A segment posture determination method, device, equipment and storage medium

Abstract

The application discloses a kind of segment posture determination method, device, equipment and storage medium.The method comprises: using first contact surface equation and second contact surface equation, determine segment assembly point;Using the shield tail plane equation and first end surface contour equation of the shield machine, determine shield tail minimum clearance information;Using first end surface contour equation and second end surface contour equation, determine segment trend vector;The segment assembly point, the shield tail minimum clearance information and the segment trend vector are determined as segment posture.The technical scheme of the embodiment of the application determines the segment assembly point using the contact surface equation of segment and push cylinder, then determines the shield tail minimum clearance information using the shield tail plane equation and the equation of the end surface contour of last segment, and then infers the vector of the movement trend of the segment using the end surface contour equation of the segment, accurately determines the posture of the segment in the process of shield tunneling.

Description

Technical Field

[0001] This invention relates to the field of tunnel boring machine (TBM) system technology, and in particular to a method, apparatus, equipment, and storage medium for determining the attitude of tunnel segments. Background Technology

[0002] With the development of underground space construction, the quality requirements for shield tunneling have gradually increased. Shield tunneling is a dynamic process in which the shield machine continuously advances, and prefabricated arc-shaped segments are assembled to form tunnel rings, which eventually form a continuous tunnel shell.

[0003] During tunnel boring machine (TBM) excavation, the attitude of the TBM and the attitude of the tunnel segments interact. However, existing methods for determining the attitude of the tunnel segments are not accurate enough, which affects the subsequent prediction of the segment assembly points. Summary of the Invention

[0004] This invention provides a method, apparatus, device, and storage medium for determining the attitude of tunnel segments, in order to solve the problem of poor attitude accuracy of tunnel segments.

[0005] In a first aspect, the present invention provides a method for determining the orientation of tunnel segments, comprising:

[0006] The assembly points of the tunnel segments are determined by using the first contact surface equation and the second contact surface equation. The first contact surface equation is the equation of the first contact surface between the previous tunnel segment and the cylinder of the tunnel boring machine when assembling the previous tunnel segment, and the second contact surface equation is the equation of the second contact surface between the current tunnel segment and the cylinder.

[0007] Using the shield tail plane equation and the first end face contour equation of the tunnel boring machine, the minimum shield tail gap information is determined, wherein the minimum shield tail gap information includes the minimum shield tail gap value and the minimum shield tail gap position, and the first end face contour equation is the equation of the end face contour of the previous segment.

[0008] The segment trend vector is determined using the first end face contour equation and the second end face contour equation, wherein the second end face contour equation is the equation of the end face contour of the current segment.

[0009] The segment assembly points, the minimum gap information of the shield tail, and the segment trend vector are used to determine the segment attitude.

[0010] Secondly, the present invention provides a device for determining the attitude of a tube segment, comprising:

[0011] The assembly point determination module is used to determine the segment assembly point using the first contact surface equation and the second contact surface equation. The first contact surface equation is the equation of the first contact surface between the previous segment and the cylinder of the tunnel boring machine when assembling the previous segment, and the second contact surface equation is the equation of the second contact surface between the current segment and the cylinder.

[0012] The minimum gap determination module is used to determine the minimum gap information of the shield tail using the shield tail plane equation and the first end face contour equation of the shield machine. The minimum gap information of the shield tail includes the minimum gap value and the minimum gap position of the shield tail. The first end face contour equation is the equation of the end face contour of the previous segment.

[0013] The segment trend determination module is used to determine the segment trend vector using the first end face contour equation and the second end face contour equation, wherein the second end face contour equation is the equation of the end face contour of the current segment.

[0014] The segment attitude determination module is used to determine the segment attitude by the segment assembly point, the minimum gap information of the shield tail, and the segment trend vector.

[0015] Thirdly, the present invention provides an electronic device comprising:

[0016] At least one processor;

[0017] and memory that is communicatively connected to at least one processor;

[0018] The memory stores a computer program that can be executed by at least one processor, which enables the at least one processor to perform the method for determining the segment orientation of the first aspect described above.

[0019] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a processor to execute the method for determining the chip orientation described in the first aspect.

[0020] The segment attitude determination scheme provided by this invention uses a first contact surface equation and a second contact surface equation to determine the segment assembly point. The first contact surface equation is the equation of the first contact surface between the previous segment and the cylinder of the tunnel boring machine (TBM) when assembling the previous segment. The second contact surface equation is the equation of the second contact surface between the current segment and the cylinder. The minimum tail clearance information is determined using the tail plane equation and the first end face contour equation of the TBM. This minimum tail clearance information includes the minimum tail clearance value and the minimum tail clearance position. The first end face contour equation is the equation of the end face contour of the previous segment. The segment trend vector is determined using the first and second end face contour equations. The second end face contour equation is the equation of the end face contour of the current segment. The segment assembly point, the minimum tail clearance information, and the segment trend vector are then used to determine the segment attitude. By adopting the above technical solution, the segment assembly points were determined using the contact surface equation between the tunnel segment and the propulsion cylinder. Then, the minimum gap information of the shield tail was determined using the shield tail plane equation and the end face contour equation of the previous segment. Finally, the vector of the segment's motion trend was inferred using the end face contour equation of the segment, thus obtaining the current segment's motion trend. The attitude of each new segment can be obtained using the above method. During the tunnel boring machine (TBM) excavation process, the attitude of the segment was accurately determined, laying the foundation for predicting the subsequent segment assembly points.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0023] Figure 1 This is a flowchart of a method for determining the attitude of a tunnel segment according to Embodiment 1 of the present invention;

