CN107237641A - The intelligent sprayed construction method and device of single shell lining based on monitoring feedback technique - Google Patents

Abstract

A single-layer lining intelligent injection construction method and device based on monitoring and feedback technology: the device includes a control system, a monitoring and feedback system, an injection system, a material supply system, and a drive system. The monitoring feedback system can monitor and measure the position of the entire spraying construction device in real time, and monitor and measure the relative position between the spraying point and the tunnel axis and the preset lining surface in real time. Input the pre-set inner diameter parameters of the lining and spray material parameters into the control system, and the system can operate automatically, and form a complete lining by spraying in three layers. The invention can realize intelligent jetting construction, and has high construction precision and high efficiency.

Description

Single-layer lining intelligent jetting construction method and device based on monitoring and feedback technology

technical field

The invention relates to a construction method and device, more specifically, a single-layer lining intelligent jetting construction method and device based on monitoring and feedback technology, and belongs to the field of hydraulic tunnel lining construction methods and equipment in water conservancy and hydropower projects.

Background technique

In order to ensure the safe and effective operation of hydraulic tunnels, it is usually necessary to line the tunnels. The lining of hydraulic tunnels is generally a composite lining, that is, the lining structure is formed by combining the primary lining and the secondary lining. The primary lining is mainly used to close the surrounding rock and provide initial support, and generally adopts spray-anchored concrete; the secondary lining is used to form the final support and standardized water passages to meet the requirements of water passage, and generally adopts molded concrete, which needs to be erected. Formwork, concrete pouring, formwork removal and backfill grouting and other processes. A layer of waterproof board is generally installed between the primary lining and the secondary lining, and no shear force is transmitted between the layers, and its bearing mechanism is similar to that of a "laminated beam". Composite lining has complex procedures, long construction period and relatively difficult construction.

The single-layer lining is composed of single-layer or multi-layer concrete, and the support system can fully transmit the shear force between the layers. The biggest difference from the combined lining is that there is no waterproof board between the layers. The excellent slip resistance makes each concrete layer form a common bearing system. Its load-bearing mechanism is similar to "composite beams", and the stress generated by it is smaller than that of the composite lining of equal thickness, which can appropriately reduce the thickness, reduce the amount of excavation, and save investment.

The first layer of single-layer lining is generally shotcrete, and subsequent layers are molded concrete. Compared with the composite lining, although the construction of the waterproof board is omitted for the single-layer lining, the construction period is long and the construction is difficult because the formwork concrete still needs to be erected, poured concrete, and demolished. Although shotcrete is constructed quickly and has a high degree of mechanization, it is generally not used for the construction of subsequent layers because the spraying construction accuracy cannot meet the requirements of standardization of hydraulic tunnel lining section and lining surface flatness and roughness.

Contents of the invention

In view of the above technical problems, the present invention proposes an intelligent spraying construction method for tunnel lining, which solves the technical problems of sprayed concrete lining section standardization and lining surface smoothness and roughness, and can be used for one-time construction of single-layer lining of tunnels. Relining for compound lining. The construction effect meets the requirements of the standardization of the lining section of the hydraulic tunnel and the smoothness and roughness of the lining surface.

In order to realize above-mentioned technical purpose, the present invention adopts following concrete technical scheme:

An intelligent jetting construction method for single-layer lining based on monitoring and feedback technology. Based on the jetting construction device, the jetting construction of the lining is completed in three layers;

Step S1, setting up the inertial coordinate device, and inputting the parameters of the inner surface of the tunnel and the parameters of the injection material after the lining is completed into the control system;

Step S2, start the monitoring feedback system to obtain the following two real-time parameters:

First, the real-time position of the entire spraying construction device is corrected by the offset of the inertial coordinate device to obtain the relative position parameters of the spraying system;

Second, the distance between the surrounding rock or the lining surface and the nozzle of the injection system and its relative position parameters in the inertial coordinate device;

Step S3, the monitoring feedback system feeds back the above two parameters obtained to the control system, and the control system compares the preset lining surface target point position coordinates with the two real-time parameters obtained from the feedback of the monitoring feedback system to obtain the injection implementation parameters;

Step S4, the control system transmits the obtained spraying implementation parameters to the spraying system, and the spraying system performs the spraying concrete operation in sequence;

Step S5: The monitoring and feedback system collects the surface coordinates of the spraying application in real time, and compares them with the preset lining surface coordinates. If the distance difference between the two is within the range of 100mm~200mm, the control system sends a forward driving command to the driving device ;

Step S6, after the entire spraying construction device enters a new position, execute steps S1 to S5 in a loop until the spraying concrete operation is completed for 10m to 100m;

Step S7, after waiting for 2 hours to 48 hours, implement the mortar spraying operation, the steps are the same as steps S1 to S5, and replace the spraying material with mortar;

Step S8, after waiting for 2 hours to 48 hours, implement the polymer injection operation, the steps are the same as steps S1 to S5, and replace the injection material with polymer.

