CN111828042B - Intelligent guniting support method for wall surface overexcavation tunnel - Google Patents
Intelligent guniting support method for wall surface overexcavation tunnel Download PDFInfo
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- CN111828042B CN111828042B CN202010583062.5A CN202010583062A CN111828042B CN 111828042 B CN111828042 B CN 111828042B CN 202010583062 A CN202010583062 A CN 202010583062A CN 111828042 B CN111828042 B CN 111828042B
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000005507 spraying Methods 0.000 claims abstract description 81
- 239000010410 layer Substances 0.000 claims abstract description 39
- 238000002347 injection Methods 0.000 claims abstract description 38
- 239000007924 injection Substances 0.000 claims abstract description 38
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 27
- 239000010959 steel Substances 0.000 claims abstract description 27
- 239000011435 rock Substances 0.000 claims abstract description 9
- 239000002344 surface layer Substances 0.000 claims abstract description 6
- 238000012545 processing Methods 0.000 claims description 9
- 239000013598 vector Substances 0.000 claims description 9
- 238000013461 design Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 5
- 239000000758 substrate Substances 0.000 claims description 4
- 238000009412 basement excavation Methods 0.000 abstract description 3
- 238000010276 construction Methods 0.000 abstract description 2
- 239000007921 spray Substances 0.000 description 7
- 238000005422 blasting Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/10—Lining with building materials with concrete cast in situ; Shuttering also lost shutterings, e.g. made of blocks, of metal plates or other equipment adapted therefor
- E21D11/102—Removable shuttering; Bearing or supporting devices therefor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/10—Lining with building materials with concrete cast in situ; Shuttering also lost shutterings, e.g. made of blocks, of metal plates or other equipment adapted therefor
- E21D11/105—Transport or application of concrete specially adapted for the lining of tunnels or galleries ; Backfilling the space between main building element and the surrounding rock, e.g. with concrete
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/14—Lining predominantly with metal
- E21D11/18—Arch members ; Network made of arch members ; Ring elements; Polygon elements; Polygon elements inside arches
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Structural Engineering (AREA)
- Architecture (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Civil Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Lining And Supports For Tunnels (AREA)
Abstract
The invention provides an intelligent guniting support method for a wall surface overexcavation tunnel, and belongs to the technical field of tunnel construction. The method comprises the following steps: the method comprises the following steps that firstly, a total station is used for positioning the wet spraying trolley, the spatial relation between the wet spraying trolley and a tunnel is obtained, and intelligent positioning work of the wet spraying trolley is completed; identifying pits generated by overexcavation, and performing motion planning on the wet spraying manipulator to perform original layer pit repairing operation; thirdly, installing a plurality of rows of arc-shaped steel arches which are arranged in parallel on the rock surface; scanning the contour of the wall surface provided with the steel arch frame, dividing the injection blocks, determining injection points, and extracting coordinate information of the injection points and volume information of the injection blocks; and fifthly, performing motion planning on the wet-spraying manipulator, and sequentially performing basal layer support, steel arch frame layer support and surface layer support. The invention solves the problem of low wall surface flatness caused by excessive wall surface excavation for the guniting support operation, and realizes the automatic operation of the guniting support of the tunnel.
Description
Technical Field
The invention relates to an intelligent guniting support method based on a wall surface overexcavation tunnel, and belongs to the technical field of tunnel construction.
Background
At present, most of tunnel guniting support operation is carried out by manually controlling guniting mechanical arms, the operation environment is extremely severe, the working conditions are poor, the process is long in time consumption, the health of workers is seriously harmed, the completion quality is poor, and the requirements of high efficiency and high flatness of tunnel guniting support cannot be met.
Due to the fact that the wall surface overexcavation tunnel is provided with the overexcavation pot holes with different depths, workers cannot accurately estimate the depth, great difficulty is caused to guniting support, and the flatness requirement is difficult to meet.
Patent 201910567117.0 provides a guniting support method of an intelligent guniting system, which comprises five steps of three-dimensional scanning, automatic first guniting, scanning detection, scanning result judgment and automatic fine guniting correction. However, the influence of the over-excavation of the wall surface after blasting on the guniting support is not considered, so that the surface flatness is low after operation, the process is long in time consumption, and the quality and the efficiency of the tunnel support are seriously influenced.
