CN108724695A

CN108724695A - A kind of structure method of seal in underground sequestration space

Info

Publication number: CN108724695A
Application number: CN201810402533.0A
Authority: CN
Inventors: 马占国; 龚鹏; 谢鹏雁; 鞠杨; 刘飞; 高峰; 张帆; 马云靖; 杨小军; 李阳
Original assignee: China University of Mining and Technology Beijing CUMTB
Current assignee: China University of Mining and Technology CUMT; China Construction Municipal Engineering Corp Ltd; China Construction East China Investment Co Ltd
Priority date: 2018-04-28
Filing date: 2018-04-28
Publication date: 2018-11-02
Anticipated expiration: 2038-04-28
Also published as: CN108724695B

Abstract

The invention discloses a construction and storage method of an underground storage space, which comprises the steps of construction preparation of the underground storage space, scanning of the inner cavity of an underground cavity, three-dimensional modeling of the underground storage space, 3D printing of a three-dimensional entity of the underground storage space, and underground storage. After the detection robot unit completes the scanning of the underground cavity, the three-dimensional space model of the underground cavity is constructed, and the central control computer generates the three-dimensional model of the underground storage space, the printing path, the storage transportation path, and the 3D printing robot according to the stress calculation and analysis results and the input safety factor. Unit, directly 3D print the entity of the 3D model of the underground storage space inside the underground cavity, and the sealed material transfer robot unit will move the coordinates of the items to be sealed in sequence and transfer them to the set coordinate position inside the underground storage space entity, which can realize the intelligence of the underground storage space Intelligent automatic transfer and storage of automatic construction and storage items, especially suitable for carbon storage operations based on underground cavities.

Description

A kind of structure method of seal in underground sequestration space

Technical field

It is specifically a kind of based on such as underground coal mine coal the present invention relates to a kind of structure method of seal in underground sequestration space Underground cavity that the artificial ground activity such as large area coal seam burned out area formed in goaf, Underground Coal Gasification Process generates or A series of structure in the underground sequestration space of the nature underground cavity such as cavities that the natural geological movement of person generates under earth's surface is sealed up for safekeeping Method belongs to underground engineering technical field.

Background technology

The underground space refers to belonging to earth's surface hereinafter, mainly for a noun for building aspect, its range is very wide, Such as the spaces such as underground commercial center, underground parking, subway, the tunnels Chuan Hai.The utilization of the underground space are urban developments To the product of certain phase, urbanization accelerated development makes Urban Underground Space Excavation utilizes to synchronize to accelerate development as inevitable.

The existing underground space development in China is mostly developed and utilized for underground shallow layer part, such as underground traffic The facilities such as facility, underground commerce facility, underground garage, Comprehensive Disaster Prevention for Cities facility, and with one line urban underground space of China Utilization, underground shallow layer part will utilize finish, underground space development will be gradually to Deep Development, Deep underground space The utilization of resource have become the major subjects of future city modernization construction.The exploitation of Deep underground space resource can also answer For the military engineerings and oil cellar etc. such as underground military commanding center, military materials deposit undergrounds storage engineering, it might even be possible to Especially it is to slow down greenhouse gas emission and the global gas of protection in recent years for sealing up for safekeeping such as nuke rubbish, heavy metal waste and other items Wait and propose " carbon dioxide is directly discharged into air to replace in a manner of capturing carbon and secure storage " carbon sequestration skill Art, the amount of storage of Deep underground space is big, stable quality, safeguards that the features such as being easy can provide for carbon sequestration and excellent seals field up for safekeeping Institute.

Underground cavity refers to the space that earth's surface or less is covered by rock stratum, generally refer to space it is larger, be located at earth's surface below The underground cavity pocket of deep layer.Artificial ground activity underground mining such as in coal mining accounts for the 60% of world's coal production, and underground The coal goaf that large area is often left after the completion of the exploitations such as underground coal or gangue is formed into underground sky in recovery process Hole；In addition, coal underground gasification technology can not only recycle the coal resources of mine abandonment, but also it can be also used for recovery well work It is difficult to exploit or exploit the poor girdle of economy, safety, deep fractures, " under three " press coal and high-sulfur, high ash, high methane Coal seam, although the lime-ash after underground coal gasification(UCG) burning stays in underground, the big face that can be also formed in Underground Coal Gasification Process Product coal seam burned out area underground cavity；In addition, natural geological movement also will produce a series of underground cavities under earth's surface.

Although underground cavity can be as the exploitation basis of Deep underground space, the exploitation of traditional Deep underground space Different from the exploitation of Subsurface, Deep underground space exploitation is equally first opened in earth's surface without the exploitation of image of Buddha Subsurface It digs foundation pit, construct in foundation pit again, the exploitation of traditional Deep underground space is normally based on BIM technology and deep excavation dress On the basis of standby and technology, typically first carry out excavating and after supporting using such as prefabricated reinforced concrete column foundation, prefabricated The PC such as exterior wall, precast floor slab components carry out lifting concatenation construction process, then carry out pressure grouting and cast-in-place node processing etc. subsequently Working procedure.On the one hand, the larger conveying of space hold is usually required in traditional Deep underground space exploitation work progress to set Standby, support apparatus and lifting equipment, it usually needs expend a large amount of manpower and materials, Deep underground space development cost is larger；It is another Aspect, Deep underground space virgin state of stress of Deep underground space after excavation is usually destroyed, to cause stress weight It is new to be distributed, in Deep underground space work progress under the action of the factors such as burden pressure and underground water, Deep underground space pole Such as wall caving, roof fall, gushing water, rock burst, the geological disaster of bump diversified forms easily occurs, construction environment is severe and constructs Operational security is poor；In another aspect, the existing Deep underground space built up only is by deep layer as sealing up for safekeeping when place uses The underground space is used simply as storage space, i.e., is placed into the container direct code that holds account property sealed up for safekeeping, space Utilization rate is restricted by the container that holds account property.

Invention content

In view of the above-mentioned problems, the present invention provides a kind of structure method of seal in underground sequestration space, high degree of automation can To realize that the deeper subsurface based on underground cavity seals space up for safekeeping under the premise of realization carries out effective support to underground cavity inside Structure, realize reduce development cost, reduce construction safety hidden danger while can realize the intelligent automatic of underground sequestration space The intelligent automatic transhipment for building, sealing up for safekeeping article is sealed up for safekeeping, especially suitable for the carbon sequestration operation based on underground cavity.

To achieve the above object, used underground sequestration space structure system includes sniffing robot unit, 3D printing Robot cell and concentration electronic control unit；

The sniffing robot unit includes full landform walking chassis, detection mechanical arm and controlled vehicle-mounted electrical device；Quan Di Shape walking chassis is arranged in the bottom of sniffing robot unit, and full landform walking chassis includes automatically controlled driving mechanism and course changing control Mechanism；The bottom end for detecting mechanical arm is mounted in full landform walking chassis, and the top for detecting mechanical arm is equipped with detection device, detection Device includes detecting head, and detecting head includes range sensor, scanner, gyroscope, the driving of detecting head angle&orientation control, detection Head angle&orientation control driving include at least along left and right horizontal direction be central axes moving in rotation A coordinates rotary drive mechanism and It is the B coordinate rotary drive mechanisms of central axes moving in rotation along anterior-posterior horizontal direction；Controlled vehicle-mounted electrical device is fixedly mounted on entirely In shape walking chassis, controlled vehicle-mounted electrical device includes industrial control computer, sniffing robot travelling control circuit, detecting head detection Angle control loop, industrial control computer are electric with the automatically controlled driving mechanism of full landform walking chassis and course changing control mechanism respectively Connection, industrial control computer are electrically connected with the driving of the detecting head angle&orientation control of detecting head；

The 3D printing robot cell includes full landform walking chassis, print machinery arm, pad-ink input unit With printing electric control gear；Full landform walking chassis is arranged in the bottom of 3D printing robot cell, and full landform walking chassis includes Automatically controlled driving mechanism and course changing control mechanism；Print machinery arm is mounted in full landform walking chassis, and print machinery arm includes beating Mechanical arm driving is printed, the driving of print machinery arm includes at least the X-coordinate driving of control print machinery arm left and right horizontal direction movement Mechanism, the Y coordinate driving mechanism of control print machinery arm anterior-posterior horizontal direction movement, control print machinery arm vertical direction movement Z coordinate driving mechanism, the minor details of print machinery arm are equipped with 3D printing device, and 3D printing device includes 3D printing nozzle；It beats Printing ink input unit includes that ink is pumped into mechanism, and the input terminal that ink is pumped into mechanism is connect with ink supply subelement, ink It supplies subelement and supplies pad-ink, the output end that ink is pumped into mechanism is connect with 3D printing nozzle by ink output pipe； Printing electric control gear is fixedly mounted in full landform walking chassis, and printing electric control gear includes industrial control computer, 3D printing Robot ambulation control loop, 3D printing nozzle position control loop, ink are pumped into mechanism controls circuit, industrial control computer Be electrically connected respectively with the automatically controlled driving mechanism of full landform walking chassis and course changing control mechanism, industrial control computer respectively with beat The driving of print mechanical arm, ink are pumped into mechanism electrical connection；