The tunnel inner surface parameter is a position parameter of the tunnel inner surface, for example, a circular tunnel may be a tunnel radius.

The spray material parameters include: the maximum particle size of the spray material, the thickness of the primary spray layer, the coagulation time and the maximum allowable spray speed.

The feedback frequency of the monitoring feedback system is 1/10s.

The injection implementation parameters include: injection time, injection angle, injection speed and nozzle position.

The spraying construction of the lining is completed in three layers. The first layer is sprayed concrete. After spraying, the surface smoothness of the lining reaches 3m and the deviation of the ruler is 100mm-200mm;

The second layer is sprayed mortar. After spraying, the surface smoothness of the lining reaches 3m, and the deviation of the ruler is 3mm~5mm;

The third layer is sprayed high molecular polymer. After spraying, the surface smoothness of the lining reaches 3m and the deviation of the ruler is less than 3mm.

An intelligent injection construction device for single-layer lining based on monitoring and feedback technology, including:

A control system, a monitoring feedback system, an injection system, a feeding system, and a drive system, wherein the control system includes an input device, an acquisition device, a computing device, and an output device;

The input device is used for inputting preset inner diameter parameters of the lining and injection material parameters;

The acquisition device is used to record the three-dimensional coordinates of the surrounding rock or lining surface picked up in real time by the monitoring feedback system, the position of the spraying system and the position of the entire spraying construction device;

The calculation device is used to calculate the difference between the three-dimensional coordinates of the surrounding rock or the lining surface recorded by the acquisition device and the corresponding points of the preset inner section of the lining, and calculate the position coordinates, injection speed, and injection system for the next step of the injection system. Time and the position coordinates of the next move of the drive system;

The output device is used to convert the parameters calculated by the computing device into electrical signals and input them to the injection system, the feeding system and the driving system;

The monitoring feedback system includes a positioning device, an inertial coordinate device and a laser distance measuring device, wherein the positioning device is used for real-time monitoring and measurement of the position of the entire spraying construction device, to determine its error with the working line, when the error exceeds the allowable value , the error is fed back to the control system, and the control system outputs the adjustment command to the drive system through the calculation device-output device, so as to adjust the position of the entire spraying construction device so that it is located on the working line and meets the requirements of error control;

The inertial coordinate device is used for real-time feedback of the injection system, the relative position of the target surrounding rock point or lining surface point of the current injection and the tunnel axis;

The laser distance measuring device is fixed on the injection system, and is used for real-time monitoring and measurement of the relative positional relationship between the injection target point, the tunnel axis, and the preset corresponding point on the inner surface of the lining section.

The spraying system includes three parts: a concrete spraying machine, a mortar spraying machine and a polymer spraying machine.

Beneficial effect:

The present invention and prior art project have the following advantages:

1. Realize intelligent jetting construction. The movement of the spraying construction device, the spraying speed adjustment of the spraying system, and the movement of the nozzle position of the present invention are all automatically based on the difference between the target spraying point on the surrounding rock measured in real time by the monitoring feedback system and the coordinates of the corresponding point on the lining surface of the designed section. Adjustment.

2. High construction precision. The invention realizes the optimized combination of coarse spraying, fine spraying and fine spraying by spraying concrete first, then mortar spraying and finally polymer spraying, and improves the control accuracy of the surface smoothness of the spray lining.

3. High efficiency. The invention adopts the monitoring and feedback technology to realize the intelligent control of spraying construction, reduce the number of spraying construction operators, and improve the spraying construction efficiency.

Description of drawings

Fig. 1 is a functional block diagram of the hydraulic tunnel lining construction method of the present invention.

Fig. 2 is a schematic diagram of the laser positioning device of the present invention.

Among them, 1 is the laser distance measuring device; 2 is the nozzle of the injection system; 3 is the preset lining surface; 4 is the real-time lining surface.

detailed description

Embodiments are given below in conjunction with the accompanying drawings and the present invention is described in detail. It is necessary to point out that the following examples are only used to further illustrate the present invention, and can not be interpreted as limiting the protection scope of the present invention, some non-essential improvements made by those skilled in the art according to the content of the present invention above And adjustments still belong to the protection scope of the present invention.

