Automatic attitude control method for tunnel boring machine equipped with six-degree-of-freedom propelling system

Abstract

The invention discloses an automatic attitude control method for a tunnel boring machine equipped with a six-degree-of-freedom propulsion system. The method comprises the following steps: calculating current attitude information of the front end surface of a shield body of the tunnel boring machine in a global rectangular coordinate system; position coordinates and direction vectors of the front end face of the shield body at the next tunneling position, namely the target position, on the tunnel design axis are determined; calculating pose information of the front end face of the shield body at the next tunneling position under the global rectangular coordinate system; calculating the position deviation and Euler angle deviation of the target pose and the current pose in the first rectangular coordinate system; calculating the target length of each propulsion oil cylinder in the six-degree-of-freedom propulsion system; and the intelligent control system of the tunnel boring machine automatically executes the target stroke increment of each propelling oil cylinder in a closed-loop manner. The invention relates to the field of shield tunnel construction, and can solve the problems of high manual deviation correction operation difficulty and insufficient control precision of a propelling system in the prior art.

Description

Technical Field

[0001] The present invention relates to the field of shield tunnel construction, and particularly to an automatic attitude control method for a tunnel boring machine configured with a six-degree-of-freedom propulsion system. Background Art

[0002] With the rapid development of infrastructure construction such as transportation, water conservancy, and urban underground space, the geological conditions faced by tunnel projects are becoming increasingly complex (such as soft soil, karst, high-stress strata, etc.). The single-degree-of-freedom propulsion system of traditional tunnel boring machines is difficult to adapt to the changing environment, and there is an urgent need for six-degree-of-freedom (3 translations + 3 rotations) attitude control capabilities. The six-degree-of-freedom system can achieve dynamic optimization of the tunneling trajectory through multi-directional collaborative adjustment, reduce the number of deviation corrections, improve construction efficiency, and at the same time, combined with technologies such as the Internet of Things and digital twins, promote the upgrade of tunnel boring machines from "mechanization" to "intelligence".

[0003] The core significance of a tunnel boring machine with a six-degree-of-freedom system lies in improving construction safety and quality. By compensating in real time for deviations caused by uneven geology or tool wear, the tunnel axis error can be controlled within millimeters, avoiding the risk of "machine jamming"; in complex strata, "flexible tunneling" can be achieved by actively adjusting the thrust of each degree of freedom, reducing the disturbance of the surrounding rock; in addition, this technology can shorten the construction period by 10% - 30%, reduce the comprehensive cost, and provide technical reserves for tunnel construction in extreme environments such as deep earth and deep sea.

[0004] However, different from the partition control method of the propulsion system in which traditional propulsion cylinders are evenly distributed along the circumference of the shield, due to the special structural design, the six-degree-of-freedom propulsion system cannot adopt the traditional partition deviation correction operation method, and the manual deviation correction operation is difficult and the control accuracy is insufficient. Therefore, an automatic attitude control method for a tunnel boring machine configured with a six-degree-of-freedom propulsion system is needed, which can solve the problems of high difficulty in manual deviation correction operation and insufficient control accuracy in the existing technology. Summary of the Invention

[0005] The purpose of the present invention is to provide an automatic attitude control method for a tunnel boring machine configured with a six-degree-of-freedom propulsion system, which can solve the problems of high difficulty in manual deviation correction operation and insufficient control accuracy in the existing technology.

[0006] The present invention is implemented as follows:

[0007] An automatic attitude control method for a tunnel boring machine configured with a six-degree-of-freedom propulsion system, which is used for a tunnel boring machine. The tunnel boring machine mainly includes a cutter head, a shield body, a six-degree-of-freedom propulsion system, and a support body; the cutter head is located directly in front of the shield body, a six-degree-of-freedom propulsion system is configured between the tail end of the shield body and the support body, and the six-degree-of-freedom propulsion system is composed of six propulsion cylinders with different arrangement directions; the support body is located behind the six-degree-of-freedom propulsion system;

[0008] The automatic attitude control method for a tunnel boring machine equipped with a six-degree-of-freedom propulsion system includes the following steps:

[0009] Step 1: Calculate the current attitude information of the front end face of the shield of the tunnel boring machine in the global rectangular coordinate system;

[0010] Step 2: Determine the position coordinates and direction vector of the front end face of the shield at the next tunneling position, i.e., the target position, on the tunnel design axis;

[0011] Step 3: Calculate the pose information of the front end face of the shield at the next tunneling position in the global rectangular coordinate system;

[0012] Step 4: Calculate the position deviation and Euler angle deviation between the target pose and the current pose in the first rectangular coordinate system X1Y1Z1;

[0013] Step 5: Calculate the target lengths of the propulsion cylinders in the six-degree-of-freedom propulsion system;

[0014] Step 6: The intelligent control system of the tunnel boring machine automatically and closed-loop executes the target stroke increments of each propulsion cylinder.

[0015] The said Step 1 includes the following sub-steps:

[0016] Step 1.1: Establish four right-handed Cartesian rectangular coordinate systems;

[0017] Step 1.2: Calculate the pose transformation matrix from the first rectangular coordinate system X1Y1Z1 to the global rectangular coordinate system X0Y0Z0

[0018] Step 1.3: Calculate the pose information of the front end face and the rear end face of the shield in the global rectangular coordinate system X0Y0Z0, including the pose transformation matrix from the second rectangular coordinate system X2Y2Z2 to the first rectangular coordinate system X1Y1Z1 The pose transformation matrix from the third rectangular coordinate system X3Y3Z3 to the second rectangular coordinate system X2Y2Z2

[0019] The said four right-handed Cartesian rectangular coordinate systems include:

[0020] 1) Taking the direction from the starting point to the ending point of the tunnel design axis as the positive direction of the Y0 axis and the vertical upward direction as the positive direction of the Z0 axis, establish the global rectangular coordinate system X0Y0Z0. The origin O0 of the global rectangular coordinate system is located at the starting point of the tunnel design axis, and the tunnel design axis data is defined in the global rectangular coordinate system, that is, the starting point data of the tunnel design axis is (0, 0, 0);

[0021] 2) On the basis of the global rectangular coordinate system X0Y0Z0, translate p1, q1, and r1 in the directions of the X0-axis, Y0-axis, and Z0-axis respectively, and rotate α1, β1, and γ1 around the X0-axis, Y0-axis, and Z0-axis respectively to establish the first rectangular coordinate system X1Y1Z1. The origin O1 of the first rectangular coordinate system is located at the center of the front end face of the support body. Among them, with the vertical symmetry axis of the front end face of the support body upward as the positive direction of the Z1-axis of the first rectangular coordinate system, and perpendicular to the front end face of the support body along the tunneling direction as the positive direction of the Y1-axis of the first rectangular coordinate system.

[0022] 3) On the basis of the first rectangular coordinate system X1Y1Z1, translate p2, q2, and r2 in the directions of the X1-axis, Y1-axis, and Z1-axis respectively, and rotate α2, β2, and γ2 around the X1-axis, Y1-axis, and Z1-axis respectively to establish the second rectangular coordinate system X2Y2Z2. Let the origin O2 of the second rectangular coordinate system be located at the center of the rear end face of the shield body. Among them, with the vertical symmetry axis of the rear end face of the shield body upward as the positive direction of the Z2-axis of the second rectangular coordinate system, and perpendicular to the rear end face of the shield body along the tunneling direction as the positive direction of the Y2-axis of the second rectangular coordinate system.

