Method and system for abrasive water jet-mechanical combined cutting of reinforced concrete

Abstract

The application provides a control method and system for cutting reinforced concrete by using abrasive water jet-mechanical combination, and can realize the following functions: obtaining the position of an obstacle in the process of cutting the obstacle by using a shield, accurately controlling the opening and closing of each water nozzle in the process of cutting reinforced concrete by using an abrasive water jet, avoiding the disturbance of strata caused by the continuous opening of all water nozzles, and quickly and automatically matching the power parameters of the abrasive water jet with the power parameters of the shield.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of tunneling and relates to a control method and system for cutting reinforced concrete by using abrasive water jet-mechanical combination. BACKGROUND

[0002] The statements in this section merely provide background information related to the application and do not necessarily constitute prior art.

[0003] With the development of underground engineering, shield tunnel construction in urban building-dense areas may encounter reinforced concrete obstacles. When the planned route encounters reinforced concrete obstacles such as pile foundations and underground continuous walls that cannot be avoided, simply relying on a tunnel boring machine to directly cut the reinforced concrete is low in efficiency, the cutter is severely worn, the screw conveyor is stuck, and the cutter head is wound with steel, and other problems are particularly prominent. The combination of high-pressure abrasive water jet and shield cutter can cut the steel in advance using abrasive water jet cutting, and then cut the pre-cutting part using the cutter, which can quickly and effectively break the reinforced concrete and reduce the wear and tear of the cutter and the steel when they collide and rub. It has great potential to safely and efficiently pass through underground obstacles and solve the problem of cutting reinforced concrete in urban underground shield tunneling.

[0004] Although the abrasive water jet-assisted shield cutting of reinforced concrete has good application prospects, there is no matching related control system. If construction is carried out blindly, the ability of the abrasive water jet to cut efficiently cannot be fully utilized, and even the opposite of the expected result may occur. SUMMARY

[0005] To solve the above problems, the application provides a control method and system for cutting reinforced concrete by using abrasive water jet-mechanical combination. The application can achieve the following effects: obtaining the position of the obstacle during the process of cutting the reinforced concrete obstacle by the shield, precisely controlling the opening and closing of each water nozzle during the process of cutting the reinforced concrete by the abrasive water jet, avoiding the disturbance of the stratum caused by the continuous opening of all water nozzles, and quickly and automatically matching the power parameters of the abrasive water jet with the mechanical power parameters of the shield.

[0006] According to some embodiments, the application adopts the following technical solutions:

[0007] A control method for cutting reinforced concrete by using abrasive water jet-mechanical combination, comprising the following steps:

[0008] Sensing the contact state of the shield cutter and the reinforced concrete, determining the range of cutting the reinforced concrete by the shield, and controlling the opening and closing of the abrasive water jet and the cutting range based on the above;

[0009] Using the constructed abrasive water jet-mechanical combination cutting model and the pre-constructed optimal parameter database of the combined cutting process, matching the construction parameters according to the working position of the shield cutter, and controlling the combined cutting reinforced concrete construction process.

[0010] As an alternative embodiment, the specific process of sensing the contact state of the shield cutter with the reinforced concrete comprises: taking the ratio of the cutting force of the shield cutter and the penetration of the shield machine as the determination value, and dividing the contact state of the shield cutter with the reinforced concrete.

[0011] Specifically, when the determination value is in the first interval, it is determined that the shield cutter does not contact the reinforced concrete; when the determination value is in the second interval, it is determined that the shield cutter contacts the concrete part in the reinforced concrete; and when the determination value is in the third interval, it is determined that the shield cutter contacts the steel part in the reinforced concrete.

[0012] As an alternative embodiment, the specific process of determining the shield cutting reinforced concrete range comprises: determining the shield cutting reinforced concrete range according to the contact state of the shield cutter with the reinforced concrete obstacle and the shield cutter construction parameters.

[0013] Specifically, an polar coordinate system is established on the cutter head plane with the cutter head center as the origin, the initial position of the shield cutter is (ρ i0 , θ i0 , t0), the time history curve of the cutting force recorded by the shield cutter rotating one circle is F(i, t0, t), the initial time when the cutter contacts the concrete part in the reinforced concrete is t1 and the terminal time is t2 according to the determination method of the contact state of the shield cutter with the reinforced concrete obstacle, and the polar angle range of the reinforced concrete obstacle relative to the cutter head is [θ0+w*t1, θ0+w*t2], wherein w is the cutter head rotating speed.

[0014] According to the minimum installation radius ρ min and the maximum installation radius ρ max of the shield cutter in the second interval, the polar radius range of the shield cutter cutting reinforced concrete is [ρ min , ρ max ], and the shield cutting reinforced concrete range is the area formed by the polar angle range [θ0+w*t1, θ0+w*t2] and the polar radius range [ρ min , ρ max ].

[0015] As an alternative embodiment, the specific process of controlling the opening and closing of the abrasive water jet and the cutting range comprises: when the water jet nozzle on the cutter head enters the shield cutting reinforced concrete range, the abrasive water jet is turned on; and conversely, the abrasive water jet is turned off.