[0024] Figure 2 This is a schematic diagram of a shield tail projection provided according to Embodiment 1 of the present invention;

[0025] Figure 3 This is a schematic diagram of the segment position according to Embodiment 1 of the present invention;

[0026] Figure 4This is a flowchart of a method for determining the attitude of a tunnel segment according to Embodiment 2 of the present invention;

[0027] Figure 5 This is a schematic diagram of a minimum travel difference provided in Embodiment 2 of the present invention;

[0028] Figure 6 This is a schematic diagram of a direction vector provided according to Embodiment 2 of the present invention;

[0029] Figure 7 This is a schematic diagram of a device for determining the attitude of a tube segment according to Embodiment 3 of the present invention;

[0030] Figure 8 This is a schematic diagram of the structure of an electronic device provided according to Embodiment 4 of the present invention. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist; for example, A and / or B can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0033] Example 1

[0034] Figure 1The flowchart below shows a method for determining the attitude of a tunnel segment according to Embodiment 1 of the present invention. This embodiment is applicable to the situation of determining the attitude of a tunnel segment. The method can be executed by a tunnel segment attitude determination device, which can be implemented in hardware and / or software. The tunnel segment attitude determination device can be configured in an electronic device, which can be composed of two or more physical entities or a single physical entity.

[0035] like Figure 1 As shown, the method for determining the attitude of a tunnel segment provided in Embodiment 1 of the present invention specifically includes the following steps:

[0036] S101. Using the first contact surface equation and the second contact surface equation, determine the segment assembly point, wherein the first contact surface equation is the equation of the first contact surface between the previous segment and the cylinder of the tunnel boring machine when assembling the previous segment, and the second contact surface equation is the equation of the second contact surface between the current segment and the cylinder.

[0037] In this embodiment, multiple sensors can be pre-positioned on the propulsion cylinders of the tunnel boring machine (TBM). The contact surface equation between the tunnel segment and the propulsion cylinder can be obtained using the points corresponding to these sensors. If six sensors are positioned, the points corresponding to these six sensors are points on the contour of the contact surface between the tunnel segment and the propulsion cylinder. The contact surface equation between the tunnel segment and the propulsion cylinder can be fitted using the positions of these six points, thus obtaining the first contact surface equation and the second contact surface equation. Due to the geometric properties of the tunnel segment and the constraints of the propulsion cylinder's installation position, under the same TBM excavation stroke, the difference between the stroke value of the propulsion cylinder contacting the previous tunnel segment and the stroke value of the propulsion cylinder contacting the current tunnel segment reflects the position of block K, i.e., the tunnel segment assembly point. Therefore, a three-dimensional XYZ coordinate system for the TBM's movement can be pre-established. The position of block K is usually located at the position corresponding to the minimum change in the propulsion cylinder stroke. Simultaneously, if the TBM moves along the Y-axis, the direction vector of the tunnel segment assembly point is usually the target vector determined by the shortest distance between the intersection line of the first and second contact surfaces and the origin. If the direction vector of the segment assembly point is the target vector, then the segment assembly point is accurate; if the direction vector of the segment assembly point is not the target vector, then the segment assembly point is inaccurate. The segment can be a ring-shaped segment, etc.

[0038] S102. Using the shield tail plane equation and the first end face contour equation of the tunnel boring machine, determine the shield tail minimum gap information, wherein the shield tail minimum gap information includes the shield tail minimum gap value and the shield tail minimum gap position, and the first end face contour equation is the equation of the end face contour of the previous segment.

[0039] In this embodiment, the positions of multiple gap measuring sensors pre-arranged on the shield tail can be determined using the XYZ three-dimensional coordinate system of the tunnel boring machine (TBM) motion described above. These positions can then be used to determine the shield tail plane equation. The minimum gap value at the shield tail is the minimum gap value enveloping the first contact surface by the shield tail plane. Therefore, in the XYZ three-dimensional coordinate system of the TBM motion, the minimum gap value and position of the shield tail can be obtained using the shield tail plane equation and the first end face contour equation. For example, if the plane corresponding to the shield tail plane equation is a circle, and the contour line corresponding to the first end face contour equation is an ellipse, then the minimum gap value at the shield tail is the minimum gap value enveloping the ellipse by the circle, and the coordinates corresponding to this minimum gap value are the minimum gap position of the shield tail. The positions of the gap measuring sensors can be projected onto the first contact surface to obtain projection points. These projection points can then be used to determine the first end face contour equation.

[0040] S103. Using the first end face contour equation and the second end face contour equation, determine the segment trend vector, wherein the second end face contour equation is the equation of the end face contour of the current segment.

