Shield general type segment pre-assembly method, system, medium, device and terminal

Abstract

The application belongs to the technical field of shield construction, and discloses a general shield segment pre-assembly method, system, medium, equipment and terminal, wherein the system sequentially carries out segment initial ring pose determination, determines the position of the center point of the to-be-assembled segment advancing surface on a DTA, and performs pre-assembly based on the minimum fitting deviation of the comprehensive axis of future multi-ring segments, adopts a shield general segment pre-assembly method based on an enumeration method or an adaptive differential evolution algorithm, selects the best assembly point of the to-be-assembled segment, calculates the segment pose and the axis fitting deviation of the segment assembled at the best point, and takes the obtained segment pose as the initial ring pose of the segment for next assembly, judges whether the actual mileage is greater than the designed total mileage, returns to the step of determining the position of the center point of the to-be-assembled segment advancing surface on the DTA if not, and counts and outputs the result if yes. The application can greatly reduce the calculation amount of the pre-assembly axis fitting deviation and provide more segment type selection schemes.

Description

Technical Field

[0001] This invention belongs to the field of shield tunneling technology, and in particular relates to a general-purpose shield tunnel segment pre-assembly method, system, medium, equipment and terminal. Background Technology

[0002] Shield tunneling technology refers to the construction technique of building a tunnel by excavating tunnel using the cutterhead of a shield machine, supported and protected by the machine's shell, and then lining the excavated tunnel segments. Currently, shield tunneling technology is widely used in tunnel construction due to its advantages such as safe and efficient construction, minimal environmental impact, and high applicability. Regarding lining segments, general-purpose segments have lower manufacturing costs and can better fit various complex design axes, thus they are increasingly being used in tunnel construction.

[0003] The Designated Tunnel Axis (DTA) is composed of a continuous curve. The actual tunnel axis formed by the assembled tunnel segments consists of a set of short broken lines, each with a length equal to the width of one ring of tunnel segments. Because the DTA is approximated by broken lines, there is an axis fitting deviation between the tunnel axis formed by the tunnel segments and the DTA. This axis fitting deviation is a key indicator of tunnel completion quality. Before construction, the tunnel segments need to be pre-assembled using a simulated approach with a smaller axis fitting deviation as the target; this process is called pre-assembly of the tunnel segments. Pre-assembly can obtain the axis fitting deviation value of the segment fitting the DTA, thereby evaluating the segment's ability to fit the DTA, providing a reference for actual segment assembly during construction, and ultimately improving the quality of the formed tunnel. Simultaneously, pre-assembly of the tunnel segments can determine the required number of segments before construction, providing a reference for segment processing and manufacturing.

[0004] The current segment pre-assembly technology mainly involves: assembling each ring of segments, calculating the axis fitting deviation after assembling segments at all selectable points using the least squares method, and selecting the point with the smallest axis fitting deviation as the assembly point for this ring of segments. This process of segment selection and assembly is repeated to achieve DTA (Direct Axis Fit). However, the current segment pre-assembly scheme can only guarantee the minimum deviation of the current ring of segments, but may lead to larger or even excessive fitting deviations for subsequent segments. This scheme considers too few rings of segments, and cannot guarantee that the selected points for the current segments are the most reasonable for the entire tunnel. Therefore, during pre-assembly, the axis fitting deviation of future multiple rings of segments needs to be considered for each ring of segments to ensure that the entire tunnel has a small axis fitting deviation. Considering multi-ring segment pre-assembly can significantly reduce the deviation of segment fitting DTA, thus allowing for a wider range of selectable segment types for the DTA. However, this method considers too many rings of tunnel segments, which leads to excessive computation and long computation time. Therefore, it is necessary to determine the number of future rings of tunnel segments that need to be considered when selecting a single ring of tunnel segments, and to use intelligent optimization algorithms to reduce the amount of computation and improve computational efficiency.

[0005] Based on the above analysis, the problems and shortcomings of the existing technology are as follows:

[0006] 1) Axis fitting deviation problem: The existing pre-assembly technology only considers the axis deviation after the assembly of each ring of segments, and cannot guarantee that the selected point of the current segment is the most reasonable. This may lead to a large or even excessive fitting deviation of the subsequent segments, making the segment of this type unusable, reducing the number of segments that can be selected, making it difficult to select the best segment parameters, and bringing safety hazards to tunnel operation and use.

[0007] 2) Segment ring number problem: The existing technology considers a small number of segment rings, which cannot guarantee that the selected point of the current segment is the most reasonable. This may lead to a large deviation in the fitting of subsequent segments, making it difficult to meet the axis accuracy requirements of the tunnel.

[0008] 3) Calculation problem: Existing technology considers a large number of tunnel segment rings, resulting in excessive calculation volume and long calculation time, which is not conducive to practical application and engineering implementation.

[0009] In summary, the problem with the existing technology is that the pre-assembly scheme for tunnel segments only considers the axial deviation of each ring of segments after assembly, without considering the fitting deviation of subsequent rings. Furthermore, considering too many rings of segments leads to excessive computational load and time, which is not conducive to practical application. Summary of the Invention

[0010] To address the problems existing in the prior art, this invention provides a method, system, medium, equipment, and terminal for the pre-assembly of universal tunnel segments based on an adaptive differential evolution algorithm.

[0011] This invention is implemented as follows: a general-purpose shield tunnel segment pre-assembly method, comprising: the system sequentially determining the initial ring pose of the segments; determining the position of the center point of the advancing face of the segment to be assembled on the DTA; pre-assembling based on minimizing the comprehensive axis fitting deviation of future multi-ring segments, using an enumeration method or a general-purpose shield tunnel segment pre-assembly method based on an adaptive differential evolution algorithm to select the optimal assembly point of the segment to be assembled; calculating the segment pose assembled at the optimal point and the axis fitting deviation of the segment, and using the obtained segment pose as the initial ring pose of the segment for the next assembly; determining whether the actual mileage is greater than the total design mileage, if not, returning to the step of determining the position of the center point of the advancing face of the segment to be assembled on the DTA; if so, statistically analyzing the results and outputting them.

[0012] Furthermore, the general-purpose shield tunnel segment pre-assembly method includes the following steps:

[0013] Step 1: Determine the initial ring pose of the tunnel segment: If the initial ring is the first ring, the center point of the advancing surface of the initial ring segment is located on the DTA, and the normal direction of the advancing surface is the tangent direction of the corresponding point of the initial ring in the DTA. The assembly point of the initial ring segment is selected as point number 1. The six pose parameters x1, y1, z1, α1, β1, and γ1 of the initial ring segment are calculated through the DTA and the geometric dimensions of the segment, thereby obtaining the pose of the initial ring segment relative to the world coordinate system. If it is not the first ring, the initial ring is updated to the most recently assembled segment.

[0014] Step 2, determine the position of the center point of the advancing face of the segment to be assembled on the DTA: when the center point O of the advancing face of the i-th ring segment... i The mileage corresponding to the DTA location point is L i If the width of the tunnel segment is B, then the center point O of the advancing surface of the (i+1)th ring segment is... i+1 The mileage corresponding to the DTA location point is in (L i (+B) nearby; based on mileage (L) i +B), use the iterative method to query the center point O of the advancing surface of the (i+1)th ring segment. i+1 The interval segment (N) corresponding to DTA i+1 →N i+1 +1), the starting coordinate of the interval segment A(x) A ,y A ,z A ), endpoint coordinates B(x) B ,y B ,z B DTA consists of a series of discrete points, with each pair of adjacent discrete points forming an interval segment.

[0015] Step 3: Based on the starting coordinates A(x) of the corresponding interval of the center point of the advancing face of the segment to be assembled obtained in Step 2 on the DTA. A ,y A ,z A ), endpoint coordinates B(x) B ,y B ,z B The initial ring pose obtained in step one is used to determine the number of ring segments to be analyzed from the established table of segment ring number and DTA curvature radius based on the current DTA curvature radius. The maximum, average, and root mean square deviation of the axis fitting deviation are used as optimization targets. Based on the computational load, the best combination of points for future multi-ring segments is selected using enumeration or adaptive differential evolution algorithm. The point position of the (i+1)th ring segment, the pose of the (i+1)th ring segment, and the axis fitting deviation of the (i+1)th ring segment are determined, and the initial ring is updated.

[0016] Step four: Starting from the initial ring, repeat steps two and three to assemble the segments ring by ring until the actual assembled mileage of the tunnel segments is greater than the DTA endpoint mileage, thus completing the pre-assembly of the entire tunnel segments.

