A method for solving the boundary of posture adjustment during shield tunneling

Abstract

The present invention provides a method for solving the posture adjustment boundary during shield tunneling, including: determining shield parameters and segment geometric size parameters; constructing a coordinate system to obtain the current posture information of the shield; solving the shield posture transformation matrix according to the current posture information of the shield; clarifying the constraints of the shield propulsion mechanism, and constructing the shield posture constraint equation based on the shield parameters and segment geometric size parameters as well as the current posture information of the shield and the shield posture transformation matrix; solving the shield posture adjustment boundary according to the shield posture constraint equation. The solution method provided by the present invention solves the shield posture adjustment boundary by constructing the shield posture constraint equation, helps the shield driver to recognize the posture adjustment boundary under the current posture state of the shield, ensures the safety of shield tunneling and the safety of the propulsion mechanism, and can further intuitively and vividly draw the position adjustment boundary or posture adjustment boundary of the shield machine at a given position or posture, so that the solution result can be displayed visually.

Description

Technical Field

[0001] The invention relates to the technical field of shield machines, and in particular to a method for solving a boundary of posture adjustment during shield tunneling. Background Art

[0002] During the shield tunneling process, the shield propulsion system needs to frequently adjust the shield posture so that the shield tunneling trajectory fits the tunnel design axis better, thereby ensuring the axis quality of the formed tunnel. However, due to the constraints of the shield propulsion mechanism itself, the shield posture adjustment must always be within a certain boundary, which is called the posture adjustment boundary. Once the posture during the shield tunneling process exceeds this boundary, it will seriously affect the construction safety and may even damage the shield propulsion mechanism. At the same time, the shield posture adjustment boundary is not fixed, but changes in real time with the change of the current posture state of the shield. Therefore, it is of great significance to explore the real-time posture adjustment boundary of the shield during the shield tunneling process and visualize it to ensure the safety of the shield tunneling and propulsion mechanism.

[0003] Currently, there is little research on the solution method for the shield tunneling posture adjustment boundary in the existing technology. Only the relevant specifications give the limit of the deviation between the shield tunneling axis and the tunnel design axis, and it is impossible to clearly define the posture adjustment boundary of the shield tunneling in the current posture state. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention proposes a method for solving the posture adjustment boundary during shield tunneling. By constructing a shield posture constraint equation and solving the shield posture adjustment boundary, the shield driver is helped to recognize the posture adjustment boundary under the current posture state of the shield, thereby ensuring the safety of shield tunneling and the safety of the propulsion mechanism.

[0005] The technical solution of the present invention is as follows: A method for solving the boundary of posture adjustment during shield tunneling, comprising:

[0006] Determine shield parameters and segment geometry parameters;

[0007] Construct a coordinate system to obtain the current position information of the shield. The coordinate system includes a base coordinate system {A-xyz} fixed on the segment ring and a dynamic coordinate system {Bx B y B z B}, the base coordinate system {A-xyz} is fixed to the segment ring that provides the reaction force for the shield propulsion cylinder, and the moving coordinate system {Bx B y B z B}Consolidated to the shield back plate of the shield machine;

[0008] According to the current posture information of the shield machine, solve the shield machine posture transformation matrix;

[0009] Clarify the constraints of the shield propulsion mechanism and construct the shield posture constraint equation;

[0010] According to the shield posture constraint equation, the shield posture adjustment boundary is solved.

[0011] Preferably, the obtaining of the current posture information of the shield includes:

[0012] The shield guidance system obtains the current position information of the shield and uses the shield position vector It indicates that, represents the dynamic coordinate system {Bx B y B z B} in the base coordinate system {A-xyz}, Represents the three attitude angles of the shield machine, namely the roll angle, pitch angle and yaw angle.

[0013] Preferably, solving the shield posture transformation matrix according to the current posture information of the shield includes:

[0014] Shield posture transformation matrix The calculation formula is as follows (1):

[0015] —— (1)

[0016] in, It represents the posture matrix of the shield machine, and the calculation formula is as follows (2):

[0017] —— (2)

[0018] represents the position vector of the shield, and the calculation formula is as follows (3):

[0019] —— (3)

[0020] Among them, c represents the cosine function cos, and s represents the sine function sin.

[0021] Preferably, the shield posture constraint equation is constructed as follows (4):

[0022] —— (4)

[0023] Among them, h1 is the constraint equation group of shield propulsion cylinder length, h2 is the constraint equation group of shield tail clearance, h3 is the constraint equation group of shield propulsion cylinder barrel and flange mounting hole clearance, h4 is the constraint equation group of shield propulsion cylinder rear ball joint limit swing angle, l min is the minimum extension of the shield propulsion cylinder, l maxis the maximum extension of the shield propulsion cylinder, is the minimum shield tail clearance, is the maximum shield tail clearance, The maximum center distance between the mounting hole and the cylinder. Permissible rotation angle for ball joints.