[0041] In this embodiment, the position of the gap measurement sensor described above can be projected onto the second contact surface to obtain projection points. These projection points can then be used to determine the second end-face profile equation. Since the tunnel segment moves with the shield tail, the motion trends of the first and second end-face profile equations are the same as the motion trends of the shield tail and the tunnel segment. For example, the first end-face profile equation can be used to determine the coordinates of the first center point on the first contact surface where the first end-face profile is located, and the second end-face profile equation can be used to determine the coordinates of the second center point on the second contact surface where the second end-face profile is located. The difference between the coordinates of the first and second center points is then determined as the tunnel segment trend vector.

[0042] S104. The segment assembly points, the minimum gap information of the shield tail, and the segment trend vector are determined as the segment attitude.

[0043] In this embodiment, by using the above method, the attitude of the tunnel segment can be continuously determined based on the information of the previous segment and the information of the current segment during the process of assembling the tunnel segments.

[0044] The method for determining the attitude of tunnel segments provided in this embodiment of the invention uses a first contact surface equation and a second contact surface equation to determine the assembly points of the tunnel segments. The first contact surface equation is the equation of the first contact surface between the previous tunnel segment and the propulsion cylinder of the tunnel boring machine (TBM) when assembling the previous segment. The second contact surface equation is the equation of the second contact surface between the current tunnel segment and the cylinder. The minimum clearance information of the shield tail is determined using the shield tail plane equation and the first end face contour equation of the TBM. The minimum clearance information includes the minimum clearance value and the minimum clearance position of the shield tail. The first end face contour equation is the equation of the end face contour of the previous tunnel segment. The trend vector of the tunnel segment is determined using the first end face contour equation and the second end face contour equation. The second end face contour equation is the equation of the end face contour of the current tunnel segment. The assembly points of the tunnel segments, the minimum clearance information of the shield tail, and the trend vector of the tunnel segments are used to determine the attitude of the tunnel segments. The technical solution of this invention uses the contact surface equation between the tunnel segment and the propulsion cylinder to determine the segment assembly point. Then, using the shield tail plane equation and the end face contour equation of the previous segment, the minimum gap information of the shield tail is determined. Finally, using the end face contour equation of the segment, the vector of the segment's motion trend is inferred to obtain the current segment's motion trend. Each time a new segment is assembled, the segment's attitude can be obtained using the above method. During the shield tunneling process, the segment's attitude is accurately determined, laying the foundation for predicting the subsequent segment assembly point.

[0045] Optionally, before determining the minimum clearance information of the shield tail using the shield tail plane equation and the first end face contour equation of the tunnel boring machine, the method further includes: determining the segment measurement point position based on the preset clearance measurement point position and the corresponding measured clearance value in the tunnel boring machine, wherein the segment measurement point position is the position of the preset clearance measurement point position in the tunnel boring machine projected onto the segment, and the segment measurement point position includes the first measurement point position of the previous segment and the second measurement point position of the current segment; determining the first position of the first measurement point position projected onto the first contact surface using the first contact surface equation, and determining the first end face contour equation using the first position; determining the second position of the second measurement point position projected onto the second contact surface using the second contact surface equation, and determining the second end face contour equation using the second position. The advantage of this setting is that, using the preset clearance measurement points pre-arranged in the tunnel boring machine, the end face contour equations of the previous segment and the current segment can be accurately determined.

[0046] Specifically, Figure 2 This is a schematic diagram of a shield tail projection. Figure 2 As shown, a three-dimensional XYZ coordinate system for the tunnel boring machine (TBM) movement can be pre-established. If the TBM moves along the Y-axis, the pre-set gap measurement points a1, a2, a3, a4, and a5 located at the tail of the shield correspond to the gaps as follows: Figure 2 For gaps 21, 22, 23, 24, and 25, we can first use the positions of these five preset gap measurement points to determine a plane. The plane equation of this plane is the plane equation of the shield tail. Then, we project the shield tail plane, the preset gap measurement point positions, and the corresponding gap values ​​onto the XOZ plane to obtain the projection 26 of the shield tail plane and the corresponding positions of the preset gap measurement points on the segment, i.e., the segment measurement point positions. Next, using the first contact surface equation, we project the first measurement point position on the XOZ plane onto the first contact surface on the XYZ three-dimensional plane to obtain the first position. Using the second contact surface equation on the XOZ plane, we project the second measurement point position onto the second contact surface on the XYZ three-dimensional plane to obtain the second position. Finally, using the obtained first position, we can determine the profile equation FL1, i.e., the first end face profile equation, and using the obtained second position, we can determine the profile equation F2, i.e., the second end face profile equation.

[0047] Optionally, before determining the segment assembly points using the first and second contact surface equations, the method further includes: during the cylinder propulsion process, determining multiple cylinder stroke positions measured at each preset cylinder stroke measurement point on the tunnel boring machine; for each preset cylinder stroke measurement point, determining the quotient of the sum of the multiple cylinder stroke positions and the total number of the multiple cylinder stroke positions as the average cylinder stroke position; and using the average cylinder stroke position to determine the first and second contact surface equations. The advantage of this setup is that by pre-arranging cylinder stroke measurement points on the tunnel boring machine, the contact surface equation between the propulsion tank and the segments during segment assembly can be accurately determined.

