CN114352300A - Digital drilling and blasting excavation system and excavation method - Google Patents
Digital drilling and blasting excavation system and excavation method Download PDFInfo
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Abstract
The patent provides a digital drilling and blasting excavation system and an excavation method, and aims to realize the dynamic optimization design of an intelligent drilling and blasting scheme of each cycle, automatically correct blasthole parameters and explosive loading parameters according to an upper-cycle overdue and undermine excavation result and surrounding rock conditions, automatically send the corrected drilling and blasting scheme to an intelligent rock drilling trolley through an intelligent drilling and blasting information platform, drill, charge and blast, automatically collect the overdue and undermine result after blast, update and store the corrected blasting scheme and the corresponding overdue and undermine result in a warehouse, correct the drilling and blasting method scheme automatic optimization algorithm, and go round and round, realize the dynamic adjustment of the drilling and blasting scheme of each cycle and the training and correction of the drilling and blasting scheme automatic optimization algorithm, finally realize the accurate control of the overdue and undermine result of tunnel drilling and blasting construction, improve the construction efficiency and reduce the construction cost.
Description
Technical Field
The invention relates to a digital drilling and blasting excavation system and an excavation method, and belongs to the field of tunnel engineering construction.
Background
The mechanical construction of the tunnel drilling and blasting method is an important measure for ensuring the construction quality, reducing the labor intensity of operators, reducing the accidents of death and group injury in tunnel construction, improving the safety of tunnel construction, reducing the operators in tunnel construction, and reducing the increasingly tense manpower requirement. The intelligent equipment of the tunnel is the core for realizing the intelligent construction of the tunnel, and the working targets of design, construction and evaluation can be realized only by mechanization of construction equipment and intelligent mechanization, so that the requirements of a new construction method, a new theory and a new target can be met. Therefore, equipment manufacturers need to develop intelligent equipment around intelligent construction of the tunnel, so that geological data acquisition, construction data storage and less unmanned control of the equipment are realized, and series intelligent tunnel construction equipment which is safer, more efficient, more reliable, more intelligent and more economical is created.
At present, the tunnel construction is backward in mechanization and intellectualization level, the degree of freedom of field management is high, the efficiency is low, the tunnel safety guarantee and the construction efficiency promotion are not facilitated, especially, the drilling and blasting excavation operation is realized, the drilling and blasting scheme is not updated timely, and the overbreak control is poor. Therefore, related attempts are carried out by multiple units in the industry, for example, a patent with the patent number of 201810868924.1 proposes a method based on BIM tunnel super-under excavation control, the drilling and blasting design is matched with an implanted drilling and blasting design scheme according to the drilling and blasting design, the drilling and blasting design scheme is dynamically adjusted by combining the construction experience of blasting personnel, and drilling and blasting simulation is carried out, so that the optimal drilling and blasting scheme is formulated. However, this method has problems in that: on one hand, the accuracy of the simulation is difficult to grasp, on the other hand, the optimization needs to be participated in by experienced technicians, the intelligent degree is insufficient, and the method is not different from the conventional manual correction drilling and blasting scheme.
The patent No. 202010207661.7 proposes an intelligent construction method of a tunnel by a drilling and blasting method, which integrates an intelligent prediction method, an intelligent grading method, an intelligent design method, an intelligent construction method and an intelligent construction quality control method of surrounding rocks in front of a tunnel face of the tunnel by the drilling and blasting method, and realizes the integration and high-efficiency cooperative management of intelligent prediction, intelligent grading, intelligent design, intelligent construction and intelligent construction quality control of the surrounding rocks in front of the tunnel face. However, the method mainly integrates surrounding rock prediction, design, construction and quality management, the design of the drilling and blasting scheme is only based on the drilling and blasting method tunnel design theory to perform simulation calculation to determine tunnel design parameters, the adaptability of the design scheme needs to be verified, the theoretical design is insufficient, and actual drilling and blasting experiment correction is needed.
The invention with the patent number of 201811554192.5 provides an intelligent drilling and blasting system and method for hydroelectric engineering, the system accurately projects a blasting point position on a section to be drilled and blasted and excavated in a hole in a laser projection mode through a satellite positioning transmission and measurement device in combination with an optical or laser accurate measurement mode, meanwhile, drilling information is transmitted to drilling and blasting equipment, the drilling and blasting equipment is guided to perform accurate drilling construction, the blasting effect is measured and analyzed in real time after blasting, and then blasting design is optimized, and the purpose of accurate blasting is achieved. On one hand, the method needs to additionally increase a device for projecting the blasting point, and the device is overlapped with the drill jumbo or the rack, so that normal drilling operation is influenced; on the other hand, the method provides a design method of a drilling and blasting scheme, automatic calculation is carried out according to a theoretical calculation formula and massive empirical data of tunnel excavation of other projects and by combining lithology, burial depth, geophysical prospecting data, excavation footage and the like, and a calculation method is not provided.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a digital drilling and blasting excavation system and an excavation method, which can realize accurate control of the drilling and blasting construction out-of-break excavation result of a tunnel, improve the construction efficiency and reduce the construction cost.
In order to solve the technical problems, the invention is realized by adopting the following technical scheme:
in one aspect, the invention provides a digital drilling and blasting excavation method, which comprises the following steps:
correcting a next circulation drilling and blasting scheme according to the tunnel overbreak result and the tunnel surrounding rock grade after the previous circulation drilling and blasting;
implementing drilling and blasting according to the corrected drilling and blasting scheme;
and circulating the steps until the set circulation times are used up.
