WO2019206319A1 - Underground space intelligent construction system and method - Google Patents

Abstract

Provided is an underground space intelligent construction system and method, comprising a terrain detection and processing robot unit, a 3D printing robot unit and a centralized electronic control unit; the terrain detection and processing robot unit comprises an all-terrain walking chassis, a detecting robotic arm, a rotary robotic arm and a vehicle-mounted electric control device; the 3D printing robot unit comprises an all-terrain walking chassis, a printing robotic arm, a printing material input device and a printing electronic control device; the centralized electronic control unit comprises a central control computer, a detection control loop, a data modeling loop, a detection robot position feedback correction loop, a terrain processing loop and a 3D printing control loop. The underground space intelligent construction system has high degree of automation, the construction of deep underground space based on underground cavities can be realized under the premise of effectively supporting the interior of the underground cavity, meanwhile, the development cost and the hidden dangers of construction safety can be reduced, which is especially suitable for the construction work of deep underground space based on underground cavities.

Description

Underground space intelligent construction system and method Technical field

The invention relates to an underground space intelligent construction system and method, in particular to an underground cavity generated by artificial geotechnical activities such as a coal mine goaf under a coal mine and a large-area coal seam gas-burning zone formed during underground coal gasification. Or the underground space intelligent construction system of natural underground cavities such as a series of voids generated by natural geological movements under the surface, belonging to the field of underground engineering technology.

Background technique

Underground space refers to a term that belongs to the surface below, mainly for the construction aspect. It has a wide range, such as underground shopping malls, underground parking lots, subways, and tunnels. The development and utilization of underground space is the product of urban development to a certain stage. The accelerated development of urbanization makes it necessary to accelerate the development of urban underground space development.

The development and utilization of the existing underground space in China is mostly for the development and utilization of the shallow underground part. With the development and utilization of the underground space of the first-tier cities in China, the underground shallow part will be used up, in order to comprehensively utilize the underground space resources, the underground space. The development will gradually develop to a deeper level, and the development and utilization of deep underground space resources has become the main topic of urban modernization in the future.

Underground cavities refer to the space covered by rock formations below the surface of the earth. They generally refer to underground cavities with a large space and deep below the surface. Man-made geotechnical activities, such as underground mining in coal mining, account for 60% of the world's coal mine production, while underground mining or coal gangue and other mining in the underground mining process often leave a large area of coal goaf to form underground cavities; The underground coal gasification technology can not only recover the abandoned coal resources of the mine, but also can be used for mining and mining, which is difficult to mine or mine economical and safe thin coal seams, deep coal seams, “three down” coals and high sulfur. High-ash, high-gas coal seams, although the ash left after coal underground gasification and combustion remains underground, underground cavities in large-scale coal seam gas-fired areas will also be formed during underground coal gasification; in addition, natural geological movements are also under the surface. Will produce a series of underground holes.

Although underground cavities can be used as the basis for the development of deep underground space, the development of traditional deep underground space is different from the development of shallow underground space. Deep underground space development cannot excavate foundation pits like shallow underground space development. Construction in the foundation pit, the traditional deep underground space development is usually based on BIM technology and deep excavation equipment and technology, usually after excavation and support, such as precast reinforced concrete column foundation foundation, prefabricated exterior wall PC components such as prefabricated slabs are subjected to hoisting and splicing construction processes, followed by subsequent construction processes such as pressure grouting and cast-in-place joint treatment. In the traditional deep underground space development and construction process, transportation equipment, supporting equipment and lifting equipment with large space are usually required, which usually requires a lot of manpower and material resources, and the development cost of deep underground space is large; in addition, the deep underground space is excavated. The original stress state of the deep underground space is usually destroyed, which causes the stress to be redistributed. Under the action of overburden pressure and groundwater in the deep underground space construction, the deep underground space is prone to occur such as patchwork, roofing, and water inrush. Various types of geological disasters such as rockburst and rockburst, the construction environment is bad, and the safety of construction work is poor.

Summary of the invention

In view of the above problems, the present invention provides an underground space intelligent construction system and method, which has high degree of automation, and can realize the construction of a deep underground space based on underground cavities under the premise of effectively supporting the interior of the underground cavity, and achieve reduction at the same time. The development cost and the safety hazard of construction are especially suitable for the construction of deep underground space based on underground cavities.

To achieve the above objectives, the underground space intelligent construction system includes a terrain detection and processing robot unit, a 3D printing robot unit and a centralized electronic control unit;

The terrain detecting and processing robot unit comprises an all-terrain walking chassis, a detecting robot arm, a rotary-cutting robot arm and an on-board electric control device; the all-terrain walking chassis is arranged at the bottom of the terrain detecting and processing robot unit, and the all-terrain walking chassis comprises electricity The driving mechanism and the steering control mechanism; the bottom end of the detecting robot arm is mounted on the all-terrain walking chassis, and the detecting device includes a detecting device at the top end of the detecting arm, and the detecting device includes a distance sensor, a scanner, a gyroscope, The probe head position control drive is driven, and the probe head position control drive comprises at least an A coordinate rotation drive mechanism that rotates in the horizontal direction in the horizontal direction and a B coordinate rotation drive mechanism that rotates in the horizontal direction in the front and rear horizontal directions; the rotary cutting machine The bottom end of the arm is mounted on the all-terrain walking chassis, the rotary-cutting mechanical arm includes a rotary-excavating mechanical arm drive, and the rotary-cutting mechanical arm drives at least an X-axis driving mechanism for controlling the horizontal movement of the rotary-extracting mechanical arm, and the control rotary-rotating mechanical arm Y-coordinate driving mechanism for moving horizontally before and after, control rotary cutting machine The Z coordinate driving mechanism for moving the arm in the vertical direction, the rotary section of the rotary excavating robot arm is provided with a rotary cutting cutting head with a rotary digging drive; the vehicle electric control device is fixedly mounted on the all terrain walking chassis, and the vehicle electronic control device includes an industrial The control computer, the detecting robot walking control loop, the detecting head detecting angle control loop, the rotary digging control loop, the industrial control computer are respectively electrically connected with the electronically controlled driving mechanism and the steering control mechanism of the all-terrain walking chassis, and the detection of the industrial control computer and the detecting head The head angle positioning controls the driving electrical connection, and the industrial control computer is respectively electrically connected with the rotary digging robot driving and the rotary digging driving of the rotary cutting head;

The 3D printing robot unit comprises an all-terrain walking chassis, a printing robot arm, a printing material input device and a printing electronic control device; the all-terrain walking chassis is arranged at the bottom of the 3D printing robot unit, and the all-terrain walking chassis comprises an electronically controlled driving mechanism and Steering control mechanism; the printing robot arm is mounted on the all-terrain walking chassis, the printing robot arm includes a printing robot arm driving, and the printing robot arm driving at least includes an X coordinate driving mechanism for controlling the horizontal movement of the printing robot arm in the horizontal direction, and controlling the front and rear levels of the printing robot arm a Y-coordinate driving mechanism for moving the direction, a Z-coordinate driving mechanism for controlling the vertical movement of the printing robot arm, a 3D printing device on the end of the printing robot arm, a 3D printing device including a 3D printing nozzle; and a printing material input device including a printing material pump Into the mechanism, the input end of the printing material pumping mechanism is connected with the printing material supply subunit, the printing material supply subunit supplies the printing material, and the output end of the printing material pumping mechanism is connected with the 3D printing nozzle through the printing material output pipeline; The control unit is fixedly mounted on the all terrain line On the chassis, the printing electronic control device includes an industrial control computer, a 3D printing robot walking control loop, a 3D printing nozzle position control loop, a printing material pumping mechanism control loop, an industrial control computer and an electronically controlled driving mechanism and steering of the all-terrain walking chassis, respectively. The control mechanism is electrically connected, and the industrial control computer is electrically connected to the printing robot arm drive and the printing material pumping mechanism respectively;

The centralized electronic control unit comprises a central control computer, a detection control loop, a data modeling loop, a detection robot position feedback correction loop, a terrain processing loop, a 3D printing control loop, a distance sensor of the central control computer and the probe, and a scanner. The gyroscope is electrically connected, and the central control computer is electrically connected to the industrial control computer of the on-board electronic control device and the industrial control computer of the print electronic control device.