The transport robot unit that holds account property includes walking chassis, workbench, transhipment mechanical arm and transhipment electricity Control device；Walking chassis includes automatically controlled driving mechanism and course changing control mechanism；Workbench is mounted in walking chassis；Conveyance Tool arm is mounted on workbench, and transhipment mechanical arm includes transhipment mechanical arm driving, and transhipment mechanical arm driving includes at least control The Y of the X-coordinate driving mechanism, the direction movement of control transhipment mechanical arm anterior-posterior horizontal of transporting the movement of mechanical arm left and right horizontal direction is sat Driving mechanism, the Z coordinate driving mechanism of control transhipment mechanical arm vertical direction movement are marked, the minor details for transporting mechanical arm are equipped with machinery Hand；Transhipment electric control gear is fixedly mounted on workbench, and transhipment electric control gear includes industrial control computer, holding account property turns Transport robot ambulation control loop, transhipment mechanical arm control loop, industrial control computer respectively with the automatically controlled drive of walking chassis Motivation structure and the electrical connection of course changing control mechanism, industrial control computer are electrically connected with transhipment mechanical arm driving；

The concentration electronic control unit includes central control computer, detection control loop, data modeling circuit, explorer Device people's position feedback corrective loop, 3D printing control loop, hold account property transhipment control loop, central control computer respectively with The range sensor of detecting head, scanner, gyroscope electrical connection, the central control computer industry with controlled vehicle-mounted electrical device respectively Control computer, the industrial control computer for printing electric control gear, the transport robot that holds account property unit transport electric control gear Industrial control computer is electrically connected；

Structure method of seal specifically includes following steps：

A. underground space structure prepares：After Position Approximate by geologic radar detection underground cavity, passed through ensureing to tunnel Suitable driving breakthrough point is selected under the premise of the supporting intensity of pristine formation near logical point is larger, by development machine through driving Breakthrough point tunnel out the tunnel penetrated through with underground cavity and to the tunnel carry out effective support, then by sniffing robot unit, 3D printing robot cell and the transport robot unit that holds account property are placed in the tunnel being connected to underground cavity；

B. underground cavity inner cavity is scanned：Electronic control unit control detection control loop, sniffing robot position feedback is concentrated to repair Positive circuit, data modeling loop starts, central control computer, which sends out instruction, makes the Industry Control meter of controlled vehicle-mounted electrical device Calculation machine controls sniffing robot unit to stepping inside underground cavity and is scanned rear coordinate to the inner cavity of underground cavity and retracts To initial position, central control computer by flat scanning data carry out same benchmark fitting and three-dimensional modeling after generate underground Empty three-dimensional space model, is then stored；

C. underground sequestration space three-dimensional models：Central control computer according to the underground cavity peripheral environment of input prime number It carries out applying Stress calculation analysis according to the outside to underground cavity three-dimensional space model, and to underground cavity three-dimensional space model Stability, stress, displacement, the evolution in crack, permeability, sound characteristics, light characteristic, electrical characteristics, magnetic characteristic and structural property parameter Process carries out calculating analysis, and central control computer is first based on underground cavity three-dimensional space model in underground cavity three-dimensional The interior surface fitting structure surface supporting layer model of spatial model, then further according to calculating on the basis of the supporting layer model of surface Analysis result and the safety coefficient of input are successively in the stress concentration point of corresponding underground cavity three-dimensional space model interior surface The position fitting structure cylindricality model for anchor not high with stability is set, then according to underground cavity on the basis of cylindricality model for anchor Space layout fitting structure be connected to wall model between cylindricality model for anchor, final fitting generates the underground of compartment structure It seals space three-dimensional model up for safekeeping and stores underground sequestration space three-dimensional model coordinate location information；Then central control computer first with The printing path and printing reference coordinate of the planning of reference coordinates origin and storage surface supporting layer model, then with reference coordinates origin The printing path and printing reference coordinate for planning and storing cylindricality model for anchor, are finally planned with reference coordinates origin and store wall The printing path and printing reference coordinate of Slab；Then central control computer is according to underground sequestration space three-dimensional model coordinate The co-ordinate position information of location information and article to be sealed up for safekeeping is planned and is stored with reference coordinates origin and sealed transportation route up for safekeeping and seal up for safekeeping Transport reference coordinate；

D.3D underground sequestration space three-dimensional entity is printed：3D printing control loop is started to work, central control computer hair Going out instruction makes the 3D printing robot travelling control loop starts of printing electric control gear, prints the Industry Control of electric control gear Computer successively according to the printing path of surface supporting layer model and printing reference coordinate, cylindricality model for anchor printing path and Print the full landform walking of reference coordinate, the printing path of wall model and printing reference coordinate control 3D printing robot cell The automatically controlled driving mechanism and course changing control mechanism action on chassis make 3D printing robot cell's coordinate be moved to inside underground cavity The setting position of underground sequestration space three-dimensional model coordinate position is corresponded to, then 3D printing nozzle position control loop starts work Make, the industrial control computer for printing electric control gear controls the print machinery arm drive actions of print machinery arm according to printing path 3D printing nozzle coordinate is set to be moved to printing reference coordinate location, ink is pumped into mechanism controls loop starts, and printing is automatically controlled The ink of the industrial control computer control pad-ink input unit of device, which is pumped into mechanism action, makes the pad-ink pumped out pass through 3D printing nozzle exports, and then prints the print machinery arm driving of the industrial control computer control print machinery arm of electric control gear Action makes 3D printing nozzle carry out surface supporting layer model, cylindricality model for anchor, wallboard successively according to the movement of printing path coordinate The 3D printing of model, until completing the physical print of underground sequestration space three-dimensional model, 3D printing robot when printing path terminal Unit retracts to initial position；

E. underground sequestration：The transhipment control loop that holds account property is started to work, and central control computer, which sends out instruction, to be made to seal up for safekeeping Material transfer robot cell transports hold account property transport robot travelling control circuit and the transhipment mechanical arm control of electric control gear Loop starts processed transport the industrial control computer of electric control gear according to sealing transportation route up for safekeeping and seal transport reference coordinate up for safekeeping Control the full landform walking chassis for the transport robot unit that holds account property, transhipment mechanical arm action makes the transport robot that holds account property The movement of article to be sealed up for safekeeping successively coordinate is transported to the setting coordinate position inside underground sequestration spatial entities by unit, until sealing fortune up for safekeeping Whole transhipments for sealing article up for safekeeping are completed when defeated path termination, the transport robot that holds account property unit retracts to initial position.

Scheme as a further improvement on the present invention, pad-ink include using carbon dioxide gas as the foam of filling gas Geopolymer, using carbon dioxide gas as the foam geopolymer of filling gas include slag micropowder, solid slag micro mist, alkali swash Send out agent, carbon dioxide foaming filling gas, foaming agent, accelerator.

Scheme as a further improvement on the present invention, the transport robot that holds account property unit are with 3D printing robot cell The same robot cell, the printer of the transhipment mechanical arm and 3D printing robot cell of the transport robot that holds account property unit Tool arm is the same mechanical arm；The 3D printing path of step c deadlight models is empty in cartridge type around connection successively according to wallboard Between path planned；After the 3D printing for completing wall model in step d, the transport robot that holds account property in step e unit It is that 3D is beaten that the movement of article to be sealed up for safekeeping successively coordinate, which is transported to the mode of the setting coordinate position inside underground sequestration spatial entities, Nozzle is printed directly to the injection of cartridge type space interior comprising using carbon dioxide gas as the printing of the foam geopolymer of filling gas The mode of ink.

Scheme as a further improvement on the present invention, step b sniffing robots unit is to stepping inside underground cavity and right During the inner cavity of underground cavity is scanned, central control computer sends out instruction first makes the detection of controlled vehicle-mounted electrical device Head detection angle control loop is started to work, the detecting head angle of the industrial control computer control detecting head of controlled vehicle-mounted electrical device Location control drive actions make the scanner of detecting head be rotated into row within the scope of 360 ° in the basic point plane of scanning motion with initial position The basic point flat scanning data are sent to center by the scanner for the basic point flat scanning of reference coordinates origin, detecting head simultaneously The scanner coordinate position data of reference coordinates origin position is sent to center by the gyroscope of control computer while detecting head Control computer, central control computer is by the scanner coordinate position of basic point flat scanning data and reference coordinates origin position Data are stored；

Then central control computer, which sends out instruction, makes the sniffing robot travelling control circuit of controlled vehicle-mounted electrical device start Work, the automatically controlled driving of the full landform walking chassis of the industrial control computer control sniffing robot unit of controlled vehicle-mounted electrical device It is reference coordinates origin to underground cavity that mechanism and course changing control mechanism action, which keep sniffing robot unit whole using initial position, One setting step pitch of intrinsic coordinates movement stepping simultaneously stops, and then the gyroscope of detecting head is first by the scanner of the stepping position Coordinate position data is sent to central control computer, by the stepping position while then central control computer is stored Gyroscope feedback scanner coordinate position data will with the scanner coordinate position data of reference coordinates origin position carry out Compare, calculate the seat between the scanner coordinate position of the stepping position and the scanner coordinate position of reference coordinates origin position Mark deviation simultaneously stores, and then central control computer sends out instruction according to the grid deviation makes the detecting head of controlled vehicle-mounted electrical device visit Task, the detecting head angle of the industrial control computer control detecting head of controlled vehicle-mounted electrical device position measuring angle control loop again Control drive actions make the detecting head of the stepping position rotate and the plane of scanning motion positioned to the scanner of the stepping position is parallel In the position of the basic point plane of scanning motion, then the detecting head angle of the industrial control computer control detecting head of controlled vehicle-mounted electrical device is fixed Position control drive actions make scanner be rotated into row first step anomaly Surface scan within the scope of 360 ° in the revised plane of scanning motion, First step anomaly Surface scan data are sent to central control computer by the scanner of detecting head, and central control computer is according to depositing First step anomaly Surface scan data and basic point flat scanning data are carried out fitting and the three-dimensional of same benchmark by the grid deviation of storage It is stored after modeling；

Then central control computer, which sends out instruction, makes the industrial control computer of controlled vehicle-mounted electrical device control detection machine The coordinate points of the whole above stepping position of people's unit are that reference coordinates point moves stepping one to underground cavity intrinsic coordinates again A setting step pitch simultaneously stops, and so on, sniffing robot unit often walks further, and the gyroscope of detecting head is first by the stepping The scanner coordinate position data of position is sent to central control computer, while then central control computer is stored The scanning that the scanner coordinate position data that the gyroscope of the stepping position is fed back and the gyroscope of previous step into position are fed back Instrument coordinate position data is compared, calculates the scanner coordinate position of the stepping position and the scanner of previous step into position is sat Grid deviation between cursor position and storage, then central control computer sends out instruction according to the grid deviation makes the stepping position The detecting head set rotate and position to the plane of scanning motion of the scanner of the stepping position be parallel to previous step into position scanner The plane of scanning motion position, then controlled vehicle-mounted electrical device industrial control computer control detecting head detecting head angle positioning control Drive actions processed make scanner be rotated into row step pitch flat scanning within the scope of 360 ° in the revised plane of scanning motion, detecting head Step pitch flat scanning data are sent to central control computer by scanner, and central control computer is according to the grid deviation of storage The step pitch flat scanning data of the step pitch flat scanning data of the stepping position and previous step into position are subjected to same benchmark It is fitted and is stored after three-dimensional modeling, until completing entire underground cavity inner cavity according to the feedback of the range sensor of detecting head Scanning, central control computer stores final underground cavity three-dimensional space model.

