CN111828042A - An intelligent shotcrete support method for wall over-excavation tunnel - Google Patents

Abstract

The invention provides an intelligent shotcrete support method for a wall surface over-excavation tunnel, which belongs to the technical field of tunnel construction. The method includes the following steps: Step 1, use a total station to locate the wet spray trolley, obtain the spatial relationship between the wet spray trolley and the tunnel, and complete the intelligent positioning of the wet spray trolley; Dig the generated pit, plan the motion of the wet spray manipulator, and perform the original layer pit repair operation; step 3, install multiple rows of arc-shaped steel arches arranged side by side on the rock surface; step 4, install the steel arch on the wall surface. Carry out contour scanning, divide the injection block and determine the injection point, and extract the coordinate information of the injection point and the volume information of the injection block. Surface layer support. The invention solves the problem of low wall surface flatness caused by the over-excavation of the wall surface for the shotcrete support operation, and realizes the automatic operation of the tunnel shotcrete support.

Description

An intelligent shotcrete support method for wall over-excavation tunnel

technical field

The invention relates to an intelligent shotcrete support method based on a wall surface over-excavation tunnel, and belongs to the technical field of tunnel construction.

Background technique

At present, most of the tunnel shotcrete support operations are manually controlled by shotcrete manipulators. The operating environment is extremely harsh, the working conditions are poor, and the process is time-consuming, which seriously endangers the health of workers, and the quality of the completion is poor, which cannot meet the requirements of high efficiency and high efficiency of tunnel support. High flatness requirements.

Due to the existence of over-excavated pits of different depths in the wall surface over-excavation tunnel, it is difficult for workers to accurately predict with the naked eye, which causes great difficulties for shotcrete support and makes it more difficult to meet the flatness requirements.

Patent 201910567117.0 provides a shotcrete support method for an intelligent shotcrete system. The method consists of five steps: three-dimensional scanning, automatic first shotcrete, scanning detection, judging scan results and automatic fine spray correction. However, it does not consider the impact of the over-excavation of the wall surface on the shotcrete support after blasting, resulting in low surface flatness after the operation and a long process time, which seriously affects the quality and efficiency of the tunnel support.

SUMMARY OF THE INVENTION

The purpose of the present invention is to propose an intelligent shotcrete support method for wall surface over-excavation tunnels, so as to solve the technical problems of low surface flatness and long process time in the existing tunnel shotcrete support technology.

An intelligent shotcrete support method for an over-excavated tunnel on a wall surface, the method comprising the following steps:

Step 1. Use the total station to locate the wet spray trolley, obtain the spatial relationship between the wet spray trolley and the tunnel, and complete the intelligent positioning of the wet spray trolley;

Step 2: Perform an original scan on the contour of the tunnel torus to obtain the scan profile, so that the scan profile and the design profile are compared to identify the pits caused by over-excavation, and the motion planning of the wet spraying manipulator is performed to perform the original layer pit-filling operation;

Step 3. Install multiple rows of arc-shaped steel arches arranged side by side on the rock surface;

Step 4: Scan the contour of the wall with the steel arch, upload the scanned tunnel contour point cloud data to the measurement and control center, divide the injection block and determine the injection point, and extract the coordinate information of the injection point and the volume information of the injection block. ;

Step 5: Carry out motion planning for the wet spraying manipulator according to the coordinate information and volume information, and perform base layer support, steel arch layer support and surface layer support in sequence.

Further, in step 2, the following steps are specifically included:

Step 21. Use a three-dimensional laser scanner to perform an original scan on the contour of the tunnel torus;

Step 22: Use the three-dimensional contour reconstruction automatic processing software to process the point cloud data obtained by scanning, compare the scanning contour with the design contour to identify the pits generated by over-excavation, identify the type of the pits, and extract the information required for filling the pits;

Steps 2 and 3: planning the motion of the wet spraying manipulator according to the obtained information required for filling the pit, and then controlling the wet spraying manipulator to perform the work of filling the pit with the original layer.

Further, the information required for filling the pit includes: the center coordinates of the pit surface, the normal vector of the pit surface, and the square quantity of concrete required for filling the pit.