As a further improvement of the present invention, the rotary excavation arm drive further includes an A coordinate rotation drive mechanism that rotationally moves in the horizontal direction of the left and right horizontal direction or a B coordinate rotation drive mechanism that rotates in the horizontal direction in the front and rear horizontal directions and A C coordinate rotary drive mechanism that rotates in the vertical direction as a central axis.

As a further improvement of the present invention, the position of the rotary cutting robot is further provided with a pattern recognition sensor corresponding to the position of the rotary cutting head, and the centralized electronic control unit further includes a rotary correction circuit, a central control computer and a rotary arm The pattern recognition sensor is electrically connected.

As a further improvement of the present invention, the detecting robot arm of the underground space intelligent building system includes the detecting robot arm driving, and the detecting robot arm driving at least includes controlling the X-axis driving mechanism of the left and right horizontal movement of the detecting robot arm, or controlling the detecting robot arm before and after a Y-coordinate driving mechanism that moves horizontally or a Z-coordinate driving mechanism that controls the vertical movement of the detecting robot arm; the on-board electric control device further includes a detecting robot arm control loop, an industrial control computer of the vehicle-mounted electronic control device, and a detecting robot arm The mechanical arm drives the electrical connection; the centralized electronic control unit also includes a scanning pitch control loop.

As a further improvement of the present invention, the printing robot arm drive of the underground space intelligent construction system further comprises an A coordinate rotation driving mechanism that rotates in the horizontal direction in the horizontal direction, or a B coordinate rotation in which the central axis rotates in the horizontal direction. The drive mechanism further includes an A-coordinate rotational drive mechanism that rotationally moves in the horizontal direction in the horizontal direction, and a B-coordinate rotational drive mechanism that rotationally moves in the horizontal direction in the front-rear direction.

As a further improvement of the present invention, the print head of the underground space intelligent construction system is further provided with a pattern recognition sensor, and the centralized electronic control unit further comprises a 3D printing entity correction circuit, and the central control computer is electrically connected with the pattern recognition sensor on the print head. .

As a further improvement of the present invention, the central control computer of the centralized electronic control unit is respectively connected with the industrial control computer of the vehicle electronic control device and the industrial control computer of the electronic control device, and the industrial control computer of the central control computer and the vehicle electronic control device. The data transmission between the industrial control computer and the electronic control unit of the print control device is via wireless communication.

As a further improvement of the present invention, the terrain detecting and processing robot unit further includes a scum temporary storage device, and the slag temporary storage device includes an armoring mechanism disposed under the rotary boring robot arm and a reloading temporary portion disposed at the rear of the armoring mechanism The storage mechanism, the armoring mechanism and the reloading temporary storage mechanism are respectively electrically connected with the industrial control computer of the vehicle-mounted electronic control device, and the vehicle-mounted electronic control device further comprises a slag collection and processing circuit.

As another embodiment of the printing material input of the present invention, the printing material comprises stone waste powder; the printing material supply subunit is disposed in the underground roadway, and the central control computer of the printing material supply subunit and the centralized electric control unit The electrical connection, the printing material supply subunit includes a raw material preparation device, and the raw material preparation device includes a crusher.

As a further improvement of the present invention, the terrain detecting and processing robot unit further includes a scum temporary storage device, and the slag temporary storage device includes an armoring mechanism disposed under the rotary boring robot arm and a reloading temporary portion disposed at the rear of the armoring mechanism The storage mechanism, the armoring mechanism and the reloading temporary storage mechanism are respectively electrically connected with the industrial control computer of the vehicle-mounted electronic control device, and the vehicle-mounted electronic control device further comprises a slag collection and recycling circuit.

The underground space intelligent construction method using the above underground space intelligent construction system includes:

The underground space construction method specifically includes the following steps:

a. Preparation of underground space: After detecting the approximate location of the underground cavity by geological radar, select the appropriate tunneling point under the premise of ensuring the support strength of the original rock layer near the tunneling point, and tunneling through the tunneling point Digging in and out of the tunnel with the underground cavity and effectively supporting the roadway, and then placing the terrain detecting and processing robot unit and the 3D printing robot unit in the roadway communicating with the underground cavity;

b. Underground cavity scanning: centralized electronic control unit control detection control circuit, detection robot position feedback correction circuit, data modeling circuit start work, central control computer issues instructions to enable on-board electronic control device industrial control computer to control terrain detection and processing After the robot unit steps inside the underground cavity and scans the cavity of the underground cavity, the coordinates are retracted to the initial position, and the central control computer fits the plane scan data to the same reference and three-dimensionally models the three-dimensional space model of the underground cavity. Then store it;

c. Three-dimensional modeling of underground space: The central control computer calculates and analyzes the external stress field of the underground cavity three-dimensional model based on the input surrounding environmental geological data of the underground cavity, and the stability, stress, displacement, and the three-dimensional model of the underground cavity. The evolution process of parameters such as fissure, permeability, acoustic characteristics, optical characteristics, electrical characteristics, magnetic properties and structural characteristics is calculated and analyzed, and then the central control computer is based on the three-dimensional model of the underground cavity, so as not to expose the original inner surface of the underground cavity. The principle is to construct the initial surface support layer model on the internal surface of the 3D space model of the underground cavity. Then the central control computer expands the externally based on the initial surface support layer model based on the principle of maximizing the underground space utilization. a two-surface support layer model, and then the central control computer simulates the original inner surface of the exposed portion of the underground cavity on the second surface support layer model based on the second surface support layer model, and then the central control computer according to the input Underground cavity environmental geology According to the external field of the three-dimensional model of the underground cavity where the original inner surface of the underground cavity has been removed, the stress field is recalculated and analyzed, and so on, until the fitting generates the final surface support layer model within the set safety factor range and stores Then, the central control computer fits and generates the original inner surface model of the exposed underground cavity to be removed based on the final surface support layer model; then the central control computer calculates the analysis result based on the stress based on the final surface support layer model. And the input safety factor is sequentially fitted to the position of the stress concentration point on the inner surface of the three-dimensional space model of the underground cavity and the position of the stability is not suitable, and then the cylindrical support model is constructed, and then the space of the underground cavity is based on the cylindrical support model. Layout fitting builds the wallboard model and the slab model connected between the cylindrical support models, and finally fits the three-dimensional model of the underground space that generates the layered partition structure and stores the coordinate position information of the three-dimensional model of the underground space; Plan and store the exposed areas to be removed by reference to the origin of the coordinates The removal path of the original inner surface model of the lower cavity and the removal of the reference coordinates, and then the print path and the print reference coordinates of the final surface support layer model are planned and stored with reference to the origin of the reference, and the cylindrical support model is planned and stored by referring to the coordinate origin. Print path and print reference coordinates, and finally plan and store the print path and print reference coordinates of the wallboard model and the floor model with reference to the coordinate origin;