Scheme as a further improvement on the present invention, the detection mechanical arm that underground sequestration space structure seals system up for safekeeping include visiting Mechanical arm driving is surveyed, detection mechanical arm driving includes at least the X-coordinate driving of control detection mechanical arm left and right horizontal direction movement Mechanism or the Y coordinate driving mechanism or control detection mechanical arm vertical direction of the direction movement of control detection mechanical arm anterior-posterior horizontal Mobile Z coordinate driving mechanism；Controlled vehicle-mounted electrical device further includes detection mechanical arm control loop, the industry control of controlled vehicle-mounted electrical device Computer processed is electrically connected with the detection mechanical arm driving of detection mechanical arm；It further includes that sweep span controls back to concentrate electronic control unit Road；

Step b sniffing robots unit often walks further, and central control computer sends out instruction according to the grid deviation to be made The detecting head of the stepping position, which is rotated and positioned to the plane of scanning motion of the scanner of the stepping position, is parallel to previous step into position Scanner the plane of scanning motion position after, send out instruction according to the grid deviation makes controlled vehicle-mounted electrical to central control computer simultaneously The detection mechanical arm control loop of device works, and controlled vehicle-mounted electrical device control detection mechanical arm drive actions make the stepping position To setpoint distance, then the plane of scanning motion and previous step of scanner are adjusted into the spacing between the plane of scanning motion of the scanner of position The detecting head angle&orientation control drive actions of the industrial control computer control detecting head of controlled vehicle-mounted electrical device make scanner exist Row step pitch flat scanning is rotated into the revised plane of scanning motion within the scope of 360 °.

The transhipment mechanical arm driving of scheme as a further improvement on the present invention, the transport robot that holds account property unit is also wrapped Include along left and right horizontal direction be central axes moving in rotation A coordinates rotary drive mechanism or along anterior-posterior horizontal direction be central axes revolve The B coordinates rotary drive mechanism and be vertically the C coordinate rotary drive mechanisms of central axes moving in rotation that transfer is moved；It seals up for safekeeping Pattern-recognition sensor is additionally provided in the minor details of the transhipment mechanical arm of material transfer robot cell, concentration electronic control unit further includes Corrective loop, the minor details for transporting mechanical arm of central control computer and the transport robot unit that holds account property are piled up in transhipment crawl On pattern-recognition sensor electrical connection；

During step e underground sequestrations, the pattern-recognition sensor in mechanical arm minor details is transported in real time to center control meter Calculation machine feeds back the feature dimension data for sealing article up for safekeeping that need to be captured or pile up, and corrective loop work, center control are piled up in transhipment crawl Computer processed by this seal up for safekeeping the feature dimension data of article and input the position data for sealing article up for safekeeping and feature dimension data into Row compares, if there are data deviation, central control computer, which sends out instruction control transhipment mechanical arm drive actions, makes conveyance Tool arm according to input the position data for sealing article up for safekeeping and feature dimension data to this seal up for safekeeping article it is close amendment carry out crawl or It piles up.

Scheme as a further improvement on the present invention, underground sequestration space structure seal the print machinery arm driving of system up for safekeeping also To include along left and right horizontal direction be the A coordinates rotary drive mechanism of central axes moving in rotation or is central axes along anterior-posterior horizontal direction The B coordinate rotary drive mechanisms of moving in rotation, or further include being revolved for the A coordinates of central axes moving in rotation along left and right horizontal direction Turn driving mechanism and the B coordinate rotary drive mechanisms along anterior-posterior horizontal direction for central axes moving in rotation；It is also set on printing head There is pattern-recognition sensor, it further includes 3D printing entity corrective loop to concentrate electronic control unit, and central control computer is known with pattern Individual sensor is electrically connected；

During the physical print of step d underground sequestration space three-dimensional models, the work of 3D printing entity corrective loop, pattern Identification sensor feeds back the feature dimension data of 3D printing entity to central control computer in real time, and central control computer should The model data of corresponding part carries out in the feature dimension data of 3D printing entity and the underground sequestration space three-dimensional model of storage Compare, if the feature dimension data of 3D printing entity are less than the model data of corresponding part on underground sequestration space three-dimensional model, Then central control computer sends out instruction control 3D printing nozzle and interrupts printing path and according to underground sequestration space three-dimensional model The model data of upper corresponding part repeats the 3D printing of this part printing path according to the printing path of this part, until 3D The feature dimension data for printing entity are greater than or equal to the model data of corresponding part on underground sequestration space three-dimensional model, then Central control computer sends out instruction control 3D printing nozzle again to be continued to carry out 3D printing by the printing path of planning.

Scheme as a further improvement on the present invention, step b sniffing robots unit is to stepping inside underground cavity and right During the inner cavity of underground cavity is scanned, the scan mode of the scanner of detecting head is used non-to be connect based on what is wirelessly conducted electricity Electric shock position measurement method.

Scheme as a further improvement on the present invention, concentrate the central control computer of electronic control unit respectively with controlled vehicle-mounted electrical The industrial control computer of device, the industrial control computer for printing electric control gear, the transhipment of the transport robot that holds account property unit The Industry Control of the industrial control computer radio connection of electric control gear, central control computer and controlled vehicle-mounted electrical device calculates The Industry Control of machine, the industrial control computer for printing electric control gear, the transport robot that holds account property unit transhipment electric control gear Data transmission between computer is by way of wireless telecommunications.

Scheme as a further improvement on the present invention, step c carry out surface supporting layer model, cylindricality model for anchor, wallboard The printing path of model plans and prints in reference coordinate planning process that central control computer is with 3D printing robot cell's Initial position is reference coordinates origin, and carries out printing path planning and the printing reference coordinate planning process of cylindricality model for anchor According to the sequence from large to small of stress concentration in underground cavity three-dimensional space model carry out printing path planning and printing benchmark Coordinate is planned；Step c is carried out sealing transportation route up for safekeeping and be sealed up for safekeeping in transport reference coordinate planning process, and central control computer is to seal The initial position that storage provides transport robot unit is reference coordinates origin.

Compared with prior art, this underground sequestration space structure seals system up for safekeeping due to including that sniffing robot unit, 3D are beaten It prints robot cell, the transport robot that holds account property unit and concentrates electronic control unit, completed to underground in sniffing robot unit Underground cavity three-dimensional space model is built after the scanning in cavity, concentrates the central control computer of electronic control unit according to the ground of input The lower cavity underground cavities peripheral environment geologic data such as geographic position data and country rock data is to underground cavity three-dimensional space model It is external carry out Stress calculation analysis, first in underground cavity three-dimensional space model based on underground cavity three-dimensional space model Interior surface fitting structure surface supporting layer model, then on the basis of the supporting layer model of surface further according to Stress calculation analyze As a result quasi- in the stress concentration point position of corresponding underground cavity three-dimensional space model interior surface successively with the safety coefficient of input Structure cylindricality model for anchor is closed, structure connection is then fitted according to the space layout of underground cavity on the basis of cylindricality model for anchor Wall model between cylindricality model for anchor, the underground sequestration space three-dimensional model of final fitting generation compartment structure, and according to It is secondary with reference coordinates origin planning and storage surface supporting layer model, cylindricality model for anchor, wall model printing path and beat Reference coordinate is printed, 3D printing robot cell can beat direct 3D according to printing path and printing reference coordinate inside underground cavity Print the entity of underground sequestration space three-dimensional model, the transport robot that finally holds account property unit transportation route and is sealed up for safekeeping according to sealing up for safekeeping The movement of article to be sealed up for safekeeping successively coordinate is transported to the setting coordinate position inside underground sequestration spatial entities by transport reference coordinate , empty according to underground cavity Stress calculation analysis result and the underground sequestration of input safety coefficient and the direct printing shapings of 3D Between threedimensional model entity be have specific aim supporting entity build, supporting intensity can be fully met；Direct 3D printing is molding Mode can save a large amount of manpower and materials, not need the larger conveying equipment of space hold, support apparatus and lifting equipment, drop The cost of low Deep underground space exploitation, and there is higher construction efficiency；Simultaneously because construction operation does not need personnel's entrance Underground cavity, and first print surface supporting layer model during physical print, cylindricality model for anchor, while cylindricality supporting are printed again The printing of model is the sequence according to stress concentration from large to small, therefore realizes the molding of specific aim sequential entity, working security It is higher；Since sniffing robot unit, 3D printing robot cell and the transport robot unit that holds account property are that computer is automatic The intelligent automatic control changed control unit, therefore underground sequestration space structure may be implemented, seal article transhipment up for safekeeping, it is particularly suitable In the carbon sequestration operation based on underground cavity.