Disclosure of Invention
The invention aims to provide an intelligent guniting supporting method for a wall surface overexcavation tunnel, which aims to solve the technical problems of low surface flatness and long process time consumption in the existing tunnel guniting supporting technology.
An intelligent guniting support method for a wall surface overexcavation tunnel comprises the following steps:
the method comprises the following steps that firstly, a total station is used for positioning the wet spraying trolley, the spatial relation between the wet spraying trolley and a tunnel is obtained, and intelligent positioning work of the wet spraying trolley is completed;
step two, performing original scanning on the tunnel ring surface outline to obtain a scanning outline, comparing the scanning outline with a design outline to identify a pit generated by overexcavation, performing motion planning on the wet spraying manipulator, and performing original layer pit repairing operation;
thirdly, installing a plurality of rows of arc-shaped steel arches which are arranged in parallel on the rock surface;
scanning the profile of the wall surface provided with the steel arch, uploading the scanned tunnel profile point cloud data to a measurement and control center, dividing the injection blocks, determining the injection points, and extracting the coordinate information of the injection points and the volume information of the injection blocks;
and fifthly, performing motion planning on the wet-spraying manipulator according to the coordinate information and the volume information, and sequentially performing basal layer support, steel arch layer support and surface layer support.
Further, in the second step, the method specifically comprises the following steps:
step two, using a three-dimensional laser scanner to perform original scanning on the contour of the tunnel ring surface;
secondly, processing the point cloud data obtained by scanning by using three-dimensional contour reconstruction automatic processing software, comparing the scanning contour with the design contour, identifying the pit generated by overexcavation, identifying the type of the pit, and extracting information required by pit filling;
and step two, performing motion planning on the wet spraying mechanical arm according to the obtained information required by pit repairing, and further controlling the wet spraying mechanical arm to perform original layer pit repairing operation.
Further, the information required for pit filling includes: the center coordinates of the pit surface, the normal vector of the pit surface and the volume of the concrete required for filling the pit.
Furthermore, in the third step, the distance between the arc-shaped steel arches is determined by the surrounding rock grade of the wall surface and is between 0.8 and 1.5 m.
Further, in the fourth step, the method specifically comprises the following steps:
fourthly, scanning a basal layer of the tunnel ring surface profile by using a three-dimensional laser scanner;
processing the point cloud data obtained by scanning by using three-dimensional contour reconstruction automatic processing software, dividing an injection area and an injection block and determining an injection point;
and step four, extracting coordinate information of the injection point and volume information of the injection block.
Further, in the fifth step, the substrate layer support specifically includes the following steps:
fifthly, dividing the wall surface to be sprayed into five spraying areas, dividing spraying blocks in each spraying area, taking the central point of each spraying block as a spraying point, and extracting the coordinate information of the spraying point and the volume information of the spraying block;
and step two, the wet-spraying trolley control system carries out motion planning on the wet-spraying mechanical arm according to the obtained coordinate information and volume information, and then controls the wet-spraying mechanical arm to carry out basal layer guniting support operation.
Furthermore, in the fifth step, the base layer supporting operation and the steel arch layer supporting operation are carried out in an accumulative thin spraying mode, and the thickness of single spraying is not more than 20cm.
The main advantages of the invention are: the invention adopts a mode of filling the pit in advance, solves the problem of low wall surface flatness caused by the excessive excavation of the wall surface to the guniting support operation, and improves the operation quality of the guniting support of the over-excavated wall surface tunnel; the invention realizes the automatic operation of tunnel guniting support by using the technical means of laser scanning and point cloud processing, reduces the harm to the health of workers caused by manual operation, and improves the efficiency of tunnel guniting support operation.