d. Removing the original inner surface of the excess underground cavity: the terrain processing loop starts working, and the central control computer issues instructions to enable the industrial control computer of the onboard electronic control device to control the terrain detection and processing robot unit to remove the original inner surface model of the exposed underground cavity. The removal path coordinates are moved to the removal reference coordinate position, and then the industrial control computer of the onboard electronic control device controls the rotary excavation robot arm drive and the rotary digging drive action to make the rotary excavation cutting head according to the original inner surface model of the exposed underground cavity to be removed. The path of the removal path is sequentially rotated to remove the inner surface of the underground cavity, and the inner surface of the underground cavity is removed to the end point of the removal path. The terrain detection and processing robot unit is retracted to the initial position;

e.3D printing underground space three-dimensional entity: 3D printing control loop starts working, the central control computer issues instructions to make the 3D printing robot walking control loop of the printing electronic control device start working, and the industrial control computer of the printing electronic control device is sequentially based on the surface supporting layer Print path and print reference coordinates of the model, print path and print reference coordinates of the cylindrical support model, print path of the wallboard model and the floor model, and print reference coordinates control the electronically controlled drive mechanism of the all-terrain walking chassis of the 3D printing robot unit And the steering control mechanism moves the coordinates of the 3D printing robot unit to the set position of the coordinate position of the three-dimensional model corresponding to the underground space inside the underground cavity, and then the position control loop of the 3D printing head starts working, and the industrial control computer of the printing electronic control device controls according to the printing path The printing robot arm driving action of the printing robot arm moves the 3D printing nozzle coordinate to the printing reference coordinate position, the printing material pumping mechanism control circuit starts working, and the industrial control computer of the printing electronic control device controls the printing material input device of the printing material input device The mechanism action causes the pumped printing material to be output through the 3D printing nozzle, and then the industrial control computer of the printing electronic control device controls the printing robot arm driving action of the printing robot arm to cause the 3D printing nozzle to sequentially perform the surface supporting layer model according to the printing path coordinate movement. The 3D printing of the cylindrical support model, the wallboard model and the floor model, the physical printing of the 3D model of the underground space is completed at the end of the printing path, and the 3D printing robot unit is retracted to the initial position.

Compared with the prior art, the local space intelligent building system includes a terrain detecting and processing robot unit, a 3D printing robot unit and a centralized electronic control unit, and constructs a underground cavity after the terrain detecting and processing robot unit completes scanning of the underground cavity. In the three-dimensional model, the central control computer of the centralized electronic control unit calculates and analyzes the external stress field of the underground cavity three-dimensional model based on the input underground cavity geolocation data and the surrounding rock data, and the underground cavity. Based on the three-dimensional model, the surface support layer model is constructed by calculation without exposing the original inner surface of the underground cavity until the final surface support layer model within the set safety factor is generated and stored, and then centrally controlled. The computer calculates and stores the original inner surface model of the exposed underground cavity to be removed based on the final surface support layer model, and then calculates the analysis result and the input safety factor based on the final surface support layer model. Corresponding to underground cavity three The cylindrical support model is constructed by fitting the stress concentration point on the inner surface of the space model. Then, based on the cylindrical support model, the wallboard model connected between the cylindrical support models is constructed according to the spatial layout of the underground cavity. The slab model is finally fitted to form a three-dimensional model of the underground space of the layered partition structure, and then the reference path origin is used to plan and store the removal path of the original inner surface model of the exposed underground cavity to be removed and the reference coordinates are removed, and then reference is made to Coordinate origin plan and store the print path and print reference coordinates of the surface support layer model, the cylindrical support model, the wallboard model and the floor model, and the terrain detection and processing robot unit completes the rotary excavation treatment of the inner surface of the underground cavity according to the removal path The 3D printing robot unit can directly print the solid body of the three-dimensional model of the underground space in the underground cavity according to the printing path and the printing reference coordinate, calculate the analysis result and the input safety factor according to the underground cavity stress, and the 3D model entity of the underground space which is directly printed by 3D is Basic physical building with targeted support, Fully satisfying the support strength, after completing the physical printing of the three-dimensional model of the underground space, the construction personnel can enter the underground space to carry out subsequent construction such as waterway circuit construction and wall decoration construction; direct 3D printing can save a lot of manpower and material resources. It does not require space to occupy large conveying equipment, supporting equipment and lifting equipment, reduce the cost of deep underground space development, and has high construction efficiency; at the same time, because the construction operation does not require personnel to enter the underground cavity, and the physical printing process The surface support layer model is printed first, and the cylindrical support model is printed again. At the same time, the printing of the cylindrical support model is in the order of stress concentration from large to small, so that the targeted sequential solid molding is realized, and the construction safety is high. It is especially suitable for the construction of deep underground spaces based on underground cavities.

DRAWINGS

1 is a schematic structural diagram of an underground space intelligent construction system;

2 is a schematic view showing the structure of a underground cavity when the underground cavity is scanned using the present invention;

3 is a schematic view showing the structure of an underground cavity after removing the original inner surface of the excess underground cavity using the present invention;

4 is a schematic view showing the structure of an underground cavity after the underground space is constructed using the present invention.

In the figure: 1, terrain detection and processing robot unit, 11, detection robot arm, 12, vehicle electronic control device, 13, probe, 2, 3D printing robot unit, 21, printing robot arm, 22, printing material input device, 23, printing electronic control device, 24, 3D printing nozzle, 3, centralized electronic control unit.

detailed description

The invention will be further described below in conjunction with the accompanying drawings.

As shown in FIG. 1, the underground space intelligent construction system includes a terrain detecting and processing robot unit 1, a 3D printing robot unit 2, and a centralized electronic control unit 3.

The terrain detecting and processing robot unit 1 comprises an all-terrain walking chassis, a detecting robot arm 11, a rotary-cutting robot arm and an on-board electric control device 12; the all-terrain walking chassis is arranged at the bottom of the terrain detecting and processing robot unit 1, and the whole terrain The walking chassis includes an electronically controlled driving mechanism and a steering control mechanism; the bottom end of the detecting robot arm 11 is mounted on the all-terrain walking chassis, and the detecting robot includes a detecting device 13 including a detecting head 13 including a distance Sensor, scanner, gyroscope, probe angular position control drive, probe head position control drive drive at least A-coordinate rotary drive mechanism that rotates in the horizontal direction from the left and right horizontal direction and B that rotates in the horizontal direction The coordinate rotation driving mechanism; the bottom end of the rotary digging robot arm is mounted on the all-terrain walking chassis, the rotary digging robot arm includes a rotary digging robot arm drive, and the rotary digging robot arm drive at least includes an X coordinate for controlling the horizontal movement of the rotary digging mechanical arm Drive mechanism, Y coordinate drive mechanism for controlling the horizontal movement of the rotary excavation arm before and after, control The Z-coordinate driving mechanism for the vertical movement of the rotary-excavating robot arm is provided with a rotary-cutting cutting head with a rotary-digging drive on the end of the rotary-extracting robot arm; the vehicle-mounted electric control device 12 is fixedly mounted on the all-terrain walking chassis, and the vehicle The electronic control device 12 includes an industrial control computer, a detecting robot walking control loop, and a probe detecting angle control loop. The industrial control computer is electrically connected to the electronically controlled driving mechanism and the steering control mechanism of the all-terrain walking chassis, respectively, and the industrial control computer and the detecting head 13 The angle of the probe head is controlled to drive the electrical connection, and the industrial control computer is respectively electrically connected with the rotary excavation robot drive and the rotary digging drive of the rotary cutting head.

