Shield cutter changing prediction method and system based on thrust torque change relation

Abstract

The invention provides a shield cutter changing prediction method and system based on a thrust torque change relation, and relates to the technical field of shield construction. The prediction method comprises the following steps: collecting original thrust data, original torque data and original propulsion speed data of a target shield tunneling machine under a continuous time span; performing data processing and reconstruction on the original data to obtain reconstructed thrust data, reconstructed torque data and reconstructed propulsion speed data; and performing derivation on the reconstructed data to obtain a growth change trend rule of the data, performing quadrature on a thrust data derivative, a torque data derivative and a propulsion speed data derivative in pairs, and analyzing a quadrature result. According to the method, cutter changing judgment is comprehensively decided through slope change correlation and threshold judgment, cutter drawing detection and installation monitoring are supplemented, and meanwhile, the method can be embedded into a field shield monitoring system for use by compiling an integrated test.

Description

Technical Field

[0001] The present invention relates to the technical field of shield construction, and in particular to a shield cutter change prediction method and system based on the relationship between thrust and torque changes. Background Art

[0002] Shield machines are widely used as the main equipment for tunnel construction due to their advantages such as fast construction speed and little impact on the surrounding environment. Their performance and stability directly affect the progress and safety of the project. During the tunneling process of shield machines, wear and damage of the cutters are common problems. Regular or timely replacement of cutters is the key to ensuring the continuous and efficient operation of shield machines. However, currently, shield cutter replacement mainly relies on experience judgment or regular replacement, lacking scientific prediction methods, resulting in inaccurate timing of cutter replacement, affecting construction efficiency and cost.

[0003] There are many methods for detecting roller cutter wear at present, such as directly monitoring the roller cutter wear through roller cutter monitoring devices. The advantage of this method is that it is relatively intuitive, but due to the complexity of the sensor's working environment, there are certain judgment errors; the wear monitoring method for shield scrapers is mainly through pre-embedded sensor devices in the scraper or odor method detection. When the scraper is worn to a certain value, the sensor will monitor the signal of the tool wear warning point (electromagnetic changes or odor, etc.). This method has a certain lag and requires a certain cost. Summary of the invention

[0004] Purpose of the invention: In order to solve the problem that the wear detection of shield scraper mainly relies on the inconvenience of blade withdrawal detection, and the installation monitoring device needs to be worn to a certain position before the wear threshold alarm is triggered, the present invention proposes a shield blade change prediction method based on the relationship between thrust torque changes, and proposes a system that can implement the above method. The blade change judgment is comprehensively decided through slope change correlation and threshold judgment, which is a supplement to blade withdrawal detection and installation monitoring. At the same time, the method can be embedded in the on-site shield monitoring system by writing an integrated test.

[0005] To achieve the above object, the first aspect of the present invention provides a shield tool change prediction method based on the relationship between thrust and torque changes, the method comprising the following steps:

[0006] Collecting a tunneling construction data set of a target shield machine in a continuous time span; the tunneling construction data set includes original thrust data, original torque data, and original propulsion speed data;

[0007] Performing data processing and reconstruction on the excavation construction data set to obtain a reconstructed data set; the reconstructed data set includes reconstructed thrust data, reconstructed torque data, and reconstructed propulsion speed data;

[0008] Deriving the reconstructed thrust data, the reconstructed torque data, and the reconstructed propulsion speed data respectively to obtain a thrust data derivative, a torque data derivative, and a propulsion speed data derivative;

[0009] The thrust data derivative, torque data derivative, and propulsion speed data derivative are multiplied in pairs, and the multiplication results are analyzed. , , :

[0010] If the kth ring If it is negative, it is ready for tool change;

[0011] If the kth ring is positive, and the data of the last two rings continue to increase, that is, ,and If it is negative, it is determined that the tool needs to be changed; otherwise, the tool does not need to be changed and the process continues.

[0012] In a further embodiment of the first aspect, the original thrust data of the target shield machine under the continuous excavation k-ring timing is obtained by reading the data sensor of the target shield machine. , Raw torque data , original propulsion speed data ;

[0013] in, , k represents the current excavation ring, and K represents the total number of excavation rings of the shield machine in a continuous time span.