[0016] Further, the amplitude of the distribution range of the reinforced concrete relative to the shield cutter is β, and β = w * (t2-t1), wherein w is the cutter rotating speed, t1 is the initial time when the shield cutter contacts the concrete part in the reinforced concrete, and t2 is the terminal time;

[0017] When β = 2π, the abrasive water jet is driven to cut in a continuous single direction rotation mode of the cutter; and when β < 2π, the abrasive water jet is driven to cut reciprocally in a reciprocating rotation mode of the cutter.

[0018] As an alternative embodiment, the abrasive water jet-shield machine combined cutting model comprises an abrasive water jet cutting reinforced steel depth prediction model, an abrasive water jet cutting concrete depth prediction model, and a combined cutting process parameter optimization model.

[0019] Further, the abrasive water jet cutting reinforced steel depth prediction model is D j =Cυ k1 T k2 P k3 d k4 F k5 ;

[0020] D j is the reinforced steel cutting seam depth, v is the linear cutting speed, T is the target distance, P is the water jet pressure, d is the nozzle diameter, F is the abrasive concentration, and C, k1, k2, k3, k4, and k5 are coefficients.

[0021] Further, the abrasive water jet cutting concrete depth prediction model is:

[0022]

[0023] wherein W j0 is the energy consumption of the abrasive water jet, v is the linear cutting speed, T is the target distance, P is the water jet pressure, d is the nozzle diameter, F is the abrasive concentration, and k1, k2, k3, k4, and k5 are coefficients.

[0024] Further, the combined cutting process parameter optimization model determines the optimal abrasive water jet parameters based on the prediction results of the abrasive water jet cutting reinforced steel depth prediction model and the abrasive water jet cutting concrete depth prediction model, and an abrasive water jet cutting energy consumption model, so as to realize consistent abrasive water jet cutting depth at each place with the lowest energy consumption.

[0025] As an alternative embodiment, the combined cutting process optimal parameter database comprises recommended values of optimal L j , L m under different reinforced steel diameters, cutter penetration degrees, and cutting speeds, wherein L j is the abrasive water jet cutting depth, and Lm The cutting depth of the shield cutter.

[0026] As an alternative embodiment, the method further comprises the following steps: monitoring the water supply pressure, the abrasive concentration and the cutter torque of the abrasive water jet-shield machine combined cutting system during the cutting process, diagnosing, determining that a fault occurs when the water supply pressure is lower than its set threshold value, or the abrasive concentration is lower than its set threshold value, or the cutter torque is higher than its set threshold value, and shutting down the abrasive water jet power mechanism and the shield machine power mechanism.

[0027] A control system for abrasive water jet-mechanical combined cutting of reinforced concrete, comprising:

[0028] A collection device for sensing the contact state of the shield cutter and the reinforced concrete;

[0029] A processor for determining the range of reinforced concrete cutting by the shield based on the contact state, and controlling the opening and closing of the abrasive water jet and the cutting range based on the constructed abrasive water jet-mechanical combined cutting model, and the pre-constructed optimal parameter database of the combined cutting process, and matching the construction parameters according to the working position of the shield cutter, and controlling the combined cutting of reinforced concrete construction process.

[0030] As an alternative embodiment, the system further comprises a host computer for storing the constructed abrasive water jet-mechanical combined cutting model and the pre-constructed optimal parameter database of the combined cutting process.

[0031] As an alternative embodiment, the system further comprises a diagnosis module in communication with the processor for diagnosing according to the monitored water supply pressure, abrasive concentration and cutter torque of the abrasive water jet-shield machine combined cutting system, determining that a fault occurs when the water supply pressure is lower than its set threshold value, or the abrasive concentration is lower than its set threshold value, or the cutter torque is higher than its set threshold value, and shutting down the abrasive water jet power mechanism and the shield machine power mechanism.

[0032] As an alternative embodiment, the system further comprises an alarm device connected to the processor, when the processor receives the diagnosis result of the diagnosis module as a fault, the processor sends a signal to the alarm device, the alarm device issues an alarm prompt, and the abrasive water jet power mechanism and the shield machine power mechanism are shut down.

[0033] As an alternative embodiment, the system further comprises a communication module and a storage module for providing communication services and data storage services, respectively.

[0034] As an alternative embodiment, the processor is connected to the abrasive water jet power mechanism to control the opening or closing of the abrasive water jet, the water supply pressure and the abrasive concentration.

[0035] The processor is connected with a shield machine power mechanism, and controls whether the cutter head is advanced, a cutter head rotating speed and a penetration depth.

[0036] An abrasive water jet-shield machine combined cutting system comprises an abrasive water jet part and a shield machine part, the abrasive water jet part comprises a working part and a power mechanism, and the shield machine comprises a shield cutter head part and a power mechanism.

[0037] The control system further comprises a processor connected with the power mechanism.

[0038] Or, the control method is used for control.

[0039] A working method based on the abrasive water jet-shield machine combined cutting system comprises the following steps.