Further, the tunnel overburdened result is obtained by calculating according to the following method:
scanning the tunnel contour to obtain point cloud data of the overbreak and undermine scanning;
analyzing and processing the point cloud data of the overbreak and underexcavation scanning to obtain three-dimensional point cloud data after tunnel blasting;
and comparing the three-dimensional point cloud data after the tunnel blasting with the three-dimensional point cloud data of the tunnel design, and calculating to obtain the current tunnel overbreak and underexcavation result.
Further, the tunnel design three-dimensional point cloud data is generated by using a tunnel design axis and a contour line.
Further, the method for dividing the grade of the tunnel surrounding rock comprises the following steps:
determining the position of the tunnel surrounding rock to be drilled and exploded according to the face coordinates of the blasting holes in the face grid blocks of the drill jumbo and the real-time drilling parameters;
and determining the grade of the tunnel surrounding rock according to the drilling resistance coefficient of the surrounding rock at the position of the tunnel surrounding rock.
Further, the method further comprises: and (4) performing grid division on the super-under excavation result by using a grid division unit to obtain the three-dimensional coordinates of the centers of the super-under excavation grid blocks and the under-excavation grid blocks.
Further, the drilling and blasting scheme is modified by using the blasting model shown in the formula (1):
Yi(Mi，Ni)＝Fi(Xi-1，Zi-1) (1)
wherein i is a cycle number; y isi(.) represents the drilling and blasting scheme of the ith cycle; miIndicating the blasthole parameters corresponding to the ith cycle; n is a radical ofiRepresenting the charging parameters corresponding to the ith cycle; xi-1Representing the tunnel overbreak and underexcavation result of the i-1 th cycle; zi-1Tunnel representing the i-1 th cycleGrade of road wall rock; fi() represents the ith round trip drilling and blasting scheme adjustment strategy;
Xi-1＝Fi-1(center coordinates C of overexcavable grid blocki-1Center coordinate Q of undercut grid blocki-1)；
Zi-1＝Fi-1(palm-side grid Block center coordinates Wi-1Drilling parameter Pi-1)；
Mi＝Fi(number of blastholes n, diameter of blastholes phi, front end face coordinate B of blastholesqAnd the coordinates B of the rear end face of the blast holeh)；
Ni＝Fi(explosive storehouse BsThe charging mode delta, the charging coefficient xi and the charging density rho);
for the shot hole parameter M corresponding to the ith cycleiThe following method was used for the correction:
the number n of blastholes is kept unchanged;
for each blast hole, selecting the grid block coordinate W closest to the center of circle of the front end face of the blast holei-1Corresponding coefficient of resistance to drilling fiCalculating the diameter phi of the blast hole corresponding to the ith cyclei＝AVERAGE(fij*φi-1/fij-1) J is the serial number of the blast hole under the current cycle, and j is 1, 2, 3 … … n; f. ofijThe drilling resistance coefficient of the jth blast hole of the ith cycle; f. ofij-1The drilling resistance coefficient of the j-1 blast hole of the ith cycle; phi is ai-1The diameter of the blast hole corresponding to the cycle i-1;
if the type of the blast hole is a peripheral hole, the coordinates B of the front end face of the blast hole of the jth blast hole are circulated in the ith cycleqijAnd the coordinates B of the rear end face of the blast holehijIs obtained by calculating the following formula:
xij＝xi-1j+L，
in the formula, xi-1jAn X-axis coordinate of a jth blasthole front end face coordinate/blasthole rear end face coordinate is circulated for the (i-1) th time; l is the theoretical footage of each cycle; coordinate B of front end face of jth blast hole in ith cycleqijEnd face coordinate B behind blastholehijThe Y-axis coordinate and the Z-axis coordinate are determined according to the number k of the over-digging units and the number of the under-digging unitsE, obtaining the quantity through fitting of historical construction data;
if the type of the blast hole is a cut hole or an auxiliary hole, circulating the coordinates B of the front end face of the blast hole of the jth blast hole in the ith cycleqijAnd the coordinates B of the rear end face of the blast holehijThe change is not changed;
charging parameter N corresponding to ith cycleiThe following method was used for the correction:
explosive storehouse BsThe charging mode delta is unchanged;
coefficient of charge xi of cycle ii＝(1+(e-k)/n)ξi-1Calculating the length of the blast hole by adjusting the coordinates of the front and rear end surfaces of the rear blast hole and multiplying the length by a charge coefficient xiiObtaining the charging length; xii-1The charge factor of the i-1 cycle;
charge density ρ of i-th cyclei＝(1+(e-k)/n)ρi-1Calculating the charge volume according to the charge length and diameter, and multiplying the charge density rhoiCalculating the charging quality; rhoi-1The charge density of the i-1 cycle.
Further, the method further comprises: and when the parameter correction proportion in the drilling and blasting scheme is more than 10%, prompting manual confirmation and accepting manual intervention and modification operation.
Further, the method further comprises the step of storing the corrected drilling and blasting scheme and the corresponding super-undermining result into an expert library.
In another aspect, the invention provides a digital drilling and blasting excavation system, which comprises a drilling and blasting informatization platform and a drill jumbo;
the drilling and blasting information platform comprises: the system is used for correcting the next circulation drilling and blasting scheme according to the tunnel overbreak result and the tunnel surrounding rock grade after the previous circulation drilling and blasting;
the drill jumbo: for implementing the drill explosion according to the modified drill explosion scheme.
