 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 issues instruction, opens the sniffing robot travelling control circuit of controlled vehicle-mounted electrical device 12 Beginning work, the electricity of the full landform walking chassis I of the industrial control computer control sniffing robot unit 1 of controlled vehicle-mounted electrical device 12 Control driving mechanism I and the movement of course changing control mechanism I keep sniffing robot unit 1 whole with initial position reference coordinates origin to Intrinsic coordinates mobile one setting step pitch of stepping in coal mine gob simultaneously stops, and then the gyroscope of detecting head 13 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 scanner coordinate position data that the gyroscope of the stepping position is fed back is by the scanner coordinate with reference coordinates origin position Position data is compared, calculates the scanner coordinate position of the stepping position and the scanner coordinate of reference coordinates origin position Grid deviation and storage between position, then central control computer, which issues instruction according to the grid deviation, fills controlled vehicle-mounted electrical 12 detecting head detection angle control loop task again is set, the industrial control computer of controlled vehicle-mounted electrical device 12 controls detecting head 13 detecting head angle&orientation control drive actions make the detecting head 13 of the stepping position rotate and position to the stepping position The plane of scanning motion of scanner is parallel to the position of the basic point plane of scanning motion, then the industrial control computer control of controlled vehicle-mounted electrical device 12 The detecting head angle&orientation control drive actions of detecting head 13 processed make scanner in the revised plane of scanning motion within the scope of 360 ° Rotation carries out first step anomaly Surface scan, and first step anomaly Surface scan data are sent to central control by the scanner of detecting head 13 Computer, central control computer is according to the grid deviation of storage by first step anomaly Surface scan data and basic point flat scanning number According to being stored after the fitting and three-dimensional modeling for carrying out same benchmark；
Then central control computer, which issues 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 is walked to coal mine gob intrinsic coordinates is mobile again Into a setting step pitch and stop, and so on, the every step of sniffing robot unit 1 is 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 The gyroscope for setting scanner coordinate position data that the gyroscope of the stepping position is fed back and previous step carry while storage is anti- The scanner coordinate position data of feedback is compared, calculates the scanner coordinate position of the stepping position and previous step carry is set Grid deviation and storage between scanner coordinate position, then central control computer issues instruction according to the grid deviation and makes 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 The step pitch flat scanning for being set the step pitch flat scanning data of the stepping position and previous step carry according to the grid deviation of storage 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 issues 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, according to apply stress field calculation analysis result and input safety coefficient it is successively right The stress concentration point position building 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 building 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 concentrates sequence from large to small to carry out 3D printing path planning and printing benchmark according to stress in space three-dimensional model for anchor Coordinate planning, and store 3D printing path and printing reference coordinate；
3D printing control loop is started to work, and central control computer, which issues instruction, makes the 3D printing for 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 Automatically controlled driving mechanism II and course changing control mechanism II movement of the full landform walking chassis II of printer device people unit 2 make 3D printing 2 coordinate of robot cell is moved to the setting position of corresponding space three-dimensional model for anchor coordinate position inside coal mine gob, so 3D printing nozzle position control loop is started to work afterwards, prints the industrial control computer of electric control gear 23 according to 3D printing path The print machinery arm drive actions of control print machinery arm 21 make 24 coordinate of 3D printing spray head be moved to printing reference coordinate location, Printed material is pumped into mechanism controls loop starts, and the industrial control computer control printed material of printing electric control gear 23 is defeated The printed material for entering device 22, which is pumped into mechanism action, exports the printed material pumped out through 3D printing spray head 24, then prints automatically controlled The print machinery arm drive actions of the industrial control computer control print machinery arm 21 of device 23 make 24 basis of 3D printing spray head 3D printing path coordinate is mobile to carry out 3D printing, and stress concentrates sequence from large to small that 3D printing stress concentration first may be implemented Biggish position carries out supporting first, to be further ensured that the safety of subsequent 3D printing, as shown in figure 3, to 3D printing path The physical print of space three-dimensional model for anchor is completed when terminal, 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 shortly or have the external 3D of stalactite column to beat Print branch sheath is to realize to having supporting coal pillar or have 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 condition With horizontal scan plane or vertical sweep plane is used, scanning mode can be using the radar scanning based on Radar Technology, base 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, as a further improvement of the present invention, the scanning mode of the scanner of detecting head 13 is used 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 Guarantee 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 of the present invention, 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 successively constructs supporting to the stress concentration point position of the interior surface of goaf three-dimensional space model 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 print 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.
A kind of implementation for the underground cavity that natural geological movement generates, as printed material of the present invention supply subelement 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 conveyance conduit that connection is connected to the input terminal that printed material is pumped into mechanism.