Drawings
FIG. 1 is a schematic view of positioning operation;
FIG. 2 is a schematic of zone separation injection;
FIG. 3 is a schematic view of a spray zone block;
FIG. 4 is a schematic of staged injection.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An intelligent guniting support method for a wall surface overexcavation tunnel comprises the following steps:
the method comprises the following steps that firstly, a total station is used for positioning the wet spraying trolley, the spatial relation between the wet spraying trolley and a tunnel is obtained, and intelligent positioning work of the wet spraying trolley is completed;
step two, performing original scanning on the tunnel ring surface outline to obtain a scanning outline, comparing the scanning outline with a design outline to identify a pit generated by overexcavation, performing motion planning on the wet spraying manipulator, and performing original layer pit repairing operation;
thirdly, installing a plurality of rows of arc-shaped steel arches which are arranged in parallel on the rock surface;
scanning the profile of the wall surface provided with the steel arch, uploading the scanned tunnel profile point cloud data to a measurement and control center, dividing the injection blocks, determining the injection points, and extracting the coordinate information of the injection points and the volume information of the injection blocks;
and fifthly, performing motion planning on the wet-spraying manipulator according to the coordinate information and the volume information, and sequentially performing basal layer support, steel arch layer support and surface layer support.
In the second step, the method specifically comprises the following steps:
secondly, performing original scanning on the tunnel ring surface profile by using a three-dimensional laser scanner;
secondly, processing the point cloud data obtained by scanning by using three-dimensional contour reconstruction automatic processing software, comparing the scanning contour with the design contour, identifying the pit generated by overexcavation, identifying the type of the pit, and extracting information required by pit filling;
and step two, performing motion planning on the wet spraying mechanical arm according to the obtained information required by pit repairing, and further controlling the wet spraying mechanical arm to perform original layer pit repairing operation.
The information required for pit filling comprises: the center coordinates of the pit surface, the normal vector of the pit surface and the volume of concrete needed for filling the pit.
In the third step, the distance between the arc steel arches is determined by the surrounding rock grade of the wall surface and is between 0.8 and 1.5 m.
In the fourth step, the method specifically comprises the following steps:
fourthly, scanning the basal layer of the tunnel annular surface profile by using a three-dimensional laser scanner;
processing the point cloud data obtained by scanning by using three-dimensional contour reconstruction automatic processing software, dividing an injection area and an injection block and determining an injection point;
and step four, extracting coordinate information of the injection point and volume information of the injection block.
In the fifth step, the substrate layer support specifically comprises the following steps:
fifthly, dividing the wall surface to be sprayed into five spraying areas, dividing spraying blocks in each spraying area, taking the central point of each spraying block as a spraying point, and extracting the coordinate information of the spraying point and the volume information of the spraying block;
and step two, the wet-spraying trolley control system performs motion planning on the wet-spraying mechanical arm according to the obtained coordinate information and volume information, and then controls the wet-spraying mechanical arm to perform basal layer guniting support operation.
Furthermore, in the fifth step, the base layer supporting operation and the steel arch layer supporting operation are carried out in an accumulative thin spraying mode, and the thickness of single spraying is not more than 20cm.
The following is a concrete example:
an intelligent guniting support method applied to an over-excavated wall surface tunnel comprises the following steps:
firstly, a wet spraying trolley is driven to arrive at an operation site, and front and rear legs are supported at a stable position. As shown in fig. 1, a total station is placed at a point P1 in a tunnel, a station is set by measuring a point P2 which is placed in the tunnel in advance, and a prism point P3 which is placed on a trolley is measured by the total station to calculate the spatial relationship between the wet spraying trolley and the tunnel, so that the intelligent positioning work of the wet spraying trolley is completed;
secondly, performing contour scanning on a wall surface to be operated by using a three-dimensional tunnel laser scanner arranged at the head of the wet-spraying trolley, and uploading the scanned tunnel contour point cloud data to a measurement and control center;
and thirdly, processing the point cloud data obtained by scanning by using three-dimensional contour reconstruction automatic processing software, comparing the scanning contour with the design contour to identify the pit, identifying the small pit and the large pit according to the size and the shape of the pit surface, and extracting relevant information required by pit filling. For small pits, the strategy of pit filling is fixed-point injection, and information such as coordinates of the center of a pit surface, normal vectors of the pit surface, the volume of concrete needed for pit filling and the like needs to be extracted; for a large pit, the strategy of filling the pit is block filling, the pit surface of the large pit needs to be divided into a plurality of small pits, and then information such as coordinates of the center of the pit surface of the corresponding small pit, normal vectors of the pit surface, the volume of concrete needed for filling the pit and the like is extracted;