[0040] (1) sensing a contact state of the shield cutter and the reinforced concrete, determining a reinforced concrete cutting range of the shield, and stopping the rotation and advancement of the shield cutter head when the shield machine just contacts the reinforced concrete obstacle;

[0041] (2) starting the abrasive water jet, and rotating the shield cutter head without advancement to drive the abrasive water jet to cut;

[0042] (3) when the abrasive water jet cutting reaches a first depth, the abrasive water jet is closed, the cutter head is rotated and advanced, the shield cutter is used to cut the reinforced concrete pre-cut by the abrasive water jet, when the shield cutter cutting depth reaches a second depth, the cutter head is stopped from rotating and advancing, and in the cutting process, a constructed abrasive water jet-mechanical combined cutting model and a pre-constructed combined cutting process optimal parameter database are used to match construction parameters according to a working position of the shield cutter, and a combined cutting reinforced concrete construction process is controlled;

[0043] (4) the step (2) and the step (3) are circularly performed until the shield cutter head passes through the reinforced concrete obstacle.

[0044] Compared with the prior art, the abrasive water jet-shield machine combined cutting system has the following beneficial effects:

[0045] The abrasive water jet-shield machine combined cutting system can realize real-time monitoring of a running state of the system, can find an alarm signal in the first time when a fault occurs, and can automatically close the abrasive water jet power mechanism and the shield machine power mechanism, so that the risk in the system running process is reduced, and the fault diagnosis efficiency of the abrasive water jet-shield machine combined cutting system is improved.

[0046] The application is based on the contact state of the perception shield cutter and the reinforced concrete and the distribution range of the reinforced concrete relative to the shield cutter, and makes scientific decisions through the abrasive water jet-shield mechanical combined cutting model and the combined cutting process optimal parameter database, so as to realize the accurate control of the working parameters of all water jet nozzles on the shield cutter, solve the problems of the reinforced concrete range positioning of the abrasive water jet and the inconsistent abrasive water jet cutting depth on different installation radii, fully tap the auxiliary effect of the abrasive water jet, and improve the tunneling efficiency.

[0047] The application realizes the automatic control and autonomous decision in the abrasive water jet-mechanical combined cutting reinforced concrete construction process, improves the accuracy and timeliness of the decision in the water jet assisted shield construction, reduces the cutter wear degree in the shield machine cutting reinforced concrete process, avoids the shutdown maintenance caused by the problems such as the winding of the steel bar on the cutter, and thus improves the construction efficiency and reduces the construction risk.

[0048] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are specifically described below, and the accompanying drawings are used for detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0049] The drawings accompanying the specification of the present application form a part of the present application and serve to provide further understanding of the present application, and the illustrative embodiments of the present application and their descriptions serve to explain the present application, and do not constitute improper limitations on the present application.

[0050] Fig. 1(a), (b) is a schematic diagram of a shield machine cutting reinforced concrete in a shield tunnel entrance reinforcement area;

[0051] Figure 2 is a cutter arrangement diagram;

[0052] Figure 3 is a general structure block diagram;

[0053] Wherein: 1. cutter, 11. strip, 12. shell cutter, 13. abrasive water jet nozzle, 2. shield body, 3. reinforced concrete in the reinforcement area, 31. main reinforcement. DETAILED DESCRIPTION

[0054] The application will be further described below in combination with the drawings and embodiments.

[0055] It should be pointed out that the following detailed description is exemplary and is intended to provide further description of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as generally understood by those skilled in the art to which the present application belongs.

[0056] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0057] An example of a typical embodiment will be used for illustration:

[0058] A subway line in a certain city is being excavated using a tunnel boring machine (TBM). During construction, a reinforced concrete section 3 was encountered in the exit reinforcement zone. The main reinforcing bars 31 have a diameter of 22mm, and the concrete strength is C30. The construction environment is below the water level. Because conventional mechanical cutting is ineffective in cutting the reinforcing bars and carries high construction risks, this project employs a combined abrasive waterjet-TBM cutting technology for the reinforced concrete. The relative positions of the reinforced concrete in the reinforcement zone and the TBM cutterhead are shown in Figures 1(a) and (b). The area of ​​reinforced concrete to be cut by the cutterhead is the entire cutterhead surface.

[0059] like Figure 2 As shown, the cutter head adopts a 4-span 11-panel structure with a diameter of 6024mm. It has 16 shell cutters 12 and 4 abrasive waterjet nozzles 13. The installation radius of the innermost shell cutter is 1204mm, and the installation radius of the outermost shell cutter is 2960mm. The installation radii of the 4 abrasive waterjet nozzles from the inside to the outside are 1202mm, 1788mm, 2374mm, and 2960mm, respectively, and the corresponding nozzle diameters are 0.33mm, 0.45mm, 0.55mm, and 0.68mm.