Further, the drilling and blasting information platform comprises:
the super-back-cut analysis module: the system is used for calculating and outputting the overbreak and undermine result according to the three-dimensional point cloud data after tunnel blasting and the three-dimensional point cloud data of the tunnel design;
the surrounding rock level analysis module: the system comprises a rock drilling jumbo face grid block, a tunnel wall rock level acquisition unit, a rock drilling unit and a control unit, wherein the tunnel wall rock level acquisition unit is used for acquiring the tunnel wall rock level according to the blasting hole face coordinates in the rock drilling jumbo face grid block;
and (3) blasting module: and the method is used for correcting the drilling and blasting scheme by utilizing the pre-constructed blasting model according to the overbreak and undermining result and the grade of the surrounding rock of the tunnel.
Further, the analysis module for overbreak and underrun comprises:
a scanner: the system is used for scanning the tunnel contour and acquiring the point cloud data of the short-cut scanning;
and (3) post-processing terminal: the system is used for processing and analyzing the point cloud data of the overbreak and underexcavation scanning to obtain three-dimensional point cloud data after tunnel blasting, and automatically generating tunnel design three-dimensional point cloud data by utilizing a tunnel design axis and a contour line; and calculating and outputting the overbreak and underexcavation result by comparing the three-dimensional point cloud data after the tunnel blasting with the three-dimensional point cloud data of the tunnel design.
Furthermore, the super-under-excavation analysis module further comprises a grid division unit, wherein the grid division unit is used for carrying out grid division on the super-under-excavation result by utilizing the grid division unit to obtain the three-dimensional coordinates of the centers of the super-under-excavation grid blocks and the under-excavation grid blocks.
Further, the method also comprises the following steps:
a reminding confirmation module: and when the parameter correction proportion in the drilling and blasting scheme is more than 10%, prompting manual confirmation and accepting manual intervention and modification operation.
Further, the method also comprises the following steps:
an expert database: and the method is used for storing the corrected drilling and blasting scheme and the corresponding overbreak and underbreak result.
Further, the rock drilling jumbo comprises a wing type arm support and a rock drilling arm connected to the wing type arm support; the wing type arm support is provided with a wing type arm support lifting oil cylinder for realizing the posture adjustment of the wing type arm support;
the rock drilling arm is used for carrying out drilling and blasting according to a drilling and blasting scheme.
Further, the rock drilling arm comprises a rock drilling arm base, a large arm, a telescopic arm containing a telescopic oil cylinder, a propelling beam containing a rock drilling machine propelling oil cylinder, a rock drilling machine and a drill rod;
the large arm is connected to a rock drilling arm base, and a rock drilling arm lifting oil cylinder is hinged to the rock drilling arm base and used for achieving large arm posture adjustment;
the telescopic arm is connected to the large arm and can be telescopic relative to the large arm through the telescopic oil cylinder;
the push beam slides relative to the push beam base through the push beam push oil cylinder, and swings to the push beam base through the push beam swing oil cylinder;
the propulsion beam base is connected to the tail end of the telescopic arm through a rotating mechanism, and the rotating mechanism can drive the propulsion beam base to rotate spatially relative to the telescopic arm, so that the posture of the propulsion beam is adjusted;
the rock drill propulsion oil cylinder can push the rock drill to slide along the propulsion beam, so that the drill rod is driven to drill a hole.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention provides an intelligent drilling and blasting informatization platform system which can realize simultaneous online management of multiple projects and multiple devices and realize automatic optimization and issuing of drilling and blasting schemes;
(2) the invention provides an intelligent drilling and blasting informatization platform system, wherein a corrected blasting scheme and a corresponding overbreak result are automatically updated and put in storage, so that training and correction of an automatic optimization algorithm of the drilling and blasting scheme are realized;
(3) the invention provides an intelligent drilling and blasting informatization platform system, which realizes the storage of drilling and blasting schemes and ultra-short excavation analysis results in the construction process and continuously perfects an expert database;
(4) the invention provides an intelligent drill jumbo which is used for being matched with an intelligent drilling and blasting information platform in the invention, and drilling and charging are carried out according to an optimized drilling and blasting scheme by receiving the drilling and blasting scheme issued by the intelligent drilling and blasting information platform;
(5) the invention provides a digital drilling and blasting excavation method, which realizes the dynamic optimization design of an intelligent drilling and blasting scheme in each cycle, accurately controls overbreak and underbreak, improves the construction efficiency and reduces the construction cost.