[0024] Preferably, the shield propulsion cylinder length constraint equation group h1 is solved using the following process:

[0025] When the shield is in the posture transformation matrix Given the state, the constraint equation h corresponding to the length constraint of the i-th shield propulsion cylinder is 1i As shown in formula (5):

[0026] (i=1,2,…n)——(5)

[0027] Among them, B i The front ball joint of the shield propulsion cylinder in the moving coordinate system {Bx B y B z B}, n is the number of shield propulsion cylinders, and L is the length of the shield propulsion cylinder barrel;

[0028] During the shield tunneling process, the shield propulsion mechanism must meet the constraint conditions of the length of each shield propulsion cylinder as follows (6):

[0029] —— (6)

[0030] Among them, l i is the extension of the i-th shield propulsion cylinder;

[0031] The shield propulsion cylinder length constraint equation group is as follows (7):

[0032] ——(7)

[0033] Preferably, the shield tail clearance constraint equation group h2 is solved using the following process:

[0034] The shield tail gap calculation model is established according to the geometric position relationship between the shield machine and the segment, as shown in the following formula (8):

[0035] —— (8)

[0036] in, A S is the position vector of any point S on the inner side of the shield tail in the base coordinate system {A-xyz}, j and k are the unit direction vectors of the y-axis and z-axis of the base coordinate system {A-xyz}, Ds is the outer diameter of the segment, and satisfies the following formula (9):

[0037] —— (9)

[0038] in, B S For any point S inside the shield tail in the moving coordinate system {Bx B y B z B}, and satisfies the following equation (10):

[0039] —— (10)

[0040] in, For point S in the moving coordinate system {Bx B y B z B The projection point S0 on the xB axis of the moving coordinate system {Bx B y B z B}, , For point S and the moving coordinate system {Bx B y B z B}, , Dr is the inner diameter of the shield tail;

[0041] The shield tail clearance at the i-th shield propulsion cylinder is obtained as follows (11):

[0042] —— (11)

[0043] in, Represents the relationship between the ith shield propulsion cylinder and the moving coordinate system {Bx B y B z B}y B The angle between the axes, R r is the inner radius of the shield tail, and R r =D r / 2, y, z are shield posture transformation matrices Positional parameters in ;

[0044] The shield tail clearance constraint equations are as follows (12):

[0045] ——(12)

[0046] Preferably, the shield propulsion cylinder and flange mounting hole clearance constraint equation group h3 is solved using the following process:

[0047] The clearance constraint between the i-th shield propulsion cylinder and the corresponding flange mounting hole is as follows (13):

[0048] —— (13)

[0049] D i D is the intersection of the axis of the i-th shield propulsion cylinder and the cylinder mounting flange surface, i ' is the center point of the flange mounting hole of the i-th shield propulsion cylinder, A D i D i ' is the vector D i D i 'Representation in the base coordinate system {A-xyz}, B B i D i ' is vector B i D i 'Representation in the moving coordinate system {B-xByBzB}, A u i is the unit direction vector of the i-th shield propulsion cylinder in the base coordinate system {A-xyz}, L a The distance from the front ball joint of the cylinder to the flange;

[0050] And the following formula (14) is obtained:

[0051] —— (14)

[0052] Among them, D F is the flange mounting hole diameter, D C is the diameter of the cylinder barrel;

[0053] Then the constraint equations for the clearance between the shield propulsion cylinder and the flange mounting hole are as follows (15):

[0054] ——(15)

[0055] Preferably, the shield propulsion cylinder rear ball joint limit swing angle constraint equation group h4 Solve using the following process:

[0056] The solution expression for the rotation angle of the rear ball joint of the i-th shield thrust cylinder is as follows (16):

[0057] —— (16)

[0058] in, is the rear ball joint rotation angle of the i-th shield thrust cylinder, A u iis the unit direction vector of the i-th shield propulsion cylinder in the base coordinate system {A-xyz}, as shown in the following formula (17): e A i is the unit direction vector of the xAi axis of the spherical joint coordinate system {Ai-xyz} fixed on the i-th shield cylinder support shoe in the base coordinate system {A-xyz}, as shown in the following formula (18):

[0059] —— (17)

[0060] —— (18)

[0061] in, is the homogeneous transformation matrix of the spherical joint coordinate system {Ai-xyz} relative to the base coordinate system {A-xyz}, is the initial unit direction vector of the xAi axis of the spherical joint coordinate system {Ai-xyz}, and ;