[0060] The basic construction process for the integral cutting system (referred to as tunnel boring machine) in this embodiment is as follows:

[0061] Step 1: The cutterhead stops rotating and propulsing when the tunnel boring machine just comes into contact with the reinforced concrete obstacle;

[0062] Step 2: Turn on the abrasive waterjet, without advancing the cutter head, rotate at a certain speed to drive the abrasive waterjet for cutting;

[0063] Step 3: When the abrasive waterjet cutting reaches a certain depth L j At this time, the abrasive waterjet is turned off, the cutter head rotates and advances, and the shell cutter cuts the reinforced concrete that has been pre-cut by the abrasive waterjet. When the shell cutter reaches a certain cutting depth L... m At this time, the cutter head stops rotating and advances;

[0064] Step 4: Repeat steps 2 and 3 until the tunnel boring machine passes through the reinforced concrete obstacle.

[0065] In step 2, when the abrasive waterjet cuts concrete, the cutter head speed is 2 r / min; when the abrasive waterjet cuts steel bars, the cutter head speed is 0.1 r / min.

[0066] In step 3, when the shell cutter is cutting concrete pre-cut by abrasive waterjet, the cutter head speed is 6 r / min and the penetration is 2 mm; when the shell cutter is cutting steel bars pre-cut by abrasive waterjet, the cutter head speed is 1 r / min and the penetration is 1 mm.

[0067] like Figure 3 As shown, the intelligent control system for the combined abrasive waterjet and shield machine cutting of reinforced concrete, mounted on a tunnel boring machine (TBM), includes an abrasive waterjet power mechanism, a shield machine power mechanism, a diagnostic module, an input unit, a host computer, a PLC controller, a storage module, a display screen, and an alarm device; wherein the PLC controller connects the abrasive waterjet power mechanism, the shield machine power mechanism, the diagnostic module, the input unit, the host computer, the storage module, the display screen, and the alarm device.

[0068] Of course, in other embodiments, the modules of the control system described above can be adapted to be replaced, modified, added, or reduced.

[0069] The abrasive water jet power mechanism is connected to a PLC controller, and the PLC controller controls and adjusts the abrasive water jet opening or closing, water supply pressure, and abrasive flow rate.

[0070] The shield tunneling machine's power mechanism is connected to a PLC controller, which controls and adjusts the cutterhead's advance, rotation speed, and penetration depth.

[0071] The diagnostic module is connected to a high-pressure water jet supply pressure sensor, an abrasive concentration sensor, and a tunnel boring machine cutterhead torque sensor. It monitors the water supply pressure, abrasive concentration, and cutterhead torque of the abrasive water jet-tunnel boring machine combined cutting system (device), diagnoses the operating status of the three, and sends the diagnostic results to the PLC controller.

[0072] During system operation, the diagnostic module monitors the water supply pressure, abrasive concentration, and cutterhead torque in real time and performs diagnostics. When the water supply pressure is lower than its set threshold, or the abrasive concentration is lower than its set threshold, or the cutterhead torque is higher than its set threshold, a fault is detected, and a signal is sent to the processor. The processor controls the shutdown of the abrasive water jet power mechanism and the shield tunneling machine power mechanism, and controls the alarm device to issue an alarm prompt. The data generated in the above process is stored by the storage module and output by the output module.

[0073] The system also includes:

[0074] The input unit is connected with a three-way force sensor installed on the shield cutter holder, obtains the shield cutter cutting force, and transmits the shield cutter cutting force to the sensor; in addition, the input unit inputs various threshold values and other parameters to the PLC controller in the form of a touch screen, a keyboard, and a button.

[0075] The upper computer is used to import the abrasive water jet-shield machine combined cutting model and the combined cutting process optimal parameter database into the PLC controller.

[0076] The combined cutting process optimal parameter database includes recommended values of optimal L j , L m under different steel bar diameters, cutter penetration, and cutting speed conditions. Wherein L j is the abrasive water jet cutting depth, and L m is the shield cutter cutting depth. The values can be determined according to historical data or experience data.

[0077] The PLC controller is used to process calculation and control the operation process of the abrasive water jet power mechanism and the shield machine power mechanism, and sends a signal to control the shutdown of the abrasive water jet power mechanism and the shield machine power mechanism when the diagnosis result is a fault; compares the shield cutter cutting force transmitted by the input unit with the set threshold value to determine the contact state of the shield cutter and the reinforced concrete, and is further used to obtain the shield cutting reinforced concrete range; and calculates the optimal construction parameters of the abrasive water jet power mechanism and the shield machine power mechanism according to the abrasive water jet-shield machine combined cutting model and the combined cutting process optimal parameter database.

[0078] The contact state determination process of the shield cutter and the reinforced concrete obstacle is to take the ratio Fr / p of the shield cutter cutting force Fr and the shield machine penetration p (mm / rew) as a determination value, and divide the contact state of the shield cutter and the reinforced concrete. When the determination value Fr / p is in the interval [0, K1], it is determined that the shield cutter does not contact the reinforced concrete; when the determination value Fr / p is in the interval (K1, K2], it is determined that the shield cutter contacts the concrete part in the reinforced concrete; when the determination value Fr / p is in the interval (K3, K4], it is determined that the shield cutter contacts the steel bar part in the reinforced concrete, and the K1, K2, K3, and K4 are obtained by indoor test.