Drawings
FIG. 1 is a schematic diagram of an analysis meshing for overbreak;
FIG. 2 is a schematic diagram of network block division for tunnel face according to the present invention;
FIG. 3 is a flow chart of a cyclic optimization scheme of the drilling and blasting scheme of the present invention;
FIG. 4 is a flow chart of a digital drilling and blasting excavation method of the present invention;
FIG. 5 is a schematic view of the overall construction of the rock drilling rig of the present invention;
FIG. 6 is a schematic view of the construction of the rock drilling boom of FIG. 5 according to the present invention;
figure 7 is a schematic view of the construction of the rock drilling arm of figure 5 according to the invention;
figure 8 is a schematic side view of the rock drilling arm of figure 5 according to the invention;
FIG. 9 is a schematic view of the coordinates of the end of the working arm according to the present invention;
fig. 10 is a flow chart of rock drilling arm parameter adjustment according to the present invention;
FIG. 11 illustrates an intelligent optimization method for the drilling and blasting scheme according to the present invention;
FIG. 12 is a flow chart of the intelligent drilling and blasting informatization platform work in the invention;
in the figure: a traveling chassis 1; a cab 2; a support leg 3; a wing type arm support 4; a wing arm frame lifting cylinder 401; a left rock drilling arm 5; a rock drilling arm base 501; a left hoisting cylinder 5021 of the rock drilling arm; a rock drilling arm right lifting oil cylinder 5022; a large arm 503; a telescopic arm 504; a first rotary motor 505; a second rotary motor mount 506; a second rotary motor 507; a feed beam base 508; a feed beam 509; a push beam swing cylinder 510; a feed beam feed cylinder 511; a rock drill 512; a drill pipe 513; a right rock drilling arm 6; a middle rock drilling arm 7; a platform arm 8.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
Example 1
A digital drilling and blasting excavation system comprises a drilling and blasting information platform and a drill jumbo, wherein the drilling and blasting information platform divides a tunnel face of a tunnel to be excavated or excavated into tunnel face grid blocks as shown in figure 2, and automatically acquires an over-under excavation result after blasting, updates and stores a corrected blasting scheme and a corresponding over-under excavation result, and circularly corrects an automatic drilling and blasting optimization algorithm, and the drilling and blasting information platform can simultaneously issue correction schemes for a plurality of projects and the drill jumbo as shown in figure 12; and the rock drilling jumbo carries out real-time blasting according to the blasting scheme after the drilling and blasting informatization platform issues the correction.
The drilling and blasting information platform comprises an ultra-short excavation result analysis module, a surrounding rock grade analysis module and a blasting module; the system comprises a tunnel contour scanning point cloud data processing module, a tunnel contour scanning point cloud data analyzing module, a tunnel design three-dimensional point cloud data analyzing module, a tunnel blasting data analyzing module and an out-of-back excavation analyzing module, wherein the out-of-back excavation analyzing module is responsible for processing, analyzing and outputting tunnel contour scanning point cloud data after blasting; the surrounding rock level analysis module maps the surrounding rock level by using a drilling parameter change rule, and obtains the tunnel surrounding rock level according to the tunnel face coordinates of the blast holes in the mesh blocks of the tunnel face of the drill jumbo; and the blasting module corrects the lower circulating drilling and blasting scheme by using the over-under excavation result output by the over-under excavation analysis module and the tunnel surrounding rock grade output by the surrounding rock grade analysis module and using the pre-constructed blasting model.
The super-back excavation analysis module comprises a scanner, a post-processing terminal and a grid division unit; the scanner is used for three-dimensional scanning of the tunnel contour after blasting to obtain point cloud data of the overbreak and underexcavation scanning; the post-processing terminal processes and analyzes the over-under-excavated point cloud data to obtain over-under-excavated point cloud data of the tunnel after blasting, tunnel design point cloud data is automatically generated by utilizing a tunnel design axis and a contour line, the three-dimensional point cloud data after tunnel blasting and the tunnel design three-dimensional point cloud data are compared, and an over-under-excavated result is output; as shown in fig. 1, the mesh division unit is configured to divide the overbreak and underbreak result into a plurality of blocks, and record three-dimensional coordinates of centers of the overbreak and underbreak mesh blocks.
And the surrounding rock grade analysis module determines the surrounding rock grade by utilizing the drilling parameter change rule according to the blasting hole face coordinates in the divided face grid blocks.
And the blasting module corrects the drilling and blasting scheme by utilizing the pre-constructed blasting model according to the overbreak result and the grade of the surrounding rock of the tunnel. The blasting model changes according to different tunnel drilling and blasting working conditions, can be obtained preliminarily by adopting a response surface method based on a system neural network, and then is trained by utilizing a large amount of data such as machine learning and the like to construct the corresponding relation between different surrounding rocks and drilling parameters and a drilling and blasting scheme, so that the correction of blast hole parameters and charging parameters is realized.
The drilling and blasting informatization platform further comprises a reminding and confirming module, and the system automatically reminds manual confirmation and carries out manual intervention and modification aiming at the part of the optimization scheme with the parameter modification proportion larger than 10%.
In order to enable the blasting model to be more intelligent, the drilling and blasting information platform further comprises an expert database, and the expert database is used for storing, updating and warehousing the drilling and blasting scheme results of the drilling and blasting scheme before and after correction, the surrounding rock level analysis and the optimization scheme to form database storage experience data.
As shown in fig. 5-8, the drill jumbo comprises a traveling chassis 1 for driving the vehicle, a cab 2, support legs 3 for assisting in supporting the vehicle, a wing-type boom 4, a left drill boom 5 mounted on the wing-type boom, a right drill boom 6 mounted on the wing-type boom, a middle drill boom 7 mounted in the middle of the wing-type boom, a platform boom 8 mounted on the wing-type boom, a hydraulic system and a control system, wherein the control system assists in controlling the wing-type boom 4, the three drill booms and the platform boom 8 via the hydraulic system according to a drilling and blasting scheme automatically issued by the drilling and blasting information platform, and realizes automatic drilling and charging of the drill jumbo according to empirical data stored in a database.