[0014] In a further embodiment of the first aspect, data processing and reconstruction are performed on the excavation construction data set to obtain a reconstructed data set, specifically including:

[0015] The raw thrust data Reduce it by a predetermined ratio to match the original torque data , original propulsion speed data are of the same order of magnitude.

[0016] When the data sensor of the target shield machine is powered off, or the target shield machine itself is powered off, the complement processing is performed: starting from the data collected from the 2nd ring, and ending with the last ring K collected; determine whether the value is 0 in turn. If the sensor value of the kth ring is 0, the data of the k-1th ring is assigned to the kth ring.

[0017] In a further embodiment of the first aspect, when the target shield machine is running, the signal collected by the data sensor contains interference information due to mechanical vibration, so the tunneling construction data set is filtered and denoised. A one-dimensional wavelet denoising function is used to filter and denoise the tunneling construction data set; the calling mathematical expression of the one-dimensional wavelet denoising function is as follows:

[0018]

[0019] Where XD is the processed signal; X is the signal before the processor; TPTR is the threshold selection rule; SORH specifies the threshold selection method; SCAL is the threshold scale change ratio; N is the number of wavelet decomposition layers; wname is the basic wavelet function;

[0020] Thrust data after filtering and noise reduction The expression is as follows:

[0021]

[0022] Torque data after filtering and noise reduction The expression is as follows:

[0023]

[0024] Propulsion speed data after filtering and noise reduction The expression is as follows:

[0025]

[0026] In the formula, , , They represent the original thrust data, original torque data, and original propulsion speed data respectively; the threshold selection rule selects heursure, the threshold method selects the soft threshold s, the threshold scale change ratio is one represents the basic mode, the wavelet decomposition layer number is 3, and the basic wavelet function selects the orthogonal wavelet sym8.

[0027] In a further embodiment of the first aspect, the specific process of filtering and denoising the excavation construction data set is as follows: splitting the signal collected by the data sensor into low-frequency information and high-frequency information, and reconstructing the low-frequency information combination, and its mathematical expression is as follows:

[0028]

[0029]

[0030] In the formula, a is the expansion factor and b is the translation factor; is the wavelet function constant; is the basic wavelet function; The basic wavelet Fourier transform of ; k represents the current excavation loop; Indicates the excavation construction data of the kth ring; Represents the excavation construction data after reconstruction and filtering;

[0031] Wavelet function constant The mathematical expression is as follows:

[0032]

[0033] The expression of the basic wavelet function is as follows:

[0034]

[0035] Where k represents the current excavation ring; The basic wavelet Fourier transform of is the unit function.

[0036] In a further embodiment of the first aspect, the reconstructed data set By performing derivation processing, we can obtain the growth trend of the data, which is expressed as follows:

[0037]

[0038] In the formula, represents the data set after derivation; Indicates the number of rings for each excavation, and the value here is 1; represents the k-th ring excavation construction data after reconstruction and filtering; Represents the reconstruction filter after The excavation construction data of the ring.

[0039] In a further embodiment of the first aspect, the derivatives of the thrust data, the derivatives of the torque data, and the derivatives of the propulsion speed data are multiplied in pairs, and the multiplication results are analyzed:

[0040]

[0041]

[0042]

[0043] in, is the thrust value after derivation; is the torque value after derivation; is the value of propulsion speed after derivation;

[0044] Sequentially , , The numerical results are analyzed:

[0045] If the kth ring If it is negative, it is ready for tool change;

[0046] If the kth ring is positive, and the data of the last two rings continue to increase, that is, ,and If it is negative, it is determined that the tool needs to be changed; otherwise, the tool does not need to be changed and the process continues.

[0047] In a second aspect of the present invention, a shield tool change prediction system is provided, which includes a collection module, a first data processing module, a second data processing module, and an analysis module. The shield tool change prediction system can automatically execute the shield tool change prediction method based on the thrust torque change relationship as described in the first aspect.

[0048] The acquisition module is used to acquire a tunneling construction data set of a target shield machine in a continuous time span; the tunneling construction data set includes original thrust data, original torque data, and original propulsion speed data.

[0049] The first data processing module is used to perform data processing and reconstruction on the excavation construction data set to obtain a reconstructed data set; the reconstructed data set includes reconstructed thrust data, reconstructed torque data, and reconstructed propulsion speed data.