Further, in step 3, the spacing of the curved steel arches is determined by the surrounding rock grade of the wall, and is between 0.8 and 1.5 m.

Further, in step 4, the following steps are specifically included:

Step 41. Use a three-dimensional laser scanner to scan the basal layer of the tunnel torus profile;

Step 42: Use the 3D contour reconstruction automatic processing software to process the point cloud data obtained by scanning, divide the injection area and injection block, and determine the injection point;

Step 43: Extract the coordinate information of the injection point and the volume information of the injection block.

Further, in step 5, the base layer support specifically includes the following steps:

Step 51. Divide the wall surface to be sprayed into five injection areas, divide injection blocks in each injection area, take the center point of each injection block as the injection point, and extract the coordinate information of the injection point and the volume information of the injection block ;

Step 52: The wet spraying trolley control system plans the motion of the wet spraying manipulator according to the obtained coordinate information and volume information, and then controls the wet spraying manipulator to perform the base layer spraying support operation.

Further, in step 5, both the base layer support operation and the steel arch layer support operation are carried out by means of cumulative thin spraying, and the thickness of a single spraying does not exceed 20cm.

The main advantages of the invention are as follows: the invention adopts the method of filling the pit ahead of time, which solves the problem of low wall flatness caused by the over-excavation of the wall surface for the shotcrete support operation, and improves the shotcrete support operation of the over-excavated wall surface tunnel. quality; the invention utilizes the technical means of laser scanning and point cloud processing to realize the automatic operation of the tunnel shotcrete support, reduce the harm to workers' health caused by the manual operation, and improve the efficiency of the tunnel shotcrete support operation.

Description of drawings

Fig. 1 is a schematic diagram of positioning work;

Fig. 2 is a schematic diagram of partition injection;

Fig. 3 is the block schematic diagram of injection zone;

Figure 4 is a schematic diagram of staged injection.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

An intelligent shotcrete support method for an over-excavated tunnel on a wall surface, the method comprising the following steps:

Step 1. Use the total station to locate the wet spray trolley, obtain the spatial relationship between the wet spray trolley and the tunnel, and complete the intelligent positioning of the wet spray trolley;

Step 2: Perform an original scan on the contour of the tunnel torus to obtain the scan profile, so that the scan profile and the design profile are compared to identify the pits caused by over-excavation, and the motion planning of the wet spraying manipulator is performed to perform the original layer pit-filling operation;

Step 3. Install multiple rows of arc-shaped steel arches arranged side by side on the rock surface;

Step 4: Scan the contour of the wall with the steel arch, upload the scanned tunnel contour point cloud data to the measurement and control center, divide the injection block and determine the injection point, and extract the coordinate information of the injection point and the volume information of the injection block. ;

Step 5: Carry out motion planning for the wet spraying manipulator according to the coordinate information and volume information, and perform base layer support, steel arch layer support and surface layer support in sequence.

In step 2, the following steps are specifically included:

Step 21. Use a three-dimensional laser scanner to perform an original scan on the contour of the tunnel torus;

Step 22: Use the three-dimensional contour reconstruction automatic processing software to process the point cloud data obtained by scanning, compare the scanning contour with the design contour to identify the pits generated by over-excavation, identify the type of the pits, and extract the information required for filling the pits;

Steps 2 and 3: planning the motion of the wet spraying manipulator according to the obtained information required for filling the pit, and then controlling the wet spraying manipulator to perform the work of filling the pit with the original layer.

The information required for filling the pit includes: the center coordinates of the pit surface, the normal vector of the pit surface, and the square quantity of concrete required for filling the pit.

In step 3, the spacing of the curved steel arches is determined by the surrounding rock grade of the wall, which is between 0.8 and 1.5m.

In step 4, the following steps are specifically included:

Step 41. Use a three-dimensional laser scanner to scan the basal layer of the tunnel torus profile;

Step 42: Use the 3D contour reconstruction automatic processing software to process the point cloud data obtained by scanning, divide the injection area and injection block, and determine the injection point;

Step 43: Extract the coordinate information of the injection point and the volume information of the injection block.