The 3D printing robot unit 2 includes an all-terrain walking chassis, a printing robot arm 21, a printing material input device 22, and a printing electronic control device 23; the all-terrain walking chassis is disposed at the bottom of the 3D printing robot unit 2, and the all-terrain walking chassis includes An electronically controlled driving mechanism and a steering control mechanism; the printing robot arm 21 is mounted on the all-terrain walking chassis, the printing robot arm 21 includes a printing robot arm drive, and the printing robot arm drive includes at least an X coordinate driving mechanism for controlling the horizontal movement of the printing robot arm in the horizontal direction. a Y-coordinate driving mechanism for controlling the horizontal movement of the printing robot arm in the horizontal direction, and a Z-coordinate driving mechanism for controlling the vertical movement of the printing robot arm. The printing robot arm 21 is provided with a 3D printing device on the end of the printing arm 21, and the 3D printing device includes a 3D printing nozzle 24 The printing material input device 22 includes a printing material pumping mechanism, the input end of the printing material pumping mechanism is connected to the printing material supply subunit, the printing material supply subunit supplies the printing material, the output end of the printing material pumping mechanism and the 3D printing nozzle 24 is connected through the printing material output pipe; the printing electronic control device 23 is fixed Installed on the all-terrain walking chassis, the printing electronic control device 23 includes an industrial control computer, a 3D printing robot walking control loop, a 3D printing nozzle position control loop, a printing material pumping mechanism control loop, and an industrial control computer and an all-terrain walking chassis respectively. The electronically controlled driving mechanism and the steering control mechanism are electrically connected, and the industrial control computer is electrically connected to the printing robot arm driving and the printing material pumping mechanism respectively.

The centralized electronic control unit 3 includes a central control computer, a detection control loop, a data modeling loop, a detection robot position feedback correction loop, a terrain processing loop, a 3D printing control loop, and a distance sensor between the central control computer and the probe 13 respectively. The scanner and the gyroscope are electrically connected, and the central control computer is electrically connected to the industrial control computer of the onboard electronic control unit 12 and the industrial control computer of the print electronic control unit 23, respectively.

Before the underground space intelligent construction system is used, the underground cavity generated by the natural geological movement is selected by the geological radar to detect the approximate location of the underground cavity, and then the support strength of the original rock layer near the penetration point is ensured. Appropriate tunneling and through points, through the tunneling machine through the tunneling point to dig into and out of the tunnel through the underground cavity and effectively support the roadway. For the underground cavities formed by man-made geotechnical activities such as underground cavities in coal mine goaf or underground cavities in coal seams, the underground cavities formed by artificial geotechnical activities have roadways that penetrate with underground cavities, so this step can be omitted.

Taking the coal mine goaf as an example, as shown in FIG. 2, the terrain detecting and processing robot unit 1 and the 3D printing robot unit 2 are placed in the roadway communicating with the coal mine goaf, and then the centralized electric control unit 3 controls the detecting control loop. The detecting robot position feedback correction circuit and the data modeling circuit start to work, and the central control computer first issues a command to start the operation of the probe detecting angle control circuit of the in-vehicle electronic control device 12, and the industrial control computer of the in-vehicle electronic control device 12 controls the detecting head 13 The probe head positioning control driving action causes the scanner of the probe head 13 to rotate within 360° of the base point scanning plane to perform a base point plane scan with the initial position as the reference coordinate origin, and the scanner of the probe head 13 simultaneously scans the base point plane. The data is sent to the central control computer, and the gyroscope of the probe head 13 transmits the scanner coordinate position data with reference to the coordinate origin position to the central control computer, and the central control computer scans the base point plane data and the scanner coordinate position data of the reference coordinate origin position. Store

Then, the central control computer issues an instruction to start the detecting robot walking control circuit of the onboard electronic control device 12, and the industrial control computer of the in-vehicle electronic control device 12 controls the electronically controlled driving mechanism and steering of the all terrain driving chassis of the terrain detecting and processing robot unit 1. The action of the control mechanism causes the terrain detecting and processing robot unit 1 to move the internal coordinate of the coal mine gob by a set step and stop with the initial position as the reference coordinate origin, and then the gyroscope of the probe 13 first steps the step. The scanner coordinate position data is sent to the central control computer, and then the central control computer stores the scanner coordinate position data fed back by the gyroscope at the step position, and the scanner coordinate position data of the reference coordinate origin position is compared, Calculating and storing the coordinate deviation between the scanner coordinate position of the step position and the scanner coordinate position of the reference coordinate origin position, and then the central control computer issues an instruction according to the coordinate deviation to cause the probe detection angle control of the onboard electronic control device 12. The circuit works again, the car The industrial control computer of the electronic control unit 12 controls the probe head position of the probe 13 to control the driving action so that the probe 13 of the step position is rotated and positioned to the position of the scan plane of the scanner at the step position parallel to the scan plane of the base point Then, the industrial control computer of the onboard electronic control device 12 controls the probe head position of the probe 13 to control the driving action so that the scanner rotates within 360° of the corrected scan plane to perform the first step plane scan, the probe 13 The scanner sends the first-level plane scan data to the central control computer, and the central control computer compares the first-order plane scan data with the base-point plane scan data according to the stored coordinate deviation and performs three-dimensional modeling and storage. ;

Then, the central control computer issues an instruction to cause the industrial control computer of the onboard electronic control device 12 to control the coordinate position of the above step position of the robotic terrain detecting and processing robot unit 1 as the reference coordinate point, and then move to the internal coordinate movement of the coal mine gob area. Stepping and stopping, and so on, the terrain detecting and processing robot unit 1 further steps each step, the gyroscope of the probe head 13 first sends the scanner coordinate position data of the step position to the central control computer, and then the central control computer performs Simultaneously comparing the scanner coordinate position data of the gyro feedback of the step position with the scanner coordinate position data of the gyro feedback of the previous step position, and calculating the scanner coordinate position of the step position and the previous one Coordinate deviation between the scanner coordinate positions of the step position and stored, and then the central control computer issues an instruction according to the coordinate deviation to rotate the probe 13 of the step position and position the scanner plane of the step position parallel to the scanning plane The position of the scanning plane of the scanner at the previous step position, then the car battery The industrial control computer of the device 12 controls the probe head position of the probe 13 to control the driving action so that the scanner rotates within a 360° range of the corrected scanning plane to perform a step plane scan, and the scanner of the probe 13 scans the step plane. The data is sent to the central control computer, and the central control computer performs the same reference fitting and the three-dimensional modeling of the step plane scan data of the step position and the step plane scan data of the previous step position according to the stored coordinate deviation. Storage, until the scanning of the entire coal mine gob area is completed according to the feedback of the distance sensor of the probe head 13, the central control computer issues an instruction to retract the terrain detecting and processing robot unit 1 coordinate to the initial position, and the final gob area three-dimensional space The model is stored.