For the underground cavity that artificial ground activity is formed, the another kind as printed material of the present invention supply subelement 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 electrical connection, printed material supply subelement include 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-dimensional space mould is generated in order to realize the uniformity between each plane of scanning motion and then more accurately be fitted Type, as a further improvement of the present invention, the detection mechanical arm 11 include detection mechanical arm driving, detect mechanical arm Driving includes at least the mobile X-coordinate driving mechanism in control detection 11 left and right horizontal direction of mechanical arm or control detection mechanical arm The mobile Y-coordinate driving mechanism in 11 anterior-posterior horizontal directions 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 The detection mechanical arm for surveying mechanical arm 11 drives electrical connection；The concentration electronic control unit 3 further includes sweep span control loop.It visits The survey every step of robot cell 1 is further, and central control computer, which issues instruction according to the grid deviation, makes the spy of the stepping position Gauge head 13, which is rotated and positioned to the plane of scanning motion of the scanner of the stepping position, is parallel to sweeping for scanner that previous step carry is set Behind the position for retouching plane, central control computer, which issues instruction according to the grid deviation simultaneously, makes the detection of controlled vehicle-mounted electrical device 12 The work of mechanical arm control loop, the control detection mechanical arm drive actions of controlled vehicle-mounted electrical device 12 make the scanner of the stepping position Spacing between the plane of scanning motion for the scanner that the plane of scanning motion and previous step carry are set is adjusted to set 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 are correcting scanner 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 of the present invention Scheme, print machinery arm driving further include along left and right horizontal direction be central axes moving in rotation A coordinate rotary drive mechanism or It is the B coordinate rotary drive mechanism of central axes moving in rotation along anterior-posterior horizontal direction, or further includes being along left and right horizontal direction The A coordinate rotary drive mechanism of central axes moving in rotation and along anterior-posterior horizontal direction be central axes moving in rotation B coordinate rotate Driving mechanism.
For the effect of further accurate guarantee 3D printing, as a further improvement of the present invention, printing head 24 On be additionally provided with pattern-recognition sensor, concentrating electronic control unit 3 further includes 3D printing entity corrective loop, central control computer with The electrical connection of pattern-recognition sensor.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 issues instruction control 3D printing spray head 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 issues instruction control 3D printing spray head 24 again and continues to beat by the 3D printing path progress 3D of planning Print.
In order to reduce mechanism setting, as a further improvement of the present invention, 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 constructs 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 building 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 Controllable supporting quality and controllable filling may be implemented in the specific aim supporting of degree under the premise of fully meeting supporting intensity Amount, more traditional mode that is fully populated with can be realized lower filling cost, and biggish due to being not required to setting occupied space Conveying equipment and tamping apparatus, therefore pack effectiveness with higher and higher safety, it might even be possible in underground cavity Portion carries out the recycling that excess room is realized under the premise of effective support, 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 I, detection mechanical arm (11) and controlled vehicle-mounted electrical device (12)；Full landform walking chassis I is arranged in the bottom of sniffing robot unit (1), and full landform walking chassis I includes automatically controlled driving Mechanism I and course changing control mechanism I；The bottom end of detection mechanical arm (11) is mounted in full landform walking chassis I, detects mechanical arm (11) top is equipped with detection device, and detection device includes detecting head (13), and detecting head (13) includes range sensor, scanning Instrument, gyroscope, the driving of detecting head angle&orientation control, the driving of detecting head angle&orientation control are included at least along left and right horizontal direction It is the B coordinate rotation of central axes moving in rotation for the A coordinate rotary drive mechanism of central axes moving in rotation and along anterior-posterior horizontal direction Turn driving mechanism；Controlled vehicle-mounted electrical device (12) is fixedly mounted in full landform walking chassis I, and controlled vehicle-mounted electrical device (12) includes work Industry controls computer, sniffing robot travelling control circuit, detecting head detection angle control loop, industrial control computer difference It is electrically connected with the automatically controlled driving mechanism I of full landform walking chassis I and course changing control mechanism I, industrial control computer and detecting head (13) detecting head angle&orientation control drives electrical connection；
The 3D printing robot cell (2) includes full landform walking chassis II, print machinery arm (21), printed material input Device (22) and printing electric control gear (23)；Full landform walking chassis II is arranged in the bottom of 3D printing robot cell (2), entirely Landform walking chassis II includes automatically controlled driving mechanism II and course changing control mechanism II；Print machinery arm (21) is mounted on full landform row It walks on chassis II, print machinery arm (21) includes the driving of print machinery arm, and the driving of print machinery arm includes at least control printer The mobile Y-coordinate driving in the mobile X-coordinate driving mechanism in tool arm left and right horizontal direction, control print machinery arm anterior-posterior horizontal direction The mobile Z coordinate driving mechanism of mechanism, control print machinery arm vertical direction, the minor details of print machinery arm (21) are beaten equipped with 3D Printing equipment is set, and 3D printing device includes 3D printing spray head (24)；Printed material input unit (22) includes that printed material is pumped into mechanism, The input terminal that printed material is pumped into mechanism is connect with printed material supply subelement, and printed material supplies subelement supply printing material Material, the output end that printed material is pumped into mechanism are connect with 3D printing spray head (24) by printed material output pipe；It prints automatically controlled Device (23) is fixedly mounted in full landform walking chassis II, and printing electric control gear (23) includes that industrial control computer, 3D are beaten Print robot ambulation control loop, 3D printing nozzle position control loop, printed material are pumped into mechanism controls circuit, Industry Control Computer is electrically connected with the automatically controlled driving mechanism II of full landform walking chassis II and course changing control mechanism II respectively, Industry Control meter Calculation machine is pumped into mechanism and is electrically connected with the driving of print machinery arm, printed material respectively；