[0017] Furthermore, determining the pose of the initial ring of the tunnel segment in step one when it is the first ring includes:

[0018] (1) Establish the segment geometric model: obtain the geometric dimensions of the segment and obtain the DTA data;

[0019] (2) Coordinate system establishment: Establish and configure the coordinate system of the tunnel segments;

[0020] Wherein, the width of the segment is B, the diameter is D, and s is the single-sided wedge amount; the origin of the segment coordinate system lies at the intersection of the segment axis and the wedge surface, the X-axis is perpendicular to the wedge surface and outwards, the Z-axis is located on the wedge surface and points to the center of the capping block, and the Y-axis is determined by the right-hand coordinate system rule;

[0021] (3) Initial ring segment pose determination: The center point of the initial ring segment's advancing surface is set at the starting point of the DTA, and the normal vector of the advancing surface is the same as the tangent at the starting point of the DTA. Based on the DTA coordinates, the six pose parameters x1, y1, z1, α1, β1, and γ1 of the segment coordinate system are obtained. The homogeneous transformation matrix between the segment coordinate system and the world coordinate system is calculated from the pose parameters as follows:

[0022]

[0023] Where α1, β1 and γ1 represent the angles of rotation of the initial ring segment coordinate system around the X, Y and Z axes of the world coordinate system, respectively, and x1, y1 and z1 represent the position of the origin of the initial ring segment coordinate system in the world coordinate system;

[0024] The world coordinate system is defined as follows: the DTA data in the project is known, and the points are discrete coordinates in the world coordinate system. The world coordinate system defined by DTA is used as the world coordinate system for calculation.

[0025] Furthermore, the establishment of the correspondence table between the number of segment rings and the radius of curvature of the DTA in step three includes:

[0026] Design circular curve DTAs with curvature radii ranging from 150m to 3000m. After determining the segment geometry parameters, for each DTA, an enumeration method is used to simultaneously consider 1 to 7 rings for pre-assembly. The maximum fitting deviation δ corresponding to different number of segment rings under each curvature radius DTA is calculated. max ,average value and mean squared error δ std ,by Calculate the comprehensive evaluation value of the fitting deviation; comprehensively analyze the calculation efficiency and the comprehensive evaluation value of the fitting deviation to determine the number of segments to be considered under different curvature radii DTA, and obtain a comparison table of segment number and DTA curvature radius; among which, the segment geometric parameters include the outer diameter, width, wedge amount and number of points of the segment, and the geometric parameters are different for different types of segments; a corresponding comparison table of segment number and DTA curvature radius is established for each type of segment before pre-assembly.

[0027] Furthermore, the optimal locations for the segments to be assembled are obtained using an adaptive differential evolution algorithm, including:

[0028] (1) Initialize the differential evolution algorithm population to obtain N individuals. Each individual represents the segment number t selected for each segment in the future h-ring. n+1 t n+2 t n+3 …t n+h The location P of each segment of the future h-ring n+1 P n+2 P n+3 …P n+h Each segment is uniquely determined by the location of the segment in the previous ring and the segment number.

[0029] (2) Calculate the individual objective function value:

[0030] ① Based on the initial ring pose obtained in step one, the position P of the i+1 ring segment in the k-th individual is determined. n+1 The pose transfer algorithm is used to obtain the pose of the i+1 ring segment and the coordinates of the center point O of the advancing surface. i+1 =(x i+1 ,y i+1 ,z i+1 );

[0031] ② Combining the position of the center point of the i+1 ring segment's advancing surface on the DTA obtained in step two with the coordinate value of the center point of the i+1 ring segment's advancing surface, the fitting deviation of the i+1 ring segment's axis is calculated.

[0032] ③Use the i+1 ring segment pose obtained in step ① as the initial ring pose;

[0033] ④ Determine whether all future h-ring segment locations have been included in the calculation. If not, repeat steps ① to ③. If completed, provide the final h-ring configuration. and with The objective function value f of an individual;

[0034] (3) Determine whether the number of iterations of the differential evolution algorithm has reached the preset value Gen. If it has, generate the optimal future h-ring segment location. and the objective function value f* and will The best point for the segment to be assembled is selected and replaced; if the number of iterations has not been reached, the operation of step (4) is continued.

[0035] (4) Perform mutation and crossover operations to process the boundary conditions and obtain a temporary population;

[0036] (5) Calculate the objective function value of each individual in the temporary population and perform the selection operation, then proceed to step (3);

[0037] The mutation operation is as follows: three individuals are randomly selected from the population, and the weighted difference between two individuals is multiplied by the adaptive mutation operator F and added to the third individual to generate a new individual. None of the three individuals can be the same as the target individual. The crossover operation is as follows: the new individuals generated by mutation are mixed with the already determined target individuals according to the rules to generate experimental individuals. The selection operation is as follows: if the objective function of the experimental individual is better than that of the target individual, the experimental individual replaces the target individual and enters the next generation of the population.

[0038] Furthermore, the objective function value f of the differential evolution algorithm in step (2) is: to select the future h-ring segment location combination P of the differential evolution algorithm individual. n+1 P n+2 P n+3 …P n+h Substituting these values ​​into the assembly process for the future h-ring segment, we obtain the fitting deviations of the segment axis after the future h-ring segment assembly, δ1, δ2, δ3…δ h The maximum value δ of the fitting deviation of the h-ring segment axis. max ,average value and mean squared error δ std The weighted average is used as the objective function value f of the differential evolution algorithm:

[0039]

[0040] In the formula, λ1, λ2, and λ3 are obtained by evaluating the importance that tunnel boring machine operators attach to the maximum, average, and standard deviation of the fitting deviation in actual engineering projects.

[0041] Furthermore, the pose of the i+1 ring segment and the coordinates of the center point of the advancing surface obtained by the pose transfer algorithm in step ① include:

[0042] Given that the pose of the i-th ring segment relative to the world coordinate system is represented by the homogeneous transformation matrix T i The selected point is P. i For the i-th ring segment, the (i+1)-th ring segment has a pose transformation matrix Q. i+1 The homogeneous transformation matrix T of the (i+1)th ring segment relative to the world coordinate system i+1 =T i·Q i+1 ; by homogeneous transformation matrix T i+1 The inverse kinematics method yields the pose parameters x of the (i+1)th ring segment. i+1 y i+1 z i+1 α i+1 α i+1 β i+1 The center point O of the advancing surface of the (i+1)th ring segment i+1 The three-dimensional coordinates X, Y, Z are O. i+1 =(x i+1 ,y i+1 ,z i+1 ; where, by the homogeneous transformation matrix T i+1 The inverse kinematics yields 6 pose parameters x. i+1 y i+1 z i+1 α i+1 β i+1 β i+1 include:

[0043] Relative pose matrix T i+1 for:

[0044]

[0045] In the formula, x i+1 y i+1 z i+1 α is obtained directly from the relative pose matrix. i+1 β i+1 γ i+1 The arctangent expression is:

[0046]

[0047] In the formula, Atan2(y,x) is the bivariate arctangent function.

[0048] Furthermore, the calculation process for the axis fitting deviation in step ② includes:

[0049] The distance from the center point of the advancing surface of the (i+1)th ring segment to the corresponding interval of the DTA is defined as the axis fitting deviation of the (i+1)th ring segment.

[0050] N is obtained from step two i+1 →N i+1 The coordinate of the starting point A of the +1 interval segment is (x A ,y A ,z A The coordinates of the endpoint B are (x...). B ,y B ,z B If ), then the equation of the straight line segment is:

[0051]

[0052] Let l = x B -x A m = y B -y A n=z B -z A Then the equation of the straight line in segment AB is transformed into:

[0053]

[0054] The center point O of the advancing surface of the i+1 ring segment calculated in step ① i+1 The three-dimensional coordinates are used to calculate the center point O of the advancing surface of the (i+1)th ring segment according to the formula for the distance from a point to a line. i+1 Distance δ to the corresponding interval segment i+1 for:

[0055]

[0056] Another object of the present invention is to provide a universal shield tunnel segment pre-assembly system applying the aforementioned universal shield tunnel segment pre-assembly method, the universal shield tunnel segment pre-assembly system comprising:

[0057] The segment pose determination module is used by the system to sequentially determine the initial ring pose of the segments, and at the same time determine the position of the center point of the advancing surface of the segment to be assembled on the DTA.

[0058] The optimal assembly point determination module pre-assembles the segments based on minimizing the comprehensive axis fitting deviation of the future multi-ring segments. It uses an enumeration method or a shield tunnel general segment pre-assembly method based on an adaptive differential evolution algorithm to select the optimal assembly point for the segments to be assembled.

[0059] The axis fitting deviation calculation module is used to calculate the segment pose assembled at the optimal point and the axis fitting deviation of the segment, and use the segment pose as the initial ring pose of the segment for the next assembly.

[0060] The mileage judgment module is used to determine whether the actual mileage is greater than the total design mileage. If not, it returns to the step of determining the position of the center point of the advancing surface of the pipe segment to be spliced ​​on the DTA; if yes, it calculates the results and outputs them.

[0061] Another object of the present invention is to provide a computer device, the computer device including a memory and a processor, the memory storing a computer program, and when the computer program is executed by the processor, causing the processor to perform the steps of the general-purpose shield tunnel segment pre-assembly method.

[0062] Another object of the present invention is to provide a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the steps of the general-purpose shield tunnel segment pre-assembly method.

[0063] Another objective of this invention is to provide an information data processing terminal for implementing the aforementioned shield tunnel universal segment pre-assembly system.

