阅读说明：本技术 一种智能浅埋暗挖的作业方法、设备及存储介质 (Intelligent shallow-buried underground excavation operation method and equipment and storage medium ) 是由 王文正 孔恒 付晓健 张艳秋 黄明利 乔国刚 林雪冰 郑雪梅 高俊星 史永杰 吴 于 2021-06-01 设计创作，主要内容包括：本申请提供了一种智能浅埋暗挖的作业方法、设备及计算机可读存储介质,通过获取施工区域的施工位置信息,根据施工位置信息确定超前导管的钻孔位置和钻孔方向,然后根据钻孔位置和钻孔方向,调整钻机的空间位置后,将超前导管打入钻孔位置内,以实现钻机按照施工要求将超前导管沿施工区域的延伸方向打入,再以超前导管所在的位置为边界执行挖掘操作,从而保证施工方向满足实际需求,在不需要人工干预的前提下,实现自动作业,从而降低了人工成本,避免了作业人员在恶劣作业环境中作业而带来的危害,并且利用自动化作业可以大幅加快施工进度,同时根据精确的数据施工,避免人工经验作业,提高了施工精度。(The application provides an intelligent shallow-buried underground excavation operation method, equipment and a computer readable storage medium, which are characterized in that construction position information of a construction area is obtained, the drilling position and the drilling direction of a leading guide pipe are determined according to the construction position information, then the leading guide pipe is driven into the drilling position after the spatial position of a drilling machine is adjusted according to the drilling position and the drilling direction, so that the drilling machine drives the leading guide pipe into the drilling position along the extending direction of the construction area according to construction requirements, and then excavation operation is executed by taking the position of the leading guide pipe as a boundary, thereby ensuring that the construction direction meets the actual requirements, realizing automatic operation on the premise of no need of manual intervention, reducing the labor cost, avoiding the harm caused by the operation of operating personnel in a severe operation environment, greatly accelerating the construction progress by utilizing the automatic operation, and simultaneously constructing according to accurate data, avoid artifical experience operation, improved the construction precision.)

1. An intelligent shallow-buried underground excavation operation method is characterized by comprising the following steps:

acquiring construction position information of a construction area; wherein the construction location information includes boundary coordinates of the construction area;

determining the drilling position and the drilling direction of the advanced guide pipe according to the construction position information;

adjusting the spatial position of the drilling machine according to the drilling position and the drilling direction; wherein the spatial position of the drilling rig comprises a horizontal position, a height position and an inclination angle of the drilling rig;

driving the advanced guide pipe into the drilling position according to the space position of the drilling machine and the drilling position; and

and taking the position of the advanced guide pipe as a boundary to execute excavation operation.

2. The method of claim 1, wherein determining the drilling location and the drilling direction of the lead pipe from the construction location information comprises:

calculating the radius of the construction area according to the boundary coordinates of the area to be excavated; and

and determining the number of the advanced guide pipes and the drilling position corresponding to each advanced guide pipe according to the radius of the construction area and the preset distance between the adjacent advanced guide pipes.

3. The method of claim 1, wherein determining the drilling location and the drilling direction of the lead pipe from the construction location information comprises:

acquiring an extension curve of the construction area according to the boundary coordinates of the construction area; wherein the extension curve characterizes an extension direction of the construction area; and

determining the drilling direction of the lead catheter from the extension curve; wherein the drilling direction is a tangential direction of the extension curve.

4. A method of operation as claimed in claim 3 wherein determining the bore direction of the lead catheter from the extension profile comprises:

obtaining a current curve segment of the extension curve corresponding to the advanced catheter; and

and selecting the tangential direction at the middle point of the current curve segment as the drilling direction.

5. The method of operation of claim 1, further comprising, after said performing a digging operation:

and transporting the muck generated by the excavation operation to a specified position.

6. The method of claim 1, further comprising, after said driving said lead conductor into said drilling position:

and grouting in the super-front guide pipe.