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 the following steps:
A. filling prepares: after the Position Approximate by geologic radar detection underground cavity, guaranteeing the original near driving breakthrough point Suitable driving breakthrough point is selected under the premise of the supporting intensity of beginning rock stratum is biggish, 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: concentrating electronic control unit (3) control detection control loop, the amendment of sniffing robot position feedback Circuit, data modeling loop starts, central control computer, which issues instruction, makes the Industry Control of controlled vehicle-mounted electrical device (12) Computer controls 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. fill data modeling: 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 the safety for applying stress field calculation analysis result and input Number successively generates underground cavity to the stress concentration point position building model for anchor of underground cavity three-dimensional space model interior surface 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 planning, and store 3D printing path and printing reference coordinate；
D.3D printing filling: 3D printing control loop is started to work, and central control computer, which issues instruction, to be made to print electric control gear (23) 3D printing robot travelling control loop starts print the industrial control computer of electric control gear (23) according to 3D Printing path controls the automatically controlled driving mechanism II and course changing control machine of the full landform walking chassis II of 3D printing robot cell (2) The movement of structure II makes 3D printing robot cell (2) coordinate be moved to corresponding space three-dimensional model for anchor coordinate bit inside underground cavity The setting position set, then 3D printing nozzle position control loop is started to work, and prints the Industry Control meter of electric control gear (23) Calculation machine makes 3D printing spray head (24) coordinate according to the print machinery arm drive actions of 3D printing path clustering print machinery arm (21) It is moved to printing reference coordinate location, printed material is pumped into mechanism controls loop starts, prints the work of electric control gear (23) The printed material of industry control computer control printed material input unit (22), which is pumped into mechanism action, passes through the printed material pumped out Then 3D printing spray head (24) output prints beating for industrial control computer control print machinery arm (21) of electric control gear (23) Print mechanical arm drive actions make 3D printing spray head (24) carry out 3D printing according to 3D printing path coordinate is mobile, until 3D printing path The physical print of underground cavity space three-dimensional model for anchor is completed when terminal, 3D printing robot cell (2) retracts to initial bit It sets.
2. underground cavity intelligence placement method according to claim 1, which is characterized in that step b sniffing robot list First (1) to during stepping inside underground cavity and being scanned to the inner cavity of underground cavity, central control computer is first Issuing 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 issues instruction, starts the sniffing robot travelling control circuit of controlled vehicle-mounted electrical device (12) Work, the full landform walking chassis I of industrial control computer control sniffing robot unit (1) of controlled vehicle-mounted electrical device (12) Automatically controlled driving mechanism I and the movement of course changing control mechanism I keep sniffing robot unit (1) whole former with initial position reference coordinates Point is to the mobile one setting step pitch of stepping of underground cavity intrinsic coordinates and stops, and then the gyroscope of detecting head (13) first should The scanner coordinate position data of stepping position is sent to central control computer, and then central control computer is stored The scanner coordinate position data that the gyroscope of the stepping position is fed back simultaneously is by the scanner with reference coordinates origin position Coordinate position data is compared, calculates the scanner coordinate position of the stepping position and the scanner of reference coordinates origin position Grid deviation and storage between coordinate position, then central control computer, which issues instruction according to the grid deviation, makes vehicle mounted electric Control the detecting head detection angle control loop task again of device (12), the industrial control computer control of controlled vehicle-mounted electrical device (12) The detecting head angle&orientation control drive actions of detecting head (13) processed make the stepping position detecting head (13) rotate and position to The plane of scanning motion of the scanner of the stepping position is parallel to the position of the basic point plane of scanning motion, then the work of controlled vehicle-mounted electrical device (12) The detecting head angle&orientation control drive actions of industry control computer control detecting head (13) make scanner in revised scanning It is rotated into row first step anomaly Surface scan in plane within the scope of 360 °, the scanner of detecting head (13) is by first step anomaly Surface scan Data are sent to central control computer, and central control computer is according to the grid deviation of storage by first step anomaly Surface scan number According to being stored after the fitting and three-dimensional modeling for carrying out same benchmark with basic point flat scanning data；
Then central control computer, which issues 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 reference coordinates point again to the mobile stepping of underground cavity intrinsic coordinates One setting step pitch simultaneously stops, and so on, sniffing robot unit (1) every step is 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 the scanner coordinate position data that the gyroscope of the stepping position is fed back and the gyroscope that previous step carry is set while storage The scanner coordinate position data of feedback is compared, calculates the scanner coordinate position of the stepping position and previous step carry is set Scanner coordinate position between grid deviation and storage, then central control computer according to the grid deviation issue instruct 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 The position of the plane of scanning motion for the scanner that carry is set, then the industrial control computer of controlled vehicle-mounted electrical device (12) controls detecting head (13) detecting head angle&orientation control drive actions are rotated into scanner 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 The step that control computer sets the step pitch flat scanning data of the stepping position and previous step carry according to the grid deviation of storage 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-dimensional space Model is stored.