[0050] The second data processing module is used to respectively derive the reconstructed thrust data, the reconstructed torque data, and the reconstructed propulsion speed data to obtain a thrust data derivative, a torque data derivative, and a propulsion speed data derivative.

[0051] The analysis module is used to calculate the product of the thrust data derivative, the torque data derivative, and the propulsion speed data derivative, and analyze the product results. , , .

[0052] If the kth ring If it is negative, it is ready to change the tool; if the kth loop is positive, and the data of the last two rings continue to increase, that is, ,and If it is negative, it is determined that the tool needs to be changed; otherwise, the tool does not need to be changed and the process continues.

[0053] Beneficial effect: The shield cutter change prediction method based on the relationship between thrust and torque changes proposed in the present invention monitors the thrust and torque changes during the operation of the shield machine in real time, and through change correlation analysis, it gives an early warning of the timing of tool wear and tool change, thereby arranging tool change in advance to ensure construction efficiency and safety. This method integrates the correlation method for analysis and can be integrated into the shield data monitoring system, and this method can also be applied to shield cutters. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is an overall flow chart of the shield tool change prediction method based on the thrust torque change relationship in the embodiment.

[0055] Figure 2It is a logic diagram for analyzing tool change in the embodiment.

[0056] Figure 3 It is a flow chart of performing data processing and reconstruction on a tunneling construction data set in an embodiment.

[0057] Figure 4 It is a structural schematic diagram of the shield tool change prediction system in the embodiment. DETAILED DESCRIPTION

[0058] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features known in the art are not described.

[0059] In view of the inconvenience of the scraper wear detection of shield machine mainly relying on the blade withdrawal detection, and the problem that the installed monitoring device needs to be worn to a certain position before the wear threshold alarm is punished, this embodiment proposes a shield tool change prediction method based on the relationship between thrust torque changes, which makes a comprehensive decision on tool change judgment through slope change correlation and threshold judgment, which is a supplement to the blade withdrawal detection and installation monitoring. At the same time, this method can be embedded in the on-site shield monitoring system by writing an integrated test. The detailed process of this shield tool change prediction method is described below in conjunction with the accompanying drawings.

[0060] See Figure 1 The present embodiment discloses a shield tool change prediction method based on the relationship between thrust and torque changes, and the steps are as follows:

[0061] Step 1: Use the thrust, torque and propulsion speed sensors of the shield machine to collect relevant data and display the read data y(k) through the shield monitoring system. For thrust, is the torque, is the propulsion speed, k is the time series, the unit is second (s);

[0062] The thrust value is reduced by 10,000 times to be at the same order of magnitude as the torque and speed display, which is convenient for data display. Due to occasional phenomena such as power failure of the data sensor and the shield machine, the shield machine excavation parameter read by the sensor will be 0, which will cause a large deviation in the subsequent tool change prediction, and the synchronously collected data needs to be "complemented". At the same time, due to the complexity of the sensor's working environment, the "noise" signal generated by factors such as vibration needs to be filtered and denoised.

[0063] The complement processing method is: starting from the data collected by the kth (k≥2) ring, and ending with the last N rings collected; judging whether the value is 0 in turn, if the sensor value of the kth ring is 0, assign the data of the k-1th ring to the kth ring;

[0064] The data denoising process is shown in Figure 2 The shield machine excavation parameters collected will cause interference information in the signals collected by the sensor due to mechanical vibration, data analysis errors, etc., so it is necessary to denoise the data, that is, filter it. The principle is to split the low-frequency signal and high-frequency information, reconstruct the low-frequency information combination, and the calculation formula after reconstruction and filtering is:

[0065] , where a is the scaling factor (greater than 0) and b is the translation factor (can be positive or negative). , is the wavelet function constant, and the expression is , The basic wavelet Fourier transform of Haar, Daubechies, Symlets, etc. can be selected. In this method, the sym8 function in Symlets is selected, and its mathematical expression is:

[0066] , u(k) is the unit function.

[0067] Step 2: Derivative the processed data to obtain the growth trend of the data. The specific method is:

[0068]

[0069] In this method, The value is 1.

[0070] Step 3: Take the derivatives of thrust, torque, and propulsion speed and find the product of them, that is, is the thrust value after derivation, is the torque value after derivation, is the value of the propulsion speed after derivation.