Description of the drawings

Fig. 1 is the structural schematic diagram that underground sequestration space structure seals system up for safekeeping；

Fig. 2 is the underground cavity structural schematic diagram carried out using the present invention before the structure of underground sequestration space；

Fig. 3 is the structural schematic diagram after the structure of underground sequestration space；

Fig. 4 is structural schematic diagram when carrying out underground sequestration using the present invention.

In figure：1, sniffing robot unit, 11, detection mechanical arm, 12, controlled vehicle-mounted electrical device, 13, detecting head, 2,3D beats Print robot cell, 21, print machinery arm, 22, pad-ink input unit, 23, printing electric control gear, 24,3D printing nozzle, 3, the transport robot that holds account property unit, 4, concentrate electronic control unit.

Specific implementation mode

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

As shown in Figure 1, the underground sequestration space structure system of sealing up for safekeeping includes sniffing robot unit 1,3D printing robot list Member 2, the transport robot that holds account property unit 3 and concentration electronic control unit 4.

The sniffing robot unit 1 includes full landform walking chassis, detection mechanical arm 11 and controlled vehicle-mounted electrical device 12； Full landform walking chassis is arranged in the bottom of sniffing robot unit 1, and full landform walking chassis includes automatically controlled driving mechanism and turns To control mechanism；The bottom end for detecting mechanical arm 11 is mounted in full landform walking chassis, and the top of detection mechanical arm 11, which is equipped with, to be visited Device is surveyed, detection device includes detecting head 13, and detecting head 13 is fixed including range sensor, scanner, gyroscope, detecting head angle Position controls driving, and the driving of detecting head angle&orientation control is including at least the A seats for along left and right horizontal direction being central axes moving in rotation Mark rotary drive mechanism and the B coordinate rotary drive mechanisms along anterior-posterior horizontal direction for central axes moving in rotation；Controlled vehicle-mounted electrical fills It sets 12 to be fixedly mounted in full landform walking chassis, controlled vehicle-mounted electrical device 12 includes industrial control computer, sniffing robot row Walk control loop, detecting head detection angle control loop, the industrial control computer automatically controlled drive with full landform walking chassis respectively Motivation structure and the electrical connection of course changing control mechanism, the detecting head angle&orientation control driving electricity of industrial control computer and detecting head 13 Connection.

The 3D printing robot cell 2 includes full landform walking chassis, print machinery arm 21, pad-ink input dress Set 22 and printing electric control gear 23；Full landform walking chassis is arranged at the bottom of 3D printing robot cell 2, full landform walking bottom Disk includes automatically controlled driving mechanism and course changing control mechanism；Print machinery arm 21 is mounted in full landform walking chassis, print machinery Arm 21 drives including print machinery arm, and the driving of print machinery arm includes at least the movement of control print machinery arm left and right horizontal direction X-coordinate driving mechanism, the Y coordinate driving mechanism of control print machinery arm anterior-posterior horizontal direction movement, control print machinery arm are perpendicular Histogram is equipped with 3D printing device to mobile Z coordinate driving mechanism, the minor details of print machinery arm 21, and 3D printing device includes 3D Printing head 24；Pad-ink input unit 22 is pumped into mechanism including ink, and ink is pumped into the input terminal of mechanism and ink supplies Subelement connects, and the output end that ink is pumped into mechanism is connect with 3D printing nozzle 24 by ink output pipe；Print automatically controlled dress It sets 23 to be fixedly mounted in full landform walking chassis, printing electric control gear 23 includes industrial control computer, 3D printing robot Travelling control circuit, 3D printing nozzle position control loop, ink are pumped into mechanism controls circuit, industrial control computer respectively with The automatically controlled driving mechanism of full landform walking chassis and the electrical connection of course changing control mechanism, industrial control computer respectively with print machinery Arm driving, ink are pumped into mechanism electrical connection；Ink supplies subelement and supplies pad-ink, and pad-ink includes with carbon dioxide gas Body is the foam geopolymer of filling gas, includes that slag is micro- by the foam geopolymer of filling gas of carbon dioxide gas Powder, solid slag micro mist, alkali-activator, carbon dioxide foaming filling gas, foaming agent, accelerator.It is with carbon dioxide gas The foam geopolymer of filling gas can not only utilize carburizing reagent absorbing carbon dioxide, and it is strong to greatly improve foam geopolymer Degree, and the pore structure of foam geopolymer is closed sphere, can effectively seal up carbon dioxide gas, even if Extending at any time can not slowly be overflowed by the carbon dioxide gas that timely carbonization absorbs from foam geopolymer, but be overflowed Carbon dioxide gas can also be fully absorbed by earth's crust neutral and alkali substance, to realize to carbon dioxide gas it is of short duration seal up for safekeeping and It is permanent cured, to reach the utilization of carbon dioxide, seal effective unification with mineralising up for safekeeping.

The transport robot unit 3 that holds account property includes walking chassis, workbench, transhipment mechanical arm and transhipment electricity Control device；Walking chassis includes automatically controlled driving mechanism and course changing control mechanism；Workbench is mounted on walking by pivoting support On chassis；It transports mechanical arm to be mounted on workbench, transhipment mechanical arm includes transhipment mechanical arm driving, transhipment mechanical arm driving X-coordinate driving mechanism, control transhipment mechanical arm anterior-posterior horizontal including at least the direction movement of control transhipment mechanical arm left and right horizontal The Y coordinate driving mechanism of direction movement, the Z coordinate driving mechanism of control transhipment mechanical arm vertical direction movement, transport mechanical arm Minor details be equipped with manipulator；Transhipment electric control gear is fixedly mounted on workbench, and transhipment electric control gear includes Industry Control meter Calculation machine, the transport robot that holds account property travelling control circuit, transhipment mechanical arm control loop, industrial control computer respectively with row Automatically controlled driving mechanism and the electrical connection of course changing control mechanism on chassis are walked, industrial control computer is electrically connected with transhipment mechanical arm driving It connects.

The concentration electronic control unit 4 includes central control computer, detection control loop, data modeling circuit, detection Robot position feedback corrective loop, 3D printing control loop, hold account property transhipment control loop, central control computer difference Be electrically connected with the range sensor of detecting head 13, scanner, gyroscope, central control computer respectively with controlled vehicle-mounted electrical device 12 Industrial control computer, print electric control gear 23 industrial control computer, the transport robot that holds account property unit 3 transport electricity Control the industrial control computer electrical connection of device.

This underground sequestration space structure seals system up for safekeeping before use, for the underground cavity that natural geological movement generates, and leads to After crossing the Position Approximate of geologic radar detection underground cavity, ensure driving breakthrough point near pristine formation supporting intensity compared with Suitable driving breakthrough point is selected under the premise of big, and the lane penetrated through with underground cavity is tunneled out through tunneling breakthrough point by development machine Road simultaneously carries out effective support to the tunnel.And it is directed to the artificial rock such as coal mine gob underground cavity or coal seam burned out area underground cavity The underground cavity that native activity is formed, since the underground cavity that artificial ground activity is formed all has the lane penetrated through with underground cavity Road, therefore can be omitted the step.

By taking coal mine gob as an example, as shown in Fig. 2, by sniffing robot unit 1 and 3D printing robot cell 2 be placed in In the tunnel of coal mine gob connection, the control detection of electronic control unit 4 control loop, sniffing robot position feedback is then concentrated to repair Positive circuit, data modeling loop starts, central control computer sends out instruction first makes the detection of controlled vehicle-mounted electrical device 12 Head detection angle control loop is started to work, the detecting head of the industrial control computer control detecting head 13 of controlled vehicle-mounted electrical device 12 Angle&orientation control drive actions make the scanner of detecting head 13 be rotated into row within the scope of 360 ° in the basic point plane of scanning motion with first Beginning position is the basic point flat scanning of reference coordinates origin, and the scanner of detecting head 13 simultaneously sends out the basic point flat scanning data It send the scanner coordinate position data of reference coordinates origin position to the gyroscope of central control computer while detecting head 13 It is sent to central control computer, central control computer is by the scanning of basic point flat scanning data and reference coordinates origin position Instrument coordinate position data is stored；

Then central control computer, which sends out instruction, makes the sniffing robot travelling control circuit of controlled vehicle-mounted electrical device 12 open Beginning work, the electricity of the full landform walking chassis of the industrial control computer control sniffing robot unit 1 of controlled vehicle-mounted electrical device 12 It is reference coordinates origin to coal that control driving mechanism and course changing control mechanism action, which keep sniffing robot unit 1 whole using initial position, Ore goaf one setting step pitch of intrinsic coordinates movement stepping simultaneously stops, and then the gyroscope of detecting head 13 is first by the stepping position The scanner coordinate position data set is sent to central control computer, will while then central control computer is stored The scanner coordinate position data of the gyroscope feedback of the stepping position is by the scanner coordinate bit with reference coordinates origin position It sets data and is compared, calculates the scanner coordinate position of the stepping position and the scanner coordinate bit of reference coordinates origin position Grid deviation between setting and storage, then central control computer sends out instruction according to the grid deviation makes controlled vehicle-mounted electrical device Task, the industrial control computer of controlled vehicle-mounted electrical device 12 control detecting head 13 to 12 detecting head detection angle control loop again Detecting head angle&orientation control drive actions make the stepping position detecting head 13 rotate and position sweeping to the stepping position The plane of scanning motion for retouching instrument is parallel to the position of the basic point plane of scanning motion, then the industrial control computer control of controlled vehicle-mounted electrical device 12 The detecting head angle&orientation control drive actions of detecting head 13 make scanner 360 ° of range inward turnings in the revised plane of scanning motion Row first step anomaly Surface scan is rotated into, first step anomaly Surface scan data are sent to center control meter by the scanner of detecting head 13 Calculation machine, central control computer is according to the grid deviation of storage by first step anomaly Surface scan data and basic point flat scanning data It is stored after carrying out the fitting of same benchmark and three-dimensional modeling；