7. The utility model provides a shallow excavation's of burying of intelligence operation equipment which characterized in that includes:

the construction position acquisition module is used for acquiring construction position information of a construction area; wherein the construction location information includes boundary coordinates of the construction area;

the drilling information determining module is used for determining the drilling position and the drilling direction of the advanced guide pipe according to the construction position information;

the drilling machine position adjusting module is used for adjusting the spatial position of the drilling machine according to the drilling position and the drilling direction; wherein the spatial position of the drilling rig comprises a horizontal position, a height position and an inclination angle of the drilling rig;

the advanced guide pipe driving module is used for driving the advanced guide pipe into the drilling position according to the space position and the drilling position of the drilling machine; and

and the excavation execution module is used for executing excavation operation by taking the position of the advanced guide pipe as a boundary.

8. The work apparatus according to claim 7, further comprising:

and the muck transportation module is used for transporting the muck generated by the excavation operation to a specified position.

9. The work apparatus according to claim 7, further comprising:

and the grouting module is used for injecting cement into the super front guide pipe.

10. A computer-readable storage medium storing a computer program for executing the method of the intelligent shallow excavation operation of any one of claims 1 to 6.

Technical Field

The application relates to the technical field of tunnel construction, in particular to an intelligent shallow-buried underground excavation operation method, intelligent shallow-buried underground excavation operation equipment and a computer readable storage medium.

Background

The shallow excavation method is a method for carrying out various underground cavern excavation constructions in the underground close to the ground surface. In the weak surrounding rock stratum of cities and towns, underground engineering is built under the shallow burying condition, the geological condition is improved as the premise, the control of surface subsidence is taken as the key point, and a grating (or other steel structures) and a spray anchor are taken as the primary support means.

The shallow buried subsurface excavation method has a good construction effect on underground engineering (such as subways, underground roads and the like) of weak strata (such as the strata of cities of Beijing, Shenzhen, Western Ann and the like in China). However, each construction link of the shallow excavation method still mainly depends on manual operation, and the manual operation not only has high labor intensity and great operation environment pollution to influence the health of operators, but also has low efficiency, thereby resulting in slow construction progress.

Disclosure of Invention

The present application is proposed to solve the above-mentioned technical problems. The embodiment of the application provides an intelligent shallow-buried underground excavation operation method, equipment and a computer readable storage medium, and solves the problem of low construction efficiency of the manual shallow-buried underground excavation method.

According to one aspect of the application, an intelligent shallow excavation operation method is provided, and comprises the following steps: acquiring construction position information of a construction area; wherein the construction location information includes boundary coordinates of the construction area; determining the drilling position and the drilling direction of the advanced guide pipe according to the construction position information; adjusting the spatial position of the drilling machine according to the drilling position and the drilling direction; wherein the spatial position of the drilling rig comprises a horizontal position, a height position and an inclination angle of the drilling rig; driving the advanced guide pipe into the drilling position according to the space position of the drilling machine and the drilling position; and taking the position of the advanced guide pipe as a boundary to execute excavation operation.

In an embodiment, the determining the drilling position and the drilling direction of the advanced guide pipe according to the construction position information comprises: calculating the radius of the construction area according to the boundary coordinates of the area to be excavated; and determining the number of the advanced guide pipes and the drilling position corresponding to each advanced guide pipe according to the radius of the construction area and the preset distance between the adjacent advanced guide pipes.

In an embodiment, the determining the drilling position and the drilling direction of the advanced guide pipe according to the construction position information comprises: acquiring an extension curve of the construction area according to the boundary coordinates of the construction area; wherein the extension curve characterizes an extension direction of the construction area; and determining the drilling direction of the lead catheter from the extension curve; wherein the drilling direction is a tangential direction of the extension curve.

In an embodiment, said determining said drilling direction of said lead catheter from said extension curve comprises: obtaining a current curve segment of the extension curve corresponding to the advanced catheter; and selecting the tangential direction of the middle point of the current curve segment as the drilling direction.

In one embodiment, after the performing of the excavation operation, the method for operating intelligent shallow excavation further includes: and transporting the muck generated by the excavation operation to a specified position.

In one embodiment, after driving the lead conductor into the drilling location, the method of operating a smart shallow excavation further comprises: and injecting cement into the super-front guide pipe.