[0071]

[0072]

[0073]

[0074] Step 4: According to the product result, , , The numerical results are analyzed in Figure 2 :

[0075] If the kth ring If it is negative, it is ready to change the tool; if the kth loop is positive, and the data of the last two rings continue to increase, that is, ,and If it is negative, it can be determined that the tool needs to be changed; otherwise, there is no need to change the tool and continue to advance.

[0076] The embodiment of the present invention also discloses a shield tool change prediction system 500, see Figure 4 . The shield tool change prediction system 500 includes four components: an acquisition module 501, a first data processing module 502, a second data processing module 503, and an analysis module 504. The acquisition module 501 is used to collect the excavation construction data set of the target shield machine in a continuous time span; the excavation construction data set includes original thrust data, original torque data, and original propulsion speed data. The first data processing module 502 is used to perform data processing and reconstruction on the excavation construction data set to obtain a reconstructed data set; the reconstructed data set includes reconstructed thrust data, reconstructed torque data, and reconstructed propulsion speed data. The second data processing module 503 is used to derive the reconstructed thrust data, the reconstructed torque data, and the reconstructed propulsion speed data, respectively, to obtain the thrust data derivative, the torque data derivative, and the propulsion speed data derivative. The analysis module 504 is used to multiply the thrust data derivative, the torque data derivative, and the propulsion speed data derivative pairwise, and analyze the product results. , , If the kth ring If it is negative, it is ready to change the tool; if the kth loop is positive, and the data of the last two rings continue to increase, that is, ,and If it is negative, it is determined that the tool needs to be changed; otherwise, it is determined that the tool does not need to be changed and the tool continues to be advanced. The shield tool change prediction system 500 can automatically execute the shield tool change prediction method based on the thrust torque change relationship disclosed in the above embodiment, which will not be described in detail here.

[0077] In addition, the shield tool change prediction method based on the relationship between thrust and torque changes disclosed in the above embodiment can be embedded in the on-site shield monitoring system by being written as an executable code. The executable code runs in the on-site shield monitoring system in the form of software, and the software can be written into a computer-readable storage medium. More specific examples of computer-readable storage media in this embodiment may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0078] Computer readable storage media may include data signals propagated in baseband or as part of a carrier wave, which carry readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0079] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A shield tool change prediction method based on the relationship between thrust and torque changes, characterized in that: The steps include: Collecting a tunneling construction data set of a target shield machine in a continuous time span; the tunneling construction data set includes original thrust data, original torque data, and original propulsion speed data; Performing data processing and reconstruction on the excavation construction data set to obtain a reconstructed data set; the reconstructed data set includes reconstructed thrust data, reconstructed torque data, and reconstructed propulsion speed data; Deriving the reconstructed thrust data, the reconstructed torque data, and the reconstructed propulsion speed data respectively to obtain a thrust data derivative, a torque data derivative, and a propulsion speed data derivative; The thrust data derivative, torque data derivative, and propulsion speed data derivative are multiplied in pairs, and the multiplication results are analyzed. , , : If the kth ring If it is negative, it is ready for tool change; If the kth ring is positive, and the data of the last two rings continue to increase, that is, ,and If it is negative, it is determined that the tool needs to be changed; otherwise, the tool does not need to be changed and the process continues.

2. The shield tool change prediction method based on thrust torque change relationship according to claim 1 is characterized in that: By reading the data sensor of the target shield machine, the original thrust data of the target shield machine under the continuous excavation k-ring time sequence is obtained. , Raw torque data , original propulsion speed data ; in, , k represents the current excavation ring, and K represents the total number of excavation rings of the shield machine in a continuous time span.

3. The shield tool change prediction method based on thrust torque change relationship according to claim 2 is characterized in that: Performing data processing and reconstruction on the excavation construction data set to obtain a reconstructed data set specifically includes: The raw thrust data Reduce it by a predetermined ratio to match the original torque data , original propulsion speed data are of the same order of magnitude.

4. The shield tool change prediction method based on thrust torque change relationship according to claim 3 is characterized in that: Performing data processing and reconstruction on the excavation construction data set to obtain a reconstructed data set also includes: When the data sensor of the target shield machine is powered off, or the target shield machine itself is powered off, the complement processing is performed, including: Starting from the data collected in the 2nd ring and ending with the last ring K, determine whether the value is 0 in turn. If the sensor value of the kth ring is 0, assign the data of the k-1th ring to the kth ring.