[0048] For example, Figure 3 This is a schematic diagram of the segment location. As mentioned above and Figure 3As shown, on the YOZ plane, 31 is the first contact surface, 32 is the second contact surface, 33 is the cross-section of the propulsion cylinder, trapezoid 34 is the cross-section of the previous segment, and trapezoid 35 is the cross-section of the current segment. The cylinder propulsion direction is consistent with the Y-axis direction. At least three displacement forming sensors can be pre-arranged on the propulsion cylinder of the tunnel boring machine to obtain at least three cylinder strokes and the position corresponding to each preset cylinder stroke measurement point in the cylinder stroke, i.e., the cylinder stroke position. The initial position of the propulsion cylinder is L1, and the end position of propulsion is L2. If the position corresponding to the preset cylinder stroke measurement point 1 during the propulsion process of the propulsion cylinder is (y1,z1), (y2,z2), ..., (yn,zn), then the average position of the cylinder stroke of the preset cylinder stroke measurement point 1 can be determined as [(y1,z1)+(y2,z2)+...+(yn,zn)] / n. By analogy, the average position of the cylinder stroke corresponding to each preset cylinder stroke measurement point can be obtained. When the tunnel boring machine (TBM) is splicing the previous segment, A1 can be determined using the average position of the corresponding hydraulic cylinder stroke. When the TBM is splicing the current segment, A2 can be determined using the average position of the corresponding hydraulic cylinder stroke.

[0049] Example 2

[0050] Figure 4 This is a flowchart of a method for determining the attitude of a tunnel segment according to Embodiment 2 of the present invention. The technical solution of the present invention is further optimized based on the above-mentioned optional technical solutions, and a specific method for determining the attitude of the tunnel segment is given.

[0051] Optionally, determining the segment assembly point using the first contact surface equation and the second contact surface equation includes: determining the minimum stroke difference between the first stroke and the second stroke in the preset three-dimensional coordinate system of the tunnel boring machine (TBM), wherein the first stroke is the stroke during which the hydraulic cylinder contacts the previous segment, and the second stroke is the stroke during which the hydraulic cylinder contacts the current segment; and determining the segment assembly point using the point corresponding to the minimum stroke difference, the first contact surface equation, and the second contact surface equation. The advantage of this setup is that by pre-establishing the three-dimensional coordinate system of the TBM, the point corresponding to the minimum stroke difference during the assembly of the previous and current segments can be accurately determined. Then, by using the first and second contact surface equations, it can be determined whether this point is the segment assembly point for the current segment.

[0052] Optionally, determining the minimum clearance information of the shield tail using the shield tail plane equation and the first end face contour equation of the tunnel boring machine includes: determining the maximum distance using the shield tail plane equation and the first end face contour equation, wherein the maximum distance is the maximum value of the distance between the shield tail center corresponding to the shield tail plane equation and the points on the contour line corresponding to the first end face contour equation; determining the difference between the plane radius corresponding to the shield tail plane equation and the maximum distance as the minimum clearance value of the shield tail, and determining the position of the point corresponding to the maximum distance as the position of the minimum clearance of the shield tail. The advantage of this setting is that by determining the maximum value of the distance between the shield tail center and the points on the first end face contour line and the plane radius of the shield tail plane, the minimum clearance of the shield tail plane enveloping the first end face contour line and its corresponding minimum clearance position can be quickly determined.

[0053] Optionally, determining the segment trend vector using the first end face contour equation and the second end face contour equation includes: determining the coordinates of the first center point corresponding to the first end face contour equation, and determining the coordinates of the second center point corresponding to the second end face contour equation; subtracting the first center point coordinates from the second center point coordinates to obtain the segment trend vector. The advantage of this configuration is that, since the segment attitude changes with the shield tail attitude, the segment trend vector can be accurately and quickly determined by calculating the difference between the first center point coordinates and the second center point coordinates.

[0054] like Figure 4 As shown in Embodiment 2 of the present invention, a method for determining the attitude of a tunnel segment specifically includes the following steps:

[0055] S201. During the propulsion process of the hydraulic cylinder, determine the multiple hydraulic cylinder stroke positions measured at each preset hydraulic cylinder stroke measurement point of the tunnel boring machine.

[0056] S202. For each preset cylinder stroke measurement point, the quotient of the sum of multiple cylinder stroke positions and the total number of multiple cylinder stroke positions is determined as the average cylinder stroke position.

[0057] S203. Determine the equations of the first and second contact surfaces using the average position of the cylinder stroke.

[0058] S204. In the preset three-dimensional coordinate system where the tunnel boring machine is located, determine the minimum stroke difference between the first stroke and the second stroke.

[0059] The first stroke is the stroke in which the hydraulic cylinder comes into contact with the previous segment, and the second stroke is the stroke in which the hydraulic cylinder comes into contact with the current segment.

[0060] Specifically, as mentioned above, the preset three-dimensional coordinate system can be the XYZ three-dimensional coordinate system for the tunnel boring machine's movement. The first stroke and the second stroke can be measured by the displacement forming sensors arranged on the tunnel boring machine's propulsion cylinders. Figure 5 This is a schematic diagram of a minimum travel difference, such as... Figure 5 As shown, the minimum change 52 can be determined from the change 51 between the first and second strokes, and this value is the minimum stroke difference.