[0062] Then, the constraint equations of the rear ball joint limit swing angle of the shield thrust cylinder are as follows (19):

[0063] ——(19)

[0064] Preferably, solving the shield posture adjustment boundary according to the shield posture constraint equation includes:

[0065] According to the geometric structure characteristics and constraints of the shield propulsion mechanism, the range of the shield posture adjustment boundary is preliminarily estimated and used as the parent space for search;

[0066] The estimated mother space is cut by a plane cluster parallel to the YOZ plane of the base coordinate system {A-xyz} into components with a sufficient number of thicknesses Subspaces of of a cylinder;

[0067] According to the solved shield posture constraint equation, each subspace is searched for its boundary corresponding to a given position or a given posture;

[0068] The fast polar coordinate search method is used to determine the boundary of each subspace;

[0069] The boundary points in all subspaces are searched out, and the envelope surface generated by these points is the posture boundary of the shield machine at the current given position or the position boundary at a given posture.

[0070] Preferably, the searching of each subspace for a boundary corresponding to a given position or a given posture according to the solved shield posture constraint equation comprises:

[0071] from Start your search. Less than ,in It is the minimum value of the attitude or position adjustment boundary corresponding to the shield posture constraint equation in the X-axis direction of the base coordinate system {A-xyz};

[0072] After completing the above subspace search, continue to analyze the X-axis direction increment subspace until ,in The maximum value of the posture or position adjustment boundary in the X-axis direction allowed by the shield posture constraint equation;

[0073] And / or, the method of using a fast polar coordinate search method to determine the boundary of each subspace includes:

[0074] Using polar coordinates Represents a point in the workspace, searching for the boundary of a subspace, with the starting polar coordinates being , given the starting polar angle is , polar diameter It starts from 0 and gradually increases until the shield propulsion mechanism satisfies one of the constraints solved by equation (20):

[0075] —— (20)

[0076] The polar coordinate point at this time This is the first boundary point of the searched subspace. ;

[0077] Add an increment to the polar angle , continue searching for the second boundary point of the subspace ;

[0078] Repeat the above steps until all boundary points of the subspace are searched, and the boundary of the subspace is determined.

[0079] Preferably, the solution method further includes:

[0080] Compile a computer program to visualize the solution results of the shield machine posture adjustment boundary.

[0081] The beneficial effects of the present invention over the prior art are as follows: the present invention proposes a method for solving the posture adjustment boundary during shield tunneling, which can conveniently solve the posture adjustment boundary or position adjustment boundary of the shield machine at a given position or posture, and the specific advantages include at least one or more of the following:

[0082] (1) The solution method proposed in the present invention can dynamically display the posture adjustment boundary in real time according to the current shield tunneling posture state by constructing a shield propulsion mechanism constraint condition equation group and solving the shield posture constraint equation.

[0083] (2) The solution method proposed in the present invention, including the shield machine propulsion system and the segment geometric dimension parameters, can more accurately and comprehensively describe the working state of the shield machine during the shield excavation process.

[0084] (3) The solution method proposed in the present invention, by constructing four kinds of shield propulsion mechanism constraint conditions, comprehensively covers the restriction state of the oil cylinder during the shield tunneling process, which is consistent with the actual situation and more accurately describes the posture adjustment boundary.

[0085] (4) The solution method proposed in the present invention can be further used to compile a computer program to intuitively and vividly draw the posture adjustment boundary or position adjustment boundary of the shield machine, so that the solution result can be visualized, allowing the shield driver to clearly understand the posture adjustment margin under the current posture state of the shield, thereby ensuring the safety of shield excavation and the safety of the propulsion mechanism.

[0086] (5) The solution method proposed in the present invention is simple, practical and easy to promote.

[0087] It should be understood that the implementation of any embodiment of the present invention does not mean that multiple or all of the above-mentioned beneficial effects must be possessed or achieved at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0089] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantial technical significance. Any structural modification, change in proportion or adjustment in size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0090] Figure 1 It is an overall flow chart of a method for solving a posture adjustment boundary during shield tunneling of the present invention;

[0091] Figure 2 A schematic diagram of shield parameters according to an embodiment of the present invention;

[0092] Figure 3 A flowchart of solving the boundary of shield posture adjustment according to an embodiment of the present invention;

[0093] Figure 4a is a shield position adjustment boundary diagram under a given posture according to an embodiment of the present invention, wherein the shield posture angle ;

[0094] Figure 4b is a shield position adjustment boundary diagram under a given posture according to an embodiment of the present invention, wherein the shield posture angle ;

[0095] Figure 5a This is a shield attitude adjustment boundary diagram at a given position according to an embodiment of the present invention, wherein the shield position ;

[0096] Figure 5b This is a shield attitude adjustment boundary diagram at a given position according to an embodiment of the present invention, wherein the shield position .