According to another aspect of the present application, there is provided an intelligent shallow excavation work apparatus, comprising: the construction position acquisition module is used for acquiring construction position information of a construction area; wherein the construction location information includes boundary coordinates of the construction area; the drilling information determining module is used for determining the drilling position and the drilling direction of the advanced guide pipe according to the construction position information; the drilling machine position adjusting module is used for adjusting the spatial position of the drilling machine according to the drilling position and the drilling direction; wherein the spatial position of the drilling rig comprises a horizontal position, a height position and an inclination angle of the drilling rig; the advanced guide pipe driving module is used for driving the advanced guide pipe into the drilling position according to the space position and the drilling position of the drilling machine; and the excavation execution module is used for executing excavation operation by taking the position of the advanced guide pipe as a boundary.

In one embodiment, the intelligent shallow excavation operation device further includes: and the muck transportation module is used for transporting the muck generated by the excavation operation to a specified position.

In one embodiment, the intelligent shallow excavation operation device further includes: and the grouting module is used for grouting in the super front guide pipe.

According to another aspect of the present application, there is provided a computer-readable storage medium storing a computer program for executing any one of the above-mentioned working methods of intelligent shallow excavation.

The application provides an intelligent shallow-buried underground excavation operation method, equipment and a computer readable storage medium, which are characterized in that the construction position information of a construction area is obtained, the drilling position and the drilling direction of a leading guide pipe are determined according to the construction position information, then the spatial position of a drilling machine is adjusted according to the drilling position and the drilling direction, the leading guide pipe is driven into the drilling position, so that the drilling machine drives the leading guide pipe into the drilling position along the extending direction of the construction area according to the construction requirement, then the excavation operation is executed by taking the position of the leading guide pipe as a boundary, thereby ensuring that the construction direction meets the actual requirement, realizing automatic operation on the premise of not needing manual intervention, reducing the labor cost, avoiding the harm caused by the operation of operating personnel in a severe operation environment, greatly accelerating the construction progress by utilizing the automatic operation, and simultaneously constructing according to accurate data, avoid artifical experience operation, improved the construction precision.

Drawings

The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.

Fig. 1 is a schematic flow chart of an operation method of intelligent shallow excavation according to an exemplary embodiment of the present application.

Fig. 2 is a schematic flow chart of a method for determining a borehole position according to an exemplary embodiment of the present application.

Fig. 3 is a flowchart illustrating a method for determining a drilling direction according to an exemplary embodiment of the present application.

Fig. 4 is a schematic flow chart of an operation method of intelligent shallow excavation according to another exemplary embodiment of the present application.

Fig. 5 is a schematic flow chart of an operation method of intelligent shallow excavation according to another exemplary embodiment of the present application.

Fig. 6 is a schematic structural diagram of an intelligent shallow excavation work device according to an exemplary embodiment of the present application.

Fig. 7 is a schematic structural diagram of an intelligent shallow excavation work device according to another exemplary embodiment of the present application.

Fig. 8 is a block diagram of an electronic device provided in an exemplary embodiment of the present application.

Detailed Description

Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and that the present application is not limited by the example embodiments described herein.

Summary of the application

The shallow-buried underground excavation method has great flexibility in construction, can be suitable for the requirements of tunnels with different sections and different spans and the conditions of a large part of stratum, and is widely applied. The shallow-buried underground excavation method is mostly applied to soft soil or soft rock stratum, the excavation of the tunnel in the subway interval generally adopts a step excavation method such as a step method, a CRD (cross-beam deformation) method and a CD (compact disc) method, and the conventional large-scale mechanical equipment is difficult to be allocated to a use field. Therefore, manual operation is usually adopted, labor input is high, the operation environment is relatively poor, labor intensity is high, safety risk is high, the construction process is limited by the technical level of a construction team, and construction quality cannot be well guaranteed.

In order to solve the problems, the application provides an operation method and equipment for intelligent shallow-buried underground excavation, operation points and operation modes are determined according to construction requirements and construction data through automation equipment, so that automatic or semi-automatic mechanical operation can be realized, manual labor force is reduced, the operation environment of constructors can be greatly improved, operation efficiency can be greatly improved, meanwhile, multiple links or steps of shallow-buried underground excavation are completed through integrated equipment, the limitation of operation space to multiple devices is reduced, and the automation degree is further improved.

Exemplary method

Fig. 1 is a schematic flow chart of an operation method of intelligent shallow excavation according to an exemplary embodiment of the present application. As shown in fig. 1, the operation method of intelligent shallow excavation comprises the following steps:

step 110: acquiring construction position information of a construction area; wherein the construction location information includes boundary coordinates of the construction area.