[0061] S205. Using the point corresponding to the minimum travel difference, the equation of the first contact surface, and the equation of the second contact surface, determine the segment assembly point.

[0062] Specifically, as mentioned above, the direction vector (i.e., target vector) of the segment assembly point can be determined using the equations of the first and second contact surfaces. If the direction vector of the point corresponding to the minimum travel difference is the target vector, then the position corresponding to that point can be determined as the segment assembly point.

[0063] Optionally, determining the segment assembly point using the point corresponding to the minimum travel difference, the first contact surface equation, and the second contact surface equation includes: determining the intersection line of the first contact surface and the second contact surface using the first contact surface equation and the second contact surface equation; determining the projection line point with the smallest distance from the origin in a preset two-dimensional plane as the direction angle point, wherein the projection line point is the point on the projection line of the intersection line in the preset two-dimensional plane; determining the vector pointing from the origin to the direction angle point as the first direction vector, and determining the vector pointing from the origin to the target projection point as the second direction vector, wherein the target projection point is the projection point of the point corresponding to the minimum travel difference in the preset two-dimensional plane; if the first direction vector and the second direction vector are collinear, then the point corresponding to the minimum travel difference is determined as the segment assembly point.

[0064] Specifically, Figure 6 This is a schematic diagram of a direction vector. If the preset two-dimensional plane is the XOZ plane, the intersection line l1 of the first contact surface (A1) and the second contact surface (A2) can be calculated first using the equations of the first and second contact surfaces. Then, as shown... Figure 6 As shown, l1 can be projected onto the XOZ plane to obtain the intersecting projection line 62. From 62, the point 61 with the smallest distance to the origin in the XOZ plane is selected; this point is the directional position of block K, i.e., the directional angle point of block K. The vector pointing from the origin to the directional angle point is determined as the first direction vector, and the vector corresponding to the projection point of the point with the smallest travel difference in the XOZ plane is determined as the second direction vector. If the first and second direction vectors are collinear, the point corresponding to the smallest travel difference can be determined as the segment assembly point.

[0065] S206. Determine the location of the segment measurement point based on the preset gap measurement point location in the tunnel boring machine and the corresponding measured gap value.

[0066] S207. The position of the first measurement point is determined by the equation of the first contact surface and projected onto the first position in the first contact surface, and the first position is used to determine the first end face profile equation.

[0067] S208. The second measurement point position is determined by using the second contact surface equation and projected onto the second position in the second contact surface. The second position is then used to determine the second end face profile equation.

[0068] S209. Determine the maximum distance using the shield tail plane equation and the first end face profile equation of the tunnel boring machine.

[0069] The maximum distance is the maximum value of the distance between the center of the shield tail corresponding to the shield tail plane equation and the point in the contour line corresponding to the first end face contour equation.

[0070] For example, if the tail plane is a circle, the contour line corresponding to the first end face contour equation is an ellipse, and the tail center corresponding to the tail plane equation is the center of the circle of the tail plane, denoted as (X0, Z0), then the maximum distance L between the center of the circle and the point on the ellipse can be calculated using the first contact surface equation.

[0071] S210. The difference between the plane radius corresponding to the shield tail plane equation and the maximum distance is determined as the minimum clearance value of the shield tail, and the position of the point corresponding to the maximum distance is determined as the minimum clearance position of the shield tail.

[0072] For example, if the plane radius corresponding to the shield tail plane equation is R, then the minimum shield tail gap value is RL, and the position of the point corresponding to this maximum distance is the minimum shield tail gap position.

[0073] S211. Determine the coordinates of the first center point corresponding to the first end face profile equation, and determine the coordinates of the second center point corresponding to the second end face profile equation.

[0074] For example, if the coordinates of the first center point are (x0, y0, z0), the coordinates of the second center point are (x0', y0', z0').

[0075] S212. Subtract the coordinates of the first center point from the coordinates of the second center point to obtain the segment trend vector.

[0076] For example, the segment trend vector is [(x0, y0, z0) - (x0', y0', z0')], with the direction pointing from the coordinates of the first center point to the coordinates of the second center point. The coordinate system of the currently assembled segment can be obtained by translating the coordinate system corresponding to the previous assembled segment according to this segment trend vector.

[0077] S213. The segment assembly points, the minimum gap information of the shield tail, and the segment trend vector are used to determine the segment attitude.

[0078] The method for determining the attitude of tunnel segments provided in this invention can accurately determine the point corresponding to the minimum travel difference between the tunnel boring machine and the current segment during the assembly of the previous segment by pre-establishing a three-dimensional coordinate system of the tunnel boring machine. Then, by using the first contact surface equation and the second contact surface equation, it can be determined whether the point is the assembly point of the current segment. Then, by determining the maximum value of the distance from the center of the shield tail to the point in the first end face contour line and the plane radius of the shield tail plane, the minimum gap of the shield tail plane enveloping the first end face contour and its corresponding minimum gap position can be quickly determined. Since the attitude of the tunnel segments changes with the attitude of the shield tail, the difference between the coordinates of the first center point and the first center point coordinates can be calculated to accurately and quickly determine the trend vector of the tunnel segments.