[0064] Based on the above technical solutions and the technical problems solved, the advantages and positive effects of the technical solution to be protected by this invention are as follows:

[0065] First, to address the potential issue of large or even excessive axis fitting deviations when using the least squares method for pre-assembly of future tunnel segments, this invention designs a universal shield tunnel segment pre-assembly algorithm that simultaneously considers the maximum, average, and root mean square deviations of the axis fitting deviations for multiple future tunnel segments. This significantly reduces the axis fitting deviation, resulting in a better fit between the tunnel axis formed by the segments and the DTA (Dual Aspect Ratio). Furthermore, by reducing the axis fitting deviation of the segments from exceeding the limit to a reasonable range, the evaluation of the segments changes from being unable to fit the DTA to being able to fit it well. This provides more segment types to consider for the DTA, and combined with the mechanical requirements of the segments, facilitates the selection of the optimal segment type.

[0066] To address the issue of determining the number of rings for future multi-ring segment pre-assembly, this invention designs a dynamic determination scheme based on segment geometric parameters and DTA line shape. By establishing a comparison table between the number of segment rings and the DTA curvature radius, the number of segment rings to be considered is dynamically selected based on the current curvature radius of the DTA. This ensures that the number of segment rings considered can guarantee a small deviation in axis fitting without excessively increasing the computational load.

[0067] To address the issue of excessive computational load in pre-assembly of future multi-ring tunnel segments, this invention designs an adaptive differential evolution algorithm for pre-assembly of future multi-ring tunnel segments, which significantly reduces computational load while ensuring a small fitting deviation.

[0068] Secondly, the pre-assembly of segments with fitted DTA described in this invention can obtain the axis fitting deviation value before construction, and then evaluate the ability of the segments to fit DTA through the axis fitting deviation value, providing a reference for controlling the axis fitting deviation during the assembly of segments in construction, and ultimately improving the quality of the formed tunnel.

[0069] The shield tunneling segment pre-assembly method based on the adaptive differential evolution algorithm, which considers the fitting deviation of the axis of future multi-ring segments, can significantly reduce the amount of computation while ensuring a small fitting deviation for each ring of pre-assembled segments, thus improving the usability of the pre-assembly scheme. At the same time, the present invention designs a comprehensive evaluation function for fitting deviation that considers the maximum value, average value and standard deviation of the axis fitting deviation, so as to provide a more comprehensive evaluation of the segment assembly scheme. Attached Figure Description

[0070] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0071] Figure 1 This is a flowchart of the shield tunnel universal segment pre-assembly method provided in the embodiments of the present invention;

[0072] Figure 2 This is a schematic diagram of the general-purpose tunnel segment pre-assembly method provided in this embodiment of the invention;

[0073] Figure 3 This is a schematic diagram of the segment geometry and coordinate system provided in an embodiment of the present invention;

[0074] Figure 4A This is a structural schematic diagram of the 28-point universal segment location provided in an embodiment of the present invention;

[0075] Figure 4B This is a structural schematic diagram of the 28-point universal segment provided in an embodiment of the present invention;

[0076] Figure 5 This is a graph showing the relationship between the comprehensive evaluation value of the fitting deviation and the number of segments considered, provided in an embodiment of the present invention.

[0077] Figure 6 This is provided by an embodiment of the present invention along axis V ai A schematic diagram of the translation distance B;

[0078] Figure 7 The vector V along the axis provided in this embodiment of the invention ai A diagram showing a 180° rotation. Detailed Implementation

[0079] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0080] To address the problems existing in the prior art, this invention provides a general shield tunnel segment pre-assembly method, system, medium, equipment, and terminal based on an adaptive differential evolution algorithm. The invention will be described in detail below with reference to the accompanying drawings.

[0081] like Figure 1 As shown, the shield tunnel universal segment pre-assembly method provided in this embodiment of the invention includes the following steps:

[0082] S101, the system sequentially performs the initial ring and pose determination of the segment; determines the position of the center point of the advancing face of the segment to be assembled on the DTA;

[0083] S102, based on minimizing the comprehensive axis fitting deviation of future multi-ring segments, pre-assemble the segments and select the optimal assembly points for the segments to be assembled by using an enumeration method or a shield tunneling general segment pre-assembly method based on an adaptive differential evolution algorithm.

[0084] S103, calculate the segment pose at the optimal point of assembly and the axis fitting deviation of the segment, and use the obtained segment pose as the initial ring pose of the segment for the next assembly.

[0085] S104: Determine whether the actual mileage is greater than the total design mileage. If not, return to the step of determining the position of the center point of the advancing face of the segment to be assembled on the DTA. If yes, then calculate the results and output them.

[0086] As a preferred embodiment, such as Figure 2 As shown, the shield tunneling universal segment pre-assembly method provided in this embodiment of the invention specifically includes the following steps:

[0087] Step S1: Determine the initial ring pose of the tunnel segment. If the initial ring is the first ring, the center point of the initial ring segment's advancing surface is located on the DTA, and the normal direction of the advancing surface is the tangent direction of the corresponding point of the initial ring in the DTA. The assembly point of the initial ring segment is selected as point number one. Six pose parameters x1, y1, z1, α1, β1, and γ1 of the initial ring segment are calculated using the DTA and the segment's geometric dimensions. This yields the pose of the initial ring segment relative to the world coordinate system, represented by a homogeneous transformation matrix.

[0088]

[0089] Where α1, β1, and γ1 represent the angles of rotation of the initial ring segment coordinate system around the X, Y, and Z axes of the world coordinate system, respectively, and x1, y1, and z1 represent the position of the origin of the initial ring segment coordinate system in the world coordinate system. If it is not the first ring, the initial ring is updated to the most recently assembled segment.

[0090] Step S2: Determine the position of the center point of the advancing face of the segment to be assembled on the DTA.

[0091] Let O be the center point of the advancing surface of the i-th ring segment. i The mileage corresponding to the DTA location point is L i If the width of the tunnel segment is B, then the center point O of the advancing surface of the (i+1)th ring segment is... i+1 The mileage corresponding to the DTA location point is in (L i Near +B). Based on mileage (L) i +B), use the iterative method to query the center point O of the advancing surface of the (i+1)th ring segment. i+1 The interval segment (N) corresponding to DTA i+1 →N i+1 +1), the starting coordinate of the interval segment A(x) A ,y A ,z A ), endpoint coordinates B(x) B ,y B ,z B ).

[0092] It should be noted that a DTA consists of a series of discrete points, with each pair of adjacent discrete points forming an interval.

[0093] Step S3, based on the starting coordinates A(x) of the corresponding interval of the center point of the advancing face of the segment to be assembled on the DTA obtained in step S2. A ,y A ,z A ), endpoint coordinates B(x) B ,y B ,z B The initial ring pose obtained in step S1 is used to determine the number of rings to be considered from the established table of the number of rings and the radius of curvature of the DTA based on the current radius of curvature of the DTA. The maximum, average and root mean square deviation of the axis fitting deviation are used as optimization targets. Based on the computational load, the best combination of points for future multi-ring segments is selected by enumeration or adaptive differential evolution algorithm. The point position of the (i+1)th ring segment, the pose of the (i+1)th ring segment and the axis fitting deviation of the (i+1)th ring segment are determined, and the initial ring is updated.

[0094] Step S4: Starting from the initial ring, repeat steps S2 and S3 to assemble the segments ring by ring until the actual assembled mileage of the tunnel segments exceeds the DTA endpoint mileage, thus completing the pre-assembly of the entire tunnel. Record the mileage, assembly point, orientation, and axis fitting deviation for each ring.

[0095] When the initial ring is the first ring, the step S1 provided in this embodiment of the invention specifically includes the following steps for determining the initial ring pose of the segment:

[0096] Step S11: Establish the segment geometry model. Obtain the segment geometry dimensions and DTA data.

[0097] Step S12, Coordinate System Establishment. Establish a coordinate system on the tunnel segment. See [link to coordinate system configuration] for details. Figure 3 .

[0098] Wherein, the width of the segment is B, the diameter is D, and s is the single-sided wedge amount; the origin of the segment coordinate system lies at the intersection of the segment axis and the wedge surface, the X-axis is perpendicular to the wedge surface and outwards, the Z-axis is located on the wedge surface and points to the center of the capping block, and the Y-axis is determined by the right-hand coordinate system rule.

[0099] Step S13: Determine the initial ring segment pose. Set the center point of the initial ring segment's advancing surface at the DTA starting point, and simultaneously ensure that the normal vector of the advancing surface is the same as the tangent at the DTA starting point. Based on the DTA coordinates, six pose parameters of the segment coordinate system can be obtained: x1, y1, z1, α1, β1, and γ1. α1, β1, and γ1 represent the angles of rotation of the initial ring segment coordinate system around the X, Y, and Z axes of the world coordinate system, respectively. x1, y1, and z1 represent the position of the origin of the initial ring segment coordinate system in the world coordinate system. The homogeneous transformation matrix between the segment coordinate system and the world coordinate system is calculated from the pose parameters as follows:

[0100]

[0101] The world coordinate system provided in this embodiment of the invention is:

[0102] In the project, the DTA data is known and consists of discrete coordinate points in the world coordinate system. The world coordinate system defined by DTA is used as the world coordinate system for calculation in this invention.