[0079] The shield cutting reinforced concrete range is obtained according to the contact state of the shield cutter and the reinforced concrete obstacle and the shield cutter disc construction parameters.

[0080] An polar coordinate system is established on the disc plane with the disc center as the origin, and the initial position of the shield cutter is (p i0 , θi0 , t0), the time history curve of the cutting force record of the shield cutter rotating one circle is F(i, t0, t), the initial time t1 and the termination time t2 of the contact of the disc cutter to the concrete part in the reinforced concrete are determined according to the determination method of the contact state of the shield cutter to the reinforced concrete obstacle, and the polar angle range of the reinforced concrete obstacle relative to the cutter head distribution is [θ0+w*t1, θ0+w*t2], wherein w is the rotating speed of the cutter head.

[0081] Meanwhile, the minimum installation radius ρ min and the maximum installation radius ρ max of the shield cutter in the interval (K1, K2] according to the determination value are obtained. min , ρ max ]. The reinforced concrete cutting range of the shield is the area formed by the polar angle range [θ0+w*t1, θ0+w*t2] and the polar radius range [ρ min , ρ max ].

[0082] The reinforced concrete cutting range of the shield is used to guide the opening of the abrasive water jet cutting reinforced concrete range. During the rotation of the cutter head, when the water jet nozzle on the cutter head enters the range, the abrasive water jet is opened; on the contrary, the abrasive water jet is closed.

[0083] The amplitude angle size of the distribution range of the reinforced concrete relative to the cutter head of the shield is β, and the calculation formula is as follows:

[0084] β=w*(t2-t1) (1)

[0085] Wherein w is the rotating speed of the cutter head, t1 is the initial time t1 of the contact of the shield cutter to the concrete part in the reinforced concrete, and t2 is the termination time;

[0086] When β=2π, the cutter head is continuously rotated in one direction to drive the abrasive water jet to cut; when β<2π, the cutter head is reciprocatingly rotated to drive the abrasive water jet to reciprocatingly cut.

[0087] The system further comprises:

[0088] The storage module is connected with the PLC controller and is used to store the water supply pressure, abrasive concentration and cutter head torque data monitored by the diagnosis module and the shield cutter cutting force data;

[0089] The display screen is connected with the PLC controller and is used to output the water supply pressure, abrasive concentration and cutter head torque data monitored by the diagnosis module and the shield cutter cutting force data;

[0090] The alarm device is connected with the PLC controller, when the processor receives the diagnosis result of the diagnosis module as a fault, the processor sends a signal to the alarm device, and the alarm device issues an alarm prompt.

[0091] In other embodiments, the PLC controller can also be replaced by other types of processors.

[0092] In this embodiment, the working method of the intelligent control system is:

[0093] Before the system is started, the related threshold values and other parameters are set by the input unit, and the abrasive water jet-shield machine combined cutting model and the combined cutting process optimal parameter database are imported by the upper computer; after the system is started, the processor obtains the contact state of the shield cutter and the reinforced concrete, and the distribution range of the reinforced concrete relative to the shield cutter, and calculates the optimal abrasive water jet parameters and shield machine power parameters, and controls the abrasive water jet power mechanism and the shield machine power mechanism to operate.

[0094] In this embodiment, the ratio Fr / p of the shell cutter cutting force Fr and the shell cutter penetration p / (mm / rew) is taken as the judgment value, the threshold value of the judgment value is set by the keyboard in the input unit, when the judgment value is in the interval [0, 20], it is judged that the shield cutter does not contact the reinforced concrete; when the judgment value is in the interval (20, 50], it is judged that the shield cutter contacts the concrete part in the reinforced concrete; when the judgment value is in the interval (50, 200], it is judged that the shield cutter contacts the steel bar part in the reinforced concrete.

[0095] Since the construction environment of this embodiment is below the water level, the abrasive water jet-shield machine combined cutting model and the combined cutting process optimal parameter database under the submerged cutting condition need to be imported by the upper computer. The combined cutting model includes the reinforced steel cutting depth prediction model of the abrasive water jet under the submerged condition, the concrete cutting depth prediction model of the abrasive water jet under the submerged condition, the combined cutting process parameter (L j , L m ) optimal model, the abrasive water jet cutting energy consumption model, etc.

[0096] The reinforced steel cutting depth prediction model of the abrasive water jet under the submerged condition and the abrasive water jet cutting energy consumption model are as follows:

[0097] D j = 0.112υ -0.988 T 0.435 P 0.725 d 1.351 (2)

[0098] W j0 = v 0.988 d 0.649P 0.775 (3)

[0099] where D j is the cutting depth of steel bar, W j 0 is the energy consumption of abrasive water jet, v is the linear cutting speed, T is the target distance, P is the water jet pressure, and d is the nozzle diameter. The model does not consider the variable of abrasive concentration, which is set to 13%, and it is found through indoor experiments that the efficiency of abrasive water jet cutting of steel bar is high at this abrasive concentration.

[0100] The abrasive water jet cutting depth prediction model and the abrasive water jet cutting energy consumption model are used to determine the optimal abrasive water jet parameters to achieve consistent abrasive water jet cutting depth at each place with the lowest energy consumption.