fourthly, the wet spraying trolley control system determines the position, the spray gun posture and the spraying time of the guniting manipulator according to the obtained central coordinates of the pit surface, the normal vector of the pit surface and the square amount of concrete required by pit filling, plans the motion track of the wet spraying mechanical arm and controls the wet spraying mechanical arm to perform pit repairing operation of an original layer;
fifthly, installing a plurality of rows of arc-shaped steel arches which are arranged in parallel on the rock surface. The distance between the steel arches is determined by the surrounding rock grade of the wall surface and is between 0.8 and 1.5 m;
sixthly, scanning the profile of the wall surface provided with the steel arch by using a three-dimensional tunnel laser scanner arranged at the head of the wet spraying trolley, and uploading the scanned tunnel profile point cloud data to a measurement and control center;
and seventhly, dividing the wall surface to be sprayed into five spraying areas, wherein the heights of the area I, the area II, the area III and the area IV are all 2m, and the area V is the topmost area of the tunnel, as shown in figure 2. Then, the five jetting areas are divided into rectangular jetting blocks with equal size, as shown in fig. 3, and the length b and the width a of each jetting block are calculated by the angle ranges of the horizontal rotation and the vertical rotation of the jetting head respectively. And then, taking the central point of the unit block as an injection point, and processing the point cloud data obtained by scanning in the sixth step by using three-dimensional contour reconstruction automatic processing software to obtain the coordinates and normal vectors of the injection point and the square quantity of the corresponding injection block. In each spraying area, the spray gun moves along a bow-shaped track;
and eighthly, respectively determining the position, the spray gun posture and the spray time of the guniting manipulator by the wet spraying trolley control system according to the obtained coordinates and normal vectors of the spray points and the square quantities of the corresponding spray blocks, planning the motion trail of the wet spraying manipulator and controlling the wet spraying manipulator to carry out guniting operation. The guniting operation is divided into three stages, namely firstly, a basal layer support, then a steel arch frame layer support and finally a surface layer support. As shown in fig. 4, the substrate layer support fills the gap between the wall surface to be sprayed and the back surface of the steel arch, which corresponds to the area (1) in the figure; the steel arch layer support is filled in the middle of the steel arch and corresponds to the area (2) in the drawing; the surface layer supporting means that a layer of concrete with the thickness of about 2cm is sprayed on the surface of the steel arch frame, and the area (3) in the drawing corresponds to. And scanning the tunnel ring surface outline at the beginning of each stage, and providing information for a wet spraying trolley control system to plan the movement of a wet spraying mechanical arm. The strategy of thin spraying for multiple times is adopted in the spraying operation process of the base layer support and the steel arch frame layer support, and the thickness of single spraying is not more than 20cm, so that the concrete dropping block can be effectively reduced.
Claims (5)
1. An intelligent guniting support method for a wall surface overexcavation tunnel is characterized by comprising the following steps:
the method comprises the following steps that firstly, a total station is used for positioning the wet spraying trolley, the spatial relation between the wet spraying trolley and a tunnel is obtained, and intelligent positioning work of the wet spraying trolley is completed;
step two, performing original scanning on the tunnel ring surface contour to obtain a scanning contour, comparing the scanning contour with a design contour to identify a pit generated by overexcavation, performing motion planning on a wet spraying manipulator, and performing original layer pit filling operation;
thirdly, installing a plurality of rows of arc-shaped steel arches which are arranged in parallel on the rock surface;
scanning the profile of the wall surface provided with the steel arch, uploading the scanned tunnel profile point cloud data to a measurement and control center, dividing the injection blocks, determining the injection points, and extracting the coordinate information of the injection points and the volume information of the injection blocks;
step five, performing motion planning on the wet-spraying manipulator according to the coordinate information and the volume information, sequentially performing basal layer support, steel arch layer support and surface layer support, scanning the tunnel ring surface contour when each layer of support is started,
in the second step, the method specifically comprises the following steps:
step two, using a three-dimensional laser scanner to perform original scanning on the contour of the tunnel ring surface;
secondly, processing the point cloud data obtained by scanning by using three-dimensional contour reconstruction automatic processing software, comparing the scanning contour with the design contour, identifying the pit generated by overexcavation, identifying the type of the pit, and extracting information required by pit filling;
step two, performing motion planning on the wet spraying mechanical arm according to the obtained information required by pit filling, further controlling the wet spraying mechanical arm to perform original layer pit filling operation,
in the second step, specifically, identifying small pits and large pits according to the size and the shape of the pit surface and extracting information required for pit filling, wherein for the small pits, the strategy of pit filling is fixed-point injection, and coordinates of the center of the pit surface, normal vectors of the pit surface and information of the volume of concrete required for pit filling need to be extracted; for a large pit, the strategy of filling the pit is block filling, the pit surface of the large pit needs to be divided into a plurality of small pits, and then the coordinates of the center of the pit surface of the corresponding small pit, the normal vector of the pit surface and the information of the volume of concrete needed for filling the pit are extracted.