[0103] The method for establishing the comparison table of segment ring number and DTA curvature radius in step S3 provided in this embodiment of the invention includes:

[0104] Circular curve DTAs with curvature radii ranging from 150m to 3000m were designed. After determining the segment geometry parameters, for each DTA, an enumeration method was used to pre-assemble segments of 1 to 7 rings simultaneously. The maximum fitting deviation δ corresponding to different numbers of segment rings under each curvature radius DTA was calculated. max ,average value and mean squared error δ std ,by Calculate the comprehensive evaluation value of the fitting deviation. Taking into account both computational efficiency and the comprehensive evaluation value of the fitting deviation, determine the number of segment rings to be considered for this type of segment under different curvature radii of DTA, and obtain a table comparing the number of segment rings with the DTA curvature radius.

[0105] It should be noted that the geometric parameters of the tunnel segments include the outer diameter, width, wedge amount, and number of points. Different types of tunnel segments have different geometric parameters. Before pre-assembly, a corresponding table of tunnel segment ring number and DTA curvature radius needs to be established for each type of tunnel segment.

[0106] The step S3 in this embodiment of the invention, which uses an adaptive differential evolution algorithm to obtain the optimal location of the segment to be assembled, specifically includes the following steps:

[0107] Step S31: Initialize the differential evolution algorithm population to obtain N individuals, each individual representing the selected point P of each ring segment in the future multi-ring process. n+1 P n+2 P n+3 …P n+h Optional location P for the segments to be assembled n+1 Take an integer from 1 to 28, excluding 12-16 and 28, P n+1 From the previous ring segment point P n Confirmed, the calculation formula is:

[0108]

[0109] Step S32: Calculate the individual objective function value.

[0110] ① Based on the initial ring pose obtained in step S1, the position P of the i+1 ring segment in the k-th individual is determined. n+1 The pose transfer algorithm is used to obtain the pose of the i+1 ring segment and the coordinates of its center point O on the advancing surface. i+1 =(x i+1 ,y i+1 ,z i+1 ).

[0111] ② Combining the position of the center point of the i+1 ring segment's advancing surface on the DTA and the coordinate value of the center point of the i+1 ring segment's advancing surface obtained in step S2, the fitting deviation of the i+1 ring segment's axis is calculated.

[0112] ③Use the i+1 ring segment pose obtained in step ① as the initial ring pose.

[0113] ④ Determine whether all future h-ring segment locations have been included in the calculation. If not, repeat steps ① to ③. If completed, provide the final h-ring configuration. by The objective function value f for this individual.

[0114] Step S33: Determine whether the number of iterations of the differential evolution algorithm has reached the preset value Gen. If it has, generate the optimal future h-ring segment locations. and its objective function value f * and will The optimal selection point for the segment to be assembled is used as the reference; if the number of iterations has not been reached, the next step is continued.

[0115] Step S34 involves performing mutation and crossover operations to process boundary conditions and obtain a temporary population.

[0116] Step S35: Calculate the objective function value of each individual in the temporary population, perform the selection operation, and proceed to step S33.

[0117] It should be noted that the mutation operation is as follows: three individuals are randomly selected from the population, and the weighted difference between two individuals is multiplied by the adaptive mutation operator F and added to the third individual to generate a new individual. Note that none of these three individuals can be the same as the target individual. The crossover operation is as follows: the new individuals generated by mutation are mixed with the already determined target individuals according to the rules to generate experimental individuals. The selection operation is as follows: if the objective function of the experimental individual is better than that of the target individual, then the experimental individual replaces the target individual and enters the next generation of the population.

[0118] The objective function value f of the differential evolution algorithm in step S32 of this embodiment is: selecting the future h-ring segment location combination P of the differential evolution algorithm individuals. n+1 P n+2 P n+3 …P n+h Substituting these values ​​into the assembly process for the future h-ring segment, we obtain the fitting deviations of the segment axis after the future h-ring segment assembly, δ1, δ2, δ3…δ h The maximum value δ of the fitting deviation of the h-ring segment axis. max ,average value and mean squared error δ std The weighted average is used as the objective function value f of the differential evolution algorithm:

[0119]

[0120] In the formula, λ1, λ2, and λ3 are obtained by evaluating the importance that tunnel boring machine operators attach to the maximum, average, and standard deviation of the fitting deviation in actual engineering projects.

[0121] Step ① in step S32 of this embodiment of the invention, which uses a pose transfer algorithm to obtain the pose of the i+1 ring segment and the coordinates of its advancing surface center point, specifically includes:

[0122] Given that the pose of the i-th ring segment relative to the world coordinate system is represented by the homogeneous transformation matrix T i The selected point is P. i For the i-th ring segment, the (i+1)-th ring segment has a pose transformation matrix Q. i+1 The homogeneous transformation matrix T of the (i+1)th ring segment relative to the world coordinate system i+1 =T i ·Q i+1 From the homogeneous transformation matrix T i+1 The pose parameters x of the (i+1)th ring segment can be solved by inverse kinematics.i+1 y i+1 z i+1 α i+1 β i+1 γ i+1 The center point O of the advancing surface of the (i+1)th ring segment i+1 The three-dimensional coordinates X, Y, Z are O. i+1 =(x i+1 ,y i+1 ,z i+1 ).

[0123] The embodiments of the present invention provide a homogeneous transformation matrix T i+1 The six pose parameters x can be solved by reverse engineering. i+1 y i+1 z i+1 α i+1 β i+1 γ i+1 Specifically:

[0124] Relative pose matrix T i+1 for:

[0125]

[0126] Where, x i+1 y i+1 z i+1 It can be obtained directly from the relative pose matrix, α i+1 β i+1 γ i+1 The arctangent expression is:

[0127]

[0128] In the formula, Atan2(y,x) is the bivariate arctangent function.

[0129] The process of calculating the axis fitting deviation in step ② of step S32 provided in this embodiment of the invention is as follows:

[0130] The distance from the center point of the advancing surface of the (i+1)th ring segment to the corresponding interval of the DTA is defined as the axis fitting deviation of the (i+1)th ring segment.

[0131] N is obtained from step S2 i+1 →N i+1 The coordinate of the starting point A of the +1 interval segment is (x A ,y A ,z A The coordinates of the endpoint B are (x...). B ,y B ,z B If ), then the equation of the straight line in that interval is:

[0132]

[0133] Let l = x B -x A m = y B -y A n=z B -z A Then the equation of the straight line in segment AB is transformed into:

[0134]

[0135] Then, the center point O of the advancing surface of the i+1 ring segment calculated in step ① is used. i+1 The three-dimensional coordinates are used to calculate the center point O of the advancing surface of the (i+1)th ring segment using the formula for the distance from a point to a line. i+1 Distance δ to the corresponding interval segment i+1 :

[0136]

[0137] The universal shield tunnel segment pre-assembly system provided in this embodiment of the invention includes:

[0138] The segment pose determination module is used by the system to sequentially determine the initial ring pose of the segments, and at the same time determine the position of the center point of the advancing surface of the segment to be assembled on the DTA.

[0139] The optimal assembly point determination module pre-assembles the segments based on minimizing the comprehensive axis fitting deviation of the future multi-ring segments. It selects the optimal assembly point for the segments to be assembled by using either an enumeration method or a shield tunneling general segment pre-assembly point selection method based on an adaptive differential evolution algorithm.

[0140] The axis fitting deviation calculation module is used to calculate the segment pose assembled at the optimal point and the axis fitting deviation of the segment, and use the segment pose as the initial ring pose of the segment for the next assembly.

[0141] The mileage determination module is used to determine whether the actual mileage is greater than the total design mileage. If not, it returns the step of determining the position of the center point of the advancing face of the segment to be assembled on the DTA; if yes, it calculates the results and outputs them.

[0142] In embodiments of the present invention: such as Figures 4A-4B The diagrams shown are structural schematics of 28 general-purpose tunnel segments and their locations. Each segment is assembled from capping blocks, adjacent blocks, and standard blocks. The capping blocks and adjacent blocks are as indicated by the labels, while the rest are standard blocks. Viewed from the side, the segment is a double-wedge trapezoid, where 's' represents the wedge shape of a single side of the segment. The segment is fitted to the curve of the tunnel based on the wedge shape.

[0143] Longitudinal bolt holes, numbered 1 to 28, are evenly distributed on the end face of the segments, and the segments are connected to each other using longitudinal bolts. The connection position between the top block of the next segment and the bolt hole of the previous segment is called the point of the segment to be assembled.

[0144] The method for pre-assembling universal tunnel segments based on an adaptive differential evolution algorithm provided in this invention specifically includes the following steps:

[0145] Step S1: Determine the initial ring pose of the tunnel segment. If the initial ring is the first ring, the center point of the initial ring segment's advancing surface is located on the DTA, and the normal direction of the advancing surface is the tangent direction of the corresponding point of the initial ring in the DTA. The assembly point of the initial ring segment is selected as point number one. Six pose parameters x1, y1, z1, α1, β1, and γ1 of the initial ring segment are calculated using the DTA and the segment's geometric dimensions. This yields the pose of the initial ring segment relative to the world coordinate system, represented by a homogeneous transformation matrix.