[0101] The joint cutting process optimal parameter database includes the recommended values of optimal L j , L m under different steel bar diameters, tool penetration, and cutting speed conditions. Wherein L j is the abrasive water jet cutting depth, and L m is the shield cutter cutting depth.

[0102] After the system is started, the PLC controller obtains the contact state of the shield cutter and the reinforced concrete, and the distribution range of the reinforced concrete relative to the shield cutter, and calculates the optimal abrasive water jet parameters and shield mechanical power parameters, and controls the abrasive water jet power mechanism and the shield mechanical power mechanism to operate.

[0103] ①In this embodiment, the cutter head does not contact the reinforced concrete before construction. After the system is started, the PLC controls the shield mechanical power mechanism to advance at a cutter head speed of 6 r / min and a penetration of 1 mm, and at the same time, the PLC controller compares the ratio Fr / p of the real-time monitored cutting force Fr of the shell cutter to the penetration p of the shell cutter (mm / rew) as a judgment value with the set threshold value. When the judgment value is in the interval (20, 50], it is determined that the shell cutter contacts the concrete, and then the PLC controller controls the shield mechanical power system to cut a circle at a cutter head speed of 0.1 r / min and a penetration of 1 mm. The system compares the judgment value Fr / p collected by each shell cutter at each time during one rotation with the set threshold value, and combines the initial position of each shell cutter to obtain the distribution range of the reinforced concrete relative to the cutter head as the entire cutter head surface, and the amplitude of the distribution range of the reinforced concrete relative to the cutter head is 2π. Therefore, the cutter head is continuously rotated in one direction to drive the abrasive water jet to cut.

[0104] ②When the PLC controller determines that the shell cutter contacts the concrete part in the reinforced concrete, the PLC controller automatically sets the optimal abrasive water jet parameters and shield machine power parameters for each water jet nozzle on the cutter head according to the imported abrasive water jet-shield machine combined cutting model and optimal parameter database of the combined cutting process under the submerged cutting condition, and controls the shield machine to perform construction according to the following construction process:

[0105] S1: The cutter head stops advancing, the abrasive water jet is turned on, and the cutter head rotates in one direction at a cutter head speed of 2 r / min without advancing to drive the abrasive water jet to cut the concrete;

[0106] S2: When the abrasive water jet cutting depth reaches 100 mm, the abrasive water jet is turned off, and the cutter head rotates and advances at a speed of 6 r / min and a penetration depth of 2 mm to cut the concrete that has been pre-cut by the abrasive water jet, and when the shell cutter cutting depth reaches 100 mm, the cutter head stops rotating and advancing;

[0107] S3: S1 and S2 are cycled until the shell cutter contacts the steel part in the reinforced concrete;

[0108] ③When the PLC controller determines that the shell cutter contacts the steel part in the reinforced concrete, the PLC controller automatically sets the optimal abrasive water jet parameters and shield machine power parameters for each water jet nozzle on the cutter head according to the imported abrasive water jet-shield machine combined cutting model and optimal parameter database of the combined cutting process under the submerged cutting condition.

[0109] The shield machine performs construction according to the following construction process:

[0110] S1: The cutter head stops advancing, the abrasive water jet is turned on, and the cutter head rotates in one direction at a cutter head speed of 0.1 r / min without advancing to drive the abrasive water jet to cut the steel;

[0111] S2: When the abrasive water jet cutting depth reaches 4 mm, the abrasive water jet is turned off, and the cutter head rotates and advances at a speed of 1 r / min and a penetration depth of 1 mm to cut the steel that has been pre-cut by the abrasive water jet, and when the shell cutter cutting depth reaches 3 mm, the cutter head stops rotating and advancing;

[0112] S3: S1 and S2 are cycled until the shell cutter contacts the steel part in the reinforced concrete.

[0113] ④The processor controls the water jet power system and the shield machine power mechanism to cycle through process ② and process ③, and when the PLC controller determines that the shell cutter does not contact the reinforced concrete in the reinforced concrete, the shield machine cuts the reinforced concrete in the reinforced concrete construction area and completes the construction, and the processor controls the abrasive water jet power mechanism to be turned off.

[0114] During the system operation, the diagnosis module monitors the water supply pressure, abrasive concentration and cutter head torque in real time and performs diagnosis; when the diagnosis result of the diagnosis module is a fault, the alarm device is controlled by the PLC controller to issue an alarm prompt; the storage module records and stores the water supply pressure, abrasive concentration and cutter head torque data and shield cutter cutting force data; the display screen outputs the water supply pressure, abrasive concentration and cutter head torque data and shield cutter cutting force data information.

[0115] In the embodiment, the water supply pressure monitored by the diagnosis module in real time is always higher than 180Mpa, the abrasive density is always 13%, the cutter head torque is always lower than 6000KN.m, the diagnosis result is normal, and the alarm device does not issue an alarm prompt.

[0116] In summary, the intelligent control system for the abrasive water jet-shield machine combined cutting of reinforced concrete realizes safe and efficient construction of shield cutting of reinforced concrete.