3. underground cavity intelligence placement method according to claim 2, which is characterized in that underground cavity intelligence filling 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 mobile X-coordinate driving mechanism in left and right horizontal direction or the Y of control detection mechanical arm (11) anterior-posterior horizontal direction movement are sat Mark the Z coordinate driving mechanism of driving mechanism or control detection mechanical arm (11) vertical direction movement；Controlled vehicle-mounted electrical device (12) is also Including detecting mechanical arm control loop, the industrial control computer of controlled vehicle-mounted electrical device (12) and the detection of detection mechanical arm (11) Mechanical arm driving electrical connection；Concentrating electronic control unit (3) further includes sweep span control loop；
Step b sniffing robot unit (1) every step is further, and central control computer, which issues 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, central control computer, which issues instruction according to the grid deviation simultaneously, makes vehicle mounted electric 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 Spacing between the plane of scanning motion for the scanner that the plane of scanning motion and previous step carry of the scanner of stepping position are set is adjusted to setting Set a distance, then the industrial control computer of controlled vehicle-mounted electrical device (12) controls the detecting head angle&orientation control of detecting head (13) 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 filling System print machinery arm driving further include along left and right horizontal direction be central axes moving in rotation A coordinate rotary drive mechanism or It is the B coordinate rotary drive mechanism of central axes moving in rotation along anterior-posterior horizontal direction, or further includes being along left and right horizontal direction The A coordinate rotary drive mechanism of central axes moving in rotation and along anterior-posterior horizontal direction be central axes moving in rotation B coordinate rotate Driving mechanism.
5. underground cavity intelligence placement method according to claim 4, which is characterized in that underground cavity intelligence filling Pattern-recognition sensor is additionally provided on the printing head (24) of system, concentrating electronic control unit (3) further includes the amendment of 3D printing entity 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 For device in real time to the feature dimension data of central control computer feedback 3D printing entity, 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, It is three-dimensional that central control computer issues void space under instruction control 3D printing spray head (24) interruption 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 The model data divided, then central control computer issues the 3D printing for instructing control 3D printing spray head (24) to continue by planning again Path carries out 3D printing.
6. underground cavity intelligence placement method according to any one of claims 1 to 5, which is characterized in that step Rapid b sniffing robot unit (1) is to during stepping inside underground cavity and being scanned the inner cavity of underground cavity, detection The scanning mode of the scanner of head (13) is used based on the non-contact potential measurement mode wirelessly to conduct electricity.
7. underground cavity intelligence placement method according to any one of claims 1 to 5, which is characterized in that step Rapid c central control computer is 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 building model for anchor of the stress concentration point of corresponding underground cavity three-dimensional space model generates underground cavity space three-dimensional branch Shield model simultaneously stores underground cavity space three-dimensional model for anchor co-ordinate position information, and 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. underground cavity intelligence placement method according to any one of claims 1 to 5, 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, concentrates from large to small according to stress in underground cavity space three-dimensional model for anchor Sequence carry out 3D printing path planning and printing reference coordinate planning.
9. underground cavity intelligence placement method according to any one of claims 1 to 5, 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. underground cavity intelligence placement method according to any one of claims 1 to 5, 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 using underground extemporaneous preparation and input by the way of；
Or printed material supply subelement setting, on ground, it includes raw material device for formulating and extension that printed material, which supplies subelement, The conveyance conduit of connection is connected to underground and with the input terminal that printed material is pumped into mechanism, the input side of printed material in step d By the way of formula is prepared using ground and is inputted underground.
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