5. The shield tool change prediction method based on thrust torque change relationship according to claim 3 is characterized in that: Performing data processing and reconstruction on the excavation construction data set to obtain a reconstructed data set also includes: using a one-dimensional wavelet denoising function to filter and reduce noise on the excavation construction data set; the calling mathematical expression of the one-dimensional wavelet denoising function is as follows: ； Where XD is the processed signal; X is the signal before the processor; TPTR is the threshold selection rule; SORH specifies the threshold selection method; SCAL is the threshold scale change ratio; N is the number of wavelet decomposition layers; wname is the basic wavelet function; Thrust data after filtering and noise reduction The expression is as follows: ； Torque data after filtering and noise reduction The expression is as follows: ； Propulsion speed data after filtering and noise reduction The expression is as follows: ； In the formula, , , They represent the original thrust data, original torque data, and original propulsion speed data respectively; the threshold selection rule selects heursure, the threshold method selects the soft threshold s, the threshold scale change ratio is one represents the basic mode, the wavelet decomposition layer number is 3, and the basic wavelet function selects the orthogonal wavelet sym8.

6. The shield tool change prediction method based on thrust torque change relationship according to claim 5 is characterized in that: Performing data processing and reconstruction on the excavation construction data set to obtain a reconstructed data set also includes: The signal collected by the data sensor is split into low-frequency information and high-frequency information, and the low-frequency information is combined and reconstructed. The mathematical expression is as follows: ； ； In the formula, a is the expansion factor and b is the translation factor; is the wavelet function constant; is the basic wavelet function; The basic wavelet Fourier transform of ; k represents the current excavation loop; Indicates the excavation construction data of the kth ring; Represents the excavation construction data after reconstruction filtering.

7. The shield tool change prediction method based on thrust torque change relationship according to claim 6 is characterized in that: Wavelet function constant The mathematical expression is as follows: ； The expression of the basic wavelet function is as follows: ； In the formula, is a unit function; k represents the current excavation ring; The basic wavelet The Fourier transform of .

8. The shield tool change prediction method based on the thrust torque change relationship according to claim 7 is characterized in that: Reconstructing the dataset By performing derivation processing, we can obtain the growth trend of the data, which is expressed as follows: ； In the formula, represents the data set after derivation; Indicates the number of rings for each excavation, and the value here is 1; represents the k-th ring excavation construction data after reconstruction and filtering; Represents the reconstruction filter after The excavation construction data of the ring.

9. The shield tool change prediction method based on thrust torque change relationship according to claim 8 is characterized in that: The derivatives of the thrust data, the derivatives of the torque data, and the derivatives of the propulsion speed data are multiplied in pairs, and the results of the multiplication are analyzed: ； ； ； in, is the thrust value after derivation; is the torque value after derivation; is the value of propulsion speed after derivation; Sequentially , , The numerical results are analyzed: If the kth ring If it is negative, it is ready for tool change; If the kth ring is positive, and the data of the last two rings continue to increase, that is, ,and If it is negative, it is determined that the tool needs to be changed; otherwise, the tool does not need to be changed and the process continues.

10. A shield tool change prediction system, characterized in that: include: A collection module is used to collect a tunneling construction data set of a target shield machine in a continuous time span; the tunneling construction data set includes original thrust data, original torque data, and original propulsion speed data; A first data processing module is used to perform data processing and reconstruction on the tunneling construction data set to obtain a reconstructed data set; the reconstructed data set includes reconstructed thrust data, reconstructed torque data, and reconstructed propulsion speed data; A second data processing module is used to respectively derive the reconstructed thrust data, the reconstructed torque data, and the reconstructed propulsion speed data to obtain a thrust data derivative, a torque data derivative, and a propulsion speed data derivative; An analysis module is used to calculate the product of the thrust data derivative, the torque data derivative, and the propulsion speed data derivative, and analyze the product results. , , : If the kth ring If it is negative, it is ready for tool change; If the kth ring is positive, and the data of the last two rings continue to increase, that is, ,and If it is negative, it is determined that the tool needs to be changed; otherwise, it does not need to be changed and the tool continues to be advanced; The shield tool change prediction system can automatically execute the shield tool change prediction method based on the thrust torque change relationship as described in any one of claims 1 to 9.

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