[0079] Example 3

[0080] Figure 7 This is a schematic diagram of a device for determining the attitude of a tunnel segment according to Embodiment 3 of the present invention. Figure 7 As shown, the device includes: an assembly point determination module 301, a minimum gap determination module 302, a segment trend determination module 303, and a segment attitude determination module 304, wherein:

[0081] The assembly point determination module is used to determine the segment assembly point using the first contact surface equation and the second contact surface equation. The first contact surface equation is the equation of the first contact surface between the previous segment and the cylinder of the tunnel boring machine when assembling the previous segment, and the second contact surface equation is the equation of the second contact surface between the current segment and the cylinder.

[0082] The minimum gap determination module is used to determine the minimum gap information of the shield tail using the shield tail plane equation and the first end face contour equation of the shield machine. The minimum gap information of the shield tail includes the minimum gap value and the minimum gap position of the shield tail. The first end face contour equation is the equation of the end face contour of the previous segment.

[0083] The segment trend determination module is used to determine the segment trend vector using the first end face contour equation and the second end face contour equation, wherein the second end face contour equation is the equation of the end face contour of the current segment.

[0084] The segment attitude determination module is used to determine the segment attitude by the segment assembly point, the minimum gap information of the shield tail, and the segment trend vector.

[0085] The segment attitude determination device provided in this embodiment of the invention determines the segment assembly point by using the contact surface equation between the segment and the propulsion cylinder. Then, it determines the minimum gap information of the shield tail by using the shield tail plane equation and the end face contour equation of the previous segment. Finally, it infers the vector of the segment's motion trend by using the end face contour equation of the segment, thus obtaining the current segment's motion trend. The attitude of each segment can be obtained using the above method when assembling a new segment. During the shield tunneling process, the attitude of the segment is accurately determined, laying the foundation for the prediction of subsequent segment assembly points.

[0086] Optional, the assembly point determination module includes:

[0087] The minimum stroke difference determination unit is used to determine the minimum stroke difference between the first stroke and the second stroke in the preset three-dimensional coordinate system where the tunnel boring machine is located, wherein the first stroke is the stroke during which the hydraulic cylinder contacts the previous segment, and the second stroke is the stroke during which the hydraulic cylinder contacts the current segment.

[0088] The assembly point determination unit is used to determine the segment assembly point by using the point corresponding to the minimum travel difference, the first contact surface equation, and the second contact surface equation.

[0089] Optionally, determining the segment assembly point using the point corresponding to the minimum travel difference, the first contact surface equation, and the second contact surface equation includes: determining the intersection line of the first contact surface and the second contact surface using the first contact surface equation and the second contact surface equation; determining the projection line point with the smallest distance from the origin in a preset two-dimensional plane as the direction angle point, wherein the projection line point is the point on the projection line of the intersection line in the preset two-dimensional plane; determining the vector pointing from the origin to the direction angle point as the first direction vector, and determining the vector pointing from the origin to the target projection point as the second direction vector, wherein the target projection point is the projection point of the point corresponding to the minimum travel difference in the preset two-dimensional plane; if the first direction vector and the second direction vector are collinear, then the point corresponding to the minimum travel difference is determined as the segment assembly point.

[0090] Optional, the minimum gap determination module includes:

[0091] The maximum distance determination unit is used to determine the maximum distance using the shield tail plane equation and the first end face contour equation of the tunnel boring machine, wherein the maximum distance is the maximum value of the distance between the shield tail center corresponding to the shield tail plane equation and the point in the contour line corresponding to the first end face contour equation.

[0092] The minimum gap information determination unit is used to determine the difference between the plane radius corresponding to the shield tail plane equation and the maximum distance as the minimum gap value of the shield tail, and to determine the position of the point corresponding to the maximum distance as the minimum gap position of the shield tail.

[0093] Optionally, the device may also include:

[0094] The measurement point location determination module is used to determine the segment measurement point location based on the preset gap measurement point location in the tunnel boring machine and the corresponding measured gap value before determining the minimum gap information of the shield tail using the shield tail plane equation and the first end face contour equation of the tunnel boring machine. The segment measurement point location is the location of the preset gap measurement point location in the tunnel boring machine projected onto the segment. The segment measurement point location includes the first measurement point location of the previous segment and the second measurement point location of the current segment.

[0095] The first equation determination module is used to determine the first position of the first measurement point projected onto the first contact surface using the first contact surface equation, and to determine the first end face profile equation using the first position.

[0096] The second equation determination module is used to determine the second position of the second measurement point projected onto the second contact surface using the second contact surface equation, and to determine the second end face profile equation using the second position.

[0097] Optionally, the segment trend determination module includes:

[0098] The center point coordinate determination unit is used to determine the coordinates of the first center point corresponding to the first end face contour equation and to determine the coordinates of the second center point corresponding to the second end face contour equation.

[0099] The trend vector determination unit is used to perform a subtraction operation between the coordinates of the first center point and the coordinates of the second center point to obtain the segment trend vector.