[0023] 4) On the basis of the second rectangular coordinate system X2Y2Z2, extend q3 in the positive direction of the Y2-axis to establish the third rectangular coordinate system X3Y3Z3. The origin O3 of the third rectangular coordinate system is located at the center of the front end face of the shield body. Among them, q3 is the actual length of the shield body, which is a known structural parameter. With the vertical symmetry axis of the front end face of the shield body upward as the positive direction of the Z3-axis of the third rectangular coordinate system, and perpendicular to the front end face of the shield body along the tunneling direction as the positive direction of the Y3-axis of the third rectangular coordinate system.

[0024] The said step 1.2 includes the following sub-steps:

[0025] Step 1.2.1: Select three fixed points A, B, and C in the same plane where the front end face of the support body is located;

[0026] Step 1.2.2: Give the distances between the geometric center of the front end face of the support body, that is, the origin O1 of the first rectangular coordinate system, and the three fixed points A, B, and C;

[0027] Step 1.2.3: Measure the coordinates of the three fixed points A, B, and C in the global rectangular coordinate system by using a total station, which are respectively: 0 P A =(x A ,y A ,z A ), 0 P B =(x B ,y B ,z B ), 0 P C =(x C ,yC , z C );

[0028] Step 1.2.4: Calculate the coordinates of O1 in the global rectangular coordinate system based on the distances from the origin O1 of the first rectangular coordinate system to three fixed points A, B, and C 0 P O1 = (x O1 , y O1 , z O1 ), and in terms of magnitude, x O1 = p1, y O1 = q1, z O1 = r1, thus calculating p1, q1, and r1;

[0029] Step 1.2.5: Calculate the unit vector of the normal vector of the front end face of the support as The calculation formula is as follows:

[0030]

[0031] Step 1.2.6: The attitude matrix of the front end face of the support in the global coordinate system 0 R1 is represented by α1, β1, and γ1 as follows:

[0032]

[0033] Set the unit vector in the global rectangular coordinate system X0Y0Z0 to be (0, 1, 0), 0 R1 and satisfy the following relationship:

[0034]

[0035] And calculate α1, β1, and γ1 according to this formula;

[0036] Step 1.2.7: The pose transformation matrix from the first rectangular coordinate system X1Y1Z1 to the global rectangular coordinate system X0Y0Z0 is represented as follows:

[0037]

[0038] The above-mentioned Step 1.3 includes the following sub-steps:

[0039] Step 1.3.1: The pose transformation matrix from the second rectangular coordinate system X2Y2Z2 to the first rectangular coordinate system X1Y1Z1 and the pose transformation matrix from the third rectangular coordinate system X3Y3Z3 to the second rectangular coordinate system X2Y2Z2 are represented as follows:

[0040]

[0041] Step 1.3.2: Combine the pose transformation matrix from the first rectangular coordinate system X1Y1Z1 to the global rectangular coordinate system X0Y0Z0

[0042] The pose transformation matrix from the third rectangular coordinate system X3Y3Z3 to the global rectangular coordinate system X0Y0Z0 is expressed as follows:

[0043] where, 0 R3 is the 3×3 attitude matrix of the front end face of the shield body in the global rectangular coordinate system, 0 S3 is the 3×1 position matrix of the center of the front end face of the shield body in the global rectangular coordinate system, 0 S3 = ( 0 S 3x , 0 S 3y , 0 S 3z ) T ;

[0044] Specifically,

[0045] 0 r 11 = cosβ1cosβ2cosγ1cosγ2 - sinβ2(cosα1cosγ1sinβ1 + sinα1sinγ1)

[0046] + cosβ2(cosγ1sinα1sinβ1 - cosα1sinγ1)sinγ2

[0047] 0 r 12 = cosβ2sinα2(cosα1cosγ1sinβ1 + sinα1sinγ1)

[0048] + cosβ1cosγ1(cosγ2sinα2sinβ2 - cosα2sinγ2)

[0049] +(cosγ1sinα1sinβ1 - cosα1sinγ1)(cosα2cosγ2 + sinα2sinβ2sinγ2)

[0050] 0 r 13 = cosα2cosβ2(cosα1cosγ1sinβ1 + sinα1sinγ1)

[0051] +cosβ1cosγ1(cosα2cosγ2sinβ2+sinα2sinγ2)

[0052] +(cosγ1sinα1sinβ1 - cosα1sinγ1)(-cosγ2sinα2 + cosα2sinβ2sinγ2)

[0053] 0 r 21 =cosγ1(sinα1sinβ2 + cosα1cosβ2sinγ2)

[0054] +sinγ1(cosβ1cosβ2cosγ2 + sinβ1(-cosα1sinβ2 + cosβ2sinα1sinγ2))

[0055] 0 r 22 =cosβ2sinα2(-cosγ1sinα1 + cosα1sinβ1sinγ1)

[0056] +cosβ1sinγ1(cosγ2sinα2sinβ2 - cosα2sinγ2)

[0057] +(cosα1cosγ1 + sinα1sinβ1sinγ1)(cosα2cosγ2 + sinα2sinβ2sinγ2)

[0058] 0 r 23 =cosα2cosβ2(-cosγ1sinα1 + cosα1sinβ1sinγ1)

[0059] +cosβ1sinγ1(cosα2cosγ2sinβ2 + sinα2sinγ2)

[0060] +(cosα1cosγ1 + sinα1sinβ1sinγ1)(-cosγ2sinα2 + cosα2sinβ2sinγ2) 0 r 31 =-cosα1cosβ1 sinβ2 + cosβ2(-cosγ2 sinβ1 + cosβ1sinα1 sinγ2)

[0061] 0 r 32 =cosα2(cosβ1cosγ2sinα1 + sinβ1sinγ2)

[0062] +sinα2(cosα1cosβ1cosβ2+sinβ2(-cosγ2sinβ1+cosβ1sinα1sinγ2))

[0063] 0 r 33 = cosα1cosα2cosβ1cosβ2 - sinβ1(cosα2cosγ2sinβ2 + sinα2sinγ2)

[0064] + cosβ1sinα1(-cosγ2sinα2 + cosα2sinβ2sinγ2)

[0065]

[0066]

[0067] Step 1.3.3: Solve for the Euler attitude angles of the front end face of the shield body in the global coordinate system according to the attitude matrix 0 R3 0 α3, 0 β3, 0 γ3, and the calculation is as follows:

[0068] 0 α3 = Atan2( 0 r 32 , 0 r 33 )

[0069] 0 β3 = -Asin( 0 r 31 )

[0070] 0 γ3 = Atan2( 0 r 21 , 0 r 11 )

[0071] The said Step 2 includes the following sub-steps:

[0072] Step 2.1: Take the position matrix 0 S3 of the center of the front end face of the shield body as the current position of the front end face of the shield body in the global coordinate system X0Y0Z0, 0 S3 = ( 0 S 3x , 0 S 3y , 0 S 3z ) T, after the intelligent control system of the tunnel boring machine automatically selects a distance m of tunneling, the center of the front end face of the shield body is located at the target position on the tunnel design axis, and the coordinates of this target position are 0 S 3_tg =( 0 S 3x_tg , 0 S 3y_tg , 0 S 3z_tg );

[0073] Step 2.2: Obtain the unit tangent vector of this target position This unit tangent vector is the target direction vector of the front end face of the shield body; the tunneling distance is m = 0 S 3y_tg - 0 S 3y .