[0146]

[0147] Where α1, β1, and γ1 represent the angles of rotation of the initial ring segment coordinate system around the X, Y, and Z axes of the world coordinate system, respectively, and x1, y1, and z1 represent the positions of the origin of the initial ring segment coordinate system in the world coordinate system. If it is not the first ring, the initial ring is updated to the most recently assembled segment.

[0148] Step S2: Determine the position of the center point of the advancing face of the segment to be assembled on the DTA.

[0149] Let O be the center point of the advancing surface of the i-th ring segment. i The mileage corresponding to the DTA location point is L i If the width of the tunnel segment is B, then the center point O of the advancing surface of the (i+1)th ring segment is... i+1 The mileage corresponding to the DTA location point is in (L i Near +B). Based on mileage (L) i +B), use the iterative method to query the center point O of the advancing surface of the (i+1)th ring segment. i+1 The interval segment (N) corresponding to DTA i+1 →N i+1 +1), the starting coordinate of the interval segment A(x) A ,y A ,z A ), endpoint coordinates B(x) B ,y B ,z B ).

[0150] It should be noted that a DTA consists of a series of discrete points, with each pair of adjacent discrete points forming an interval.

[0151] Step S3, based on the starting coordinates A(x) of the corresponding interval of the center point of the advancing face of the segment to be assembled on the DTA obtained in step S2. A ,y A ,z A ), endpoint coordinates B(x) B ,y B ,z B The initial ring pose obtained in step S1 is used to determine the number of ring segments to be considered from the established table of the number of ring segments and the radius of curvature of the axis based on the current radius of curvature of the axis. The maximum, average and root mean square deviation of the fitting deviation are used as optimization objectives. Based on the computational load, the best combination of points for future multi-ring segments is selected by enumeration method or adaptive differential evolution algorithm. The point position of the (i+1)th ring segment, the pose of the (i+1)th ring segment and the fitting deviation of the axis of the (i+1)th ring segment are determined, and the initial ring is updated.

[0152] Step S4: Starting from the initial ring, repeat steps S2 and S3 to assemble the segments ring by ring until the actual assembled mileage of the tunnel segments exceeds the DTA endpoint mileage, thus completing the pre-assembly of the entire tunnel. Record the mileage, assembly point, orientation, and axis fitting deviation for each ring.

[0153] In step S1 of this embodiment of the invention, when the initial ring is the first ring, determining the initial ring pose of the segment specifically includes the following steps:

[0154] Step S11: Establish the segment geometry model. Obtain the segment geometry dimensions and DTA data.

[0155] Step S12, Coordinate System Establishment. Establish a coordinate system on the tunnel segment. See [link to coordinate system configuration] for details. Figure 3 .

[0156] Wherein, the width of the segment is B, the diameter is D, and s is the single-sided wedge amount; the origin of the segment coordinate system lies at the intersection of the segment axis and the wedge surface, the X-axis is perpendicular to the wedge surface and outwards, the Z-axis is located on the wedge surface and points to the center of the capping block, and the Y-axis is determined by the right-hand coordinate system rule.

[0157] Step S13: Determine the initial ring segment pose. Set the center point of the initial ring segment's advancing surface at the DTA starting point, and simultaneously ensure that the normal vector of the advancing surface is the same as the tangent at the DTA starting point. Based on the DTA coordinates, six pose parameters of the segment coordinate system can be obtained: x1, y1, z1, α1, β1, and γ1. Here, α1, β1, and γ1 represent the angles of rotation of the initial ring segment coordinate system around the X, Y, and Z axes of the world coordinate system, respectively, and x1, y1, and z1 represent the position of the origin of the initial ring segment coordinate system in the world coordinate system. The homogeneous transformation matrix between the segment coordinate system and the world coordinate system is calculated from the pose parameters.

[0158]

[0159] The world coordinate system provided in this embodiment of the invention is:

[0160] In the project, the DTA data is known and consists of discrete coordinate points in the world coordinate system. The world coordinate system defined by DTA is used as the world coordinate system for calculation in this invention.

[0161] The method for establishing the comparison table between the number of segments and the radius of curvature of the DTA in step S3 of this invention specifically includes:

[0162] Circular curve DTAs with curvature radii ranging from 150m to 3000m were designed. After determining the segment geometry parameters, for each DTA, an enumeration method was used to pre-assemble segments of 1 to 7 rings simultaneously. The maximum fitting deviation δ corresponding to different numbers of segment rings under each curvature radius DTA was calculated. max ,average value and mean squared error δ std ,by Calculate the comprehensive evaluation value of the fitting deviation. Taking into account both computational efficiency and the comprehensive evaluation value of the fitting deviation, determine the number of segment rings to be considered for this type of segment under different curvature radii of DTA, and obtain a table comparing the number of segment rings with the DTA curvature radius.

[0163] It should be noted that the geometric parameters of the tunnel segments include the outer diameter, width, wedge amount, and number of points. Different types of tunnel segments have different geometric parameters. Before pre-assembly, a corresponding table of tunnel segment ring number and DTA curvature radius needs to be established for each type of tunnel segment.

[0164] Preferably, in this embodiment of the invention, a general-purpose wedge-shaped segment with 28 points, an outer diameter of 14500 mm, a segment width of 2000 mm, and a single-sided wedge amount of 24 mm is used as an example. Taking pre-assembled DTA curvature radii of 700 m and 900 m as examples, the maximum fitting deviation δ of this type of segment considering the fitting deviation of the axis of the next 1 to 7 rings in the pre-assembled 200 ring segments is calculated by enumeration method. max ,average value and mean squared error δ std ,by The comprehensive evaluation value of the fitting deviation was calculated. In this example, λ1 was set to 0.4, λ2 to 0.3, and λ3 to 0.3. This weight value was obtained by evaluating the importance that tunnel boring machine operators attach to the maximum, average, and standard deviation of the fitting deviation in actual engineering projects. The results are shown in Tables 1 and 2.

[0165] Table 1. Pre-assembly results of the circular curve with a DTA curvature radius of 700m

[0166] The units are all in meters. Maximum fit deviation Mean fit deviation Mean square of fit bias Overall evaluation value of fitting deviation Future Ring 1 0.093808239 0.026142438 0.024072017 0.052587632 Future 2nd Ring Road 0.04733308 0.017624681 0.013201443 0.028181069 Future 3rd Ring Road 0.025455763 0.004626691 0.004965356 0.013059919 Future 4th Ring Road 0.008767619 0.003264998 0.001834371 0.005036859 Future 5th Ring Road 0.006236283 0.002762807 0.001372733 0.003735175 Future 6th Ring Road 0.005645127 0.002654855 0.00117787 0.003407868 Future 7th Ring Road 0.005268074 0.002580192 0.001181693 0.003235795

[0167] Table 2 Pre-assembly results of circular curves with a DTA curvature radius of 900m

[0168] The units are all in meters. Maximum fit deviation Mean fit deviation Mean square of fit bias Overall evaluation value of fitting deviation Future Ring 1 0.052831055 0.013596383 0.012681812 0.029015881 Future 2nd Ring Road 0.014856355 0.004382379 0.002845377 0.008110869 Future 3rd Ring Road 0.009426024 0.00366271 0.002020995 0.005475521 Future 4th Ring Road 0.008217593 0.003141541 0.001703289 0.004740486 Future 5th Ring Road 0.006581161 0.002988533 0.001488642 0.003975617 Future 6th Ring Road 0.006583841 0.003275319 0.001339472 0.004017974 Future 7th Ring Road 0.006040633 0.00299757 0.001163756 0.003664651

[0169] The relationship between the comprehensive evaluation value of the fitting deviation in the results and the number of segments is plotted as follows: Figure 5 As shown.

[0170] From Table 1 and Figure 5 It can be seen that when the DTA curvature radius is 700m, the maximum fitting deviation obtained by considering only the future ring segment for pre-assembly exceeds the national standard limit of 20mm, reaching 93.8mm. This proves that considering only the future ring segment for pre-assembly will lead to the problem of excessive fitting deviation. As the number of future rings considered increases, the comprehensive deviation evaluation value decreases rapidly. However, when it reaches 5 rings, further increasing the number of rings considered has limited effect on reducing the comprehensive deviation evaluation value and will significantly increase the computational workload. For example, in this case, considering 5 ring segments requires calculating 7+7. 2 +7 3 +7 4 +7 5 =19607 fitting biases, and when considering 6-ring segments, 7 more need to be added to the calculation based on the 5-ring segment calculation. 6 =Calculation of fitting deviation for 117,649 times. Therefore, in the DTA segment with a curvature radius of 700m, pre-assembly of the next 5 ring segments is considered. Similarly, from Table 2 and Figure 5 It can be seen that when the radius of curvature in the DTA is 900m, the pre-assembly of the three ring segments is considered.

[0171] In summary, the relationship between the number of rings in this type of segment and the radius of curvature of the DTA is shown in Table 3.