The hydraulic tunnel lining construction device described in the present invention is driven into the axial position of the tunnel to be constructed, and the inertial coordinate device is set.

As shown in Figure 1, the first step is to input the inner surface parameters and spray material parameters after the lining is completed into the control system, for example, the radius of the circular tunnel is 8m, the spray material is concrete, the maximum particle size is 15mm, and the thickness of the primary spray layer is 200mm. The coagulation time is 2min, and the maximum allowable injection velocity is 4m ³ /h;

In the second step, the monitoring feedback system is started, the positioning device obtains the real-time position of the entire equipment, and the relative position of the injection system is obtained through the offset correction of the inertial coordinate device; the laser ranging system obtains the distance between the surrounding rock or the lining surface and the nozzle of the injection system and Its relative position in the inertial coordinate device; the feedback frequency of the monitoring feedback system is 1/10s.

In the third step, the monitoring and feedback system feeds back the above parameters obtained to the acquisition device of the control system, together with the parameters input in the input device, enter the calculation device, and the calculation device compares the coordinates of the target point position on the preset lining surface with the input device, collects The real-time parameters obtained by the device can be used to obtain injection implementation parameters such as injection time, injection angle, injection speed, and nozzle position;

In the fourth step, the spraying implementation parameters obtained by the computing device are transmitted to the spraying system, and the spraying system performs spraying concrete operations in a certain order;

In the fifth step, the laser distance measuring device of the monitoring feedback system collects the lining surface after spraying, and the calculation device calculates that the distance from the preset lining surface is within 100mm to 200mm, and then the control system sends a forward direction to the driving device through the output device. drive command;

In the sixth step, after the whole device enters the new position, the first step to the fifth step are executed in a cycle until the sprayed concrete operation is completed for a certain distance;

The seventh step, after waiting for a certain period of time, implement the mortar spraying operation, the steps are the same as the first step to the fifth step, replace the spraying material with mortar, and adjust the control accuracy to 3mm to 5mm;

The eighth step, after waiting for a certain period of time, implement the polymer injection operation, the steps are the same as the first step to the fifth step, replace the injection material with polymer, and adjust the control accuracy to <3mm;

The single-layer lining injection construction device based on monitoring and feedback technology includes a control system, a monitoring and feedback system, an injection system, a feeding system, and a driving system. Input the preset lining section parameters and spray material parameters into the control system, and the system can run automatically to form a complete lining through spray construction.

The control system includes an input device, a collection device, a computing device, and an output device. The input device is used to input the preset lining section parameters and spray material parameters; the acquisition device is used to record the three-dimensional coordinates of the surrounding rock or the target point on the lining surface picked up in real time by the monitoring feedback system, the position of the spray system and the position of the entire spray construction device; The calculation device is used to calculate the difference between the three-dimensional coordinates of the surrounding rock or the target point on the lining surface recorded by the acquisition device and the preset coordinates of the corresponding points on the lining section, and calculate the three-dimensional coordinates and injection speed of the next step of the injection system. , injection time and the three-dimensional coordinates of the next step of the drive system; the output device is used to convert the parameters calculated by the calculation device into electrical signals and input them to the injection system, the feeding system and the drive system.

The monitoring feedback system includes a positioning device, an inertial coordinate device, and a laser distance measuring device. It is characterized in that the positioning device can monitor and measure the position of the entire spraying construction device in real time, and determine its error with the working line (the working line is the working position line of the spraying system, and its positional relationship with the tunnel axis can be preset.) , when the error exceeds the allowable value, the error is fed back to the control system, and the control system outputs the adjustment command to the drive system through the calculation device-output device, so as to adjust the position of the entire spraying construction device so that it is located on the working line and meets the requirements Requirements for error control; the inertial coordinate device provides real-time feedback on the relative position of the injection system, surrounding rock or lining surface, and the tunnel axis; the laser distance measuring device is fixed on the injection system to monitor and measure the injection point and the tunnel axis in real time. The relative positional relationship between the set lining surfaces.

The spraying system is divided into three parts: concrete spraying machine, mortar spraying machine and polymer spraying machine. The spraying speed, nozzle position, traveling speed and switch of each part are all automatically controlled by the commands issued by the output device of the control system.

The feeding system supplies concrete, mortar, and polymer to the concrete spraying machine, mortar spraying machine, and polymer spraying machine respectively according to the requirements of spraying implementation.

The driving system can pull the entire spraying construction device to realize position change according to the instructions issued by the control system, and the driving system can run on the set track.