[0097] The same or corresponding symbols in the drawings indicate the same or corresponding parts. DETAILED DESCRIPTION

[0098] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clearly understood, the embodiments of the present invention are further described in detail below in conjunction with the embodiments and drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0099] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0100] It should be understood that the terms "include / comprise", "consist of..." or any other variations are intended to cover non-exclusive inclusion, so that a product, device, process or method that includes a series of elements includes not only those elements, but also may include other elements not explicitly listed when necessary, or also includes elements inherent to such product, device, process or method. In the absence of more restrictions, the elements defined by the sentence "include / comprise...", "consist of..." do not exclude the presence of other identical elements in the product, device, process or method that includes the elements.

[0101] It is also necessary to understand that terms such as "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside" and "outside" to indicate directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device, component or structure must have a specific direction, be constructed or operate in a specific direction, and should not be understood as a limitation on the present invention.

[0102] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0103] The implementation of the present invention is described in detail below in conjunction with preferred embodiments.

[0104] The present invention provides a method for solving the boundary of posture adjustment during shield tunneling. Figure 1 The flowchart shown includes the following steps: S10, determining shield parameters and segment geometry parameters; S20, constructing a coordinate system to obtain the current posture information of the shield; S30, solving the shield posture transformation matrix according to the current posture information of the shield; S40, clarifying the constraints of the shield propulsion mechanism, and constructing the shield posture constraint equation based on the shield parameters and segment geometry parameters as well as the current posture information of the shield and the shield posture transformation matrix; S50, solving the shield posture adjustment boundary according to the shield posture constraint equation. The solution method provided by the present invention helps the shield driver to visually and intuitively recognize the posture adjustment boundary of the shield under the current posture state, thereby ensuring the safety of the shield excavation and the safety of the propulsion mechanism.

[0105] In step S10, shield parameters and segment geometric dimension parameters are determined.

[0106] The propulsion system of the shield machine is a vital component of the shield machine in underground tunnel construction. It is responsible for pushing the shield machine forward and pushing the cut soil. The hydraulic cylinder is the core component of the propulsion system. It generates thrust through the action of oil pressure to push the shield machine forward. The shield segment is a permanent lining structure in shield tunnel construction. It bears the role of resisting soil pressure, groundwater pressure and some special loads, and is an important component to ensure the overall quality and safety of the tunnel. In the present invention, it is first necessary to determine the geometric size parameters of the above-mentioned key components.

[0107] For details, see Figure 2The shield parameters of the present invention include: the inner diameter D of the shield tail r , Flange mounting hole diameter D F , shield propulsion cylinder diameter D C , shield propulsion cylinder distribution circle radius R0, front shield length L BC , total length of middle shield and tail shield L R , Shield propulsion cylinder barrel length L, Shield propulsion cylinder front ball joint to flange distance L a , the extension of the i-th shield propulsion cylinder l i , the first shield tail brush horizontal coordinate , the second shield tail brush horizontal coordinate , the third shield tail brush horizontal coordinate , the number of shield propulsion cylinders n, the minimum extension of the shield propulsion cylinder l min , Maximum extension of shield propulsion cylinder l max , minimum shield tail clearance , Maximum shield tail clearance , Maximum center distance between mounting hole and cylinder , Allowable rotation angle of ball joint The geometric dimension parameters of the pipe segment of the present invention include: the outer diameter Ds of the pipe segment. When solving the shield posture constraint equation group, the above two parameters will be called.

[0108] In step S20, a coordinate system is constructed to obtain the current position information of the shield machine.

[0109] The so-called coordinate system includes two coordinate systems, namely the moving coordinate system {Bx B y B z B}, and the base coordinate system {A-xyz} fixed on the segment ring. As described below:

[0110] (1) Establish two coordinate systems, including: the dynamic coordinate system {Bx B y B z B}, referred to as {B} and the base coordinate system {A-xyz} consolidated on the segment ring, referred to as {A}.

[0111] The dynamic coordinate system {B} is fixed to the shield back plate of the shield machine. The origin B is the distribution center of the front ball joint of the shield thrust cylinder. The xB axis points to the shield excavation direction along the central axis of the shield machine. The zB axis is perpendicular to the central axis of the shield machine and vertically upward. The direction of the yB axis is determined by the right-hand rule.