[0074] The said Step 3 includes the following sub-steps:

[0075] Step 3.1: Set the target values of the Euler attitude angles of the front end face of the shield body at the target position in the global rectangular coordinate system as 0 α 3_tg , 0 β 3_tg , 0 γ 3_tg , and the corresponding attitude matrix in the global rectangular coordinate system is 0 R 3_tg , then:

[0076]

[0077] Step 3.2: Set the unit vector in the global rectangular coordinate system as (0, 1, 0), then 0 R 3_tg and satisfy the following relationship:

[0078]

[0079] Calculate and obtain the target values of the Euler attitude angles of the front end face of the shield body at the target position in the global rectangular coordinate system 0 α 3_tg , 0 β 3_tg , 0 γ 3_tg .

[0080] The said Step 4 includes the following sub-steps:

[0081] Step 4.1: Coordinate difference matrix between the target position and the current position of the center of the front end face of the shield body in the global rectangular coordinate system 0 δ is as follows:

[0082]

[0083] Step 4.2: Coordinate difference matrix 0 The expression of δ in the first rectangular coordinate system X1Y1Z1 1 δ is as follows:

[0084]

[0085] Step 4.3: Since the Euler attitude angles of the current position of the front end face of the shield body are α3, β3, γ3, and the attitude Euler angles of the target position of the front end face of the shield body are 0 α 3_tg , 0 β 3_tg , 0 γ 3_tg , then the Euler angle difference matrix 0 ψ between the target position and the current position of the front end face of the shield body in the global rectangular coordinate system is as follows:

[0086]

[0087] Step 4.4: Euler angle difference matrix 0 The expression of ψ in the first rectangular coordinate system X1Y1Z1 is ψ as follows:

[0088]

[0089] The said step 5 includes the following sub-steps:

[0090] Step 5.1: Pose transformation matrix from the third rectangular coordinate system to the first rectangular coordinate system Calculate according to the following formula:

[0091] Where 1 R3 is the 3×3 attitude matrix of the front end face of the shield body at the current position in the first rectangular coordinate system X1Y1Z1, 1 S3 is the 3×1 position matrix of the center of the front end face of the shield body at the current position in the first rectangular coordinate system X1Y1Z1, 1 S3 = ( 1 S 3x , 1 S 3y , 1 S 3z );

[0092] Specifically, 1 r 11= cosγ2cosβ2

[0093] 1 r 12 = cosγ2sinβ2sinα2 - sinγ2cosα2

[0094] 1 r 13 = cosγ2sinβ2cosα2 + sinγ2sinα2

[0095] 1 r 21 = sinγ2cosβ2

[0096] 1 r 22 = sinγ2sinβ2sinα2 + cosγ2cosα2

[0097] 1 r 23 = sinγ2sinβ2cosα2 - cosγ2sinα2

[0098] 1 r 31 = -sinβ2

[0099] 1 r 32 = cosβ2sinα2

[0100] 1 r 33 = cosβ2cosα2

[0101] 1 S 3x = q3(cosγ2sinβ2sinα2 - sinγ2cosα2) + p2

[0102] 1 S 3y = q3(sinγ2sinβ2sinα2 + cosγ2cosα2) + q2

[0103] 1 S 3z = q3(cosβ2sinα2) + r2

[0104] Step 5.2: Obtain the Euler attitude angles of the front end face of the current position shield body in the first rectangular coordinate system X1Y1Z1 through the attitude matrix 1 R3, and calculate as follows; 1 α3, 1 β3, 1 γ3, the calculation is as follows;

[0105] 1 α3 = Atan2( 1 r 32 , 1 r 33 )

[0106] 1 β3 = -Asin( 1 r 31 )

[0107] 1 γ3 = Atan2( 1 r 21 , 1 r 11 )。

[0108] Step 5.3: At the target position, the position coordinates of the center of the front end face of the shield body in the first rectangular coordinate system X1Y1Z1 are 1 S3′ = ([[]] 1 S 3x ′, 1 S 3y ′, 1 S 3z ′), and its calculation method is:

[0109]

[0110] Step 5.4: At the target position, the Euler attitude angles of the front end face of the shield body in the first rectangular coordinate system X1Y1Z1 are 1 α3′, 1 β3′, 1 γ3′, and its calculation method is:

[0111]

[0112] Step 5.5: To move the front end face of the shield body from the current position to the target position, [p2, q2, r2] T needs to be corrected to [p2′, q2′, r2′] T , and the correction method of [p2′, q2′, r2′] T is:

[0113]

[0114] Among them, R′ is represented as follows:

[0115]

[0116] Step 5.6: Solve the target length L of each propulsion cylinder in the six-degree-of-freedom propulsion system when the front end face of the shield body moves from the current position to the target position through [p2′, q2′, r2′] T ​i_tg 。

[0117] Step 6 described above includes the following sub-steps:

[0118] Step 6.1: The intelligent control system of the tunnel boring machine automatically collects the current length L of each propulsion cylinder in the six-degree-of-freedom propulsion system i , and based on the target length L calculated in Step 5 i_tg , calculates the target stroke increment ΔL of each propulsion cylinder i = L i_tg - L i , where i = 1 to 6;

[0119] Step 6.2: The intelligent control system closes the loop to adjust the piston rod extension speed of the propulsion cylinder through the proportional flow valve corresponding to each cylinder, so that when the length of the propulsion cylinder reaches the target length, the center of the front end face of the shield is located at the corresponding point on the tunnel design axis;

[0120] Step 6.2 includes the following sub-steps:

[0121] Step 6.2.1: Divide the tunneling distance m into n equal parts, and the length of each segmented tunneling distance is

[0122] Step 6.2.2: Also divide the target stroke increment of each propulsion cylinder into n equal parts, and the length that the propulsion cylinder corresponding to each segmented tunneling distance needs to extend is

[0123] Step 6.2.3: The intelligent control system automatically adjusts the opening of the proportional flow valve, and makes each propulsion cylinder execute the elongation amount under ΔM in a closed loop.

[0124] Compared with the prior art, the present invention has the following beneficial effects:

[0125] The present invention can automatically calculate the position deviation and Euler angle deviation based on the current pose and target pose of the front end face of the shield of the tunnel boring machine, and calculate the target length of the propulsion cylinder according to the position deviation and Euler angle deviation, and automatically execute the corresponding elongation amount of the cylinder extension through the intelligent control system, solving the practical problems of high manual control difficulty and poor attitude control accuracy caused by using the traditional zoning deviation correction method for propulsion system control. BRIEF DESCRIPTION OF THE DRAWINGS

[0126] Figure 1 is the front view of the tunnel boring machine in the automatic attitude control method of the tunnel boring machine equipped with a six-degree-of-freedom propulsion system of the present invention;

[0127] Figure 2It is the schematic diagram of the automatic attitude control method for a tunnel boring machine equipped with a six-degree-of-freedom propulsion system (the front end face of the shield is at the current pose).

[0128] Figure 3 It is the schematic diagram of the automatic attitude control method for a tunnel boring machine equipped with a six-degree-of-freedom propulsion system (the front end face of the shield is at the target pose).