Then central control computer, which sends out instruction, makes the industrial control computer of controlled vehicle-mounted electrical device 12 control explorer The coordinate points of the whole above stepping position of device people unit 1 are that reference coordinates point moves step to coal mine gob intrinsic coordinates again Into a setting step pitch and stop, and so on, sniffing robot unit 1 often walks further, and the gyroscope of detecting head 13 is first The scanner coordinate position data of the stepping position is sent to central control computer, then central control computer is deposited It is while storage that the scanner coordinate position data of the gyroscope of stepping position feedback and the gyroscope of previous step into position is anti- The scanner coordinate position data of feedback is compared, calculates the scanner coordinate position of the stepping position and previous step into position Grid deviation between scanner coordinate position and storage, then central control computer instruction is sent out according to the grid deviation and is made The detecting head 13 of the stepping position, which is rotated and positioned to the plane of scanning motion of the scanner of the stepping position, is parallel to previous step carry The position of the plane of scanning motion for the scanner set, the then spy of the industrial control computer control detecting head 13 of controlled vehicle-mounted electrical device 12 It is flat that gauge head angle&orientation control drive actions make scanner be rotated into row step pitch within the scope of 360 ° in the revised plane of scanning motion Step pitch flat scanning data are sent to central control computer, central control computer by the scanner of Surface scan, detecting head 13 According to the grid deviation of storage by the step pitch flat scanning data of the stepping position and previous step into the step pitch flat scanning of position Data are stored after carrying out the fitting of same benchmark and three-dimensional modeling, until according to the feedback of the range sensor of detecting head 13 The scanning of entire coal mine gob is completed, central control computer, which sends out instruction, makes 1 coordinate of sniffing robot unit retract to first Beginning and stores final goaf three-dimensional space model position.

Data modeling loop starts, central control computer is according to the goaf geographic position data and country rock of input The goafs such as data peripheral environment geologic data carries out the outside of goaf three-dimensional space model to apply Stress calculation analysis, and To the stability of goaf three-dimensional space model, stress, displacement, crack, permeability, sound characteristics, light characteristic, electrical characteristics, Ci Te The evolutionary process of the parameters such as property and architectural characteristic carries out calculating analysis, and central control computer is first with goaf three dimensions mould It is fitted structure surface supporting layer model in the interior surface of goaf three-dimensional space model based on type, then in surface branch sheath It is being corresponded to inside the three-dimensional space model of goaf successively further according to Calculation results and the safety coefficient of input on the basis of model The stress concentration point position on surface and stability it is not high position fitting structure cylindricality model for anchor, then in cylindricality model for anchor On the basis of be connected to according to the space layout of underground cavity fitting structure and cylindricality model for anchor periphery and be connected to cylindricality supporting mould Wall model between type, final fitting generate the underground sequestration space three-dimensional model of compartment structure and store underground sequestration space Threedimensional model co-ordinate position information；Then central control computer is first using the initial position of 3D printing robot cell 2 as reference The printing path and printing reference coordinate of coordinate origin planning and storage surface supporting layer model, then with 3D printing robot cell 2 initial position is reference coordinates origin, is advised according to the sequence of stress concentration in underground sequestration space three-dimensional model from large to small The printing path and printing reference coordinate for drawing and storing cylindricality model for anchor, finally with the initial bit of 3D printing robot cell 2 It is set to printing path and printing reference coordinate that reference coordinates origin is planned and stores wall model；Then central control computer According to the co-ordinate position information of underground sequestration space three-dimensional model coordinate location information and article to be sealed up for safekeeping, with the transhipment that holds account property The initial position of robot cell 3 is planned and is stored for reference coordinates origin and seals transportation route up for safekeeping and seal transport reference coordinate up for safekeeping.

3D printing control loop is started to work, and central control computer, which sends out instruction, makes the 3D printing of printing electric control gear 23 Robot ambulation control loop is started to work, and prints the industrial control computer of electric control gear 23 successively according to surface branch sheath mould The printing path of type and printing reference coordinate, the printing path of cylindricality model for anchor and printing reference coordinate, wall model are beaten It prints path and prints automatically controlled driving mechanism and the steering of the full landform walking chassis of reference coordinate control 3D printing robot cell 2 Control mechanism action makes 2 coordinate of 3D printing robot cell be moved to corresponding underground sequestration space three-dimensional mould inside coal mine gob The setting position of type coordinate position, then 3D printing nozzle position control loop start-up operation, prints the industry of electric control gear 23 The print machinery arm drive actions that control computer controls print machinery arm 21 according to printing path make 24 coordinate of 3D printing nozzle It is moved to printing reference coordinate location, ink is pumped into mechanism controls loop starts, prints the Industry Control of electric control gear 23 The ink of computer control pad-ink input unit 22, which is pumped into mechanism action, makes the pad-ink pumped out through 3D printing nozzle 24 Output, then printing the print machinery arm drive actions of the industrial control computer control print machinery arm 21 of electric control gear 23 makes 3D printing nozzle 24 moves according to printing path coordinate and carries out 3D printing, and the sequence of stress concentration from large to small may be implemented first The larger position of 3D printing stress concentration carries out supporting first, to be further ensured that the safety of follow-up 3D printing, such as Fig. 3 institutes Show, until completing the physical print of underground sequestration space three-dimensional model when printing path terminal, 3D printing robot cell 2 retracts extremely Initial position.

The transhipment control loop that holds account property is started to work, and central control computer, which sends out instruction, makes the transhipment machine that holds account property Hold account property transport robot travelling control circuit and the transhipment mechanical arm control loop that people's unit 3 transports electric control gear start work Make, transports the industrial control computer of electric control gear and hold account property according to sealing transportation route up for safekeeping and seal transport reference coordinate up for safekeeping to control The full landform walking chassis of transport robot unit 3, transhipment mechanical arm act the transport robot unit 3 that makes to hold account property and will wait sealing Coordinate movement is transported to the setting coordinate position inside underground sequestration spatial entities to stored goods successively, as shown in figure 4, to fortune is sealed up for safekeeping Whole transhipments for sealing article up for safekeeping are completed when defeated path termination, the transport robot that holds account property unit 3 retracts to initial position.

For sealing up for safekeeping for carbon dioxide, in addition to can be during the physical print of underground sequestration space three-dimensional model by two Carbonoxide, can also be empty to the cartridge type encompassed by wallboard other than direct 3D physical prints are sealed up for safekeeping in the form of foam geopolymer Between internal injection comprising being sealed up for safekeeping to carbon dioxide by the foam geopolymer of filling gas of carbon dioxide gas, that is, make For further improvement of the present invention scheme, the transport robot that holds account property unit 3 is the same machine with 3D printing robot cell 2 Device people's unit, the print machinery arm 21 of the transhipment mechanical arm and 3D printing robot cell 2 of the transport robot that holds account property unit 3 For the same mechanical arm, the manipulator for transporting mechanical arm is the 3D printing device of print machinery arm 21；The 3D printing of wall model Path is planned successively in the path in cartridge type space around connection according to wallboard；After the 3D printing for completing wall model, envelope The movement of article to be sealed up for safekeeping successively coordinate is transported to the setting inside underground sequestration spatial entities by storage money transport robot unit 3 The mode of coordinate position be 3D printing nozzle 24 directly to cartridge type space interior injection comprising with carbon dioxide gas be filling gas The mode of the pad-ink of the foam geopolymer of body.Including straight as the foam geopolymer of filling gas using carbon dioxide gas The solidification realization of cartridge type space interior is connected on to seal carbon dioxide up for safekeeping.

Need the closed article sealed up for safekeeping, underground sequestration space three-dimensional model can be for nuke rubbish with radiation pollution etc. Cartridge type space as described above compartment structure, passes through 3 turns of the transport robot unit that holds account property will need the closed article sealed up for safekeeping It, can be by 3D printing nozzle 24 into cartridge type space after being transported to the cartridge type space compartment structure inside underground sequestration spatial entities Nei The pad-ink of portion's injection setting metering is to realize to needing the closed article sealed up for safekeeping to carry out that insulation package is completely covered.

The plane of scanning motion for the scanner that this underground sequestration space structure seals system detecting head 13 up for safekeeping can be according to specific operating mode Using horizontal scan plane or use vertical sweep plane, scan mode may be used radar scanning based on Radar Technology, Laser scanning based on laser technology, the infrared scanning based on infrared imaging, the ultrasonic scanning based on ultrasonic wave positioning, base In the magnetic scanning etc. of magnetic signal.

In order to obtain the lithology data of country rock around underground cavity while being scanned to underground cavity, in turn Convenient for subsequent Stress calculation, scheme, the scan mode of the scanner of detecting head 13 use as a further improvement on the present invention Based on the non-contact potential measurement mode wirelessly to conduct electricity.

For the waste for making full use of the artificial ground activity of such as gangue, barren rock to generate, as of the invention into one Improvement project is walked, the pad-ink includes the cement prepared by the slag micropowder after the crushing such as gangue, barren rock.

For the underground cavity that natural geological movement generates, a kind of embodiment party of subelement is supplied as ink of the present invention Formula, ink supply subelement setting on ground, ink supply subelement include raw material device for formulating and extend to underground and with oil Pump enters the conveyance conduit of the input terminal connection connection of mechanism.