[0112] It should be noted that the right-hand rule is used to determine the right-hand coordinate system. The positive directions of the x-axis, y-axis, and z-axis in the right-hand coordinate system are defined as follows: place your right hand at the origin, with your thumb, index finger, and middle finger at right angles to each other, with your thumb pointing in the positive direction of the x-axis and your index finger pointing in the positive direction of the y-axis. The direction pointed by the middle finger is the positive direction of the z-axis.

[0113] The base coordinate system {A} is consolidated to the segment ring that provides reaction force to the shield thrust cylinder. The origin A is the distribution center of the rear spherical joint of the shield thrust cylinder. The x-axis passes through the center of the front end face of the segment and points perpendicular to the front end face to the direction of shield excavation. The z-axis is located inside the front end face of the segment and points to the dome of the segment ring. The direction of the y-axis is determined by the right-hand rule.

[0114] (2) Obtain the current position information of the shield through the shield guidance system and use the shield position vector It indicates that, represents the coordinates of the origin B of the moving coordinate system {B} fixed on the shield machine in the base coordinate system {A}, Represents the three attitude angles of the shield machine, namely the roll angle, pitch angle and yaw angle.

[0115] In step S30, the shield posture transformation matrix is ​​solved according to the current posture information of the shield.

[0116] Solve the shield posture transformation matrix based on the shield's current posture information , shield posture transformation matrix The calculation formula is as follows (1):

[0117] —— (1)

[0118] in, It represents the posture matrix of the shield machine, and the calculation formula is as follows (2): represents the position vector of the shield, and the calculation formula is as follows (3):

[0119] —— (2)

[0120] —— (3)

[0121] in, represents the cosine function cos, Represents the sine function sin.

[0122] In step S40, the shield propulsion mechanism constraint conditions are clarified, and the shield posture constraint equation is constructed based on the shield parameters and the segment geometric size parameters as well as the current shield posture information and the shield posture transformation matrix.

[0123] In general, during the shield tunneling process, the shield propulsion mechanism has four constraints, namely: the length constraint of the shield propulsion cylinder, the shield tail clearance constraint, the clearance constraint between the shield propulsion cylinder barrel and the flange mounting hole, and the limit swing angle constraint of the rear ball joint of the shield propulsion cylinder. Therefore, during the propulsion process, the shield propulsion mechanism constructs the shield posture constraint equation based on the four constraints as follows (4):

[0124] —— (4)

[0125] in, is the shield propulsion cylinder length constraint equation group; is the shield tail clearance constraint equation group (the relative distance between the shield tail brush and the outer contour of the assembled segments inside the shield tail); It is the constraint equation group of the clearance between the shield propulsion cylinder barrel and the flange mounting hole; This is the set of constraint equations for the ultimate swing angle of the rear ball joint of the shield thrust cylinder.

[0126] The above four constraint equations are solved separately below.

[0127] (1) Shield propulsion cylinder length constraint equation group:

[0128] When the shield is in the posture transformation matrix Given the state, the constraint equation h corresponding to the length constraint of the i-th shield propulsion cylinder is 1i As shown in formula (5):

[0129] (i=1,2,…n)——(5)

[0130] in, is the homogeneous coordinate of the front spherical joint of the shield propulsion cylinder in the moving coordinate system {B}, n is the number of shield propulsion cylinders, and L is the length of the shield propulsion cylinder barrel;

[0131] During the shield tunneling process, the shield propulsion mechanism must meet the constraint conditions of the length of each shield propulsion cylinder as follows (6):

[0132] —— (6)

[0133] The shield propulsion cylinder length constraint equation group is as follows (7):

[0134] —— (7)

[0135] (2) Shield tail clearance constraint equations:

[0136] The shield tail gap calculation model is established according to the geometric position relationship between the shield machine and the segment, as shown in the following formula (8):

[0137] —— (8)

[0138] in, is the position vector of any point S on the inner side of the shield tail in the base coordinate system {A}, j and k are the unit direction vectors of the y-axis and z-axis of the base coordinate system {A}, respectively, and satisfy the following formula (9):

[0139] —— (9)

[0140] in, is the position vector of any point S inside the shield tail in the moving coordinate system {B}, and satisfies the following equation (10):

[0141] —— (10)

[0142] in, is the projection point of point S on the shield axis, i.e. the xB axis of the moving coordinate system {B} The x coordinate in the moving coordinate system {B}, , is the angle between point S and the xB axis of the moving coordinate system {B}, ;

[0143] Finally, the shield tail clearance at the i-th shield propulsion cylinder is obtained as follows (11):

[0144] —— (11)

[0145] in, represents the angle between the ith shield propulsion cylinder and the yB axis of the moving coordinate system {B}, R r Indicates the inner radius of the shield tail, R r =D r / 2, y, z are the shield posture transformation matrices in formula (9) Positional parameters in ;