[0129] In the figure, 1 is the cutter head, 2 is the shield, 3 is the six-degree-of-freedom propulsion system, 4 is the support body, 5 is the tunnel design axis, and 6 is the total station. Detailed implementation manners

[0130] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0131] Please refer to the attached Figure 1 , an automatic attitude control method for a tunnel boring machine equipped with a six-degree-of-freedom propulsion system. This method is used for a tunnel boring machine, which mainly includes a cutter head 1, a shield 2, a six-degree-of-freedom propulsion system 3, and a support body 4; the cutter head 1 is located directly in front of the shield 2 and can realize the cutting of the formation; a six-degree-of-freedom propulsion system 3 is configured between the tail end of the shield 2 and the support body 4, and the six-degree-of-freedom propulsion system 3 is composed of six propulsion cylinders with different arrangement directions; the support body 4 is located behind the six-degree-of-freedom propulsion system 3, and the support body 4 can extend radially along the tunnel and closely fit with the surrounding rock, can keep relative static with the surrounding rock when the shield 2 advances forward, and can provide a reaction force for the six-degree-of-freedom propulsion system 3.

[0132] The tunnel boring machine is a conventional tunnel boring device in the art, and its working principle and process will not be elaborated here.

[0133] Please refer to the attached Figure 2 and the attached Figure 3 , the automatic attitude control method for the tunnel boring machine equipped with a six-degree-of-freedom propulsion system includes the following steps:

[0134] Please refer to the attached Figure 2 , step 1: Calculate the current attitude information of the front end face of the shield 2 of the tunnel boring machine in the global rectangular coordinate system.

[0135] The said step 1 includes the following sub-steps:

[0136] Step 1.1: Establish four right-handed Cartesian rectangular coordinate systems on the tunnel boring machine.

[0137] To calculate the pose information of the front end face and the rear end face of the shield 2 in the global rectangular coordinate system to realize the rapid calculation of the attitude of the shield 2, a total of four right-handed coordinate systems need to be established. It is stipulated that during the coordinate transformation from the (i - 1)th coordinate system to the ith coordinate system, the displacement amounts along the X, Y, and Z axes are respectively denoted as p i 、qi and r i The angles of rotation about the X, Y, and Z axes are denoted as α i , β i and γ i ; The four right-handed Cartesian coordinate systems include:

[0138] 1) Taking the starting point of the tunnel design axis 5 towards the end point as the positive direction of the Y0 axis and vertically upward as the positive direction of the Z0 axis, a global rectangular coordinate system X0Y0Z0 is established. The origin O0 of the global rectangular coordinate system is located at the starting point of the tunnel design axis 5. The data of the tunnel design axis 5 is defined in the global rectangular coordinate system, that is, the starting point data of the tunnel design axis 5 is (0, 0, 0).

[0139] 2) Based on the global rectangular coordinate system X0Y0Z0, translate p1, q1, and r1 in the directions of the X0 axis, Y0 axis, and Z0 axis respectively, and rotate α1, β1, and γ1 about the X0 axis, Y0 axis, and Z0 axis respectively to establish the first rectangular coordinate system X1Y1Z1. The origin O1 of the first rectangular coordinate system is located at the center of the front end face of the support 4; among them, taking the vertical symmetry axis of the front end face of the support 4 upward as the positive direction of the Z1 axis of the first rectangular coordinate system, and perpendicular to the front end face of the support 4 along the tunneling direction as the positive direction of the Y1 axis of the first rectangular coordinate system.

[0140] 3) Based on the first rectangular coordinate system X1Y1Z1, translate p2, q2, and r2 in the directions of the X1 axis, Y1 axis, and Z1 axis respectively, and rotate α2, β2, and γ2 about the X1 axis, Y1 axis, and Z1 axis respectively to establish the second rectangular coordinate system X2Y2Z2. Let the origin O2 of the second rectangular coordinate system be located at the center of the rear end face of the shield 2. Among them, taking the vertical symmetry axis of the rear end face of the shield 2 upward as the positive direction of the Z2 axis of the second rectangular coordinate system, and perpendicular to the rear end face of the shield 2 along the tunneling direction as the positive direction of the Y2 axis of the second rectangular coordinate system.

[0141] Among them, p2, q2, r2, α2, β2, and γ2 can be calculated according to the actual lengths of the propulsion cylinders in the six-degree-of-freedom propulsion system 3. The calculation method can refer to Chinese Patent Application CN202311385602.9, which belongs to the conventional calculation means in the field and will not be elaborated here.

[0142] 4) Based on the second rectangular coordinate system X2Y2Z2, extend q3 in the positive direction of the Y2 axis to establish the third rectangular coordinate system X3Y3Z3. The origin O3 of the third rectangular coordinate system is located at the center of the front end face of the shield 2; among them, q3 is the actual length of the shield 2, which is a known structural parameter. Taking the vertical symmetry axis of the front end face of the shield 2 upward as the positive direction of the Z3 axis of the third rectangular coordinate system, and perpendicular to the front end face of the shield 2 along the tunneling direction as the positive direction of the Y3 axis of the third rectangular coordinate system.

[0143] Step 1.2: Calculate the pose transformation matrix from the first rectangular coordinate system X1Y1Z1 to the global rectangular coordinate system X0Y0Z0

[0144] The said Step 1.2 includes the following sub-steps:

[0145] Step 1.2.1: Select three fixed points A, B, and C in the same plane where the front end face of the support body 4 is located.

[0146] Preferably, the three fixed points A, B, and C are distributed counterclockwise when viewed from the direction of the support body 4 towards the cutter head 1.

[0147] Step 1.2.2: Give the distances from the geometric center O1 of the front end face of the support body 4, which is the origin of the first rectangular coordinate system, to the three fixed points A, B, and C, facilitating the subsequent calculation of the coordinates of the origin O1 of the first rectangular coordinate system through the coordinates of the three fixed points A, B, and C in the global rectangular coordinate system.

[0148] Step 1.2.3: Measure the coordinates of the three fixed points A, B, and C in the global rectangular coordinate system by the total station 6, which are respectively: 0 P A =(x A ,y A ,z A ), 0 P B =(x B ,y B ,z B ), 0 P C =(x C ,y C ,z C ).

[0149] Step 1.2.4: Calculate the coordinates of O1 in the global rectangular coordinate system based on the distances from the origin O1 of the first rectangular coordinate system to the three fixed points A, B, and C 0 P O1 =(x O1 ,y O1 ,z O1 ), and in magnitude, x O1 =p1, y O1 =q1, z O1 =r1, thereby calculating p1, q1, and r1.

[0150] Step 1.2.5: Calculate the unit vector of the normal vector of the front end face of the support body 4 as The calculation formula is as follows:

[0151]

[0152] Step 1.2.6: Attitude matrix of the front end face of the support 4 in the global coordinate system 0 R1 can be represented by α1, β1, and γ1:

[0153]

[0154] Set the unit vector in the global rectangular coordinate system X0Y0Z0 to be (0, 1, 0), 0 R1 and satisfy the following relationship:

[0155]

[0156] And calculate α1, β1, and γ1 according to this formula.

[0157] Step 1.2.7: Pose transformation matrix from the first rectangular coordinate system X1Y1Z1 to the global rectangular coordinate system X0Y0Z0 can be expressed as follows:

[0158]

[0159] Step 1.3: Calculate the pose information of the front end face and the rear end face of the shield 2 in the global rectangular coordinate system X0Y0Z0, including the pose transformation matrix from the second rectangular coordinate system X2Y2Z2 to the first rectangular coordinate system X1Y1Z1 The pose transformation matrix from the third rectangular coordinate system X3Y3Z3 to the second rectangular coordinate system X2Y2Z2

[0160] The said Step 1.3 includes the following sub-steps:

[0161] Step 1.3.1: Pose transformation matrix from the second rectangular coordinate system X2Y2Z2 to the first rectangular coordinate system X1Y1Z1 and the pose transformation matrix from the third rectangular coordinate system X3Y3Z3 to the second rectangular coordinate system X2Y2Z2 can be expressed as follows:

[0162]

[0163] Step 1.3.2: Combine the pose transformation matrix from the first rectangular coordinate system X1Y1Z1 to the global rectangular coordinate system X0Y0Z0

[0164] The pose transformation matrix from the third rectangular coordinate system X3Y3Z3 to the global rectangular coordinate system X0Y0Z0 can be expressed as follows:

[0165] Among them, 0 R3 is a 3×3 attitude matrix of the front end face of the shield body 2 in the global rectangular coordinate system, 0 S3 is a 3×1 position matrix of the center of the front end face of the shield body 2 in the global rectangular coordinate system, 0 S3 = ( 0 S 3x , 0 S 3y , 0 S 3z ) T .