Since the excavation construction length of a common tunnel is long, construction position information such as the length, direction and boundary coordinates of a construction area is preset, and many tunnels are not arranged along a straight line in order to adapt to urban environment. For accurate construction, construction position information of a construction area (i.e., area position information to be excavated) needs to be acquired before construction, and accurate construction can be realized and construction accuracy can be improved according to the preset construction position information.

Step 120: and determining the drilling position and the drilling direction of the advanced guide pipe according to the construction position information.

The advanced guide pipe is a very effective auxiliary construction method for stable excavation, and plays a role in reinforcing a loose rock stratum in the construction of a weak and broken rock stratum, so that the stability of the loose and weak surrounding rock is enhanced, the stability of the surrounding rock within the time of completing excavation and primary support is facilitated, and the surrounding rock is not damaged unstably until collapse. The determination of various parameters of the construction of the advanced conduit can be determined according to the geological conditions of the boundary of the surrounding rocks, the conditions of the surrounding rocks, the form of a supporting structure and the size of the cross section of the tunnel. The advanced guide pipe in the embodiment of the application is arranged along the boundary (namely, excavation outline) of the construction area within the range of 120 degrees, namely, all the guide pipes arranged on the boundary of the construction area form the radian of 120 degrees. The length of the advanced conduit in the embodiment of the application can be the height of a step in a step method plus 2 meters, the diameter of the advanced conduit can be 38-50 millimeters, the front section of the advanced conduit can be made into a conical shape with the length of about 10 centimeters, and the tail end of the advanced conduit is welded with a steel bar hoop with the diameter of 6-8 millimeters. In one embodiment, the angle between the drilling direction and the perpendicular to the exterior wall surface of the construction area may be in the range of 10 ° to 15 °. In order to adapt to the whole extending direction of the tunnel, the drilling direction can be properly adjusted, but the excessive deviation of the drilling direction can cause the difficulty in driving the advanced guide pipe and the difficulty in controlling the direction of the advanced guide pipe to be increased, so that the drilling direction can be controlled, the requirement on the extending direction of the tunnel can be met, and the construction difficulty can be reduced. In further embodiment, when the bending angle of the current section of the construction area is greater than 15 degrees, the included angle between the drilling direction and the vertical direction of the outer wall surface of the construction area can be reduced by shortening the length of the advanced guide pipe, and the construction difficulty is prevented from increasing.

Step 130: adjusting the spatial position of the drilling machine according to the drilling position and the drilling direction; wherein the spatial position of the drilling machine comprises the horizontal position, the height position and the inclination angle of the drilling machine.

After the drilling position and the drilling direction are determined, the spatial position of the drilling machine can be adjusted to ensure that the drill bit of the drilling machine corresponds to the drilling position and the advancing direction of the drill bit is consistent with the drilling direction, so that the accurate driving of the advanced guide pipe can be ensured. The specific implementation mode can be that the horizontal position of the drill arm is adjusted by utilizing structures such as a turntable between the drill and the machine body, the height position of the drill is adjusted by utilizing a luffing mechanism and the like at the drill arm, and the inclination angle of the drill is adjusted by utilizing a rotating mechanism between the drill arm and the drill, so that the requirements of drilling in all positions and directions are met.

Step 140: and driving the advanced guide pipe into the drilling position according to the space position and the drilling position of the drilling machine.

After the space position and the drilling position of the drilling machine are determined, namely the drill bit of the drilling machine reaches the corresponding drilling position and is consistent with the advancing direction and the drilling direction of the drill bit, the advance guide pipe can be directly driven into the drilling position along the drilling direction by using the drilling machine, and the automatic arrangement operation of the advance guide pipe support is realized.

Step 150: and taking the position of the leading catheter as a boundary to execute the excavation operation.

After the arrangement of the advanced guide pipes is completed, the excavator can be used for realizing excavation operation. The method and the device perform the excavation operation by taking the position of the advanced catheter as a boundary, not only can realize the area positioning of the excavation operation by utilizing the position information of the preorder operation, but also can ensure that the tunnel direction of an excavation part meets the requirement of the whole extending direction.