For the underground cavity that artificial ground activity is formed, another embodiment party of subelement is supplied as ink of the present invention Formula, ink supply subelement and are arranged in underground passage, and it includes raw material device for formulating, raw material device for formulating that ink, which supplies subelement, Including crusher, it is broken that the building stones waste such as gangue, barren rock is directly carried out scene by crusher.

In order to increase the flexibility ratio of transhipment mechanical arm, realize comprehensive transfer operation, as further changing for the present invention Into scheme, the transhipment mechanical arm driving of the transport robot unit 3 that holds account property further includes in left and right horizontal direction is The A coordinates rotary drive mechanism of axis moving in rotation rotates drive along anterior-posterior horizontal direction for the B coordinates of central axes moving in rotation Motivation structure and vertically be central axes moving in rotation C coordinate rotary drive mechanisms.The transport robot that holds account property unit 3 The industrial control computer of transhipment electric control gear can flexibly control transhipment mechanical arm and be captured or piled up to seal article up for safekeeping.

For the further accurate crawl or stacking ensured to sealing article up for safekeeping, scheme as a further improvement on the present invention, It is additionally provided with pattern-recognition sensor in the minor details of the transhipment mechanical arm of the transport robot that holds account property unit 3, concentrates electronic control unit 3 Further include that corrective loop, the transhipment machinery of central control computer and the transport robot unit 3 that holds account property are piled up in transhipment crawl Pattern-recognition sensor electrical connection in the minor details of arm.During underground sequestration, the pattern-recognition transported in mechanical arm minor details passes Sensor feeds back the feature dimension data for sealing article up for safekeeping that need to be captured or pile up to central control computer in real time, and transhipment crawl is piled up Corrective loop works, and central control computer seals this up for safekeeping the feature dimension data of article and the positional number for sealing article up for safekeeping inputted It is compared according to feature dimension data, if there are data deviation, central control computer sends out instruction control transhipment machinery Arm drive actions make transhipment mechanical arm seal article up for safekeeping to this according to the position data for sealing article up for safekeeping and feature dimension data of input It is captured or is piled up close to correcting.

Goaf three dimensions mould is generated in order to realize the uniformity between each plane of scanning motion and then more accurately be fitted Type, scheme, the detection mechanical arm 11 include detection mechanical arm driving as a further improvement on the present invention, detect mechanical arm Driving includes at least the X-coordinate driving mechanism or control detection mechanical arm of control detection mechanical arm 11 left and right horizontal direction movement The Y coordinate driving mechanism of 11 anterior-posterior horizontal directions movement or the Z coordinate driving machine of control detection 11 vertical direction of mechanical arm movement Structure；Controlled vehicle-mounted electrical device 12 further includes detection mechanical arm control loop, the industrial control computer of controlled vehicle-mounted electrical device 12 and spy Survey the detection mechanical arm driving electrical connection of mechanical arm 11；The concentration electronic control unit 4 further includes sweep span control loop.It visits It surveys robot cell 1 often to walk further, central control computer sends out instruction according to the grid deviation makes the spy of the stepping position Gauge head 13, which rotates and positions the scanner for being parallel to previous step into position to the plane of scanning motion of the scanner of the stepping position, to be swept Behind the position for retouching plane, central control computer sends out instruction according to the grid deviation simultaneously makes the detection of controlled vehicle-mounted electrical device 12 Mechanical arm control loop works, and the control detection mechanical arm drive actions of controlled vehicle-mounted electrical device 12 make the scanner of the stepping position The plane of scanning motion and previous step are adjusted into the spacing between the plane of scanning motion of the scanner of position to setpoint distance, then controlled vehicle-mounted electrical The detecting head angle&orientation control drive actions of the industrial control computer control detecting head 13 of device 12 make scanner correct Row step pitch flat scanning is rotated into the plane of scanning motion afterwards within the scope of 360 °.

In order to increase the flexibility ratio of printing head 24, realize comprehensive 3D printing, as a further improvement on the present invention Scheme, print machinery arm driving further include along left and right horizontal direction be central axes moving in rotation A coordinates rotary drive mechanism or It is the B coordinate rotary drive mechanisms of central axes moving in rotation along anterior-posterior horizontal direction, or further includes being along left and right horizontal direction The A coordinates rotary drive mechanism of central axes moving in rotation and along anterior-posterior horizontal direction be central axes moving in rotation B coordinates rotate Driving mechanism.

For the further accurate effect for ensureing 3D printing, scheme as a further improvement on the present invention, printing head 24 On be additionally provided with pattern-recognition sensor, it further includes 3D printing entity corrective loop to concentrate electronic control unit 4, central control computer with Pattern-recognition sensor is electrically connected.During 3D printing, pattern-recognition sensor is beaten to central control computer feedback 3D in real time The feature dimension data of entity are printed, the work of 3D printing entity corrective loop, central control computer is by the shape of the 3D printing entity Body dimension data is compared with the model data of corresponding part on the underground sequestration space three-dimensional model of storage, if 3D printing is real The feature dimension data of body are less than the model data of corresponding part on underground sequestration space three-dimensional model, then central control computer It sends out instruction control 3D printing nozzle 24 and interrupts printing path and according to the mould of corresponding part on underground sequestration space three-dimensional model Type data repeat the 3D printing of this part printing path according to the printing path of this part, until the body of 3D printing entity Dimension data is greater than or equal to the model data of corresponding part on underground sequestration space three-dimensional model, then central control computer Instruction control 3D printing nozzle 24 is sent out again to continue to carry out 3D printing by the printing path of planning.

This underground sequestration space structure seal up for safekeeping system due to include sniffing robot unit 1,3D printing robot cell 2, The transport robot that holds account property unit 3 and concentration electronic control unit 4 complete the scanning to underground cavity in sniffing robot unit 1 Underground cavity three-dimensional space model is built afterwards, concentrates the central control computer of electronic control unit 4 according to the underground cavity of input Manage the underground cavities peripheral environment geologic data such as position data and country rock data to the outside of underground cavity three-dimensional space model into Row Stress calculation is analyzed, in the inside table of underground cavity three-dimensional space model first based on underground cavity three-dimensional space model Face fitting structure surface supporting layer model, then further according to Stress calculation analysis result and defeated on the basis of the supporting layer model of surface The safety coefficient entered is successively in the stress concentration point position fitting structure column of corresponding underground cavity three-dimensional space model interior surface Then shape model for anchor is connected to cylindricality branch on the basis of cylindricality model for anchor according to the space layout of underground cavity fitting structure The wall model between model is protected, final fitting generates the underground sequestration space three-dimensional model of compartment structure, and successively with reference Coordinate origin planning and storage surface supporting layer model, cylindricality model for anchor, the printing path of wall model and printing benchmark Coordinate, 3D printing robot cell 2 can the direct 3D printings inside underground cavity according to printing path and printing reference coordinate Under seal the entity of space three-dimensional model up for safekeeping, the transport robot that finally holds account property unit 3 is according to sealing transportation route up for safekeeping and seal fortune up for safekeeping The movement of article to be sealed up for safekeeping successively coordinate is transported to the setting coordinate position inside underground sequestration spatial entities i.e. by defeated reference coordinate Can, according to the underground sequestration space of underground cavity Stress calculation analysis result and input safety coefficient and the direct printing shapings of 3D Threedimensional model entity is that there is the entity of specific aim supporting to build, and can fully meet supporting intensity；The molding side of direct 3D printing Formula can save a large amount of manpower and materials, not need the larger conveying equipment of space hold, support apparatus and lifting equipment, reduce The cost of Deep underground space exploitation, and there is higher construction efficiency；Simultaneously because construction operation, which does not need personnel, enters ground Lower cavity, and first print surface supporting layer model during physical print, cylindricality model for anchor, while cylindricality supporting mould are printed again The printing of type is the sequence according to stress concentration from large to small, thus realize specific aim sequential entity molding, working security compared with It is high；Since sniffing robot unit 1,3D printing robot cell 2 and the transport robot unit 3 that holds account property are that computer is automatic The intelligent automatic control changed control unit, therefore underground sequestration space structure may be implemented, seal article transhipment up for safekeeping, it is particularly suitable In the carbon sequestration operation based on underground cavity.