[0166] Specifically,

[0167] 0 r 11 = cosβ1cosβ2cosγ1cosγ2 - sinβ2(cosα1cosγ1sinβ1 + sinα1sinγ1)

[0168] + cosβ2(cosγ1sinα1sinβ1 - cosα1sinγ1)sinγ2

[0169] 0 r 12 = cosβ2sinα2(cosα1cosγ1sinβ1 + sinα1sinγ1)

[0170] + cosβ1cosγ1(cosγ2sinα2sinβ2 - cosα2sinγ2)

[0171] +(cosγ1sinα1sinβ1 - cosα1sinγ1)(cosα2cosγ2 + sinα2sinβ2sinγ2)

[0172] 0 r 13 = cosα2cosβ2(cosα1cosγ1sinβ1 + sinα1sinγ1)

[0173] + cosβ1cosγ1(cosα2cosγ2sinβ2 + sinα2sinγ2)

[0174] +(cosγ1sinα1sinβ1 - cosα1sinγ1)(-cosγ2sinα2 + cosα2sinβ2sinγ2)

[0175] 0 r 21 = cosγ1(sinα1sinβ2 + cosα1cosβ2sinγ2)

[0176] +sinγ1(cosβ1cosβ2cosγ2+sinβ1(-cosα1sinβ2+cosβ2sinα1sinγ2))

[0177] 0 r 22 = cosβ2sinα2(-cosγ1sinα1+cosα1sinβ1sinγ1)

[0178] +cosβ1sinγ1(cosγ2sinα2sinβ2-cosα2sinγ2)

[0179] +(cosα1cosγ1+sinα1sinβ1sinγ1)(cosα2cosγ2+sinα2sinβ2sinγ2)

[0180] 0 r 23 = cosα2cosβ2(-cosγ1sinα1+cosα1sinβ1sinγ1)

[0181] +cosβ1sinγ1(cosα2cosγ2sinβ2+sinα2sinγ2)

[0182] +(cosα1cosγ1+sinα1sinβ1sinγ1)(-cosγ2sinα2+cosα2sinβ2sinγ2)

[0183] 0 r 31 = -cosα1cosβ1sinβ2+cosβ2(-cosγ2sinβ1+cosβ1sinα1sinγ2)

[0184] 0 r 32 = cosα2(cosβ1cosγ2sinα1+sinβ1sinγ2)

[0185] +sinα2(cosα1cosβ1cosβ2+sinβ2(-cosγ2sinβ1+cosβ1sinα1sinγ2))

[0186] 0 r 33 = cosα1cosα2cosβ1cosβ2-sinβ1(cosα2cosγ2sinβ2+sinα2sinγ2)

[0187] +cosβ1sinα1(-cosγ2sinα2+cosα2sinβ2sinγ2)

[0188]

[0189] Step 1.3.3: According to the attitude matrix 0 R3, solve for the Euler attitude angles of the front end face of the shield body 2 in the global coordinate system 0 α3, 0 β3, 0 γ3. The calculation formulas are as follows:

[0190] 0 α3 = Atan2( 0 r 32 , 0 r 33 )

[0191] 0 β3 = -Asin( 0 r 31 )

[0192] 0 γ3 = Atan2( 0 r 21 , 0 r 11 )

[0193] Please refer to Appendix Figure 2 , Step 2: Determine the position coordinates and direction vector of the front end face of the shield body 2, which is the target position, on the tunnel design axis 5 for the next tunneling position

[0194] The said Step 2 includes the following sub-steps:

[0195] Step 2.1: Take the position matrix 0 S3 of the center of the front end face of the shield body 2 as the current position of the front end face of the shield body 2 in the global coordinate system X0Y0Z0 0 S3 = ([[]] 0 S 3x , 0 S 3y , 0 S 3z ) T . The intelligent control system of the tunnel boring machine automatically selects that after tunneling a distance m, the center of the front end face of the shield body 2 is located at the target position on the tunnel design axis 5, and the coordinates of this target position are 0 S 3_tg = ([[]] 0 S 3x_tg , 0 S 3y_tg , 0 S 3z_tg )

[0196] Step 2.2: Obtain the unit tangent vector at the target position This unit tangent vector is the target direction vector of the front end face of the shield body 2; the driving distance is m = 0 S 3y_tg - 0 S 3y .

[0197] The tunnel design axis 5 is a pre-designed combined curve, which is actually a dense point set, so that the unit tangent vector at any target position on this curve can be obtained.

[0198] Step 3: Calculate the pose information of the front end face of the shield body 2 at the next driving position in the global rectangular coordinate system.

[0199] The said Step 3 includes the following sub-steps:

[0200] Step 3.1: Set the target values of the Euler attitude angles of the front end face of the shield body 2 at the target position in the global rectangular coordinate system as 0 α 3_tg , 0 β 3_tg , 0 γ 3_tg , and the corresponding attitude matrix in the global rectangular coordinate system is R 3_tg , then:

[0201]

[0202] Step 3.2: Set the unit vector in the global rectangular coordinate system as (0, 1, 0), then R 3_tg and satisfy the following relationship:

[0203]

[0204] According to this relationship, the target values of the Euler attitude angles of the front end face of the shield body 2 at the target position in the global rectangular coordinate system can be calculated as 0 α 3_tg , 0 β 3_tg , 0 γ 3_tg .

[0205] Step 4: Calculate the position deviation and Euler angle deviation between the target pose and the current pose in the first rectangular coordinate system X1Y1Z1.

[0206] The said Step 4 includes the following sub-steps:

[0207] Step 4.1: Coordinate difference matrix between the target position and the current position of the center of the front end face of the shield body 2 in the global rectangular coordinate system 0 δ is as follows:

[0208]

[0209] Step 4.2: Coordinate difference matrix 0 Expression of δ in the first rectangular coordinate system X1Y1Z1 1 δ is as follows:

[0210]

[0211] Step 4.3: Since the Euler attitude angles of the current position of the front end face of the shield body 2 are 0 α3, 0 β3, 0 γ3, and the attitude Euler angles of the target position of the front end face of the shield body 2 are 0 α 3_tg , 0 β 3_tg , 0 γ 3_tg , then the Euler angle difference matrix between the target position and the current position of the front end face of the shield body 2 in the global rectangular coordinate system 0 ψ is as follows:

[0212]

[0213] Step 4.4: Euler angle difference matrix 0 Expression of ψ in the first rectangular coordinate system X1Y1Z1 1 ψ is as follows:

[0214]

[0215] Step 5: Calculate the target lengths of the propulsion cylinders in the six-degree-of-freedom propulsion system 3.