[0146] The shield tail clearance constraint equations are as follows (12):

[0147] —— (12)

[0148] (3) Clearance constraint equations between shield propulsion cylinder barrel and flange mounting hole:

[0149] The clearance constraint between the i-th shield propulsion cylinder and the corresponding flange mounting hole is as follows (13):

[0150] —— (13)

[0151] Among them, D iD is the intersection of the axis of the i-th shield propulsion cylinder and the cylinder mounting flange surface, i ' is the center point of the flange mounting hole of the i-th shield propulsion cylinder, A D i D i ' is the vector D i D i 'Representation in the base coordinate system {A-xyz}, B B i D i ' is vector B i D i 'Representation in the moving coordinate system {B-xByBzB}, A u i is the unit direction vector of the i-th shield propulsion cylinder in the base coordinate system {A-xyz}, L a The distance from the front ball joint of the cylinder to the flange;

[0152] And the following formula (14) can be obtained:

[0153] —— (14)

[0154] Then the clearance constraint equations between the shield propulsion cylinder and the flange mounting hole can be expressed as the following formula (15):

[0155] —— (15)

[0156] (4) The constraint equations of the rear ball joint limit swing angle of the shield thrust cylinder are:

[0157] It should be noted that the limit swing angle is a fixed value. The ball joint rotation angle after the shield thrust cylinder is the actual ball joint rotation angle, which will change but must be less than or equal to the limit swing angle.

[0158] The solution expression for the rotation angle of the rear ball joint of the i-th shield thrust cylinder is as follows (16):

[0159] —— (16)

[0160] in, is the rear ball joint rotation angle of the i-th shield thrust cylinder, is the unit direction vector of the i-th shield propulsion cylinder of the shield propulsion mechanism, as shown in the following formula (17): is the unit direction vector of the xAi axis of the spherical joint coordinate system {Ai-xyz} fixed on the i-th shield cylinder support shoe in the base coordinate system {A}, as shown in the following formula (18):

[0161] —— (17)

[0162] —— (18)

[0163] in, is the homogeneous transformation matrix of the spherical joint coordinate system {Ai-xyz} relative to the base coordinate system {A}, is the initial unit direction vector of the xAi axis of the spherical joint coordinate system {Ai-xyz}, and ;

[0164] The constraint equations of the rear ball joint limit swing angle of the shield propulsion cylinder are as follows (19):

[0165] —— (19)

[0166] At this point, the four constraint equations of the shield propulsion mechanism during shield tunneling have been solved, and the shield posture constraint equations have been established, as shown in formula (4).

[0167] In step S50, the shield posture adjustment boundary is solved according to the shield posture constraint equation.

[0168] See also Figure 3 In some embodiments, solving the shield posture adjustment boundary can be specifically performed in the following manner:

[0169] (1) Based on the geometric structure characteristics and constraints of the shield propulsion mechanism, the range of the shield posture adjustment boundary is preliminarily estimated and used as the parent space for search.

[0170] (2) Use a plane cluster parallel to the YOZ plane of the base coordinate system {A-xyz} to cut the mother space estimated in (1) into components with a sufficient number of thicknesses Subspaces of of cylinder.

[0171] (3) Based on the solved shield posture constraint equations, search the boundary of each subspace corresponding to a given position (posture).

[0172] It needs to be explained that attitude and position are two kinds of boundaries. When the same method is used to calculate the attitude boundary of the shield machine, the position boundary is given; when the position boundary of the shield machine is required, the attitude boundary is given.

[0173] In some embodiments, step (3) uses the following method to search:

[0174] from Start your search. Less than ,in The minimum value of the posture (position) adjustment boundary in the X-axis direction of the base coordinate system {A-xyz} corresponding to the shield posture constraint equation.

[0175] After completing the above subspace search, continue to analyze the X-direction increment subspace until ,in The maximum value of the posture (position) adjustment boundary in the X-axis direction allowed by the shield posture constraint equation.

[0176] (4) Use the fast polar coordinate search method to determine the boundary of each subspace.

[0177] In some embodiments, step (4) determines the boundary of each subspace using the following method:

[0178] Using polar coordinates Represents a point in the workspace, searching for the boundary of a subspace, with the starting polar coordinates being , given the starting polar angle is , polar diameter It starts from 0 and gradually increases until the shield propulsion mechanism satisfies one of the constraints solved by equation (20):

[0179] —— (20)

[0180] The polar coordinate point at this time This is the first boundary point of the searched subspace. ;

[0181] Add an increment to the polar angle , continue searching for the second boundary point of the subspace ;

[0182] Repeat the above steps until all boundary points of the subspace are searched, and the boundary of the subspace is determined.