[0172] Table 3. Comparison of Segment Ring Count and DTA Curvature Radius (Example)

[0173] DTA radius of curvature Considering the number of tunnel segments 700m 5 900m 3

[0174] The step S3 in this embodiment of the invention, which uses an adaptive differential evolution algorithm to obtain the optimal location of the segment to be assembled, specifically includes the following steps:

[0175] Step S31: Initialize the differential evolution algorithm population to obtain N individuals, each individual representing the selected point P of each ring segment in the future multi-ring process. n+1 P n+2 P n+3 …P n+h Optional location P for the segments to be assembled n+1 Take an integer from 1 to 28, excluding 12-16 and 28, P n+1 From the previous ring segment point P n Confirmed, the calculation formula is:

[0176]

[0177] This embodiment of the invention takes the selection of locations for future 5-ring tunnel segments as an example, and initializes the population size to 25 individuals. (The last part, "t," appears to be a typo and can be left as is.) n+1 t n+2 t n+3 t n+4 t n+5 As an individual component, calculate the selected point P for each of the next 5 rings. n+1 P n+2 P n+3 P n+4 P n+5 When, the result is obtained according to the above calculation formula.

[0178] Step S32: Calculate the individual objective function value.

[0179] ① Based on the initial ring pose obtained in step S1, the position P of the i+1 ring segment in the k-th individual is determined. n+1 The pose transfer algorithm is used to obtain the pose of the i+1 ring segment and the coordinates of its center point O on the advancing surface. i+1 =(x i+1 ,y i+1 ,z i+1 ).

[0180] ② Combining the position of the center point of the i+1 ring segment's advancing surface on the DTA and the coordinate value of the center point of the i+1 ring segment's advancing surface obtained in step S2, the fitting deviation of the i+1 ring segment's axis is calculated.

[0181] ③Use the i+1 ring segment pose obtained in step ① as the initial ring pose.

[0182] ④ Determine whether all locations of the future 5 ring segments have been included in the calculation. If not, repeat steps ① to ③. If completed, provide the final configuration of the future 5 ring segments. by The objective function value f for this individual is calculated using λ1 = 0.4, λ2 = 0.3, and λ3 = 0.3. These weights are derived from an assessment of the importance that tunnel boring machine operators place on the maximum, average, and root mean square deviations of the fitting bias in actual engineering projects.

[0183] Specifically, when an individual has 12-16 or 28 selectable points, the fitting deviation of all axes after the individual is assembled into 5 rings is no longer calculated, and its objective function value f is directly assigned to infinity.

[0184] Step S33: Determine whether the number of iterations of the differential evolution algorithm has reached the preset value of 50. If it has, generate the optimal future 5-ring segment locations. and its objective function value f * and will The optimal selection point for the segment to be assembled is used as the reference; if the number of iterations has not been reached, the next step is continued.

[0185] Step S34: Perform adaptive mutation and crossover operations. Generate mutated individuals according to the adaptive mutation operator F, and perform crossover operation with the crossover operator CR set to 0.9. Since each individual's value has boundary constraints, in order to ensure that the parameter values ​​of the new individuals are within the feasible region of the problem, the values ​​of individuals that exceed the boundary are set to the nearest boundary values, and finally a temporary population is obtained.

[0186] Step S35: Calculate the objective function value of each individual in the temporary population, perform the selection operation, and proceed to step S33.

[0187] It should be noted that the adaptive mutation operation is as follows: three individuals are randomly selected from the population. The weighted difference between two individuals is multiplied by the adaptive mutation operator F and added to the third individual to generate a new individual. Note that none of these three individuals can be the same as the target individual. The adaptive mutation operator is:

[0188]

[0189] In the formula, F0 is the mutation operator, which is taken as 0.5 in this example, and G... m This represents the maximum number of generations, which is 50 in this example, and G represents the current generation. In the early stages, a larger mutation operator value helps maintain individual diversity, while in the later stages, it preserves valuable information and increases the probability of finding the global optimum.

[0190] The crossover operation is: mixing the new individuals generated by mutation with the already determined target individuals according to rules to produce experimental individuals; the selection operation is: if the objective function of the experimental individual is better than that of the target individual, then the experimental individual replaces the target individual in the next generation of the population.

[0191] The objective function value of the differential evolution algorithm in step S32 of this embodiment is: to select the future 5-ring segment location combination P of the differential evolution algorithm individual. n+1 P n+2 P n+3 …P n+5 Substituting these values ​​into the assembly process for the next 5 rings, we obtain the fitting deviations of the segment axes after the assembly of the next 5 rings, δ1, δ2, δ3…δ5. The maximum value of the fitting deviation of the segment axes for the 5 rings is then calculated as δ1…δ2…δ3…δ5. max ,average value and mean squared error δ std The weighted average is used as the objective function value f of the differential evolution algorithm:

[0192]

[0193] That is, λ1 is set to 0.4, λ2 to 0.3, and λ3 to 0.3 for calculation. This weight value is obtained by evaluating the degree of importance that tunnel boring machine operators attach to the maximum, average, and standard deviation of the fitting deviation in actual engineering projects.

[0194] Step ① in step S32 of this embodiment of the invention, which uses a pose transfer algorithm to obtain the pose of the i+1 ring segment and the coordinates of its advancing surface center point, specifically includes:

[0195] Given that the pose of the i-th ring segment relative to the world coordinate system is represented by a matrix T i The selected point is P. i For the i-th ring segment, the (i+1)-th ring segment has a pose transformation matrix Q. i+1 The pose transformation matrix T of the (i+1)th ring segment relative to the world coordinate system i+1 =T i ·Q i+1 From matrix T i+1 The pose parameters x of the (i+1)th ring segment can be solved by inverse kinematics. i+1 y i+1 z i+1 α i+1 β i+1 γ i+1 The center point O of the advancing surface of the (i+1)th ring segment i+1 The three-dimensional coordinates X, Y, Z are O. i+1 =(x i+1 ,y i+1 ,z i+1 ).

[0196] The embodiments of the present invention are based on the homogeneous transformation matrix T i+1 The six pose parameters x can be solved by reverse engineering. i+1 y i+1 z i+1 α i+1 β i+1 γ i+1 Specifically:

[0197] Relative pose matrix T i+ 1 is:

[0198]

[0199] Where, x i+1 y i+1 z i+1 It can be obtained directly from the relative pose matrix, α i+1 β i+1 γ i+1 The arctangent expression is:

[0200]

[0201] In the formula, Atan2(y,x) is the bivariate arctangent function.

[0202] The process of calculating the axis fitting deviation in step ② of step S32 provided in this embodiment of the invention is as follows:

[0203] The distance from the center point of the advancing surface of the (i+1)th ring segment to the corresponding interval of the DTA is defined as the axis fitting deviation of the (i+1)th ring segment.

[0204] N is obtained from step S2 i+1 →N i+1 The coordinate of the starting point A of the +1 interval segment is (x A ,y A ,z A The coordinates of the endpoint B are (x...). B ,y B ,z B If ), then the equation of the straight line in that interval is:

[0205]

[0206] Let l = x B -x A m = y B -y A n=z B -z A Then the equation of the straight line in segment AB is transformed into:

[0207]

[0208] Then, the center point O of the advancing surface of the i+1 ring segment calculated in step ① is used. i+1 The three-dimensional coordinates are used to calculate the center point O of the advancing surface of the (i+1)th ring segment using the formula for the distance from a point to a line. i+1 Distance δ to the corresponding interval segment i+1 :

[0209]

[0210] The pose transfer algorithm in step S3 provided in this embodiment of the invention specifically includes:

[0211] The constraints on the (i+1)th ring segment by the i-th ring segment are as follows: the starting surface of the (i+1)th ring segment coincides with the advancing surface of the i-th ring segment; and the center point of the starting surface of the (i+1)th ring segment coincides with the center point of the advancing surface of the i-th ring segment; in different pose states that satisfy the constraints, the axis of the (i+1)th ring segment is on the same conical surface, and the center point of the advancing surface of the (i+1)th ring segment is on the same plane.

[0212] During segment assembly, the contact surfaces of the (i+1)th ring and the i-th ring coincide, and their normal vectors are parallel. Since there are 28 bolt groups, the coordinate system of the (i+1)th ring relative to the coordinate system of the i-th ring has 28 different poses, corresponding to 28 different pose transformation matrices. The steps to solve for the pose transformation matrices are as follows:

[0213] ① Establish a coordinate system and coordinate values ​​of special points

[0214] The segment has a width of B, a diameter of D, a double-sided wedge shape of 2s, and 16 sets of mounting bolt holes, as shown. Figure 3 As shown; the origin of the segment coordinate system lies at the intersection of the segment axis and the wedge surface, the X-axis is perpendicular to the wedge surface and outwards, the Z-axis is located on the wedge surface and points to the center of the capping block, and the Y-axis is determined by the right-hand coordinate system rule.