[0216] The said Step 5 includes the following sub-steps:

[0217] Step 5.1: Pose transformation matrix from the third coordinate system to the first coordinate system Can be calculated according to the following formula:

[0218] Where 1 R3 is the 3×3 attitude matrix of the front end face of the shield body 2 at the current position in the first coordinate system X1Y1Z1, 1 S3 is the 3×1 position matrix of the center of the front end face of the shield body 2 at the current position in the first rectangular coordinate system X1Y1Z1, 1 S3 = ( 1 S 3x , 1S 3y , 1 S 3z );

[0219] Specifically, 1 r 11 = cosγ2cosβ2

[0220] 1 r 12 = cosγ2sinβ2sinα2 - sinγ2cosα2

[0221] 1 r 13 = cosγ2sinβ2cosα2 + sinγ2sinα2

[0222] 1 r 21 = sinγ2cosβ2

[0223] 1 r 22 = sinγ2sinβ2sinα2 + cosγ2cosα2

[0224] 1 r 23 = sinγ2sinβ2cosα2 - cosγ2sinα2

[0225] 1 r 31 = -sinβ2

[0226] 1 r 32 = cosβ2sinα2

[0227] 1 r 33 = cosβ2cosα2

[0228] 1 S 3x = q3(cosγ2sinβ2sinα2 - sinγ2cosα2) + p2

[0229] 1 S 3y = q3(sinγ2sinβ2sinα2 + cosγ2cosα2) + q2

[0230] 1 S 3z = q3(cosβ2sinα2) + r2.

[0231] Under the current pose condition, the position coordinates of the center of the front end face of the shield body 2 in the first rectangular coordinate system X1Y1Z1 are1 S3 = ( 1 S 3x , 1 S 3y , 1 S 3z ), then:

[0232]

[0233] Step 5.2: Calculate and obtain the Euler attitude angles 1 α3, 1 β3, 1 γ3 of the front end face of the shield body 2 at the current position in the first rectangular coordinate system X1Y1Z1 through the attitude matrix 1 R3. The calculation formula is as follows:

[0234] 1 α3 = Atan2( 1 r 32 , 1 r 33 )

[0235] 1 β3 = -Asin( 1 r 31 )

[0236] 1 γ3 = Atan2( 1 r 21 , 1 r 11 ).

[0237] Step 5.3: At the target position, the position coordinates of the center of the front end face of the shield body 2 in the first rectangular coordinate system X1Y1Z1 are 1 S3′ = ( 1 S 3x ′, 1 S 3y ′, 1 S 3z ′). Its calculation method is:

[0238]

[0239] Step 5.4: At the target position, the Euler attitude angles of the front end face of the shield body 2 in the first rectangular coordinate system X1Y1Z1 are 1 α3′, 1 β3′, 1 γ3′. Its calculation method is:

[0240]

[0241] Step 5.5: To achieve the movement of the front end of the shield 2 from the current position to the target position, [p2, q2, r2] T Need to be corrected to [p2′,q2′,r2′] T , [p2′,q2′,r2′] T The correction method is:

[0242]

[0243] Among them, R' can be expressed as follows:

[0244]

[0245] Step 5.6: By [p2′, q2′, r2′] T Solve the target length L of each propulsion cylinder in the six-degree-of-freedom propulsion system 3 when the front end surface of the shield body 2 moves from the current position to the target position i_tg The specific calculation process can adopt Chinese invention patent application CN202311385602.9, which is a conventional calculation method in this field and will not be described in detail here.

[0246] Step 6: The intelligent control system of the tunnel boring machine automatically executes the target stroke increment of each thrust cylinder in a closed loop.

[0247] The step 6 comprises the following sub-steps:

[0248] Step 6.1: The intelligent control system of the tunnel boring machine automatically collects the current length L of each propulsion cylinder in the six-degree-of-freedom propulsion system 3 i , according to the target length L calculated in step 5 i_tg , calculate the target stroke increment ΔL for each propulsion cylinder i =L i_tg -L i (i=1~6).

[0249] Step 6.2: The intelligent control system adjusts the piston rod extension speed of the propulsion cylinder through the proportional flow valve corresponding to each cylinder in a closed loop, so that when the length of the propulsion cylinder reaches the target length, the center of the front end surface of the shield body 2 is located at the corresponding point of the tunnel design axis 5.

[0250] The step 6.2 comprises the following sub-steps:

[0251] Step 6.2.1: Divide the excavation distance m into n equal parts, and the excavation distance of each section is

[0252] Step 6.2.2: Divide the target stroke increment of each propulsion cylinder into n equal parts. The length of the propulsion cylinder to be extended for each segmented excavation distance is

[0253] Step 6.2.3: The intelligent control system automatically adjusts the opening degree of the proportional flow valve so that each propulsion cylinder has an elongation under ΔM

[0254] Closed-loop execution of the elongation amount.

[0255] The above are only the preferred embodiments of the present invention and are not intended to limit the protection scope of the invention. Therefore, any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic attitude control method for a tunnel boring machine configured with a six-degree-of-freedom propulsion system. This method is used for a tunnel boring machine, which mainly includes a cutter head (1), a shield (2), a six-degree-of-freedom propulsion system (3), and a support body (4); the cutter head (1) is located directly in front of the shield (2), and a six-degree-of-freedom propulsion system (3) is configured between the tail end of the shield (2) and the support body (4). The six-degree-of-freedom propulsion system (3) consists of six propulsion cylinders with different arrangement directions; the support body (4) is located behind the six-degree-of-freedom propulsion system (3). It is characterized in that: The automatic attitude control method for the tunnel boring machine configured with a six-degree-of-freedom propulsion system includes the following steps: Step 1: Calculate the current attitude information of the front end face of the shield (2) of the tunnel boring machine in the global rectangular coordinate system. Step 2: Determine the position coordinates and direction vector of the front end face of the shield (2) at the next tunneling position, i.e., the target position, on the tunnel design axis (5). Step 3: Calculate the pose information of the front end face of the shield (2) at the next tunneling position in the global rectangular coordinate system. Step 4: Calculate the position deviation and Euler angle deviation between the target pose and the current pose in the first rectangular coordinate system X1Y1Z1. Step 5: Calculate the target lengths of the propulsion cylinders in the six-degree-of-freedom propulsion system (3). Step 6: The intelligent control system of the tunnel boring machine automatically and closed-loop executes the target stroke increments of each propulsion cylinder.