The left rock drilling arm 5 and the right rock drilling arm 6 of the rock drilling jumbo have the same structure and are symmetrical according to the positions, the middle rock drilling arm 7 is arranged in the middle of the wing type arm support 4, and the difference between the middle rock drilling arm 7 and the left rock drilling arm 5 and the right rock drilling arm 6 is that no wing type arm support lifting oil cylinder 401 is arranged, and the starting position of the middle rock drilling arm 7 is fixed.
Taking the left rock drilling arm 5 as an example, the device comprises a rock drilling arm base 501, a rock drilling arm left lifting oil cylinder 5021, a rock drilling arm right lifting oil cylinder 5022, a large arm 503, a telescopic arm (including a telescopic oil cylinder) 504, a first rotating motor 505, a second rotating motor base 506, a second rotating motor 507, a pushing beam base 508, a pushing beam 509 (including a rock drilling machine pushing oil cylinder), a pushing beam swinging oil cylinder 510, a pushing beam pushing oil cylinder 511, a rock drilling machine 512 and a drill rod 513. The up-down lifting and the left-right swinging of the large arm 503 are realized through the stretching of a left lifting oil cylinder 5021 and a right lifting oil cylinder 5022 of the rock drilling arm, and the stretching arm 504 realizes the stretching function by utilizing a built-in stretching oil cylinder; the first rotary motor 505 can rotate 360 degrees around the end face of the telescopic arm 504, the second rotary motor 507 can rotate 360 degrees around the end face of the second rotary motor base 506, and the two rotary motors drive the pushing beam base 508 to rotate spatially, so that the posture of the pushing beam 509 can be adjusted rapidly; in addition, the push beam 509 can slide on the push beam base 508 by utilizing the telescopic motion of the push beam push cylinder 511, the push beam base 508 is hinged on the second rotary motor 507, and the swing is realized by the push beam swing cylinder 510; the rock drill 512 is slidably advanced on the feed beam and power is supplied from a rock drill feed cylinder built into the feed beam 509 to drive the drill pipe 513 to drill a borehole.
Wherein the automatic drilling is realized as shown in fig. 9 and 10, and the front end B of the blast hole is adjusted according to the position of the tunnel face blast holeqAnd BhCoordinate of, end of working arm of drill jumbo from BqDrilling at constant speed to BhIn the process, the telescopic length X of the lifting oil cylinder 4 of the wing type arm support1Left hoisting oil cylinder 5021 of rock drilling arm has flexible length X2And the rock drilling arm right lifting oil cylinder 5022 has the telescopic length X3And the telescopic arm cylinder 504 has the telescopic length X4The first rotating motor 505 rotates by an angle X5The second rotary motor 506 rotates by an angle X6The push beam swing cylinder 510 has a telescopic length X7The push beam push oil cylinder 511 has the telescopic length X8The rock drill is pushed into the oil cylinder to extend and retract the length X9And automatically adjusting according to the empirical data stored in the database to realize automatic drilling of the drilling jumbo.
Example 2
The invention also provides a method for drilling and blasting excavation by using the digital drilling and blasting excavation system of the embodiment 1, which comprises the following steps:
in the cyclic blasting, the modification from the i-1 th cycle to the i-th cycle is exemplified as shown in fig. 3 and 4.
And (3) analyzing the result of the overbreak and the undermining of the target of the required blasting: scanning the contour of the tunnel after blasting by using a three-dimensional scanner to obtain point cloud data of the over-under-blasting scanning point, and performing data processing operation by using scanning post-processing software to obtain three-dimensional point cloud data S for accurately calculating the over-under-blasting of the tunnel after blasting1. Automatic generation of tunnel design three-dimensional point cloud data S by using tunnel design axis and contour line2And comparing the over-under excavation profile and the design profile of the tunnel after blasting, and outputting an over-under excavation result. Dividing the result of the overbreak and underexcavation into a plurality of squares by using a grid dividing unit, and recording the overbreak and underexcavationGrid block center three-dimensional coordinate Ci-1(Xi-1,Yi-1,Zi-1) Or undermined grid block center three-dimensional coordinate Qi-1(Xi-1,Yi-1,Zi-1)。
Carrying out surrounding rock grade analysis on the target to be blasted: dividing the tunnel face of the tunnel to be excavated or excavated into tunnel face grid blocks as shown in figure 3, and determining the central coordinates W of the blasting hole tunnel face grid blocks in the tunnel face grid blocks of the rock drilling jumbo according to the drilling parameter change rule of the excavated tunneli-1(xi-1,yi-1,zi-1) And classifying the tunnel surrounding rock into I-V grades. And (3) dividing the grade of the surrounding rock into I-V grade according to the drilling resistance coefficient f of the surrounding rock. For example, the method can be implemented according to the following table, and the determination value can be adjusted in a floating manner according to different fracture degrees of surrounding rocks of a continuous mountain:
and (3) correcting parameters: as shown in fig. 3 and 4, according to the result of the analysis of the overbreak and underexcavation result and the result of the analysis of the surrounding rock level in the i-1 th cycle, entering the ith cycle of excavation, and automatically correcting the blast hole parameter M by using a blasting model constructed by the system based on a neural networkiAnd charge parameter Ni(ii) a Wherein for the parameter M of the blast holeiThe correction comprises correcting the number n of the blastholes, the diameter phi of the blastholes and the coordinates B of the front end surface of the blastholesq(Xm-q,Ym-q,Zm-q) And the coordinates B of the rear end face of the blast holeh(Xm-h,Ym-h,Zm-h) Wherein m is more than or equal to 1 and less than or equal to n, and both n and m are positive integers; to charge parameter NiThe correction of the method comprises the correction of a common explosive library Bi, a charging mode delta, a charging coefficient xi and a charging density rho, wherein the charging mode delta is any one of single/mixing, continuous/interval and coupling; the charge coefficient xi is a calculated value of the charge length divided by the length of the blast hole; the charge density ρ is a calculated value of the charge mass divided by the charge volume. After the parameters are corrected, an optimized correction scheme is formed:
Yi(Mi，Ni)＝Fi(Xi-1，Zi-1) (1)
in the formula (1), i is a cycle number; y isi(.) represents the drilling and blasting scheme of the ith cycle; miIndicating the blasthole parameters corresponding to the ith cycle; n is a radical ofiRepresenting the charging parameters corresponding to the ith cycle; xi-1Representing the tunnel overbreak and underexcavation result of the i-1 th cycle; zi-1Representing the grade of the tunnel surrounding rock of the i-1 th cycle; fi() represents the ith round trip drilling and blasting scheme adjustment strategy;
Xi-1＝Fi-1(center coordinates C of overexcavable grid blocki-1Center coordinate Q of undercut grid blocki-1)
Zi-1＝Fi-1(palm-side grid Block center coordinates Wi-1+ drilling parameter Pi-1)
Mi＝Fi(number of blastholes n, diameter of blastholes phi, front end face coordinate B of blastholesqAnd the coordinates B of the rear end face of the blast holeh)；
Ni＝Fi(explosive storehouse BsCharge mode delta, charge coefficient xi and charge density rho).
When unfavorable geology such as large deformation, rich water and the like occurs, the problem of the unfavorable geology needs to be solved preferentially, and a borehole pattern needs to be redesigned; when the surrounding rock accords with the prediction of a geological survey report, the number of the blastholes does not need to be adjusted, and the blasthole parameters and the charging parameters are finely adjusted, so that the circular optimization of the drilling and blasting scheme of each circle is realized.
(1) Parameter M of i-th cycle blastholeiThe following method is adopted for correction:
the parameter n of the blast hole is kept unchanged, and each blast hole selects the grid block coordinate W closest to the circle center of the front end face of the blast holei-1Corresponding drilling resistance coefficient, diameter of blast hole phii＝AVERAGE(fij*φi-1/fij-1) J is the serial number of the blast hole under the current cycle, and j is 1, 2, 3 … … n; f. ofijThe drilling resistance coefficient of the jth blast hole under the ith cycle is shown;
center coordinate C of overexcavation grid blocki-1，k(rk，θk，k)，k＝1，2, 3 … …, each cycle of the super-excavation is different, k can be larger or smaller, and the super-excavation body is divided into k units; center coordinate Q of underexcavated grid blocki-1，e(re，θeE), each circulation is different in undermining condition, and the undermining body is divided into e units, wherein e can be larger or smaller;
there are 3 types per cycle of blasthole: the method comprises the following steps that (1) the cut holes, the auxiliary holes and the peripheral holes are mainly influenced by the peripheral holes and charging parameters under the condition of over-short excavation, the type of blast holes is set during original design, and the type of the blast holes is not changed in blast hole optimization, so that the following blast hole parameter optimization formula is suitable for the peripheral holes, and the parameters of the cut holes and the auxiliary holes are not changed;
coordinate B of front end face of jth blast hole in ith cycleqij(xqij，yqij，zqij) I-1 circulation j back end face coordinate B of blast holeqi-1j(xqi-1j，yqi-1j，zqi-1j)，xqij＝xqi-1j+L，xqi-1j＝xqi-2j+ L; and L is the theoretical advancing rule of each cycle.
According to the super back-cut unit thetak、θeFinding out the nearest peripheral hole from the peripheral hole Y, Z, adjusting the coordinates of the peripheral hole Y, Z according to the connection line of the circle center of the current blasthole and the original point of the face, the number k of over-digging units and the number e of under-digging units under the horizontal included angle theta with the face, and fitting the relation between the two cyclic coordinates by using a response surface method or machine learning through historical construction data, such as: in some cases it follows that:
yqij＝(1+(e-k)/n)*yqi-1j，zqij＝(1+(e-k)/n)zqi-1j；
ith cycle jth blasthole rear end face coordinate Bhij(xhij，yhij，zhij)
yhij＝(1+(e-k)/n)*yhi-1j，zij＝(1+(e-k)/n)zhi-1j；
(2) Ith circulating charge parameter NiThe following method is adopted for correction:
wherein the explosive storehouse BsThe charging mode delta is unchanged;
coefficient of charge xi of cycle ii＝(1+(e-k)/n)ξi-1The length of the blast hole can be calculated by adjusting the coordinates of the front end surface and the rear end surface of the rear blast hole and multiplied by a charging coefficient xiiObtaining the charging length;
charge density ρ of i-th cyclei＝(1+(e-k)/n)ρi-1The charge volume is calculated according to the charge length and diameter and multiplied by the charge density rhoiThe charging quality can be calculated.
And according to the optimized correction scheme, the optimized correction scheme is issued to the drill jumbo through the drilling and blasting informatization platform, the drill jumbo automatically drills holes according to the optimized drilling and blasting scheme, and the ith circulating drilling operation is carried out.