[0100] Optionally, the device may also include:

[0101] The cylinder stroke position determination module is used to determine multiple cylinder stroke positions measured at each preset cylinder stroke measurement point of the tunnel boring machine before determining the segment assembly point using the first contact surface equation and the second contact surface equation during the cylinder advancement process.

[0102] The average stroke position determination module is used to determine the average stroke position of the cylinder for each preset cylinder stroke measurement point by taking the quotient of the sum of the multiple cylinder stroke positions and the total number of the multiple cylinder stroke positions.

[0103] The contact surface equation determination module is used to determine the first contact surface equation and the second contact surface equation using the average position of the cylinder stroke.

[0104] The segment attitude determination device provided in the embodiments of the present invention can execute the segment attitude determination method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0105] Example 4

[0106] Figure 8 A schematic diagram of an electronic device 40 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0107] like Figure 8 As shown, the electronic device 40 includes at least one processor 41 and a memory, such as a read-only memory (ROM) 42 or a random access memory (RAM) 43, communicatively connected to the at least one processor 41. The memory stores computer programs executable by the at least one processor. The processor 41 can perform various appropriate actions and processes based on the computer program stored in the ROM 42 or loaded into the RAM 43 from storage unit 48. The RAM 43 may also store various programs and data required for the operation of the electronic device 40. The processor 41, ROM 42, and RAM 43 are interconnected via a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0108] Multiple components in electronic device 40 are connected to I / O interface 45, including: input unit 46, such as keyboard, mouse, etc.; output unit 47, such as various types of monitors, speakers, etc.; storage unit 48, such as disk, optical disk, etc.; and communication unit 49, such as network card, modem, wireless transceiver, etc. Communication unit 49 allows electronic device 40 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0109] Processor 41 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 41 performs the various methods and processes described above, such as the method for determining the chip orientation.

[0110] In some embodiments, the method for determining the segment orientation may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 48. In some embodiments, part or all of the computer program may be loaded and / or mounted on electronic device 40 via ROM 42 and / or communication unit 49. When the computer program is loaded into RAM 43 and executed by processor 41, one or more steps of the method for determining the segment orientation described above may be performed. Alternatively, in other embodiments, processor 41 may be configured to perform the method for determining the segment orientation by any other suitable means (e.g., by means of firmware).

[0111] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0112] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0113] The computer equipment provided above can be used to execute the method for determining the segment attitude provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0114] Example 5

[0115] In the context of this invention, the computer-readable storage medium may be a tangible medium, and the computer-executable instructions, when executed by a computer processor, are used to perform a method for determining the orientation of a pipe segment, the method comprising:

[0116] The assembly points of the tunnel segments are determined by using the first contact surface equation and the second contact surface equation. The first contact surface equation is the equation of the first contact surface between the previous tunnel segment and the cylinder of the tunnel boring machine when assembling the previous tunnel segment, and the second contact surface equation is the equation of the second contact surface between the current tunnel segment and the cylinder.

[0117] Using the shield tail plane equation and the first end face contour equation of the tunnel boring machine, the minimum shield tail gap information is determined, wherein the minimum shield tail gap information includes the minimum shield tail gap value and the minimum shield tail gap position, and the first end face contour equation is the equation of the end face contour of the previous segment.

[0118] The segment trend vector is determined using the first end face contour equation and the second end face contour equation, wherein the second end face contour equation is the equation of the end face contour of the current segment.

[0119] The segment assembly points, the minimum gap information of the shield tail, and the segment trend vector are used to determine the segment attitude.

[0120] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by, or in conjunction with, an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0121] The computer equipment provided above can be used to execute the method for determining the segment attitude provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0122] It is worth noting that in the embodiments of the above-mentioned segment attitude determination device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0123] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for determining the attitude of tunnel segments, characterized in that, include: The assembly points of the tunnel segments are determined by using the first contact surface equation and the second contact surface equation. The first contact surface equation is the equation of the first contact surface between the previous tunnel segment and the cylinder of the tunnel boring machine when assembling the previous tunnel segment, and the second contact surface equation is the equation of the second contact surface between the current tunnel segment and the cylinder. Using the shield tail plane equation and the first end face contour equation of the tunnel boring machine, the minimum shield tail gap information is determined, wherein the minimum shield tail gap information includes the minimum shield tail gap value and the minimum shield tail gap position, and the first end face contour equation is the equation of the end face contour of the previous segment; the positions of multiple gap measuring sensors pre-arranged on the shield tail are determined, and the shield tail plane equation can be determined using the positions. The segment trend vector is determined using the first end face contour equation and the second end face contour equation, wherein the second end face contour equation is the equation of the end face contour of the current segment. The segment assembly points, the minimum gap information of the shield tail, and the segment trend vector are determined as the segment attitude; Also includes: During the propulsion process of the hydraulic cylinder, the stroke positions of multiple hydraulic cylinders are determined at each preset hydraulic cylinder stroke measurement point of the tunnel boring machine; For each of the preset cylinder stroke measurement points, the quotient of the sum of the multiple cylinder stroke positions and the total number of the multiple cylinder stroke positions is determined as the average cylinder stroke position. The equations for the first and second contact surfaces are determined using the average position of the cylinder stroke. Based on the preset gap measurement point positions in the tunnel boring machine and the corresponding measured gap values, the segment measurement point positions are determined. The segment measurement point positions are the positions of the preset gap measurement point positions in the tunnel boring machine projected onto the segment. The segment measurement point positions include the first measurement point position of the previous segment and the second measurement point position of the current segment. The first position of the first measurement point is projected onto the first contact surface using the first contact surface equation, and the first end face profile equation is determined using the first position. The second measurement point position is projected onto the second contact surface using the second contact surface equation, and the second end face profile equation is determined using the second position.