In step 5, the support of the base layer specifically includes the following steps:

Step 51. Divide the wall surface to be sprayed into five injection areas, divide injection blocks in each injection area, take the center point of each injection block as the injection point, and extract the coordinate information of the injection point and the volume information of the injection block ;

Step 52: The wet spraying trolley control system plans the motion of the wet spraying manipulator according to the obtained coordinate information and volume information, and then controls the wet spraying manipulator to perform the base layer spraying support operation.

Further, in step 5, both the base layer support operation and the steel arch layer support operation are carried out by means of cumulative thin spraying, and the thickness of a single spraying does not exceed 20cm.

A specific implementation example is proposed below:

An intelligent shotcrete support method applied to an over-excavated wall tunnel, the method steps are as follows:

The first step is to drive the wet spray trolley to the job site and support the front and rear legs in a stable position. As shown in Figure 1, place the total station at point P1 in the tunnel, set up the station by measuring the pre-placed point P2 in the tunnel, and use the total station to measure the prism point P3 placed on the trolley to calculate the wet spray trolley The spatial relationship with the tunnel, to complete the intelligent positioning of the wet spray trolley;

The second step is to use the 3D tunnel laser scanner installed on the head of the wet spray trolley to scan the contour of the wall to be operated, and upload the scanned tunnel contour point cloud data to the measurement and control center;

The third step is to use the 3D contour reconstruction automatic processing software to process the point cloud data obtained by scanning, compare the scanning contour with the design contour to identify the pits, identify the small pits and large pits according to the size and shape of the pit surface, and extract the holes for filling the pits. Relevant information is required. For small pits, the strategy for filling pits is fixed-point spraying, and it is necessary to extract information such as the coordinates of the center of the pit surface, the normal vector of the pit surface, and the square quantity of concrete required to fill the pits; for large pits, the strategy for filling the pits is to fill in blocks. It is necessary to divide the large pit surface into multiple small pits, and then extract information such as the coordinates of the pit surface center of the corresponding small pit, the normal vector of the pit surface, and the amount of concrete required for filling the pit;

In the fourth step, the control system of the wet spraying trolley determines the position of the shotcrete manipulator, the attitude of the spray gun and the spraying time according to the obtained center coordinates of the pit surface, the normal vector of the pit surface and the square quantity of concrete required for filling the pit, and plans the wet spraying machine. The movement trajectory of the arm, and control the wet spraying manipulator to carry out the pit-filling operation of the original layer;

The fifth step is to install multiple rows of arc-shaped steel arches arranged side by side on the rock surface. The spacing of the steel arches is determined by the surrounding rock grade of the wall, which is between 0.8 and 1.5m;

The sixth step, use the three-dimensional tunnel laser scanner installed on the head of the wet spray trolley to scan the contour of the wall with the steel arch, and upload the scanned tunnel contour point cloud data to the measurement and control center;

The seventh step is to divide the wall surface to be sprayed into five spray areas. As shown in Figure 2, the heights of area I, area II, area III and area IV are all 2m, and area V is the top area of the tunnel. Then, for the five injection area blocks, as shown in Figure 3, each injection area is divided into rectangular injection blocks of equal size. Then take the center point of the unit block as the injection point, and use the 3D contour reconstruction automatic processing software to process the point cloud data scanned in the sixth step to obtain the coordinates of the injection point, the normal vector and the square of the corresponding injection block. In each spray area, the spray gun follows a "bow"-shaped trajectory;

In the eighth step, the control system of the wet spraying trolley determines the position of the spraying manipulator, the attitude of the spraying gun and the spraying time according to the obtained coordinates of the spraying point, the normal vector and the square of the corresponding spraying block, and plans the motion trajectory of the wet spraying manipulator. And control the wet spraying mechanical arm to carry out the spraying operation. The shotcrete operation is divided into three stages, first is the base layer support, then the steel arch layer support, and finally the surface layer support. As shown in Figure 4, the base layer support is to fill the gap between the wall to be sprayed and the back of the steel arch, corresponding to the area ① in the figure; the support of the steel arch layer is to fill the middle of the steel arch, corresponding to the area ② in the figure; the surface layer Support refers to spraying a layer of concrete with a thickness of about 2cm on the surface of the steel arch, corresponding to area ③ in the figure. The tunnel toroid profile is scanned at the beginning of each stage to provide information for the wet spray trolley control system to plan the motion of the wet spray manipulator. In the spraying operation of the base layer support and the steel arch layer support, the strategy of multiple thin spraying is adopted, and the thickness of a single spraying does not exceed 20cm, which can effectively reduce the loss of concrete blocks.