[0117] In the embodiment, when the value of the determination value is in the interval [0, 20], it is determined that the shield cutter does not contact the reinforced concrete; when the value of the determination value is in the interval (20, 50], it is determined that the shield cutter contacts the concrete part in the reinforced concrete; when the value of the determination value is in the interval (50, 200], it is determined that the shield cutter contacts the steel bar part in the reinforced concrete.

[0118] Of course, in other embodiments, engineering technicians in the field can flexibly determine the boundary values of the determination interval according to the parameters of the rock-soil body around the reinforced concrete, the parameters of the concrete, the parameters of the steel bar and the parameters of the shell cutter structure.

[0119] In other embodiments, the PLC controller can be replaced by other control processors.

[0120] The intelligent control system for the abrasive water jet-mechanical combined cutting of reinforced concrete controls the shield machine with a high-pressure abrasive water jet device to cut reinforced concrete obstacles. The control system can control the opening, closing, water supply pressure and abrasive concentration of each water jet nozzle in the abrasive water jet power mechanism; control whether the cutter head of the shield machine is advanced, the cutter head speed, the penetration degree, etc. in the mechanical power system.

[0121] The above describes the specific embodiments of the application in conjunction with the drawings, but is not a limitation on the protection scope of the application. Those skilled in the art should understand that various modifications or changes made by those skilled in the art on the basis of the technical solutions of the application without creative labor are still within the protection scope of the application.

Claims

1. A control method for abrasive water jet-mechanical combined cutting of reinforced concrete, characterized in that, The method comprises the following steps: sensing the contact state of the shield cutter and the reinforced concrete, determining the shield cutting reinforced concrete range, and controlling the opening and closing and cutting range of the abrasive water jet based on the same; The specific process of sensing the contact state of the shield cutter and the reinforced concrete comprises: taking the ratio of the shield cutter cutting force and the shield machine penetration as a judgment value, and dividing the contact state of the shield cutter and the reinforced concrete; Further, when the judgment value is in the first interval, it is determined that the shield cutter does not contact the reinforced concrete; when the judgment value is in the second interval, it is determined that the shield cutter contacts the concrete part in the reinforced concrete; and when the judgment value is in the third interval, it is determined that the shield cutter contacts the steel bar part in the reinforced concrete; The abrasive water jet-mechanical combined cutting model is constructed, and the optimal parameter database of the combined cutting process is constructed in advance. According to the working position of the shield cutter, the construction parameters are matched, and the combined cutting reinforced concrete construction process is controlled. The abrasive water jet-mechanical combined cutting model comprises an abrasive water jet cutting steel bar depth prediction model, an abrasive water jet cutting concrete depth prediction model, and a combined cutting process parameter optimization model. The abrasive water jet cutting steel bar depth prediction model is: ​ D j is the kerf depth for the steel reinforcement, v is the wire cutting speed, T is the target distance, P is the water jet pressure, d is the nozzle diameter, F is the abrasive concentration, C , k 1, k 2, k 3, k 4, k 5 are coefficients; The abrasive water jet cutting concrete depth prediction model is: wherein, W j0 is the energy consumption for abrasive water jet, v is the wire cutting speed, P is the water jet pressure, d is the nozzle diameter, k 2、 k 4、 k 5 are coefficients; The combined cutting process parameter optimization model is based on the prediction results of the abrasive water jet cutting steel bar depth prediction model and the abrasive water jet cutting concrete depth prediction model, and an abrasive water jet cutting energy consumption model, to determine the optimal abrasive water jet parameters, so as to realize consistent abrasive water jet cutting depth at each place with the lowest energy consumption.

2. A control method for abrasive water jet-mechanical combined cutting of reinforced concrete as claimed in claim 1, characterized in that, The specific process of determining the shield cutting reinforced concrete range comprises: determining the shield cutting reinforced concrete range according to the contact state of the shield cutter and the reinforced concrete obstacle and the shield cutter construction parameters. Alternatively, with the center of the cutterhead as the origin, establish a polar coordinate system on the cutterhead plane, and the initial position of the shield cutterhead is ( ρ i0 , θ i0 , t 0), the time history curve of the cutting force recorded when the shield cutter rotates one revolution is F ( i , t 0 ，t The initial moment when the shield cutter contacts the concrete portion of the reinforced concrete, as determined by the method for determining the contact state between the shield cutter and the reinforced concrete obstacle, is: t 1. The termination time is t 2. The polar angle range of the reinforced concrete obstacle distribution relative to the cutterhead is [ θ 0+ w * t 1, θ 0+ w * t 2], of which w This refers to the rotational speed of the cutter head; The minimum installation radius of the shield cutter in the second interval according to the judgment value ρ min And the maximum installation radius ρ max The resulting shield cutting reinforced concrete polar radius range is[ ρ min , ρ max ], and the shield cutting reinforced concrete range is the area formed by the polar angle range[ θ 0+ w * t 1, θ 0+ w * t 2] and the polar radius range[ ρ min , ρ max ].