[0183] A specific embodiment of the present invention is described below with a shield machine for a certain project as the background.

[0184] First, determine the shield parameters and segment geometry parameters, as shown in Table 1:

[0185] Table 1 Main structural parameters of shield propulsion mechanism

[0186]

[0187] According to the method provided by the present invention, a computer program is compiled to visualize the shield machine posture adjustment boundary, that is, to visualize the solution result. The solution result is as follows Figure 4a , 4b , 5a, 5b. Figure 5a, 5b In the equation, psi represents ψ, theta represents θ, and phi represents φ.

[0188] When the shield attitude angle When the shield machine position adjustment boundary is Figure 4a As shown; when the shield attitude angle When the shield machine position adjustment boundary is Figure 4b shown.

[0189] When the shield position When the shield machine's attitude adjustment boundary is Figure 5a As shown; when the shield position When the shield machine's attitude adjustment boundary is Figure 5b shown.

[0190] Depend on Figure 4a It can be seen that when the three attitude angles of the shield machine are all 0, the position adjustment boundary is bullet-shaped, and due to the symmetry of the propulsion mechanism, the position adjustment boundary of the propulsion mechanism is symmetrically distributed on the y-axis and z-axis. When the shield attitude angle changes, the shield position adjustment boundary also changes, such as Figure 4b As shown. Figure 4a and Figure 4b By comparison, it can be found that when the given attitude angle changes, the position boundary also changes. This is because the attitude and position are coupled to each other. Changes in attitude will inevitably cause changes in the position boundary. Similarly, changes in position will inevitably cause changes in the attitude boundary.

[0191] Depend on Figure 5a and Figure 5b It can be seen that at a given position, the attitude adjustment boundary of the shield machine is a cone-shaped cylinder. As the position parameters of the shield machine change, the attitude adjustment boundary of the shield machine also changes.

[0192] It can be seen that by using the method provided by the present invention, and further with the help of computer program simulation, the posture adjustment boundary or position adjustment boundary of the shield machine in a given position or posture can be intuitively and vividly drawn, so that the shield driver can clearly recognize the posture adjustment margin under the current posture state of the shield, thereby ensuring the safety of shield excavation and the safety of the propulsion mechanism.

[0193] Although several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the invention. Certain features described in the context of separate embodiments can also be implemented in combination in a single implementation.

[0194] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A method for solving the boundary of posture adjustment during shield tunneling, characterized in that: The solution method includes: Determine shield parameters and segment geometry parameters; Construct a coordinate system to obtain the current position information of the shield. The coordinate system includes a base coordinate system {A-xyz} fixed on the segment ring and a dynamic coordinate system {Bx B y B z B }, the base coordinate system {A-xyz} is fixed to the segment ring that provides the reaction force for the shield propulsion cylinder, and the moving coordinate system {Bx B y B z B } is fixed to the shield back plate of the shield machine, and the obtaining of the current posture information of the shield includes obtaining the current posture information of the shield through the shield guidance system, and using the shield posture vector It indicates that, represents the dynamic coordinate system {Bx B y B z B } in the base coordinate system {A-xyz}, It represents the three attitude angles of the shield machine, namely the roll angle, pitch angle and yaw angle; According to the current posture information of the shield machine, solve the shield machine posture transformation matrix; Clarify the constraints of the shield propulsion mechanism and construct the shield posture constraint equation; According to the shield posture constraint equation, the shield posture adjustment boundary is solved, including: according to the geometric structure characteristics of the shield propulsion mechanism and the constraint conditions of the shield propulsion mechanism, the range of the shield posture adjustment boundary is preliminarily estimated, and it is used as the mother space for searching; the estimated mother space is cut by a plane cluster parallel to the YOZ plane of the base coordinate system {A-xyz}, and the mother space is divided into components with a sufficient number of thicknesses. Subspaces of cylinder; according to the solved shield posture constraint equation, search for the boundary of each subspace at the corresponding given position or given posture; use the fast polar coordinate search method to determine the boundary of each subspace; search out the boundary points in all subspaces, and the envelope surface generated by these points is the posture boundary of the shield machine at the current given position or the position boundary at a given posture.

2. The solution method according to claim 1, characterized in that: Solving the shield posture transformation matrix according to the current shield posture information includes: Shield posture transformation matrix The calculation formula is as follows (1): ——（1） in, It represents the posture matrix of the shield machine, and the calculation formula is as follows (2): ——（2） represents the position vector of the shield, and the calculation formula is as follows (3): ——（3） Among them, c represents the cosine function cos, and s represents the sine function sin.