After the ith circulating drilling operation is finished, charging, carrying out the ultra-short excavation result analysis and the surrounding rock grade analysis of the ith circulating stage, and circulating the drilling and blasting schemes, wherein if the parameter correction proportion in the drilling and blasting schemes is more than 10%, the reminding and confirming module reminds manual confirmation and accepts manual intervention and modification operation; in the circulation process, the analysis of the overbreak and underexcavation results, the analysis of the surrounding rock level and the optimization scheme in the ith circulation are stored and updated into an expert database, and database storage experience data are formed, so that the blasting model is more diversified.
As shown in fig. 11, when the drilling and blasting plan is optimized and corrected, the analysis of the results of the overbreak and undermining, the analysis of the surrounding rock grade and the storage of the drilling and blasting plan in the i-1 th cycle are updated into the expert database, empirical data training and fitting are performed, then automatic drilling and blasting are performed according to the optimized plan, aiming at performing blasting verification and training and correction, and finally, the cycle optimization construction is performed in the i-th cycle, so that the empirical data are stored in the database through the cycle, and the blasting model is further improved.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (16)
1. A digital drilling and blasting excavation method is characterized by comprising the following steps:
correcting a next circulation drilling and blasting scheme according to the tunnel overbreak result and the tunnel surrounding rock grade after the previous circulation drilling and blasting;
implementing drilling and blasting according to the corrected drilling and blasting scheme;
and circulating the steps until the set circulation times are used up.
2. The digital drilling and blasting excavation method of claim 1, wherein the tunnel overbreak and underexcavation result is obtained by calculating according to the following method:
scanning the tunnel contour to obtain point cloud data of the overbreak and undermine scanning;
analyzing and processing the point cloud data of the overbreak and underexcavation scanning to obtain three-dimensional point cloud data after tunnel blasting;
and comparing the three-dimensional point cloud data after the tunnel blasting with the three-dimensional point cloud data of the tunnel design, and calculating to obtain the current tunnel overbreak and underexcavation result.
3. The digital drilling and blasting excavation method of claim 2, wherein the tunnel design three-dimensional point cloud data is generated by using tunnel design axes and contour lines.
4. The digital drilling and blasting excavation method of claim 1, wherein the method for classifying the surrounding rock of the tunnel comprises the following steps:
determining the position of the tunnel surrounding rock to be drilled and exploded according to the face coordinates of the blasting holes in the face grid blocks of the drill jumbo and the real-time drilling parameters;
and determining the grade of the tunnel surrounding rock according to the drilling resistance coefficient of the surrounding rock at the position of the tunnel surrounding rock.
5. The digital drilling and blasting excavation method of any one of claims 1 to 4, wherein the method further comprises: and (4) performing grid division on the super-under excavation result by using a grid division unit to obtain the three-dimensional coordinates of the centers of the super-under excavation grid blocks and the under-excavation grid blocks.
6. The digital drilling and blasting excavation method of claim 5, wherein the drilling and blasting scheme is modified by using a blasting model as shown in formula (1):
Yi(Mi，Ni)＝Fi(Xi-1，Zi-1) (1)
wherein i is a cycle number; y isi(.) represents the drilling and blasting scheme of the ith cycle; miIndicating the blasthole parameters corresponding to the ith cycle; n is a radical ofiRepresenting the charging parameters corresponding to the ith cycle; xi-1Representing the tunnel overbreak and underexcavation result of the i-1 th cycle; zi-1Representing the grade of the tunnel surrounding rock of the i-1 th cycle; fi() represents the ith round trip drilling and blasting scheme adjustment strategy; xi-1＝Fi-1(center coordinates C of overexcavable grid blocki-1Center coordinate Q of undercut grid blocki-1)；Zi-1＝Fi-1(palm-side grid Block center coordinates Wi-1Drilling parameter Pi-1)；Mi＝Fi(number of blastholes n, diameter of blastholes phi, front end face coordinate B of blastholesqAnd the coordinates B of the rear end face of the blast holeh)；Ni＝Fi(explosive storehouse BsThe charging mode delta, the charging coefficient xi and the charging density rho);
for the shot hole parameter M corresponding to the ith cycleiThe following method was used for the correction:
the number n of blastholes is kept unchanged;
for each blast hole, selecting the grid block coordinate W closest to the center of circle of the front end face of the blast holei-1Corresponding coefficient of resistance to drilling fiCalculating the diameter phi of the blast hole corresponding to the ith cyclei＝AVERAGE(fij*φi-1/fij-1) J is the serial number of the blast hole under the current cycle, and j is 1, 2, 3 … … n; f. ofijThe drilling resistance coefficient of the jth blast hole of the ith cycle; f. ofij-1The drilling resistance coefficient of the j-1 blast hole of the ith cycle; phi is ai-1The diameter of the blast hole corresponding to the cycle i-1;
if the type of the blast hole is a peripheral hole, the ith timeCirculating the coordinates B of the front end face of the j-th blast holeqijAnd the coordinates B of the rear end face of the blast holehijIs obtained by calculating the following formula:
xij＝xi-1j+L，
in the formula, xi-1jAn X-axis coordinate of a jth blasthole front end face coordinate/blasthole rear end face coordinate is circulated for the (i-1) th time; l is the theoretical footage of each cycle; coordinate B of front end face of jth blast hole in ith cycleqijEnd face coordinate B behind blastholehijThe Y-axis coordinate and the Z-axis coordinate are obtained through historical construction data fitting according to the number k of the over-excavation units and the number e of the under-excavation units;
if the type of the blast hole is a cut hole or an auxiliary hole, circulating the coordinates B of the front end face of the blast hole of the jth blast hole in the ith cycleqijAnd the coordinates B of the rear end face of the blast holehijThe change is not changed;
charging parameter N corresponding to ith cycleiThe following method was used for the correction:
explosive storehouse BsThe charging mode delta is unchanged;
coefficient of charge xi of cycle ii＝(1+(e-k)/n)ξi-1Calculating the length of the blast hole by adjusting the coordinates of the front and rear end surfaces of the rear blast hole and multiplying the length by a charge coefficient xiiObtaining the charging length; xii-1The charge factor of the i-1 cycle;
charge density ρ of i-th cyclei＝(1+(e-k)/n)ρi-1Calculating the charge volume according to the charge length and diameter, and multiplying the charge density rhoiCalculating the charging quality; rhoi-1The charge density of the i-1 cycle.