The application provides an intelligent shallow-buried underground excavation operation method, which comprises the steps of obtaining construction position information of a construction area, determining the drilling position and the drilling direction of a leading guide pipe according to the construction position information, then driving the leading guide pipe into the drilling position after adjusting the spatial position of a drilling machine according to the drilling position and the drilling direction, so that the drilling machine can drive the leading guide pipe into the drilling position along the extending direction of the construction area according to construction requirements, and then carrying out excavation operation by taking the position of the leading guide pipe as a boundary, thereby ensuring that the construction direction meets the actual requirement, realizing automatic operation on the premise of not needing manual intervention, reducing labor cost, avoiding the harm caused by the operation of operating personnel in a severe operation environment, greatly accelerating the construction progress by utilizing automatic operation, simultaneously carrying out construction according to accurate data, avoiding manual experience operation, the construction precision is improved.

Fig. 2 is a schematic flow chart of a method for determining a borehole position according to an exemplary embodiment of the present application. As shown in fig. 2, the step 120 may include:

step 121: and calculating the radius of the construction area according to the boundary coordinates of the area to be excavated.

After the boundary (usually circular or circular arc) coordinates of the region to be excavated (i.e., the face region) are known, the radius of the construction region, i.e., the radius of the face, is calculated from the boundary coordinates. The advanced guide pipe can be accurately arranged in the tunnel face area according to the radius of the construction area so as to ensure the supporting capability of the advanced support.

Step 122: and determining the number of the advanced guide pipes and the corresponding drilling positions of each advanced guide pipe according to the radius of the construction area and the preset distance between the adjacent advanced guide pipes.

Due to the fact that the bearing capacity of different geologies is different, after surveying is completed, the arrangement density of the lead pipes (namely the distance between the adjacent lead pipes) can be determined according to the geological level so as to meet the bearing requirement of the current tunnel. After the radius of the construction area is obtained through calculation, the number of the advanced guide pipes and the drilling positions corresponding to the advanced guide pipes are determined by combining the preset distance (which can be a linear distance or an arc distance) between the adjacent advanced guide pipes, so that the arrangement density of the advanced guide pipes is ensured to meet the load-bearing requirement.

Fig. 3 is a flowchart illustrating a method for determining a drilling direction according to an exemplary embodiment of the present application. As shown in fig. 3, the step 120 may include:

step 123: acquiring an extension curve of the construction area according to the boundary coordinates of the construction area; wherein the extension curve characterizes the extension direction of the construction area.

The boundary coordinates of the construction area refer to coordinates of boundary points of the construction area, including coordinates of the boundary points on the current tunnel face and coordinates of the boundary points in the extending direction of the tunnel. From the coordinates of the boundary points in the extending direction of the tunnel, an extension curve of the construction area, which characterizes the extending direction of the construction area (extending direction of the tunnel), can be obtained.

Step 124: determining the drilling direction of the advanced guide pipe according to the extension curve; wherein the drilling direction is a tangential direction of the extension curve.

After the extending direction of the construction area is obtained, the drilling method of the advanced guide pipe can be determined to be the tangential direction of the extending curve according to the extending direction, so that the advanced guide pipe is consistent with the extending direction or is consistent as much as possible, the advanced guide pipe can be guaranteed to be arranged near the boundary of the construction area along the extending direction of the construction area, the support of the tunnel is achieved, and the positioning reference can be carried out on the excavation operation. Specifically, the implementation manner of step 124 may be: and acquiring a current curve section corresponding to the extension curve and the advanced guide pipe, and selecting the tangential direction at the middle point of the current curve section as the drilling direction. By selecting the tangential direction of the middle point of the current curve segment as the drilling direction, the advanced guide pipe can be arranged near the boundary of the construction area along the extension direction of the construction area, so that the support of the tunnel is realized, and the positioning reference can be carried out on the excavation operation. It should be understood that, in the embodiment of the present application, the tangential direction of different points may be selected as the drilling direction of the advanced guide pipe according to the requirement of an actual application scenario, for example, the tangential direction of a point on a current tunnel face is used as the drilling direction of the advanced guide pipe, as long as the selected drilling direction can ensure that the advanced guide pipe is arranged near the boundary of the construction area along the extending direction of the construction area, and a specific selection manner of the drilling direction of the advanced guide pipe in the embodiment of the present application is not limited.

Fig. 4 is a schematic flow chart of an operation method of intelligent shallow excavation according to another exemplary embodiment of the present application. As shown in fig. 4, after step 150, the operation method of intelligent shallow excavation may further include:

step 160: and transporting the dregs generated by the excavation operation to a specified position.