2. The intelligent guniting support method for the wall surface overexcavation tunnel according to claim 1, wherein in the third step, the distance between the arc-shaped steel arches is determined by the surrounding rock grade of the wall surface and is 0.8-1.5 m.
3. The intelligent guniting support method for the wall surface overexcavation tunnel according to claim 1, which is characterized by specifically comprising the following steps in the fourth step:
fourthly, scanning a basal layer of the tunnel ring surface profile by using a three-dimensional laser scanner;
processing the point cloud data obtained by scanning by using three-dimensional contour reconstruction automatic processing software, dividing an injection area and an injection block and determining an injection point;
and step four, extracting coordinate information of the injection point and volume information of the injection block.
4. The intelligent guniting support method for the wall surface overexcavation tunnel according to claim 1, wherein in the fifth step, the substrate layer support specifically comprises the following steps:
fifthly, dividing the wall surface to be sprayed into five spraying areas, dividing spraying blocks in each spraying area, taking the central point of each spraying block as a spraying point, and extracting the coordinate information of the spraying point and the volume information of the spraying block;
and step two, the wet-spraying trolley control system carries out motion planning on the wet-spraying mechanical arm according to the obtained coordinate information and volume information, and then controls the wet-spraying mechanical arm to carry out basal layer guniting support operation.
5. The intelligent guniting support method for the wall surface overexcavation tunnel according to claim 1, wherein in the fifth step, the base layer support operation and the steel arch layer support operation both adopt an accumulative thin-spraying mode, and the thickness of single spraying is not more than 20cm.
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| CN113341422B (en) * | 2021-06-23 | 2024-05-24 | 重庆工程职业技术学院 | Tunneling support method based on position sensing system of tunneling and anchoring machine |
| CN113688500B (en) * | 2021-07-14 | 2024-04-19 | 中铁工程装备集团有限公司 | Tunnel boring equipment guniting amount generalized calculation method and storage medium |
| CN114247582A (en) * | 2021-12-17 | 2022-03-29 | 中铁工程装备集团隧道设备制造有限公司 | Spraying path planning method |
| CN115217491A (en) * | 2022-06-10 | 2022-10-21 | 大连海事大学 | Full-automatic intelligent tunnel wet spraying vehicle with machine vision and slurry spraying method |
| CN116441094B (en) * | 2023-04-20 | 2023-12-29 | 云南途腾智能装备有限公司 | Guniting mechanical arm for concrete wet spraying trolley |
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| CN108979668B (en) * | 2018-07-17 | 2019-10-29 | 中铁工程装备集团有限公司 | The information intelligent construction method and system of wet shot trolley |
| CN109635406B (en) * | 2018-12-05 | 2023-07-18 | 长沙科达智能装备股份有限公司 | Tunnel full-automatic guniting track planning method based on point cloud slicing |
| CN110578535B (en) * | 2019-10-16 | 2021-03-23 | 中铁三局集团第二工程有限公司 | Primary support concrete wet spraying method applied to weak surrounding rock tunnel |
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