Claims

1. A construction and storage method for an underground storage space, the used underground storage space construction and storage system includes a detection robot unit (1), a 3D printing robot unit (2), a sealed material transfer robot unit (3) and a centralized electronic control unit (4);

The detection robot unit (1) comprises an all-terrain walking chassis, a detection mechanical arm (11) and a vehicle-mounted electric control device (12); the all-terrain walking chassis is arranged at the bottom of the detection robot unit (1), and the all-terrain walking chassis includes Electronically controlled driving mechanism and steering control mechanism; the bottom end of the detection mechanical arm (11) is installed on the all-terrain walking chassis, and the top of the detection mechanical arm (11) is provided with a detection device, and the detection device includes a detection head (13), a detection head (13) It includes a distance sensor, a scanner, a gyroscope, and the angle positioning control drive of the probe head. The angle positioning control drive of the probe head at least includes an A-coordinate rotation drive mechanism that rotates along the left and right horizontal directions as the central axis and a center axis along the front and rear horizontal directions. A B-coordinate rotating drive mechanism for axis rotation and movement; the vehicle-mounted electronic control device (12) is fixedly installed on the all-terrain walking chassis, and the vehicle-mounted electronic control device (12) includes an industrial control computer, a detection robot walking control circuit, and a detection head detection angle control circuit , the industrial control computer is electrically connected with the electric control drive mechanism and the steering control mechanism of the all-terrain walking chassis respectively, and the industrial control computer is electrically connected with the detection head angle positioning control drive of the detection head (13);

Described 3D printing robot unit (2) comprises all-terrain walking chassis, printing mechanical arm (21), printing ink input device (22) and printing electronic control device (23); All-terrain walking chassis is arranged on 3D printing robot unit ( 2), the all-terrain walking chassis includes an electronically controlled drive mechanism and a steering control mechanism; the printing robot arm (21) is installed on the all-terrain walking chassis, and the printing robot arm (21) includes a printing robot arm drive, and the printing robot arm drive is at least It includes an X-coordinate drive mechanism that controls the left and right horizontal movement of the printing robot arm, a Y-coordinate drive mechanism that controls the front-and-back horizontal movement of the printing robot arm, a Z-coordinate drive mechanism that controls the vertical movement of the printing robot arm, and the printing robot arm (21). The end section is provided with a 3D printing device, the 3D printing device includes a 3D printing nozzle (24); the printing ink input device (22) includes an ink pumping mechanism, the input end of the ink pumping mechanism is connected with the ink supply subunit, and the ink supply subunit Supply printing ink, the output end of the ink pumping mechanism is connected with the 3D printing nozzle (24) through the ink output pipeline; the printing electronic control device (23) is fixedly installed on the all-terrain walking chassis, and the printing electronic control device (23) includes industrial The control computer, the walking control circuit of the 3D printing robot, the position control circuit of the 3D printing nozzle, the control circuit of the ink pumping mechanism, the industrial control computer are respectively electrically connected with the electric control drive mechanism and the steering control mechanism of the all-terrain walking chassis, and the industrial control computer is respectively connected with the The drive of the printing robot arm and the electrical connection of the ink pumping mechanism;

The sealed material transfer robot unit (3) includes a walking chassis, a working platform, a transfer mechanical arm and a transfer electronic control device; the walking chassis includes an electronically controlled drive mechanism and a steering control mechanism; the working platform is installed on the walking chassis; the transfer mechanical arm Installed on the working platform, the transfer robot arm includes the drive of the transfer robot arm. The transfer robot arm drive at least includes an X-coordinate drive mechanism that controls the left and right horizontal movement of the transfer robot arm, a Y-coordinate drive mechanism that controls the front and rear horizontal movement of the transfer robot arm, and a control The Z-coordinate drive mechanism for the vertical movement of the transfer robot arm, the end of the transfer robot arm is equipped with a manipulator; the transfer electronic control device is fixedly installed on the working platform, and the transfer electronic control device includes an industrial control computer, a sealed material transfer robot walking control circuit, The transfer robot arm control circuit, the industrial control computer is electrically connected to the electric control drive mechanism and the steering control mechanism of the walking chassis, and the industrial control computer is electrically connected to the transfer robot arm drive;

The centralized electronic control unit (4) includes a central control computer, a detection control loop, a data modeling loop, a detection robot position feedback correction loop, a 3D printing control loop, and a sealed material transfer control loop, and the central control computer communicates with the detection head ( 13), the distance sensor, scanner, and gyroscope are electrically connected, and the central control computer is respectively connected with the industrial control computer of the vehicle-mounted electronic control device (12), the industrial control computer of the printing electronic control device (23), and the sealed material transfer robot unit (3 ) electrical connection of the industrial control computer of the transfer electronic control device;

It is characterized in that the construction of the storage method specifically includes the following steps:

a. Preparation for the construction of underground storage space: After detecting the approximate location of the underground cavity by geological radar, select a suitable tunneling penetration point under the premise of ensuring that the original rock formation near the tunneling penetration point has a high support strength, and use the roadheader to tunnel through it The roadway connected with the underground cavity is excavated at one point, and the roadway is effectively supported, and then the detection robot unit (1), 3D printing robot unit (2) and sealed material transfer robot unit (3) are placed in the tunnel connected with the underground cavity. in the lane;

b. Scanning the inner cavity of the underground cavity: the centralized electronic control unit (4) controls the detection control loop, the detection robot position feedback correction loop, and the data modeling loop to start working, and the central control computer issues instructions to make the industrial control of the vehicle-mounted electronic control device (12) The computer controls the detection robot unit (1) to step into the underground cavity and scan the inner cavity of the underground cavity, and then the coordinates return to the initial position. The central control computer fits the plane scanning data with the same reference and generates a three-dimensional model. 3D space model of underground cavity, and then store it;

c. Three-dimensional modeling of underground storage space: The central control computer calculates and analyzes the external stress of the three-dimensional space model of the underground cavity according to the input geological data of the surrounding environment of the underground cavity, and analyzes the stability, stress, displacement, and stability of the three-dimensional space model of the underground cavity. The evolution process of cracks, permeability, acoustic characteristics, optical characteristics, electrical characteristics, magnetic characteristics and structural characteristic parameters is calculated and analyzed. The central control computer first uses the three-dimensional space model of the underground cavity to fit the internal surface of the three-dimensional space model of the underground cavity. Construct the surface support layer model, and then based on the surface support layer model, according to the calculation and analysis results and the input safety factor, it is sequentially fitted at the position of the stress concentration point on the inner surface of the three-dimensional space model of the corresponding underground cavity and the position with low stability Construct the columnar support model, and then construct the wall panel model connected between the columnar support models according to the spatial layout of the underground cavity on the basis of the columnar support model, and finally fit and generate the underground storage space of the partition structure 3D model and store the coordinate position information of the 3D model in the underground storage space; then the central control computer first plans and stores the printing path and printing reference coordinates of the surface support layer model with the reference coordinate origin, and then plans and stores the column support with the reference coordinate origin The printing path and printing reference coordinates of the model, and finally plan and store the printing path and printing reference coordinates of the wall panel model with the origin of the reference coordinates; then the central control computer according to the coordinate position information of the three-dimensional model of the underground storage space and the coordinate position information of the items to be sealed, Plan and store the storage transportation route and storage transportation reference coordinates with the reference coordinate origin;

d. 3D printing the three-dimensional entity of the underground storage space: the 3D printing control circuit starts to work, and the central control computer sends an instruction to make the 3D printing robot walking control circuit of the printing electronic control device (23) start to work, and the industrial control of the printing electronic control device (23) The computer sequentially controls the all-terrain of the 3D printing robot unit (2) according to the printing path and printing reference coordinates of the surface support layer model, the printing path and printing reference coordinates of the column support model, and the printing path and printing reference coordinates of the wall panel model. The electric control drive mechanism and steering control mechanism of the walking chassis move the coordinates of the 3D printing robot unit (2) to the set position corresponding to the coordinate position of the 3D model of the underground storage space inside the underground cavity, and then the position control circuit of the 3D printing nozzle starts to work, printing The industrial control computer of the electronic control device (23) controls the driving action of the printing robot arm (21) according to the printing path to move the coordinates of the 3D printing nozzle (24) to the printing reference coordinate position, and the control circuit of the ink pumping mechanism starts to work. The industrial control computer of the printing electronic control device (23) controls the action of the ink pumping mechanism of the printing ink input device (22), so that the pumped printing ink is output through the 3D printing nozzle (24), and then the industrial computer of the printing electronic control device (23) The control computer controls the driving action of the printing robot arm (21) so that the 3D printing nozzle (24) performs 3D printing on the surface support layer model, the column support model, and the wall panel model in sequence according to the coordinate movement of the printing path, until the printing At the end of the path, the physical printing of the three-dimensional model of the underground storage space is completed, and the 3D printing robot unit (2) returns to the initial position;

e. Underground storage: the control circuit for the transfer of sealed materials starts to work, and the central control computer issues an instruction to make the walking control circuit of the transfer robot unit (3) of the transfer electronic control device and the control circuit of the transfer robot arm start to work, and the transfer electric The industrial control computer of the control device controls the movement of the all-terrain walking chassis and the transfer robot arm of the sealed material transfer robot unit (3) according to the sealed transportation path and the sealed transportation reference coordinates, so that the sealed material transfer robot unit (3) moves the coordinates of the items to be sealed in sequence Transfer to the set coordinate position inside the underground storage space entity, complete the transfer of all sealed items at the end of the storage transportation path, and return the sealed material transfer robot unit (3) to the initial position.

2. The construction sealing method of the underground storage space according to claim 1, wherein the printing ink comprises a foam geopolymer with carbon dioxide gas as a filling gas, and the foam geopolymer with carbon dioxide gas as a gas filling comprises slag micropowder , Solid waste powder, alkali activator, carbon dioxide foam filling gas, foaming agent, accelerator.

3. The construction and sealing method of the underground storage space according to claim 2, characterized in that the sealed material transfer robot unit (3) and the 3D printing robot unit (2) are the same robot unit, and the sealed material transfer robot unit (3) ) and the printing robot arm (21) of the 3D printing robot unit (2) are the same robot arm; the 3D printing path of the wall panel model in step c is carried out according to the path that the wall panels sequentially surround and connect the cylindrical space Planning; after the 3D printing of the wall panel model is completed in step d, in step e, the sealed material transfer robot unit (3) moves the coordinates of the items to be sealed in order and transfers them to the set coordinate position inside the underground storage space entity. The method is 3D printing nozzles (24) A method of directly injecting printing ink containing a foamed geopolymer with carbon dioxide gas as a filling gas into the cylindrical space.