7. The digital drill and blast excavation method of claim 1, further comprising: and when the parameter correction proportion in the drilling and blasting scheme is more than 10%, prompting manual confirmation and accepting manual intervention and modification operation.
8. The digital drilling and blasting excavation method of claim 1, further comprising storing the corrected drilling and blasting plan and the corresponding overbreak and undermine results in an expert warehouse.
9. A digital drilling and blasting excavation system is characterized by comprising a drilling and blasting informatization platform and a drill jumbo;
the drilling and blasting information platform comprises: the system is used for correcting the next circulation drilling and blasting scheme according to the tunnel overbreak result and the tunnel surrounding rock grade after the previous circulation drilling and blasting;
the drill jumbo: for implementing the drill explosion according to the modified drill explosion scheme.
10. The digital drill-blast excavation system of claim 9, wherein the drill-blast informatization platform comprises:
the super-back-cut analysis module: the system is used for calculating and outputting the overbreak and undermine result according to the three-dimensional point cloud data after tunnel blasting and the three-dimensional point cloud data of the tunnel design;
the surrounding rock level analysis module: the system comprises a rock drilling jumbo face grid block, a tunnel wall rock level acquisition unit, a rock drilling unit and a control unit, wherein the tunnel wall rock level acquisition unit is used for acquiring the tunnel wall rock level according to the blasting hole face coordinates in the rock drilling jumbo face grid block;
and (3) blasting module: and the method is used for correcting the drilling and blasting scheme by utilizing the pre-constructed blasting model according to the overbreak and undermining result and the grade of the surrounding rock of the tunnel.
11. The digital drill-and-blast excavation system of claim 10, wherein the overbreak analysis module comprises:
a scanner: the system is used for scanning the tunnel contour and acquiring the point cloud data of the short-cut scanning;
and (3) post-processing terminal: the system is used for processing and analyzing the point cloud data of the overbreak and underexcavation scanning to obtain three-dimensional point cloud data after tunnel blasting, and automatically generating tunnel design three-dimensional point cloud data by utilizing a tunnel design axis and a contour line; and calculating and outputting the overbreak and underexcavation result by comparing the three-dimensional point cloud data after the tunnel blasting with the three-dimensional point cloud data of the tunnel design.
12. The digital drilling, blasting, excavating system according to claim 10, wherein the overbreak analysis module further comprises a meshing unit, and the meshing unit uses the meshing unit to mesh the overbreak result and acquire three-dimensional coordinates of centers of overbreak and underbreak grid blocks.
13. The digital drill-and-blast excavation system according to any of claims 9 to 12, further comprising:
a reminding confirmation module: and when the parameter correction proportion in the drilling and blasting scheme is more than 10%, prompting manual confirmation and accepting manual intervention and modification operation.
14. The digital drill-and-blast excavation system of claim 9, further comprising:
an expert database: and the method is used for storing the corrected drilling and blasting scheme and the corresponding overbreak and underbreak result.
15. The digital drilling and blasting excavation system of claim 9, wherein the drill jumbo comprises a wing arm frame and a drill arm connected to the wing arm frame; the wing type arm support is provided with a wing type arm support lifting oil cylinder for realizing the posture adjustment of the wing type arm support;
the rock drilling arm is used for carrying out drilling and blasting according to a drilling and blasting scheme.
16. The digital drill-and-blast excavation system of claim 15, wherein the rock drilling arm comprises a rock drilling arm base, a large arm, a telescopic arm containing a telescopic cylinder, a feed beam containing a rock drilling machine feed cylinder, a rock drilling machine, and a drill pipe;
the large arm is connected to a rock drilling arm base, and a rock drilling arm lifting oil cylinder is hinged to the rock drilling arm base and used for achieving large arm posture adjustment;
the telescopic arm is connected to the large arm and can be telescopic relative to the large arm through the telescopic oil cylinder;
the push beam slides relative to the push beam base through the push beam push oil cylinder, and swings to the push beam base through the push beam swing oil cylinder;
the propulsion beam base is connected to the tail end of the telescopic arm through a rotating mechanism, and the rotating mechanism can drive the propulsion beam base to rotate spatially relative to the telescopic arm, so that the posture of the propulsion beam is adjusted;
the rock drill propulsion oil cylinder can push the rock drill to slide along the propulsion beam, so that the drill rod is driven to drill a hole.
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