2. The method according to claim 1, characterized in that, The process of determining the segment assembly points using the first contact surface equation and the second contact surface equation includes: In the preset three-dimensional coordinate system where the tunnel boring machine is located, the minimum stroke difference between the first stroke and the second stroke is determined, wherein the first stroke is the stroke during which the hydraulic cylinder contacts the previous segment, and the second stroke is the stroke during which the hydraulic cylinder contacts the current segment. The assembly points of the tunnel segments are determined by using the point corresponding to the minimum travel difference, the equation of the first contact surface, and the equation of the second contact surface.

3. The method according to claim 2, characterized in that, The step of determining the segment assembly points using the point corresponding to the minimum travel difference, the equation of the first contact surface, and the equation of the second contact surface includes: The intersection line of the first contact surface and the second contact surface is determined using the equations of the first contact surface and the second contact surface. The projection line point that is closest to the origin in the preset two-dimensional plane is determined as the direction angle point, wherein the projection line point is the point on the projection line of the intersection line in the preset two-dimensional plane. The vector pointing from the origin to the direction angle point is determined as the first direction vector, and the vector pointing from the origin to the target projection point is determined as the second direction vector, wherein the target projection point is the projection point of the point corresponding to the minimum travel difference in a preset two-dimensional plane; If the first direction vector and the second direction vector are collinear, then the point corresponding to the minimum travel difference is determined as the segment assembly point.

4. The method according to claim 1, characterized in that, The process of determining the minimum clearance information of the shield tail using the shield tail plane equation and the first end face contour equation of the tunnel boring machine includes: Using the shield tail plane equation and the first end face contour equation of the tunnel boring machine, the maximum distance is determined, wherein the maximum distance is the maximum value of the distance between the shield tail center corresponding to the shield tail plane equation and the point in the contour line corresponding to the first end face contour equation. The difference between the plane radius corresponding to the shield tail plane equation and the maximum distance is determined as the minimum shield tail gap value, and the position of the point corresponding to the maximum distance is determined as the minimum shield tail gap position.

5. The method according to any one of claims 1-4, characterized in that, The step of determining the segment trend vector using the first end face profile equation and the second end face profile equation includes: Determine the coordinates of the first center point corresponding to the first end face contour equation, and determine the coordinates of the second center point corresponding to the second end face contour equation; Subtracting the coordinates of the first center point from the coordinates of the second center point yields the segment trend vector.

6. A device for determining the attitude of tunnel segments, characterized in that, include: The assembly point determination module is used to determine the segment assembly point using the first contact surface equation and the second contact surface equation. The first contact surface equation is the equation of the first contact surface between the previous segment and the cylinder of the tunnel boring machine when assembling the previous segment, and the second contact surface equation is the equation of the second contact surface between the current segment and the cylinder. The minimum gap determination module is used to determine the minimum gap information of the shield tail using the shield tail plane equation and the first end face contour equation of the tunnel boring machine. The minimum gap information of the shield tail includes the minimum gap value and the minimum gap position of the shield tail. The first end face contour equation is the equation of the end face contour of the previous segment. The module also determines the positions of multiple gap measuring sensors pre-arranged at the shield tail, and the shield tail plane equation can be determined using the positions. The segment trend determination module is used to determine the segment trend vector using the first end face contour equation and the second end face contour equation, wherein the second end face contour equation is the equation of the end face contour of the current segment. The segment attitude determination module is used to determine the segment attitude by the segment assembly point, the minimum gap information of the shield tail, and the segment trend vector. Also includes: The cylinder stroke position determination module is used to determine multiple cylinder stroke positions measured at each preset cylinder stroke measurement point of the tunnel boring machine during the cylinder propulsion process. The average stroke position determination module is used to determine the average stroke position of the cylinder for each preset cylinder stroke measurement point by taking the quotient of the sum of the multiple cylinder stroke positions and the total number of the multiple cylinder stroke positions. The contact surface equation determination module is used to determine the first contact surface equation and the second contact surface equation using the average position of the cylinder stroke. The measurement point location determination module is used to determine the segment measurement point location based on the preset gap measurement point location in the tunnel boring machine and the corresponding measured gap value. The segment measurement point location is the location of the preset gap measurement point location in the tunnel boring machine projected onto the segment. The segment measurement point location includes the first measurement point location of the previous segment and the second measurement point location of the current segment. The first equation determination module is used to determine the first position of the first measurement point projected onto the first contact surface using the first contact surface equation, and to determine the first end face contour equation using the first position. The second equation determination module is used to determine the second position of the second measurement point projected onto the second contact surface using the second contact surface equation, and to determine the second end face profile equation using the second position.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the method for determining the segment orientation according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method for determining the segment orientation as described in any one of claims 1-5.

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