After the excavation operation, a large amount of muck is generated, and if the muck is not transported and cleaned, the continuous excavation is affected or the subsequent drilling and excavation operation cannot be performed, so that the muck needs to be cleaned after each excavation operation, namely, the muck is transported to other specified positions. The specific implementation mode can be as follows: utilize on taking off the sediment device with sediment propelling movement to conveyer, utilize conveyer to further transport sediment to the assigned position. The slag raking device can comprise a raking arm and a scraper conveyor (such as a conveyor belt) and the raking arm pushes the slag to the scraper conveyor, and the scraper conveyor transports the slag to a transport device such as a transport trolley behind the machine body so as to transport the slag.

Fig. 5 is a schematic flow chart of an operation method of intelligent shallow excavation according to another exemplary embodiment of the present application. As shown in fig. 5, after step 140, the operation method of intelligent shallow excavation may further include:

step 170: grouting in the lead catheter.

After grouting is carried out in the advance guide pipe, the stability of loose and weak surrounding rocks can be enhanced, the stability of the surrounding rocks within the time of completing excavation and primary support is facilitated, and the surrounding rocks are not damaged by instability until collapse. The advanced conduit grouting is suitable for weak surrounding rocks of tunnel arch parts, loose and unbonded soil layers and sand layers and gravel (pebble) stone layer-level broken rock layers with poor self-stability. The condition and stability of the surrounding rock can be changed by the advanced conduit grouting, and the grout can be tightly contacted with the weak and loose stratum or the water-containing broken surrounding rock cracks and solidified after being injected into the weak and loose stratum or the water-containing broken surrounding rock cracks. The slurry occupies the positions of soil particles and rock cracks after replacing water and air in the soil particles and the rock cracks in the modes of filling, splitting and the like, and is condensed after a certain time, the original loose soil particles or cracks are cemented into a whole to form a consolidated body with high strength and good waterproofness, so that the loose and broken conditions of surrounding rocks are greatly improved. The concrete grouting mode can be as follows: blowing out the sand and stone in the leading pipe by using a blowing pipe, plugging cracks around the leading pipe and on the wall surface by using plastic cement, or spraying concrete with the thickness of 8-10 cm around the leading pipe and on the wall surface for sealing, and finally grouting the leading pipe by using a grouting machine and other devices.

Exemplary devices

Fig. 6 is a schematic structural diagram of an intelligent shallow excavation work device according to an exemplary embodiment of the present application. As shown in fig. 6, the intelligent shallow excavation work apparatus 60 includes: a construction position obtaining module 61, configured to obtain construction position information of a construction area; wherein the construction position information includes boundary coordinates of the construction area; the drilling information determining module 62 is used for determining the drilling position and the drilling direction of the advanced guide pipe according to the construction position information; a drilling machine position adjusting module 63, which is used for adjusting the spatial position of the drilling machine according to the drilling position and the drilling direction; the spatial position of the drilling machine comprises the horizontal position, the height position and the inclination angle of the drilling machine; the advanced guide pipe driving module 64 is used for driving the advanced guide pipe into the drilling position according to the space position and the drilling position of the drilling machine; and an excavation performing module 65 for performing an excavation operation with the position of the leading catheter as a boundary. The construction position obtaining module 61 may be a processor or the like that obtains construction position information according to the provided construction information; the drilling information determination module 62 may be a processor or the like that analyzes the drilling position and the drilling direction according to the construction position information, wherein the processor that analyzes the drilling position and the drilling direction and the processor that analyzes the construction position information may be integrated into one processor or controller; the rig position adjustment module 63 may be a rig controller disposed on the rig; the lead pipe driver module 64 may be an actuator of the drilling machine, such as the rotary table, luffing mechanism, rotary mechanism described above; the excavation implement module 65 may be an excavator and its control mechanism. The steps are automatically realized by integrating the module structures into a whole, so that automatic or semi-automatic shallow-buried excavation operation is realized.