The data modeling loop begins to work. The central control computer calculates the stress on the outside of the three-dimensional model of the goaf based on the input geological data of the goaf and the surrounding rock data. The evolution process of parameters such as stability, stress, displacement, crack, permeability, acoustic characteristics, optical characteristics, electrical characteristics, magnetic characteristics and structural characteristics of the three-dimensional model is calculated and analyzed, and then the central control computer takes the three-dimensional space of the goaf. Based on the model, the initial surface support layer model is constructed by fitting the internal surface of the three-dimensional model of the goaf to the original surface of the goaf without exposing the original inner surface of the goaf. Then the central control computer is based on the principle of maximizing space utilization in the goaf. The second surface support layer model is generated based on the initial surface support layer model, and then the central control computer is exposed on the second surface support layer model based on the second surface support layer model. The original inner surface of part of the goaf is simulated and removed, and then the central control computer is based on the input gob. The environmental geological data recalculates the applied stress field on the outside of the three-dimensional model of the goaf that has removed the original inner surface of the goaf, and so on, until the fitting produces the final surface support within the set safety factor range. The sheath model is stored and then the central control computer fits and generates the original inner surface model of the exposed goaf to be removed based on the final surface support layer model; then the central control computer is based on the final surface support layer model. According to the stress calculation analysis result and the input safety factor, the cylindrical support model is constructed by fitting the position of the stress concentration point on the inner surface of the corresponding three-dimensional space model of the goaf and the position of the stability is not high, and then the cylindrical support model is built. Based on the spatial layout of the goaf, the wallboard model and the slab model connected between the cylindrical support models are constructed, and finally the three-dimensional model of the underground space generated by the layered partition structure is fitted and the three-dimensional model coordinates of the underground space are stored. Location information; then the central control computer first detects and processes the initial position of the robot unit 1 by terrain Planning and storing the removal path and the removal reference coordinates of the original inner surface model of the exposed underground cavity to be removed with reference to the coordinate origin, and then planning and storing the final surface support layer model with the initial position of the 3D printing robot unit 2 as the reference coordinate origin Print path and print reference coordinates, and then use the initial position of the 3D printing robot unit 2 as the reference coordinate origin, and plan and store the print path and print standard of the cylindrical support model in descending order of stress concentration in the three-dimensional model of the underground space. Coordinates, finally, the initial position of the 3D printing robot unit 2 is used as a reference coordinate origin to plan and store the printing path and printing reference coordinates of the wallboard model and the floor model.

The terrain processing loop begins to work. As shown in FIG. 3, the central control computer issues an instruction to cause the industrial control computer of the onboard electronic control unit 12 to control the terrain detection and processing robot unit 1 to remove the original inner surface model of the exposed goaf. The path coordinates are moved to the removal reference coordinate position, and then the industrial control computer of the onboard electronic control device 12 controls the rotary excavation arm drive and the rotary digging drive action to cause the rotary cut cutting head to be removed according to the original inner surface model of the exposed goaf to be removed. The removal path coordinate movement sequentially rotates the inner surface of the goaf to remove the inner surface of the partial goaf, and when the end point of the path is removed, the surface excavation process of the goaf is completed, and the terrain detecting and processing robot unit 1 retreats to The initial position is fine.

The 3D printing control loop starts to work, and the central control computer issues an instruction to cause the 3D printing robot walking control loop of the printing electronic control device 23 to start working. The industrial control computer of the printing electronic control device 23 sequentially according to the printing path and printing standard of the surface supporting layer model. Coordinates, print path and print reference coordinates of the cylindrical support model, print path of the wallboard model and the floor model, and print reference coordinates control the electronically controlled drive mechanism and steering control mechanism of the all-terrain travel chassis of the 3D printing robot unit 2 The 3D printing robot unit 2 coordinates move to the set position of the coordinate position of the three-dimensional model corresponding to the underground space inside the coal mine gob area, and then the 3D printing head position control loop starts working, and the industrial control computer of the printing electronic control device 23 controls the printing machine according to the printing path. The printing robot driving operation of the arm 21 moves the coordinates of the 3D printing head 24 to the printing reference coordinate position, the printing material pumping mechanism control circuit starts to work, and the industrial control computer of the printing electronic control unit 23 controls the printing material pump of the printing material input device 22. Into the mechanism action makes the pump The printed material is outputted by the 3D printing head 24, and then the industrial control computer of the printing electronic control unit 23 controls the printing robot arm driving action of the printing robot arm 21 to cause the 3D printing head 24 to perform 3D printing according to the printing path coordinates, and the stress concentration is large. In the small order, the first part of the 3D printing stress concentration is first supported to further ensure the security of the subsequent 3D printing. As shown in FIG. 4, the physical printing of the 3D model of the underground space is completed to the end of the printing path. The 3D printing robot unit 2 can be retracted to the initial position.

According to the size of the stress concentration, the supported coal pillars in the coal mine goaf can be calculated according to the redistribution of the stress field on the basis of the three-dimensional model of the goaf where the stress field is applied after removing the coal pillar to ensure the stability of the support. Under the premise, the position of the stress concentration point after recalculation is first 3D printed cylindrical support model, and then the support coal pillar is removed.

The entity of the underground space three-dimensional model constructed by the underground space intelligent construction system is a basic entity building with targeted support, which can fully satisfy the support strength. After completing the physical printing of the three-dimensional model of the underground space, the construction personnel can enter the underground space. Internal construction such as waterway circuit construction and wall decoration construction will be carried out.

In order to increase the flexibility of the rotary excavation arm and realize the omnidirectional rotary drilling operation, as a further improvement of the present invention, the rotary excavation arm drive further includes an A coordinate rotary drive that rotates in the horizontal direction from the left and right horizontal directions. The mechanism or the B-coordinate rotational drive mechanism that rotationally moves in the horizontal direction in the front-rear direction and the C-coordinate rotational drive mechanism that rotates in the vertical direction on the central axis. The industrial control computer of the on-board electric control device 12 can flexibly control the original inner surface of the goaf to be removed according to the original inner surface model of the exposed goaf to be removed, to rotate the rotation axis of the cutting head. The original inner surface of the goaf to be removed is milled perpendicular or parallel to the original inner surface of the goaf to be removed.

In order to further accurately ensure the effect of the rotary excavation removal, as a further improvement of the present invention, the position of the corresponding rotary cutting head on the end section of the rotary excavating robot arm is further provided with a pattern recognition sensor, and the centralized electric control unit 3 further includes a rotary excavation correction. The circuit, the central control computer is electrically connected to the pattern recognition sensor on the end section of the rotary digging arm. During the terrain processing, the pattern recognition sensor on the end section of the rotary excavation robot feedbacks the shape and size data of the original inner surface of the goaf to be removed from the central control computer in real time, and the rotary correction correction circuit works, and the central control computer removes the required removal. The shape size data of the original inner surface of the empty area is compared with the stored original inner surface model data of the exposed goaf to be removed, if the shape size data of the original inner surface of the goaf to be removed is smaller than the exposed type to be removed The original inner surface model data of the empty area, the central control computer issues an instruction to control the rotary excavation robot arm so that the rotary cutting cutting head continues to approach the original inner surface close to the goaf to be removed until the removal is required If the shape size data of the original inner surface of the empty area is greater than or equal to the model data of the original inner surface model of the exposed goaf to be removed, the rotation is stopped.