2. The automatic attitude control method for a tunnel boring machine equipped with a six-degree-of-freedom propulsion system according to claim 1, characterized in that: The said Step 1 includes the following sub-steps: Step 1.1: Establish four right-handed Cartesian rectangular coordinate systems. Step 1.2: Calculate the pose transformation matrix from the first rectangular coordinate system X1Y1Z1 to the global rectangular coordinate system X0Y0Z0 Step 1.3: Calculate the pose information of the front end face and the rear end face of the shield body (2) in the global rectangular coordinate system X0Y0Z0, including the pose transformation matrix from the second rectangular coordinate system X2Y2Z2 to the first rectangular coordinate system X1Y1Z1 The pose transformation matrix from the third rectangular coordinate system X3Y3Z3 to the second rectangular coordinate system X2Y2Z2 3. The method for automatically controlling the attitude of a tunnel boring machine configured with a six-degree-of-freedom propulsion system according to claim 2, characterized in that: The said four right-handed Cartesian rectangular coordinate systems include: 1) Taking the direction from the starting point to the ending point of the tunnel design axis (5) as the positive direction of the Y0 axis and the vertically upward direction as the positive direction of the Z0 axis, establish the global rectangular coordinate system X0Y0Z0. The origin O0 of the global rectangular coordinate system is located at the starting point of the tunnel design axis (5), and the data of the tunnel design axis (5) is defined in the global rectangular coordinate system, that is, the starting point data of the tunnel design axis (5) is (0, 0, 0). 2) On the basis of the global rectangular coordinate system X0Y0Z0, translate p1, q1, and r1 in the directions of the X0 axis, Y0 axis, and Z0 axis respectively, and rotate α1, β1, and γ1 around the X0 axis, Y0 axis, and Z0 axis respectively to establish the first rectangular coordinate system X1Y1Z1. The origin O1 of the first rectangular coordinate system is located at the center of the front end face of the support body (4); among them, taking the upward direction of the vertical symmetry axis of the front end face of the support body (4) as the positive direction of the Z1 axis of the first rectangular coordinate system, and the direction perpendicular to the front end face of the support body (4) along the tunneling direction as the positive direction of the Y1 axis of the first rectangular coordinate system. 3) On the basis of the first rectangular coordinate system X1Y1Z1, translate p2, q2, and r2 in the directions of the X1 axis, Y1 axis, and Z1 axis respectively, and rotate α2, β2, and γ2 around the X1 axis, Y1 axis, and Z1 axis respectively to establish the second rectangular coordinate system X2Y2Z2. Let the origin O2 of the second rectangular coordinate system be located at the center of the rear end face of the shield (2); among them, taking the upward direction of the vertical symmetry axis of the rear end face of the shield (2) as the positive direction of the Z2 axis of the second rectangular coordinate system, and the direction perpendicular to the rear end face of the shield (2) along the tunneling direction as the positive direction of the Y2 axis of the second rectangular coordinate system. 4) On the basis of the second rectangular coordinate system X2Y2Z2, extend q3 in the positive direction of the Y2 axis, and establish a third rectangular coordinate system X3Y3Z3. The origin O3 of the third rectangular coordinate system is located at the center of the front end face of the shield body (2); where q3 is the actual length of the shield body (2), which is a known structural parameter; with the positive direction of the Z3 axis upward along the vertical symmetry axis of the front end face of the shield body (2), and the positive direction of the Y3 axis along the tunneling direction perpendicular to the front end face of the shield body (2).

4. The method for automatically controlling the attitude of a tunnel boring machine configured with a six-degree-of-freedom propulsion system according to claim 2, wherein: The said step 1.2 includes the following sub-steps: Step 1.2.1: Select three fixed points A, B, and C in the same plane where the front end face of the support body (4) is located; Step 1.2.2: Give the distances between the geometric center of the front end face of the support body (4), that is, the origin O1 of the first rectangular coordinate system, and the three fixed points A, B, and C; Step 1.2.3: Measure the coordinates of three fixed points A, B, and C in the global rectangular coordinate system using a total station (6), which are respectively: 0 P A =(x A ,y A ,z A ), 0 P B =(x B ,y B ,z B ), 0 P C =(x C ,y C ,z C ); Step 1.2.4: Calculate the coordinates of O1 in the global rectangular coordinate system based on the distances from the origin O1 of the first rectangular coordinate system to the three fixed points A, B, and C 0 P O1 =(x O1 , y O1 , z O1 ), where in terms of magnitude, x O1 = p1, y O1 = q1, z O1 = r1, thus calculating p1, q1, and r1; Step 1.2.5: Calculate the unit vector of the normal vector of the front end face of the support (4) as The calculation formula is as follows: Step 1.2.6: Attitude matrix of the front end face of the support (4) in the global coordinate system 0 R1 is represented by α1, β1, and γ1 as follows: Set the unit vectors in the global rectangular coordinate system X0Y0Z0 to be (0, 1, 0), 0 R1 and satisfy the following relationship: And calculate α1, β1, and γ1 according to this formula; Step 1.2.7: Pose transformation matrix from the first rectangular coordinate system X1Y1Z1 to the global rectangular coordinate system X0Y0Z0 is represented as follows:

5. The method for automatically controlling the attitude of a tunnel boring machine configured with a six-degree-of-freedom propulsion system according to claim 2, characterized in that: The said step 1.3 includes the following sub-steps: Step 1.3.1: Pose transformation matrix from the second rectangular coordinate system X2Y2Z2 to the first rectangular coordinate system X1Y1Z1 and the pose transformation matrix from the third rectangular coordinate system X3Y3Z3 to the second rectangular coordinate system X2Y2Z2 are expressed as follows: Step 1.3.2: Combine the pose transformation matrix from the first rectangular coordinate system X1Y1Z1 to the global rectangular coordinate system X0Y0Z0 The pose transformation matrix from the third rectangular coordinate system X3Y3Z3 to the global rectangular coordinate system X0Y0Z0 is represented as follows: Among them, 0 R3 is a 3×3 attitude matrix of the front end face of the shield body (2) in the global rectangular coordinate system, 0 S3 is a 3×1 position matrix of the center of the front end face of the shield body (2) in the global rectangular coordinate system, 0 S3 = ( 0 S 3x , 0 S 3y , 0 S 3z ) T ; Specifically, 0 r 11 = cosβ1cosβ2cosγ1cosγ2 - sinβ2(cosα1cosγ1sinβ1 + sinα1sinγ1) +cosβ2(cosγ1sinα1sinβ1 - cosα1sinγ1)sinγ2 0 r 12 = cosβ2sinα2(cosα1cosγ1sinβ1 + sinα1sinγ1) +cosβ1cosγ1(cosγ2sinα2sinβ2 - cosα2sinγ2) +(cosγ1sinα1sinβ1 - cosα1sinγ1)(cosα2cosγ2 + sinα2sinβ2sinγ2) 0 r 13 = cosα2 cosβ2 (cosα1 cosγ1 sinβ1 + sinα1 sinγ1) +cosβ1cosγ1(cosα2cosγ2sinβ2 + sinα2sinγ2) +(cosγ1sinα1sinβ1 - cosα1sinγ1)(-cosγ2sinα2 + cosα2sinβ2sinγ2) 0 r 21 = cosγ1(sinα1sinβ2 + cosα1cosβ2sinγ2) +sinγ1(cosβ1cosβ2cosγ2 + sinβ1(-cosα1sinβ2 + cosβ2sinα1sinγ2)) 0 r 22 = cosβ2 sinα2 (-cosγ1 sinα1 + cosα1 sinβ1 sinγ1) +cosβ1sinγ1(cosγ2sinα2sinβ2 - cosα2sinγ2) +(cosα1cosγ1 + sinα1sinβ1sinγ1)(cosα2cosγ2 + sinα2sinβ2sinγ2) 0 r 23 = cosα2 cosβ2 (-cosγ1 sinα1 + cosα1 sinβ1 sinγ1) +cosβ1sinγ1(cosα2cosγ2sinβ2 + sinα2sinγ2) +(cosα1cosγ1 + sinα1sinβ1sinγ1)(-cosγ2sinα2 + cosα2sinβ2sinγ2) 0 r 31 = -cosα1cosβ1sinβ2 + cosβ2(-cosγ2sinβ1 + cosβ1sinα1sinγ2) 0 r 32 = cosα2 (cosβ1 cosγ2 sinα1 + sinβ1 sinγ2) +sinα2(cosα1cosβ1cosβ2 + sinβ2(-cosγ2sinβ1 + cosβ1sinα1sinγ2)) 0 r 33 = cosα1cosα2cosβ1cosβ2 - sinβ1(cosα2cosγ2sinβ2 + sinα2sinγ2) +cosβ1sinα1(-cosγ2sinα2 + cosα2sinβ2sinγ2) Step 1.3.3: Solve for the Euler attitude angles of the front end face of the shield body (2) in the global coordinate system according to the attitude matrix 0 R3, and calculate the Euler attitude angles α3, 0 β3, 0 γ3 as follows: 0 ​ 0 α3 = Atan2( 0 r 32 , 0 r 33 ) 0 β3 = -Asin( 0 r 31 ) 0 γ3 = Atan2( 0 r 21 , 0 r 11 ).