The utility model provides an intelligence shallow-buried undercut operation equipment, through construction position acquisition module 61 acquire the construction position information of construction area, drilling information determination module 62 confirms drilling position and drilling direction of leading pipe according to the construction position information, then rig position adjustment module 63 adjusts the space position of rig according to drilling position and drilling direction, leading pipe is driven into the drilling position by leading pipe driving module 64, so that the rig drives the leading pipe into along the extending direction of construction area according to the construction requirement, excavation execution module 65 executes excavation operation with the position of leading pipe as the boundary, thereby ensuring that the construction direction meets the actual requirement, and under the premise of not needing manual intervention, automatic operation is realized, thereby the labor cost is reduced, and the harm caused by the operation of operating personnel in the severe operation environment is avoided, and the construction progress can be greatly accelerated by utilizing automatic operation, and meanwhile, the construction is carried out according to accurate data, so that manual experience operation is avoided, and the construction precision is improved.

In one embodiment, the angle between the drilling direction and the perpendicular to the exterior wall surface of the construction area may be in the range of 10 ° to 15 °. In further embodiment, when the bending angle of the current section of the construction area is greater than 15 degrees, the included angle between the drilling direction and the vertical direction of the outer wall surface of the construction area can be reduced by shortening the length of the advanced guide pipe, and the construction difficulty is prevented from increasing.

Fig. 7 is a schematic structural diagram of an intelligent shallow excavation work device according to another exemplary embodiment of the present application. As shown in fig. 7, the drilling information determination module 62 may include: a radius calculation unit 621, configured to calculate a radius of the construction area according to the boundary coordinates of the area to be excavated; and a drilling position determining unit 622 for determining the number of the advanced guide pipes and the drilling position corresponding to each advanced guide pipe according to the radius of the construction area and the preset distance between the adjacent advanced guide pipes.

In one embodiment, as shown in fig. 7, the drilling information determination module 62 may further include: an extension curve acquiring unit 623 configured to acquire an extension curve of the construction area according to the boundary coordinates of the construction area; the extension curve represents the extension direction of the construction area; a drilling direction determination unit 624 for determining the drilling direction of the lead catheter according to the extension curve; wherein the drilling direction is a tangential direction of the extension curve.

In an embodiment, the drilling direction determination unit 624 may be further configured to: and acquiring a current curve section corresponding to the extension curve and the advanced guide pipe, and selecting the tangential direction at the middle point of the current curve section as the drilling direction.

In an embodiment, as shown in fig. 7, the above-mentioned intelligent shallow excavation working equipment may further include: and a muck transport module 66 for transporting the muck generated by the excavation operation to a designated location.

In an embodiment, as shown in fig. 7, the above-mentioned intelligent shallow excavation working equipment may further include: and a grouting module 67 for injecting cement into the lead conduit.

Exemplary electronic device

Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 8. The electronic device can be applied to the intelligent shallow-buried and underground excavated working equipment, and the electronic device can be one or both of the first device and the second device or a stand-alone device independent of the first device and the second device, and the stand-alone device can be communicated with the first device and the second device to receive the collected input signals from the first device and the second device.

FIG. 8 illustrates a block diagram of an electronic device in accordance with an embodiment of the present application.

As shown in fig. 8, the electronic device 10 includes one or more processors 11 and memory 12.

The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

Memory 12 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer readable storage medium and executed by processor 11 to implement the above-described method for operating intelligent shallow excavation according to various embodiments of the present application, and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.

In one example, the electronic device 10 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other form of connection mechanism (not shown).

For example, when the electronic device is a first device or a second device, the input device 13 may be an instrument such as a sensor for inputting a signal. When the electronic device is a stand-alone device, the input means 13 may be a communication network connector for receiving the acquired input signals from the first device and the second device.

The input device 13 may also include, for example, a keyboard, a mouse, and the like.

The output device 14 may output various information including the determined distance information, direction information, and the like to the outside. The output devices 14 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, among others.

Of course, for simplicity, only some of the components of the electronic device 10 relevant to the present application are shown in fig. 8, and components such as buses, input/output interfaces, and the like are omitted. In addition, the electronic device 10 may include any other suitable components depending on the particular application.

Exemplary computer program product and computer-readable storage Medium

In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the method of working of intelligent shallow excavation according to various embodiments of the present application described in the "exemplary methods" section of this specification, supra.

The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.

Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform the steps in the method of working of intelligent shallow excavation according to various embodiments of the present application described in the "exemplary methods" section above in this specification.

The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.

The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".

It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.