[0215] Let A be the origin of the i-th ring coordinate system. i (0, 0, 0), point H on the X-axis i (1, 0, 0), the intersection of the Y-axis and the outer ring of the segment wedge-shaped surface. Intersection of Z-axis and outer ring of segment wedge surface in

[0216] Point A is calculated based on mathematical relationships. i-1 The coordinates are:

[0217] A i-1 (-B·cosα,0,B·sinα)

[0218] The axis vector of the i-th ring is:

[0219]

[0220] The normal vector of the advancing surface is:

[0221] V ni =(1,0,0)

[0222] ② Transformation of segments by translation and rotation along the axis

[0223] The assembly process of the (i+1)th ring segment can be viewed as starting from the position of the i-th ring and moving along the axis vector V. ai The translation distance is B. At this point, the (i+1)th ring and the i-th ring partially embed with each other, while some segments separate from each other. To solve the problems of intrusion and gaps, the (i+1)th ring segment is rotated around the axis vector V. ai Rotate 180° and the two tube rings can fit together completely.

[0224] Point A i W i H i F iAlong the axis vector V ai Translation distance B, such as Figure 6 As shown, the corresponding point A′ i+1 、W′ i+1 H′ i+1 F′ i+1 The coordinates are as follows:

[0225]

[0226] Point A′ i+1 、W′ i+1 H′ i+1 F′ i+1 Vector V around the axis ai Rotate 180°, as Figure 7 As shown, the corresponding rotation matrix is ​​T, and the corresponding point is A". i+1 、W" i+1 H" i+1 F" i+1 The coordinates are as follows:

[0227]

[0228]

[0229] Among them, a x =cosα,a y =0, a z = -sinα, θ = 180°.

[0230] ③ Rotate the segments along the normal vector of the advancing plane

[0231] Point A i+1 、W" i+1 H" i+1 F" i+1 Normal vector V around the advancing surface of the i-th ring segment ni Rotate by angle β, corresponding to rotation matrix P m Corresponding point The coordinates are as follows:

[0232]

[0233]

[0234] Among them, a x =1, a y =0, a z =0, N is the number of bolt groups, m = 0, 1, ..., N-1.

[0235] The vector representation of the X, Y, and Z axes of the coordinate system of the (i+1)th ring segment in the coordinate system of the i-th ring segment.x 、V y 、V z are respectively:

[0236]

[0237]

[0238]

[0239] Then the transformation matrix Q of the coordinate system of the (i + 1)-th segment ring relative to the coordinate system of the i-th segment ring m is:

[0240]

[0241] where Q mi represents the transformation matrix corresponding to the selection of the m_i-th point position of the i-th segment ring relative to the (i - 1)-th segment ring. Suppose the p-th point position is selected for the (i - 1)-th segment ring and the q-th point position is selected for the i-th segment ring. When p < q, m_i = q - p; when p > q, m_i = q - p + N, where N is the number of bolt groups.

[0242] Example 1 provided by the present invention:

[0243] In a subway tunnel project, a shield machine constructs according to the subway tunnel design axis (DTA). Before construction, it is necessary to perform pre-assembly of the segments to evaluate the ability of the segments to fit the DTA and select the best segment type. The enumeration method is used for pre-assembly of the general shield segments.

[0244] 1. Determine the initial pose of the segment ring: First, judge whether it is the first ring. If it is the first ring, calculate the 6 pose parameters of the initial segment ring and its pose relative to the world coordinate system. If it is not the first ring, update the initial ring to the nearest assembled segment ring.

[0245] 2. Determine the position of the center point of the advancing surface of the segment to be assembled on the DTA: According to the mileage of the DTA position point corresponding to the center point of the advancing surface of the i-th segment ring and the segment width, calculate the mileage of the DTA position point corresponding to the center point of the advancing surface of the (i + 1)-th segment ring. Use the iterative method to query the corresponding DTA interval segment.

[0246] 3. According to the starting point coordinates A and ending point coordinates B of the interval segment obtained in step 2 and the initial pose of the segment ring obtained in step 1, use the enumeration method to determine the best point position combination of multiple future segment rings. The optimization objectives are the maximum value, average value, and standard deviation of the axis fitting deviation.

[0247] 4. Starting from the starting ring, repeat steps 2 and 3 for ring-by-ring assembly. Stop when the actual assembly mileage of the segments is greater than the DTA ending mileage to complete the pre-assembly of the segments for the whole tunnel.

[0248] Embodiment 2 provided by the present invention:

[0249] In a city subway tunnel project, the tunnel boring machine (TBM) constructs along the subway tunnel design axis (DTA). Before construction, the tunnel needs to be pre-assembled to assess the segment fitting ability to the DTA and select the optimal segment type. A general TBM segment pre-assembly method based on an adaptive differential evolution algorithm is adopted.

[0250] 1. Determine the initial ring pose of the tunnel segment: First, determine if it is the first ring. If it is the first ring, calculate the six pose parameters of the initial ring of the tunnel segment, as well as its pose relative to the world coordinate system. If it is not the first ring, update the initial ring to the most recently assembled tunnel segment.

[0251] 2. Determine the position of the center point of the advancing face of the segment to be assembled on the DTA: Based on the mileage of the DTA position point corresponding to the center point of the advancing face of the i-th ring segment and the segment width, calculate the mileage of the DTA position point corresponding to the center point of the advancing face of the (i+1)-th ring segment. Use an iterative method to query the corresponding DTA interval.

[0252] 3. Based on the starting point coordinates A and ending point coordinates B of the interval obtained in step 2 and the initial ring pose obtained in step 1, the optimal point combination for future multi-ring segments is determined using an adaptive differential evolution algorithm. The optimization objective is the maximum value, average value, and root mean square error of the axis fitting deviation.

[0253] 4. Starting from the initial ring, repeat steps 2 and 3 to assemble the segments ring by ring. Continue until the actual assembled mileage of the tunnel segments exceeds the DTA endpoint mileage, thus completing the pre-assembly of the entire tunnel segments.

[0254] Both of these embodiments employ a universal shield tunnel segment pre-assembly method, which can effectively evaluate the segment's ability to fit the DTA (Digital Traverse Analysis) and select the optimal segment type, thereby improving the quality and safety of tunnel construction.

[0255] It should be noted that embodiments of the present invention can be implemented in hardware, software, or a combination of both. The hardware portion can be implemented using dedicated logic; the software portion can be stored in memory and executed by a suitable instruction execution system, such as a microprocessor or dedicated-design hardware. Those skilled in the art will understand that the above-described devices and methods can be implemented using computer-executable instructions and / or included in processor control code, for example, such code provided on a carrier medium such as a disk, CD, or DVD-ROM, a programmable memory such as read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The devices and modules of the present invention can be implemented by hardware circuitry such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field-programmable gate arrays, programmable logic devices, etc., or by software executed by various types of processors, or by a combination of the above-described hardware circuitry and software, such as firmware.

[0256] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions, and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention, and within the spirit and principles of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A general-purpose pre-assembly method for tunnel lining segments, characterized in that, include: The system sequentially determines the initial ring pose of the tunnel segments; determines the position of the center point of the advancing face of the segment to be assembled on the DTA; performs pre-assembly based on minimizing the comprehensive axis fitting deviation of future multi-ring segments, and selects the optimal assembly point of the segment to be assembled by using an enumeration method or a shield tunneling general segment pre-assembly method based on an adaptive differential evolution algorithm; calculates the pose of the segment assembled at the optimal point and the axis fitting deviation of the segment, and uses the obtained segment pose as the initial ring pose of the segment for the next assembly. Determine if the actual mileage is greater than the total design mileage. If not, return to the step of determining the position of the center point of the forward face of the pipe segment to be assembled on the DTA. If so, then compile the results and output them; The general-purpose shield tunnel segment pre-assembly method includes the following steps: Step 1: Determine the initial ring pose of the tunnel segment: If the initial ring is the first ring, the center point of the advancing surface of the initial ring segment is located on the DTA, and the normal direction of the advancing surface is the tangent direction of the corresponding point of the initial ring in the DTA. The assembly point of the initial ring segment is selected as point number 1; the six pose parameters of the initial ring segment are calculated through the DTA and the geometric dimensions of the segment. , and These represent the angles of rotation of the initial ring segment coordinate system around the X, Y, and Z axes of the world coordinate system, respectively. and This indicates the position of the origin of the initial ring segment coordinate system in the world coordinate system; thus, the pose of the initial ring segment relative to the world coordinate system is obtained; if it is not the first ring, the initial ring is updated to the most recently assembled segment. Step 2, determine the position of the center point of the advancing face of the segment to be assembled on the DTA: when the center point of the advancing face of the i-th ring segment... The mileage corresponding to the DTA location point is If the width of the tunnel segment is B, then the center point of the advancing surface of the (i+1)th ring segment is... The mileage corresponding to the DTA location point is in L i +B nearby; based on mileage L i +B, use an iterative method to query the center point of the advancing surface of the (i+1)th ring segment. Intervals corresponding to DTA The starting coordinates of the interval segment are A End point coordinates B The DTA consists of a series of discrete points, with each pair of adjacent discrete points forming an interval. Step 3: Based on the starting coordinates A of the corresponding interval of the center point of the advancing face of the segment to be assembled on the DTA obtained in Step 2. End point coordinates B Based on the initial ring pose obtained in step one, and the number of ring segments to be analyzed obtained from the established table of segment ring number and DTA curvature radius according to the curvature radius of the current DTA, the maximum, average and root mean square deviation of the axis fitting deviation are used as optimization objectives. Based on the computational load, the best combination of points for future multi-ring segments is selected by enumeration method or adaptive differential evolution algorithm, the point position of the (i+1)th ring segment, the pose of the (i+1)th ring segment and the axis fitting deviation of the (i+1)th ring segment are determined, and the initial ring is updated. Step four: Starting from the initial ring, repeat steps two and three to assemble the segments ring by ring until the actual assembled mileage of the tunnel segments is greater than the DTA endpoint mileage, thus completing the pre-assembly of the entire tunnel segments.