The scanning plane of the scanner of the probe head 13 of the underground space intelligent construction system can adopt a horizontal scanning plane or a vertical scanning plane according to a specific working condition, and the scanning method can adopt radar scanning based on radar technology, laser scanning based on laser technology, Infrared scanning based on infrared imaging, ultrasonic scanning based on ultrasonic positioning, magnetic scanning based on magnetic signals, and the like.

In order to obtain the lithology data of the surrounding rock around the underground cavity while scanning the underground cavity, thereby facilitating the subsequent stress calculation, as a further improvement of the present invention, the scanning mode of the scanner of the probe 13 is based on wireless transmission. Non-contact potential measurement method.

In order to make full use of waste generated by artificial geotechnical activities such as coal gangue and construction waste, as a further improvement of the present invention, the printing material includes stone waste powder such as coal gangue or construction waste.

For an underground cavity generated by natural geological movement, as an embodiment of the printing material supply subunit of the present invention, the printing material supply subunit is disposed on the ground, and the printing material supply subunit includes a raw material preparation device and a pump extending to the underground and with the printing material The input end of the inlet mechanism communicates with the connected delivery conduit.

For the underground cavity formed by the artificial geotechnical activity, as another embodiment of the printing material supply subunit of the present invention, the printing material supply subunit is disposed in the underground roadway, and the central control of the printing material supply subunit and the centralized electric control unit 3 The computer is electrically connected, the printing material supply subunit includes a raw material preparation device, and the raw material preparation device includes a crusher. The central control computer of the centralized electronic control unit 3 controls the printing material supply subunit so that the crusher directly crushes the coal gangue to avoid additional power consumption of the coal mine.

In order to enable automatic cleaning of the fallen debris for subsequent 3D printing after removing the original inner surface of the excess goaf, as a further improvement of the present invention, the terrain detecting and processing robot unit 1 further includes a temporary storage of debris. The device, the scum temporary storage device comprises an armoring mechanism arranged under the rotary boring robot arm, a transfer temporary storage mechanism arranged at the rear of the armoring mechanism, an armoring mechanism and a transfer temporary storage mechanism respectively and an industrial vehicle-mounted electronic control device 12 The computer electrical connection is controlled, and the onboard electronic control device 12 further includes a slag collection processing circuit. During the process of removing the original inner surface of the excess goaf by the action of the rotary excavation arm, the slag collection and processing circuit starts working at the same time, and the armoring mechanism carries out the slag and carries it to the temporary storage mechanism for temporary storage. After the surface of the empty area is rotated, the terrain detecting and processing robot unit 1 retreats to the initial position and releases the slag in the reloading temporary storage mechanism, or directly transfers the slag in the reloading temporary storage mechanism to the printing material supply. Sub-unit crusher realizes reuse.

In order to achieve uniformity between the scanning planes and to more accurately fit the three-dimensional model of the goaf, as a further improvement of the present invention, the detecting robot 11 includes a detecting robot arm drive, and the detecting robot arm drive The present invention includes at least an X-coordinate driving mechanism for controlling the horizontal movement of the detecting robot arm 11 in the horizontal direction, or a Y-coordinate driving mechanism for controlling the horizontal movement of the detecting robot arm 11 in the front-rear direction, or a Z-coordinate driving mechanism for controlling the vertical movement of the detecting robot arm 11; The electronic control device 12 further includes a detecting robot arm control circuit. The industrial control computer of the vehicle electrical control device 12 is electrically connected to the detecting robot arm of the detecting robot arm 11; the centralized electronic control unit 3 further includes a scanning pitch control circuit. The terrain detecting and processing robot unit 1 further steps each step, the central control computer issues an instruction according to the coordinate deviation to rotate the probe 13 of the step position and position the scanning plane of the scanner to the step position parallel to the previous step position. After the position of the scanning plane of the scanner, the central control computer simultaneously issues a command according to the coordinate deviation to operate the detecting robot arm control circuit of the onboard electronic control device 12, and the vehicle electronic control device 12 controls the detecting robot arm driving action to make the stepping position. The spacing between the scanning plane of the scanner and the scanning plane of the scanner at the previous step position is adjusted to a set distance, and then the industrial control computer of the onboard electronic control unit 12 controls the probe head angular position control driving action of the detecting head 13. The scanner is rotated within a 360° range of the corrected scanning plane to perform a step plane scan.

In order to increase the flexibility of the print head 24 and realize omnidirectional 3D printing, as a further improvement of the present invention, the printing robot arm drive further includes an A coordinate rotation driving mechanism that rotates in the horizontal direction in the horizontal direction, or in the horizontal direction. A B-coordinate rotational drive mechanism that rotationally moves about the central axis, or an A-coordinate rotational drive mechanism that rotationally moves in the horizontal direction in the horizontal direction, and a B-coordinate rotational drive mechanism that rotationally moves in the horizontal direction in the front-rear direction.

In order to further accurately ensure the effect of 3D printing, as a further improvement of the present invention, the print head 24 is further provided with a pattern recognition sensor, and the centralized electronic control unit 3 further includes a 3D printing entity correction circuit, and the central control computer is electrically connected with the pattern recognition sensor. . During the 3D printing process, the pattern recognition sensor feeds back the shape size data of the 3D printing entity to the central control computer in real time, and the 3D printing entity corrects the loop operation, and the central control computer corresponds the shape size data of the 3D printing entity to the stored 3D model of the underground space. Part of the model data is compared. If the shape size data of the 3D printing entity is smaller than the model data of the corresponding part of the 3D model of the underground space, the central control computer issues an instruction to control the 3D print head 24 to interrupt the printing path and corresponding to the 3D model of the underground space. Part of the model data repeats the 3D printing of the partial print path according to the printing path of this part until the shape size data of the 3D printing entity is greater than or equal to the model data of the corresponding part of the 3D model of the underground space, and then the central control computer issues an instruction control. The 3D printhead 24 continues to perform 3D printing in accordance with the planned print path.

The underground space intelligent construction system includes a terrain detecting and processing robot unit 1, a 3D printing robot unit 2 and a centralized electronic control unit 3, and constructs a three-dimensional space model of the underground cavity after the terrain detecting and processing robot unit 1 completes scanning of the underground cavity. The central control computer of the centralized electronic control unit 3 calculates and analyzes the external stress field of the underground cavity three-dimensional model according to the input underground cavity geographical location data and surrounding rock data and other surrounding environmental geological data, and uses the underground cavity three-dimensional space. Based on the model, the surface support layer model is constructed by calculation without exposing the original inner surface of the underground cavity until the final surface support layer model within the set safety factor is generated and stored, and then the central control computer The final surface support layer model is used to generate the original inner surface model of the exposed underground cavity to be removed and stored, and then based on the final surface support layer model, the stress calculation results and the input safety factor are sequentially in the corresponding underground. Empty three-dimensional space model The cylindrical stress-fixing point is fitted to the surface to construct the cylindrical support model. Then, based on the cylindrical support model, the wallboard model and the slab model connected between the cylindrical support models are constructed according to the spatial layout of the underground cavity. Finally, a three-dimensional model of the underground space is generated by fitting the layered partition structure. Then, the removal path of the original inner surface model of the exposed underground cavity to be removed and the reference coordinates are removed by the reference coordinate origin, and then the reference coordinate origin is sequentially planned. And storing the printing path and printing reference coordinates of the surface supporting layer model, the cylindrical supporting model, the wallboard model and the floor model, and the terrain detecting and processing robot unit 1 performs the 3D printing after the surface of the underground cavity is rotated according to the removal path. The robot unit 2 can directly print the solid body of the three-dimensional model of the underground space in the underground cavity according to the printing path and the printing reference coordinate, calculate the analysis result and the input safety factor according to the underground cavity stress, and the 3D direct-printing underground space three-dimensional model entity has The basic building of the targeted support can fully satisfy the support After completing the physical printing of the three-dimensional model of the underground space, the construction personnel can enter the underground space to carry out subsequent construction such as water circuit construction and wall decoration construction; direct 3D printing can save a lot of manpower and material resources and no space. It occupies large conveying equipment, supporting equipment and lifting equipment, reduces the cost of deep underground space development, and has high construction efficiency. At the same time, it does not require personnel to enter underground cavities due to construction work, and the surface is printed first during physical printing. The support layer model and the reprinted cylindrical support model, while the cylindrical support model is printed in the order of stress concentration from large to small, thus achieving targeted sequential solid molding, high construction safety, especially suitable for Construction of deep underground space in underground voids.