3. A control method for abrasive water jet-mechanical combined cutting of reinforced concrete as claimed in claim 1, characterized in that, The specific process of controlling the opening and closing and cutting range of the abrasive water jet comprises: when the water jet nozzle on the cutter head enters the shield cutting reinforced concrete range, the abrasive water jet is turned on; on the contrary, the abrasive water jet is turned off. The amplitude of the distribution range of the reinforced concrete relative to the range of the shield cutter is β , β = w * （t 2- t 1),wherein w is the rotation speed of the cutter, t 1 is the initial time when the shield cutter contacts the concrete part in the reinforced concrete, t 2 is the terminal time. When β = 2 π , the abrasive water jet is driven to cut in a continuous single direction rotation mode; when β <2 π , the abrasive water jet is driven to cut in a reciprocating mode.

4. The method of claim 1, wherein the method further comprises the step of: The joint cutting process optimal parameter database includes recommended values of optimal L j 、 L m steel bar diameter, cutter penetration, and cutting speed, wherein L j abrasive water jet cutting depth, L m shield cutter cutting depth. ​ 5. The method of claim 1, wherein the method further comprises the step of: The method further comprises the following steps: During the cutting process, the water supply pressure, the abrasive concentration, and the cutter head torque of the abrasive water jet-mechanical combined cutting system are monitored, and a diagnosis is performed. When the water supply pressure is lower than a set threshold value, or the abrasive concentration is lower than a set threshold value, or the cutter head torque is higher than a set threshold value, it is determined that a fault occurs, and the abrasive water jet power mechanism and the shield machine power mechanism are turned off. ​ 6. A control system for abrasive water jet-mechanical combined cutting of reinforced concrete, characterized in that, It comprises: a collection device for sensing the contact state of the shield cutter and the reinforced concrete; a processor for determining the shield cutting reinforced concrete range based on the contact state, and controlling the opening and closing and cutting range of the abrasive water jet based on the same, and controlling the combined cutting reinforced concrete construction process according to the working position of the shield cutter by matching the construction parameters based on the abrasive water jet-mechanical combined cutting model and the optimal parameter database of the combined cutting process constructed in advance; The specific process of sensing the contact state of the shield cutter and the reinforced concrete comprises: taking the ratio of the shield cutter cutting force and the shield machine penetration as a judgment value, and dividing the contact state of the shield cutter and the reinforced concrete; Further, when the value of the determination value is in the first interval, it is determined that the shield cutter does not contact the reinforced concrete; when the value of the determination value is in the second interval, it is determined that the shield cutter contacts the concrete part in the reinforced concrete; and when the value of the determination value is in the third interval, it is determined that the shield cutter contacts the steel bar part in the reinforced concrete. The abrasive water jet-mechanical combined cutting model comprises an abrasive water jet cutting steel bar depth prediction model, an abrasive water jet cutting concrete depth prediction model and a combined cutting process parameter optimization model. The abrasive water jet cutting steel bar depth prediction model is: ​ D j for the cutting depth of the steel reinforcement, v for the wire cutting speed, T for the target distance, P for the water jet pressure, d for the nozzle diameter, F for the abrasive concentration, C , k 1, k 2, k 3, k 4, k 5 are coefficients; The abrasive water jet cutting concrete depth prediction model is: wherein, W j0 P is the power consumed by the abrasive water jet, v V is the linear cutting speed, P P is the water jet pressure, d D is the nozzle diameter, k 2、 k 4、 k 5 are coefficients; The combined cutting process parameter optimization model determines the optimal abrasive water jet parameters based on the prediction results of the abrasive water jet cutting steel bar depth prediction model and the abrasive water jet cutting concrete depth prediction model and the abrasive water jet cutting energy consumption model, so as to realize consistent abrasive water jet cutting depth at each place with the lowest energy consumption.

7. A control system for abrasive water jet-mechanical combined cutting of reinforced concrete according to claim 6, characterized in that, Further, the system comprises a host computer for storing the constructed abrasive water jet-mechanical combined cutting model and a pre-constructed combined cutting process optimal parameter database. Further, the system comprises a diagnosis module in communication with the processor, for diagnosing according to the monitored water supply pressure, abrasive concentration and cutter head torque of the abrasive water jet-mechanical combined cutting system, and determining that a fault occurs and shutting down the abrasive water jet power mechanism and the shield mechanical power mechanism when the water supply pressure is lower than a set threshold value, or the abrasive concentration is lower than a set threshold value, or the cutter head torque is higher than a set threshold value. Further, the system comprises an alarm device connected to the processor, and the processor sends a signal to the alarm device when the processor receives the diagnosis result of the diagnosis module as a fault occurs, and the alarm device issues an alarm prompt. Further, the system comprises a communication module and a storage module for providing communication services and data storage services, respectively. Further, the processor is connected to the abrasive water jet power mechanism to control the opening or closing of the abrasive water jet, the water supply pressure and the abrasive concentration. The processor is connected to the shield mechanical power mechanism to control whether the cutter head advances, the cutter head speed and the penetration depth.

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