2. The shield tunnel universal segment pre-assembly method as described in claim 1, characterized in that, Determining the pose of the initial ring of the tunnel segment in step one when it is the first ring includes: (1) Establish the segment geometric model: obtain the geometric dimensions of the segment and obtain the DTA data; (2) Coordinate system establishment: Establish and configure the coordinate system of the tunnel segments; Wherein, the width of the segment is B, the diameter is D, and s is the single-sided wedge amount; the origin of the segment coordinate system lies at the intersection of the segment axis and the wedge surface, the X-axis is perpendicular to the wedge surface and outwards, the Z-axis is located on the wedge surface and points to the center of the capping block, and the Y-axis is determined by the right-hand coordinate system rule; (3) Initial ring segment pose determination: Set the center point of the initial ring segment advancing surface at the starting point of DTA, and at the same time, the normal vector of the advancing surface is the same as the tangent at the starting point of DTA; according to the DTA coordinates, obtain the 6 pose parameters of the segment coordinate system. , and These represent the angles of rotation of the initial ring segment coordinate system around the X, Y, and Z axes of the world coordinate system, respectively. and This indicates the position of the origin of the initial ring segment coordinate system in the world coordinate system; the homogeneous transformation matrix between the segment coordinate system and the world coordinate system, calculated from the pose parameters, is as follows: ； The world coordinate system is defined as follows: the DTA data in the project is known, and the points are discrete coordinates in the world coordinate system. The world coordinate system defined by DTA is used as the world coordinate system for calculation.

3. The shield tunneling universal segment pre-assembly method as described in claim 1, characterized in that, The establishment of the segment ring number and DTA curvature radius comparison table in step three includes: Design circular curve DTAs with curvature radii ranging from 150m to 3000m. After determining the segment geometry parameters, for each DTA, an enumeration method is used to pre-assemble segments of 1 to 7 rings simultaneously. The maximum fitting deviation for each curvature radius DTA considering different number of segment rings is calculated. ,average value and mean square deviation ,by Calculate the comprehensive evaluation value of the fitting deviation; comprehensively analyze the calculation efficiency and the comprehensive evaluation value of the fitting deviation to determine the number of segments to be considered under different curvature radii DTA, and obtain a comparison table of segment number and DTA curvature radius; among which, the segment geometric parameters include the outer diameter, width, wedge amount and number of points of the segment, and the geometric parameters are different for different types of segments; a corresponding comparison table of segment number and DTA curvature radius is established for each type of segment before pre-assembly; The optimal locations for the segments to be assembled were obtained using an adaptive differential evolution algorithm, including: (1) Initialize the differential evolution algorithm population to obtain N individuals, each individual representing the segment number value selected for each segment in the future h-ring. The location of each segment of the future h-ring Each segment is uniquely determined by the location of the segment in the previous ring and the segment number value. (2) Calculate the individual objective function value: ① Based on the initial ring pose obtained in step one, the i+1 ring segment position of the k-th individual is determined. The pose of the i+1 ring segment and the coordinates of the center point of the advancing surface are obtained by using a pose transfer algorithm. ; ② Combining the position of the center point of the i+1 ring segment's advancing surface on the DTA obtained in step two with the coordinate value of the center point of the i+1 ring segment's advancing surface, the fitting deviation of the i+1 ring segment's axis is calculated. ; ③Use the i+1 ring segment pose obtained in step ① as the initial ring pose; ④ Determine whether all future h-ring segment locations have been included in the calculation. If not, repeat steps ①~③. If already completed, provide the final h-ring configuration. and with ( The objective function value of an individual , , , This study aims to assess the importance that tunnel boring machine (TBM) operators place on the maximum, average, and root mean square deviations of the fitting deviation in actual engineering projects. (3) Determine whether the number of iterations of the differential evolution algorithm has reached the preset value Gen. If it has, generate the optimal future h-ring segment location. and the objective function value and will The best point for the segment to be assembled is selected and replaced; if the number of iterations has not been reached, the operation of step (4) is continued. (4) Perform mutation and crossover operations to process the boundary conditions and obtain a temporary population; (5) Calculate the objective function value of each individual in the temporary population and perform the selection operation, then proceed to step (3); The mutation operation is as follows: three individuals are randomly selected from the population, and the weighted difference between two individuals is multiplied by the adaptive mutation operator. Adding a third individual to generate a new individual, and none of the three individuals can be the same as the target individual; the crossover operation is: mixing the new individual generated by the mutation with the already determined target individual according to the rules to generate experimental individuals; the selection operation is: if the objective function of the experimental individual is better than that of the target individual, then the experimental individual replaces the target individual and enters the next generation of the population.

4. The shield tunneling universal segment pre-assembly method as described in claim 3, characterized in that, The objective function value of the differential evolution algorithm in step (2) The purpose is to select and combine the future h-ring segment locations of individuals using the differential evolution algorithm. Substitute the values ​​into the equations to assemble the future h-ring segments, and obtain the fitting deviation of the segment axis after the future h-ring segments are assembled. The maximum value of the fitting deviation of the h-ring segment axis. ,average value and mean square deviation The weighted average is used as the objective function value of the differential evolution algorithm. : ( ； In the formula, , , This study assesses the importance that tunnel boring machine (TBM) operators place on the maximum, average, and root mean square deviations of the fitting error in actual engineering projects.

5. The shield tunneling universal segment pre-assembly method as described in claim 3, characterized in that, Step ① uses a pose transfer algorithm to obtain the pose of the i+1 ring segment and the coordinates of the center point of the advancing surface, including: Given that the pose of the i-th ring segment relative to the world coordinate system is represented by the homogeneous transformation matrix, it is as follows: The selected location is For the i-th ring segment, the (i+1)-th ring segment has a pose transformation matrix. The homogeneous transformation matrix of the (i+1)th ring segment relative to the world coordinate system ; by homogeneous transformation matrix The pose parameters of the (i+1)th ring segment are obtained by inverse kinematics. The center point of the advancing surface of the (i+1)th ring segment The values ​​of the three-dimensional coordinates X, Y, Z are ; where, by homogeneous transformation matrix The inverse kinematics yields 6 pose parameters. include: Relative pose matrix for: ； In the formula, Obtained directly from the relative pose matrix. The arctangent expression is: ； In the formula, It is a bivariate arctangent function; The calculation process for the axis fitting deviation in step ② includes: The distance from the center point of the advancing surface of the (i+1)th ring segment to the corresponding interval of the DTA is defined as the axis fitting deviation of the (i+1)th ring segment. Obtained from step two The coordinates of the starting point A of the interval segment are The coordinates of the endpoint B are Then the equation of the straight line in the interval segment is: ； make , , Then the equation of the straight line in segment AB is transformed into: ； The center point of the advancing surface of the i+1 ring segment calculated in step ① The three-dimensional coordinates are used to calculate the center point of the advancing surface of the (i+1)th ring segment according to the formula for the distance from a point to a line. Distance to the corresponding interval for: 。 6. A universal shield tunnel segment pre-assembly system applying the pre-assembly method as described in any one of claims 1 to 5, characterized in that, The universal shield tunnel segment pre-assembly system includes: The segment pose determination module is used by the system to sequentially determine the initial ring pose of the segments, and at the same time determine the position of the center point of the advancing surface of the segment to be assembled on the DTA. The optimal assembly point determination module pre-assembles the segments based on minimizing the fitting deviation of the comprehensive axis of the future multi-ring structure. It uses either an enumeration method or a shield tunneling general segment pre-assembly method based on an adaptive differential evolution algorithm to select the optimal assembly point for the segments to be assembled. The axis fitting deviation calculation module is used to calculate the segment pose assembled at the optimal point and the axis fitting deviation of the segment, and use the segment pose as the initial ring pose of the segment for the next assembly. The mileage judgment module is used to determine whether the actual mileage is greater than the total design mileage. If not, it returns to the step of determining the position of the center point of the advancing surface of the pipe segment to be spliced ​​on the DTA; if yes, it calculates the results and outputs them.

7. A computer device, characterized in that, The computer device includes a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, it causes the processor to perform the steps of the shield tunneling universal segment pre-assembly method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, causes the processor to perform the steps of the shield tunneling universal segment pre-assembly method as described in any one of claims 1 to 5.

9. An information data processing terminal, characterized in that, The information data processing terminal is used to implement the shield tunnel universal segment pre-assembly system as described in claim 6.

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