4. The construction and storage method of underground storage space according to claim 1, 2 or 3, characterized in that step b detects the process in which the robot unit (1) steps into the underground cavity and scans the cavity of the underground cavity Among them, the central control computer first issues an instruction to make the detection angle control loop of the vehicle-mounted electronic control device (12) start to work, and the industrial control computer of the vehicle-mounted electronic control device (12) controls the detection head angle positioning control drive of the detection head (13). The action causes the scanner of the probe head (13) to rotate within 360° in the base point scanning plane to scan the base point plane with the initial position as the reference coordinate origin, and the scanner of the probe head (13) sends the scan data of the base point plane to the The central control computer and the gyroscope of the detection head (13) send the scanner coordinate position data with reference to the coordinate origin position to the central control computer at the same time, and the central control computer compares the base point plane scanning data with the scanner coordinate position data with reference to the coordinate origin position. storage;

Then the central control computer sends an instruction to make the detection robot walking control circuit of the vehicle-mounted electronic control device (12) start to work, and the industrial control computer of the vehicle-mounted electronic control device (12) controls the electric control drive of the all-terrain walking chassis of the detection robot unit (1) The action of the mechanism and the steering control mechanism makes the detection robot unit (1) take the initial position as the reference coordinate origin to move a set step distance to the inner coordinates of the underground cavity and then stop. The scanner coordinate position data of the stepping position is sent to the central control computer, and then the central control computer stores the scanner coordinate position data fed back by the gyroscope of the stepping position and the scanner coordinate position data of the reference coordinate origin position. Compare and calculate the coordinate deviation between the scanner coordinate position of the stepping position and the scanner coordinate position of the reference coordinate origin position and store it, and then the central control computer issues instructions according to the coordinate deviation to make the detection of the vehicle-mounted electronic control device (12) The head detection angle control circuit works again, and the industrial control computer of the vehicle-mounted electronic control device (12) controls the detection head angle positioning control driving action of the detection head (13) to make the detection head (13) at the step position rotate and be positioned to the step position. The scanning plane of the scanner in the forward position is parallel to the position of the base point scanning plane, and then the industrial control computer of the vehicle-mounted electronic control device (12) controls the angle positioning of the probe head (13) and controls the driving action to make the scanner scan after correction. Rotate within the 360° range in the plane to perform the first step distance plane scanning, the scanner of the detection head (13) sends the first step distance plane scanning data to the central control computer, and the central control computer sends the first step distance plane scan data according to the stored coordinate deviation The planar scan data and the base point planar scan data are fitted with the same datum and stored after three-dimensional modeling;

Then the central control computer sends an instruction to make the industrial control computer of the vehicle-mounted electronic control device (12) control the coordinate point of one step above the overall position of the detection robot unit (1) as a reference coordinate point to move to the inner coordinates of the underground cavity by one setting again. step distance and stop, and so on, the detection robot unit (1) takes a step further, and the gyroscope of the detection head (13) first sends the scanner coordinate position data of the stepping position to the central control computer, and then the central control computer performs While storing, compare the scanner coordinate position data fed back by the gyroscope at the step position with the scanner coordinate position data fed back by the gyroscope at the previous step position, and calculate the difference between the scanner coordinate position of the step position and the previous step position. The coordinate deviation between the scanner coordinate positions of the step position is stored, and then the central control computer sends an instruction according to the coordinate deviation to make the probe head (13) of the step position rotate and be positioned to scan the scanner at the step position. The plane is parallel to the position of the scanning plane of the scanner at the last step position, and then the industrial control computer of the vehicle-mounted electronic control device (12) controls the angle positioning of the probe head (13) and controls the drive action to make the scanner in the corrected position. The scan plane is rotated within a range of 360° to scan the step distance plane. The scanner of the probe head (13) sends the step distance plane scan data to the central control computer, and the central control computer determines the step distance of the step position according to the stored coordinate deviation. The plane scan data and the step distance plane scan data of the previous step position are fitted with the same reference and stored after three-dimensional modeling, until the scanning of the entire underground cavity is completed according to the feedback from the distance sensor of the detection head (13), The central control computer stores the final three-dimensional space model of the underground cavity.

5. The construction and storage method of underground storage space according to claim 4, characterized in that, the detection manipulator (11) of the construction and storage system of underground storage space comprises a detection manipulator drive, and the detection manipulator drive at least includes controlling the detection manipulator (11) An X-coordinate drive mechanism that moves left and right in the horizontal direction, or a Y-coordinate drive mechanism that controls the front and rear horizontal movement of the detection robot arm (11), or a Z-coordinate drive mechanism that controls the vertical movement of the detection robot arm (11); The electric control device (12) also includes a detection mechanical arm control circuit, and the industrial control computer of the vehicle-mounted electric control device (12) is electrically connected with the detection mechanical arm drive of the detection mechanical arm (11); the centralized electric control unit (4) also includes a scanning spacing control loop;

Step b detects that the robot unit (1) takes one step further, and the central control computer issues an instruction according to the coordinate deviation to rotate the probe head (13) at the step position and position the scanning plane of the scanner at the step position parallel to the previous step. After the position of the scanning plane of the scanner in the stepping position, the central control computer simultaneously sends an instruction according to the coordinate deviation to make the detection mechanical arm control loop of the vehicle-mounted electronic control device (12) work, and the vehicle-mounted electronic control device (12) controls the detection mechanical arm The driving action adjusts the distance between the scanning plane of the scanner at the stepping position and the scanning plane at the last stepping position to a set distance, and then the industrial control computer of the vehicle-mounted electronic control device (12) controls the detection head (13) The angle positioning control driving action of the probe makes the scanner rotate within a range of 360° in the corrected scanning plane to perform step-distance plane scanning.

6. The method for constructing and sealing an underground storage space according to claim 1, 2 or 3, wherein the driving of the transfer mechanical arm of the sealed material transfer robot unit (3) also includes the rotation and movement of the central axis along the left and right horizontal directions. The A-coordinate rotation drive mechanism or the B-coordinate rotation drive mechanism that rotates and moves along the front and back horizontal direction as the central axis and the C-coordinate rotation drive mechanism that rotates and moves along the vertical direction as the central axis; the transfer mechanical arm of the sealed material transfer robot unit (3) There is also a pattern recognition sensor on the bottom section of the robot unit (3), and the centralized electronic control unit (3) also includes a transfer grabbing and stacking correction circuit. connect;

In the process of underground storage in step e, the pattern recognition sensor on the terminal section of the transfer robot arm feeds back the shape and size data of the sealed items to be grabbed or stacked to the central control computer in real time, and the transfer grabbing and stacking correction circuit works, and the central control computer puts the sealed items The physical size data of the sealed item is compared with the input position data and shape size data of the sealed item. If there is a data deviation, the central control computer will issue an instruction to control the driving action of the transfer robot arm so that the transfer robot arm will follow the input position data and shape of the sealed item. The size data is approached and corrected for grabbing or stacking toward the sealed item.

7. The construction and storage method for underground storage space according to claim 1, 2 or 3, characterized in that the drive of the printing robot arm also includes an A-coordinate rotation drive mechanism that rotates along the left and right horizontal directions as the central axis or moves along the front and back horizontal directions. A B-coordinate rotation driving mechanism whose direction is the central axis, or an A-coordinate rotation driving mechanism which rotates along the left-right horizontal direction as the central axis, and a B-coordinate rotation driving mechanism which rotates along the front-rear horizontal direction as the central axis; print head (24) is also provided with a pattern recognition sensor, and the centralized electronic control unit (4) also includes a 3D printing entity correction circuit, and the central control computer is electrically connected to the pattern recognition sensor;

In step d, during the physical printing process of the 3D model of the underground storage space, the 3D printing entity correction circuit works, and the pattern recognition sensor feeds back the body size data of the 3D printing entity to the central control computer in real time, and the central control computer compares the body size data of the 3D printing entity with the Compare the model data of the corresponding part of the stored 3D model of the underground storage space, and if the size data of the 3D printed entity is smaller than the model data of the corresponding part of the 3D model of the underground storage space, the central control computer sends an instruction to control the 3D printing nozzle (24) Interrupt the printing path, and repeat the 3D printing of this part of the printing path according to the model data of the corresponding part on the 3D model of the underground storage space until the shape size data of the 3D printed entity is greater than or equal to that on the 3D model of the underground storage space. Corresponding part of the model data, and then the central control computer issues an instruction to control the 3D printing nozzle (24) to continue 3D printing according to the planned printing path.

8. The construction and storage method for underground storage space according to claim 1, 2 or 3, characterized in that step b detects the process in which the robot unit (1) steps into the underground cavity and scans the cavity of the underground cavity Among them, the scanning method of the scanner of the probe head (13) adopts a non-contact potential measurement method based on wireless transmission.

9. according to the construction sealing method of claim 1 or 2 or 3 described underground storage space, it is characterized in that, the central control computer of centralized electronic control unit (4) is respectively connected with the industrial control computer of vehicle-mounted electronic control device (12), The industrial control computer of the printing electronic control device (23), the industrial control computer of the sealed material transfer robot unit (3) and the industrial control computer of the transfer electronic control device are connected by radio, and the central control computer is connected with the industrial control computer of the vehicle-mounted electronic control device (12), printing electronic control The data transmission between the industrial control computer of the device (23) and the industrial control computer of the sealed material transfer robot unit (3) transfer electronic control device is all through wireless communication.

10. The construction and storage method of underground storage space according to claim 1, 2 or 3, characterized in that, step c carries out the printing path planning and printing reference of surface support layer model, column support model, wall panel model During the coordinate planning process, the central control computer takes the initial position of the 3D printing robot unit (2) as the reference coordinate origin, and performs the printing path planning of the cylindrical support model and the printing reference coordinate planning process according to the stress in the three-dimensional space model of the underground cavity. Concentrate on printing path planning and printing reference coordinate planning in order from large to small; in step c, during the process of planning the sealing transportation path and sealing transportation reference coordinates, the central control computer uses the initial position of the sealed material transfer robot unit (3) as the reference coordinate origin.