Claims (7)

1. a kind of intelligent sprayed construction method of single shell lining based on monitoring feedback technique, it is characterised in that based on sprayed construction Device, the sprayed construction of point three layers of completion lining cutting;

Step S1, inertial coordinate device is set, the tunnel inner surface parameter inputted in the controls after the completion of lining cutting and spray Penetrate material parameter；

Step S2, monitoring reponse system start, and obtain following two real-time parameters：

Firstth, the real time position of whole sprayed construction device, through inertial coordinate device offset correction, obtains the relative of spraying system Location parameter；

Secondth, the distance of country rock or lining cutting surface away from spraying system shower nozzle and its relative position ginseng in inertial coordinate device Number；

Step S3, monitoring reponse system are by the above-mentioned two parameter feedback of acquisition to control system, and control system will be by that will preset Two real-time parameters that lining cutting superficial objects point position coordinates and monitoring reponse system feedback are obtained are compared, and show that injection is real Apply parameter；

Step S4, control system transmit obtained injection implementation parameter to spraying system, and spraying system is implemented to spray according to order Penetrate concrete work；

Step S5, monitoring reponse system collect injection and apply surface coordinate, and it is entered with default lining cutting surface coordinate in real time Row compares, if the two range difference is in the range of 100mm ~ 200mm, control system sends the drive finger of advance to drive device Order；

Step S6, whole sprayed construction device enter after new position, and circulation performs step S1~step S5, until gunite concrete Operation completes 10m~100m；

Step S7, wait 2 hours~48 hours after, implement mortar spraying operation, step will spray material with step S1~step S5 Material is changed to mortar；

Step S8, wait 2 hours~48 hours after, implement polymeric spray operation, step will spray with step S1~step S5 Material is changed to polymer.

2. hydraulic tunnel lining construction method according to claim 1, it is characterised in that the blasting materials parameter bag Include：The maximum particle diameter of blasting materials, the thickness of a spray-up, setting time and maximum allowable jet velocity.

3. hydraulic tunnel lining construction method according to claim 1, it is characterised in that the monitoring reponse system it is anti- Feedback frequency is 1/10s.

4. hydraulic tunnel lining construction method according to claim 1, it is characterised in that parameter bag is implemented in the injection Include：Injecting time, spray angle, jet velocity and nozzle position.

5. hydraulic tunnel lining construction method according to claim 1, it is characterised in that described point three layers complete lining cutting Sprayed construction, first layer is gunite concrete, injection implement after lining cutting surface smoothness reach 3m guiding ruler deviations 100mm~ 200mm；

The second layer is spray furnace, and lining cutting surface smoothness reaches 3m guiding rulers deviation 3mm~5mm after injection is implemented；

Third layer is injection high molecular polymer, and lining cutting surface smoothness reaches 3m guiding ruler deviations after injection is implemented<3mm.

6. a kind of intelligent sprayed construction device of single shell lining based on monitoring feedback technique, it is characterised in that including：

Control system, monitoring reponse system, spraying system, feeding system, drive system, wherein, described control system includes Input unit, harvester, computing device and output device；

The input unit is used to input lining cutting internal diameter parameter set in advance and blasting materials parameter；

The harvester is used to record country rock or lining cutting surface three dimension coordinate, spraying system that monitoring reponse system is picked up in real time Position and whole sprayed construction setting position；

Described computing device is used for the country rock or lining cutting surface three dimension coordinate and lining set in advance for calculating harvester record Difference in building between section corresponding points, and when calculating the position coordinates of the next moved further of spraying system, jet velocity, injection Between and the next moved further of drive system position coordinates；

Described output device be used for by computing device calculate obtained by parameter change into electric signal and input to spraying system, confession Material system and drive system；

The monitoring reponse system includes positioner, inertial coordinate device and laser ranging system, wherein, the positioner Position for monitoring the whole sprayed construction device of measurement in real time, determines its error with active line, when error exceedes permissible value When, error is fed back into control system, being computed device-output device by control system exports adjust instruction to drivetrain System, to adjust the position of whole sprayed construction device, is located on active line, and meet the requirement of control errors；

Target country rock point or lining cutting surface point and tunnel that the inertial coordinate device is used for Real-time Feedback spraying system, currently sprayed The relative position of hole axis；

The laser ranging system is fixed on spraying system, for monitoring measurement injection target point and tunnel axis in real time, pre- Relative position relation between the lining section inner surface corresponding points first set.

7. the intelligent sprayed construction device of the single shell lining according to claim 6 based on monitoring feedback technique, its feature exists Include concrete sprayer, sand-slurry jetting machine and the part of polymeric spray machine three in described spraying system.