6. The method for automatically controlling the attitude of a tunnel boring machine equipped with a six-degree-of-freedom propulsion system according to claim 1, characterized in that: The said step 2 includes the following sub-steps: Step 2.1: Take the position matrix of the center of the front end face of the shield body (2) 0 S3 as the current position of the front end face of the shield body (2) in the global coordinate system X0Y0Z0, 0 S3 = ( 0 S 3x , 0 S 3y , 0 S 3z ) T , after the intelligent control system of the tunnel boring machine automatically selects to drive a distance m, the center of the front end face of the shield body (2) is located at the target position on the tunnel design axis (5), and the coordinates of this target position are 0 S 3_tg = ( 0 S 3x_tg , 0 S 3y_tg , 0 S 3z_tg ); Step 2.2: Obtain the unit tangent vector at the target position This unit tangent vector is the target direction vector of the front end face of the shield body (2); the driving distance is m = 0 S 3y_tg - 0 S 3y .

7. The automatic attitude control method of a tunnel boring machine equipped with a six-degree-of-freedom propulsion system according to claim 1, characterized in that: The said step 3 includes the following sub-steps: Step 3.1: Set the target value of the Euler attitude angle of the front end face of the shield body (2) at the target position in the global rectangular coordinate system as 0 α 3_tg , 0 β 3_tg , 0 γ 3_tg , and the corresponding attitude matrix in the global rectangular coordinate system is 0 R 3_tg , then: Step 3.2: Set the unit vector in the global rectangular coordinate system to be (0, 1, 0), then 0 R 3_tg and satisfy the following relationship: According to this relationship, the target values of the Euler attitude angles of the front end face of the shield body (2) at the target position are calculated in the global rectangular coordinate system. 0 α 3_tg , 0 β 3_tg , 0 γ 3_tg 。 8. The automatic attitude control method for a tunnel boring machine configured with a six-degree-of-freedom propulsion system according to claim 1, characterized in that: The said step 4 includes the following sub-steps: Step 4.1: Coordinate difference matrix between the target position and the current position of the center of the front end face of the shield body (2) in the global rectangular coordinate system 0 δ is as follows: Step 4.2: Coordinate difference matrix 0 Expression of δ in the first rectangular coordinate system X1Y1Z1 1 δ is as follows: Step 4.3: Since the Euler attitude angles of the front end face of the shield body (2) at the current position are α3, β3, γ3, and the attitude Euler angles of the front end face of the shield body (2) at the target position are 0 α 3_tg , 0 β 3_tg , 0 γ 3_tg , then the Euler angle difference matrix 0 ψ of the front end face of the shield body (2) between the target position and the current position in the global rectangular coordinate system is as follows: Step 4.4: Euler angle difference matrix 0 Expression of ψ in the first right-angle coordinate system X1Y1Z1 1 ψ is as follows:

9. The automatic attitude control method of a tunnel boring machine configured with a six-degree-of-freedom propulsion system according to claim 1, characterized in that: The said step 5 includes the following sub-steps: Step 5.1: Pose transformation matrix from the third rectangular coordinate system to the first rectangular coordinate system Calculate according to the following formula: Among them 1 R3 is a 3×3 attitude matrix of the front end face of the shield body (2) at the current position in the first rectangular coordinate system X1Y1Z1, 1 S3 is a 3×1 position matrix of the center of the front end face of the shield body (2) at the current position in the first rectangular coordinate system X1Y1Z1, 1 S3 = ( 1 S 3x , 1 S 3y , 1 S 3z ); Specifically, 1 r 11 = cosγ2cosβ2 1 r 12 = cosγ2sinβ2sinα2 - sinγ2cosα2 1 r 13 = cosγ2 sinβ2 cosα2 + sinγ2 sinα2 1 r 21 = sinγ2 cosβ2 1 r 22 = sinγ2 sinβ2 sinα2 + cosγ2 cosα2 1 r 23 = sinγ2sinβ2cosα2 - cosγ2sinα2 1 r 31 = -sinβ2 1 r 32 = cosβ2 sinα2 1 r 33 = cosβ2cosα2 1 S 3x = q3(cosγ2sinβ2sinα2 - sinγ2cosα2) + p2 1 S 3y = q3(sinγ2sinβ2sinα2 + cosγ2cosα2) + q2 1 S 3z = q3(cosβ2sinα2) + r2 Step 5.2: Obtain the Euler attitude angles of the front end face of the current position shield body (2) in the first rectangular coordinate system X1Y1Z1 through the attitude matrix 1 R3, and the calculation is as follows 1 α3, 1 β3, 1 γ3, the calculation is as follows; 1 α3 = Atan2( 1 r 32 , 1 r 33 ) 1 β3 = -Asin( 1 r 31 ) 1 γ3 = Atan2( 1 r 21 , 1 r 11 ). Step 5.3: At the target position, the position coordinates of the center of the front end face of the shield body (2) in the first rectangular coordinate system X1Y1Z1 are 1 S3′ = ( 1 S 3x ′, 1 S 3y ′, 1 S 3z ′), and its calculation method is: Step 5.4: At the target position, the Euler attitude angles of the front end face of the shield body (2) in the first rectangular coordinate system X1Y1Z1 are 1 α3′, 1 β3′, 1 γ3′, and the calculation method is as follows: Step 5.5: To move the front end face of the shield body (2) from the current position to the target position, then [p2, q2, r2] T it needs to be corrected to [p2′, q2′, r2′] T , and [p2′, q2′, r2′] T The correction method is: Wherein, R′ is represented as follows: Step 5.6: Solve for the target length L of each propulsion cylinder in the six-degree-of-freedom propulsion system (3) when the front end face of the shield body (2) moves from the current position to the target position through [p2′, q2′, r2′] T i_tg .​ 10. The automatic attitude control method for a tunnel boring machine configured with a six-degree-of-freedom propulsion system according to claim 1, characterized in that: The said step 6 includes the following sub-steps: Step 6.1: The intelligent control system of the tunnel boring machine automatically collects the current length L of each propulsion cylinder in the six-degree-of-freedom propulsion system (3). i , and according to the target length L calculated in Step 5 i_tg , calculates the target stroke increment ΔL of each propulsion cylinder i = L i_tg - L i , where i = 1 to 6; Step 6.2: The intelligent control system closed-loop adjusts the piston rod extension speed of the propulsion cylinder through the proportional flow valve corresponding to each cylinder, so that when the length of the propulsion cylinder reaches the target length, the center of the front end face of the shield (2) is located at the corresponding point on the tunnel design axis (5); Step 6.2 includes the following sub-steps: Step 6.2.1: Divide the driving distance m into n equal parts, and the driving distance of each segment is Step 6.2.2: Also equally divide the target stroke increment of each propulsion cylinder into n equal parts. The length that the propulsion cylinder corresponding to each segmented tunneling distance needs to extend is Step 6.2.3: The intelligent control system automatically adjusts the opening degree of the proportional flow valve so that each propulsion oil cylinder executes a closed-loop operation under ΔM for the elongation amount.

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