Claims (10)

1. An underground space intelligent construction system, comprising: a terrain detection and processing robot unit (1), a 3D printing robot unit (2) and a centralized electronic control unit (3);

   The terrain detecting and processing robot unit (1) comprises an all-terrain walking chassis, a detecting robot arm (11), a rotary-cutting robot arm and an on-board electric control device (12); the all-terrain walking chassis is arranged in the terrain detecting and processing robot unit At the bottom of (1), the all-terrain walking chassis includes an electronically controlled driving mechanism and a steering control mechanism; the bottom end of the detecting robot arm (11) is mounted on the all-terrain walking chassis, and the detecting mechanism is provided at the top end of the detecting robot arm (11). The detecting device comprises a detecting head (13), the detecting head (13) comprises a distance sensor, a scanner, a gyroscope, a probe angular positioning control driving, and the detecting head angular positioning control driving comprises at least a rotating movement of the central axis in the horizontal direction The coordinate rotation driving mechanism and the B coordinate rotation driving mechanism that rotates in the horizontal direction in the front and rear horizontal directions; the bottom end of the rotary drilling robot arm is mounted on the all terrain traveling chassis, and the rotary excavation mechanical arm includes the rotary excavation mechanical arm drive, the rotary excavation machine The arm drive includes at least an X coordinate drive mechanism for controlling the horizontal movement of the rotary excavation arm and a Y coordinate drive for controlling the horizontal movement of the rotary excavation mechanical arm a moving mechanism, a Z-coordinate driving mechanism for controlling the vertical movement of the rotary-excavating robot arm, and a rotary-cutting cutting head with a rotary-drilling drive on a distal end of the rotary-excavating mechanical arm; the vehicle-mounted electric control device (12) is fixedly mounted on the all-terrain On the walking chassis, the on-board electric control device (12) includes an industrial control computer, a detecting robot walking control loop, a detecting head detecting angle control loop, a rotary digging control loop, an industrial control computer and an electronically controlled driving mechanism and steering of the all-terrain walking chassis, respectively. The control mechanism is electrically connected, the industrial control computer and the detection head of the probe head (13) are angularly positioned to control the drive electrical connection, and the industrial control computer is respectively electrically connected with the rotary excavation mechanical arm drive and the rotary excavation drive of the rotary cutting head;

   The 3D printing robot unit (2) comprises an all-terrain walking chassis, a printing robot arm (21), a printing material input device (22) and a printing electronic control device (23); the all-terrain walking chassis is arranged in the 3D printing robot unit ( 2) At the bottom, the all-terrain walking chassis includes an electronically controlled driving mechanism and a steering control mechanism; the printing robot arm (21) is mounted on the all-terrain walking chassis, the printing robot arm (21) includes a printing robot arm drive, and the printing robot arm drives at least The utility model comprises an X coordinate driving mechanism for controlling the horizontal movement of the printing robot arm in the horizontal direction, a Y coordinate driving mechanism for controlling the horizontal movement of the printing robot arm in the horizontal direction, a Z coordinate driving mechanism for controlling the vertical movement of the printing robot arm, and a printing robot arm (21). The last section is provided with a 3D printing device, the 3D printing device comprises a 3D printing nozzle (24); the printing material input device (22) comprises a printing material pumping mechanism, and the input end of the printing material pumping mechanism is connected with the printing material supply subunit, and printing The material supply subunit supplies the printing material, and the output end of the printing material pumping mechanism is connected with the 3D printing nozzle (24) through the printing material output pipeline; The electronic control device (23) is fixedly mounted on the all-terrain walking chassis, and the printing electronic control device (23) includes an industrial control computer, a 3D printing robot walking control loop, a 3D printing nozzle position control loop, a printing material pumping mechanism control loop, and an industrial The control computer is respectively electrically connected with the electronically controlled driving mechanism and the steering control mechanism of the all-terrain walking chassis, and the industrial control computer is respectively electrically connected with the printing robot arm driving and the printing material pumping mechanism;

   The centralized electronic control unit (3) comprises a central control computer, a detection control loop, a data modeling loop, a detection robot position feedback correction loop, a terrain processing loop, a 3D printing control loop, and a central control computer and a probe (13) The distance sensor, the scanner, and the gyroscope are electrically connected, and the central control computer is electrically connected to the industrial control computer of the onboard electronic control device (12) and the industrial control computer of the print electronic control device (23).
2. The underground space intelligent construction system according to claim 1, wherein the rotary excavation arm drive further comprises an A coordinate rotary drive mechanism that rotates in a horizontal direction in the left and right horizontal directions or in a horizontal direction in the front and rear directions. A B-coordinate rotational drive mechanism that rotationally moves the axis, and a C-coordinate rotational drive mechanism that rotationally moves in the vertical direction on the central axis.
3. The underground space intelligent construction system according to claim 2, wherein the position of the rotary cutting robot at the end of the rotary excavation cutting head is further provided with a pattern recognition sensor, and the centralized electronic control unit (3) It also includes a rotary digging correction circuit that electrically connects the central control computer to the pattern recognition sensor on the end section of the rotary digging arm.
4. The underground space intelligent construction system according to claim 1, wherein the detection robot arm (11) of the underground space intelligent construction system comprises a detection robot arm drive, and the detection robot arm drive comprises at least a control detection robot arm. (11) an X-coordinate driving mechanism that moves horizontally left and right, or a Y-coordinate driving mechanism that controls the horizontal movement of the detecting robot arm (11), or a Z-coordinate driving mechanism that controls the vertical movement of the detecting robot arm (11); The electronic control device (12) further comprises a detection robot arm control circuit, the industrial control computer of the vehicle electrical control device (12) and the detection robot arm of the detection robot arm (11) are electrically connected; the centralized electronic control unit (3) further comprises a scan Pitch control loop.
5. The underground space intelligent construction system according to claim 1, wherein the printing robot arm drive of the underground space intelligent construction system further comprises an A coordinate rotation driving mechanism that rotates in a horizontal direction from the left and right horizontal directions or a B coordinate rotation driving mechanism that rotates in the horizontal direction in the front and rear horizontal direction, or an A coordinate rotation driving mechanism that rotationally moves in the horizontal direction of the left and right horizontal direction and a B coordinate rotation driving mechanism that rotates in the horizontal direction in the front and rear horizontal directions .
6. The underground space intelligent construction system according to claim 5, wherein the print head (24) of the underground space intelligent construction system further comprises a pattern recognition sensor, and the centralized electronic control unit (3) further comprises The 3D printing entity correction circuit is electrically connected to the mode recognition sensor on the print head (24).
7. The underground space intelligent construction system according to any one of claims 1 to 6, characterized in that the central control computer of the centralized electronic control unit (3) and the industrial control of the on-board electronic control device (12) respectively The industrial control computer radio connection of the computer and the print electronic control unit (23). The terrain detecting and processing robot unit (1) further comprises a scum temporary storage device, wherein the scum temporary storage device comprises an armoring mechanism disposed under the rotary boring robot arm, and a reloading temporary storage mechanism disposed at the rear of the armoring mechanism, and armoring The mechanism and the reloading temporary storage mechanism are respectively electrically connected with the industrial control computer of the on-board electric control device (12), and the on-board electric control device (12) further includes a slag collection and processing circuit.
8. The underground space intelligent construction system according to any one of claims 1 to 6, wherein the printing material comprises stone waste powder; the printing material supply subunit is disposed in the underground roadway, and the printing material supplier The unit is electrically connected to a central control computer of the centralized electronic control unit (3), the printing material supply subunit comprises a raw material preparation device, and the raw material preparation device comprises a crusher.
9. The underground space intelligent construction system according to claim 8, wherein the terrain detecting and processing robot unit (1) further comprises a scum temporary storage device, and the scum temporary storage device comprises a rotary boring robot The armoring mechanism below, the reloading temporary storage mechanism disposed at the rear of the armoring mechanism, the armoring mechanism and the reloading temporary storage mechanism are respectively electrically connected with the industrial control computer of the vehicle electrical control device (12), and the vehicle electronic control device (12) It also includes a slag collection and recycling circuit.
10. An underground space intelligent construction method for an underground space intelligent construction system according to any one of claims 1 to 9, which specifically comprises the following steps:

    a. Preparation of underground space: After detecting the approximate location of the underground cavity by geological radar, select the appropriate tunneling point under the premise of ensuring the support strength of the original rock layer near the tunneling point, and tunneling through the tunneling point Digging in and out of the roadway through the underground cavity and effectively supporting the roadway, and then placing the terrain detecting and processing robot unit (1) and the 3D printing robot unit (2) in the roadway communicating with the underground cavity;

    b. Underground cavity scanning: centralized electronic control unit (3) control detection control circuit, detection robot position feedback correction circuit, data modeling circuit start work, central control computer issues instructions to make industrial control of vehicle electronic control device (12) The computer controlled terrain detection and processing robot unit (1) steps inside the underground cavity and scans the inner cavity of the underground cavity, and then coordinates back to the initial position, and the central control computer fits the plane scan data to the same reference and constructs it in three dimensions. After the model, a three-dimensional model of the underground cavity is generated and then stored;

    c. Three-dimensional modeling of underground space: The central control computer calculates and analyzes the external stress field of the underground cavity three-dimensional model based on the input surrounding environmental geological data of the underground cavity, and the stability, stress, displacement, and the three-dimensional model of the underground cavity. The evolution process of parameters such as fissure, permeability, acoustic characteristics, optical characteristics, electrical characteristics, magnetic properties and structural characteristics is calculated and analyzed, and then the central control computer is based on the three-dimensional model of the underground cavity, so as not to expose the original inner surface of the underground cavity. The principle is to construct the initial surface support layer model on the internal surface of the 3D space model of the underground cavity. Then the central control computer expands the externally based on the initial surface support layer model based on the principle of maximizing the underground space utilization. a two-surface support layer model, and then the central control computer simulates the original inner surface of the exposed portion of the underground cavity on the second surface support layer model based on the second surface support layer model, and then the central control computer according to the input Underground cavity environmental geology According to the external field of the three-dimensional model of the underground cavity where the original inner surface of the underground cavity has been removed, the stress field is recalculated and analyzed, and so on, until the fitting generates the final surface support layer model within the set safety factor range and stores Then, the central control computer fits and generates the original inner surface model of the exposed underground cavity to be removed based on the final surface support layer model; then the central control computer calculates the analysis result based on the stress based on the final surface support layer model. And the input safety factor is sequentially fitted to the position of the stress concentration point on the inner surface of the three-dimensional space model of the underground cavity and the position of the stability is not suitable, and then the cylindrical support model is constructed, and then the space of the underground cavity is based on the cylindrical support model. Layout fitting builds the wallboard model and the slab model connected between the cylindrical support models, and finally fits the three-dimensional model of the underground space that generates the layered partition structure and stores the coordinate position information of the three-dimensional model of the underground space; Plan and store the referenced origins to be removed The removal path of the original inner surface model of the lower cavity and the removal of the reference coordinates, and then the print path and the print reference coordinates of the final surface support layer model are planned and stored with reference to the origin of the reference, and the cylindrical support model is planned and stored by referring to the coordinate origin. Print path and print reference coordinates, and finally plan and store the print path and print reference coordinates of the wallboard model and the floor model with reference to the coordinate origin;

    d. Removing the original inner surface of the excess underground cavity: the terrain processing loop starts to work, and the central control computer issues instructions to enable the industrial control computer of the onboard electronic control device (12) to control the terrain detection and processing robot unit (1) as exposed. The removal path coordinate of the original inner surface model of the underground cavity is moved to the position where the reference coordinate is removed, and then the industrial control computer of the on-board electronic control device (12) controls the rotary-extraction robot arm drive and the rotary-drill drive action to make the rotary-cutting cutting head according to the need to be removed. The removal path coordinates of the original inner surface model of the exposed underground cavity are sequentially rotated to remove the inner surface of the underground cavity, and the inner surface of the underground cavity is removed when the end of the path is removed. The terrain detection and processing are completed. The robot unit (1) is retracted to the initial position;

    e.3D printing underground space 3D entity: 3D printing control loop starts working, the central control computer issues instructions to make the 3D printing robot walking control loop of the printing electronic control device (23) start working, and prints the industrial control computer of the electronic control device (23) Controlling the 3D printing robot unit (2) according to the print path and print reference coordinates of the surface support layer model, the print path and print reference coordinates of the cylindrical support model, the print path of the wallboard model and the floor model, and the print reference coordinates. The electronically controlled driving mechanism and the steering control mechanism of the all-terrain walking chassis move the coordinates of the 3D printing robot unit (2) to the set position of the coordinate position of the three-dimensional model corresponding to the underground space inside the underground cavity, and then the position control loop of the 3D printing nozzle starts to work. The industrial control computer of the printing electronic control device (23) controls the printing robot arm driving action of the printing robot arm (21) according to the printing path to move the 3D printing head (24) coordinates to the printing reference coordinate position, and the printing material pumping mechanism control circuit starts. Work, print electronic control device (23) industrial control computer control printing materials The printing material pumping mechanism of the inlet device (22) causes the pumped printing material to be output through the 3D printing nozzle (24), and then the industrial control computer of the printing electronic control device (23) controls the printing robot arm of the printing robot arm (21). The driving action causes the 3D printing nozzle (24) to sequentially perform 3D printing of the surface supporting layer model, the cylindrical supporting model, the wall panel model and the floor model according to the printing path coordinate movement, and complete the solid space 3D model entity at the end of the printing path. Printing, the 3D printing robot unit (2) is retracted to the initial position.

Images