Claims (7)

1. An intelligent guniting support method for a wall surface overexcavation tunnel is characterized by comprising the following steps:

the method comprises the following steps that firstly, a total station is used for positioning the wet spraying trolley, the spatial relation between the wet spraying trolley and a tunnel is obtained, and intelligent positioning work of the wet spraying trolley is completed;

step two, performing original scanning on the tunnel ring surface outline to obtain a scanning outline, comparing the scanning outline with a design outline to identify a pit generated by overexcavation, performing motion planning on the wet spraying manipulator, and performing original layer pit repairing operation;

thirdly, installing a plurality of rows of arc-shaped steel arches which are arranged in parallel on the rock surface;

scanning the profile of the wall surface provided with the steel arch, uploading the scanned tunnel profile point cloud data to a measurement and control center, dividing the injection blocks, determining the injection points, and extracting the coordinate information of the injection points and the volume information of the injection blocks;

and fifthly, performing motion planning on the wet-spraying manipulator according to the coordinate information and the volume information, and sequentially performing basal layer support, steel arch layer support and surface layer support.

2. The intelligent guniting support method for the wall surface overexcavation tunnel according to claim 1, wherein in the second step, the method specifically comprises the following steps:

secondly, performing original scanning on the tunnel ring surface profile by using a three-dimensional laser scanner;

secondly, processing the point cloud data obtained by scanning by using three-dimensional contour reconstruction automatic processing software, comparing the scanning contour with the design contour, identifying the pit generated by overexcavation, identifying the type of the pit, and extracting information required by pit filling;

and step two, performing motion planning on the wet spraying mechanical arm according to the obtained information required by pit repairing, and further controlling the wet spraying mechanical arm to perform original layer pit repairing operation.

3. The intelligent guniting support method for the wall surface overexcavation tunnel according to claim 2, wherein the information required for pit filling comprises: the center coordinates of the pit surface, the normal vector of the pit surface and the volume of concrete needed for filling the pit.

4. The intelligent guniting support method for the wall surface overexcavation tunnel according to claim 1, wherein in the third step, the distance between the arc-shaped steel arches is determined by the surrounding rock grade of the wall surface and is 0.8-1.5 m.

5. The intelligent guniting support method for the wall surface overexcavation tunnel according to claim 1, which is characterized by specifically comprising the following steps in the fourth step:

fourthly, scanning a basal layer of the tunnel ring surface profile by using a three-dimensional laser scanner;

processing the point cloud data obtained by scanning by using three-dimensional contour reconstruction automatic processing software, dividing an injection area and an injection block and determining an injection point;

and step four, extracting coordinate information of the injection point and volume information of the injection block.

6. The intelligent guniting support method for the wall surface overexcavation tunnel according to claim 1, wherein in the fifth step, the substrate layer support specifically comprises the following steps:

fifthly, dividing the wall surface to be sprayed into five spraying areas, dividing spraying blocks in each spraying area, taking the central point of each spraying block as a spraying point, and extracting the coordinate information of the spraying point and the volume information of the spraying block;

and step two, the wet-spraying trolley control system carries out motion planning on the wet-spraying mechanical arm according to the obtained coordinate information and volume information, and then controls the wet-spraying mechanical arm to carry out basal layer guniting support operation.

7. The intelligent guniting support method for the wall surface overexcavation tunnel according to claim 1, wherein in the fifth step, the base layer support operation and the steel arch layer support operation are carried out in an accumulative thin-spraying mode, and the thickness of single spraying is not more than 20 cm.

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