3. The solution method according to claim 1, characterized in that: The shield posture constraint equation is constructed as follows (4): ——（4） Among them, h1 is the constraint equation group of shield propulsion cylinder length, h2 is the constraint equation group of shield tail clearance, h3 is the constraint equation group of shield propulsion cylinder barrel and flange mounting hole clearance, h4 is the constraint equation group of shield propulsion cylinder rear ball joint limit swing angle, l min is the minimum extension of the shield propulsion cylinder, l max is the maximum extension of the shield propulsion cylinder, is the minimum shield tail clearance, is the maximum shield tail clearance, The maximum center distance between the mounting hole and the cylinder. Permissible rotation angle for ball joints.

4. The solution method according to claim 3, characterized in that: The shield propulsion cylinder length constraint equation group h1 is solved using the following process: When the shield is in the posture transformation matrix Given the state, the constraint equation h corresponding to the length constraint of the i-th shield propulsion cylinder is 1i As shown in formula (5): (i=1,2,…n)——(5) Among them, B i The front ball joint of the shield propulsion cylinder in the moving coordinate system {Bx B y B z B }, n is the number of shield propulsion cylinders, and L is the length of the shield propulsion cylinder barrel; During the shield tunneling process, the shield propulsion mechanism must meet the constraint conditions of the length of each shield propulsion cylinder as follows (6): ——（6） Among them, l i is the extension of the i-th shield propulsion cylinder; The shield propulsion cylinder length constraint equation group is as follows (7): ——（7）。 5. The solution method according to claim 3, characterized in that: The shield tail clearance constraint equation group h2 is solved using the following process: The shield tail gap calculation model is established according to the geometric position relationship between the shield machine and the segment, as shown in the following formula (8): ——（8） in, A S is the position vector of any point S on the inner side of the shield tail in the base coordinate system {A-xyz}, j and k are the unit direction vectors of the y-axis and z-axis of the base coordinate system {A-xyz}, Ds is the outer diameter of the segment, and satisfies the following formula (9): ——（9） in, B S For any point S inside the shield tail in the moving coordinate system {Bx B y B z B }, and satisfies the following equation (10): ——（10） in, For point S in the moving coordinate system {Bx B y B z B The projection point S0 on the xB axis of the moving coordinate system {Bx B y B z B }, , For point S and the moving coordinate system {Bx B y B z B }, , Dr is the inner diameter of the shield tail; The shield tail clearance at the i-th shield propulsion cylinder is obtained as follows (11): ——（11） in, Represents the relationship between the ith shield propulsion cylinder and the moving coordinate system {Bx B y B z B }y B The angle between the axes, R r is the inner radius of the shield tail, and R r =D r / 2, y, z are shield posture transformation matrices Positional parameters in ; The shield tail clearance constraint equations are as follows (12): ——（12）。 6. The solution method according to claim 3, characterized in that: The shield propulsion cylinder and flange mounting hole clearance constraint equation group h3 is solved using the following process: The clearance constraint between the i-th shield propulsion cylinder and the corresponding flange mounting hole is as follows (13): ——（13） in, D i is the intersection of the axis of the i-th shield propulsion cylinder and the cylinder mounting flange surface, D i ' is the center point of the flange mounting hole of the i-th shield propulsion cylinder, A D i D i ' is a vector D i D i 'Representation in the base coordinate system {A-xyz}, B B i D i ' is a vector B i D i 'In the moving coordinate system {Bx B y B z B }, A u i is the unit direction vector of the i-th shield propulsion cylinder in the base coordinate system {A-xyz}, L a The distance from the front ball joint of the cylinder to the flange; And the following formula (14) is obtained: ——（14） Among them, D F is the flange mounting hole diameter, D C is the diameter of the cylinder barrel; Then the constraint equations for the clearance between the shield propulsion cylinder and the flange mounting hole are as follows (15): ——（15）。 7. The solution method according to claim 3, characterized in that: The shield propulsion cylinder rear ball joint limit swing angle constraint equation group h4 is solved using the following process: The solution expression for the rotation angle of the rear ball joint of the i-th shield thrust cylinder is as follows (16): ——（16） in, is the rear ball joint rotation angle of the i-th shield thrust cylinder, A u i is the unit direction vector of the i-th shield propulsion cylinder in the base coordinate system {A-xyz}, as shown in the following formula (17): e A i is the unit direction vector of the xAi axis of the spherical joint coordinate system {Ai-xyz} fixed on the i-th shield cylinder support shoe in the base coordinate system {A-xyz}, as shown in the following formula (18): ——（17） ——（18） in, is the homogeneous transformation matrix of the spherical joint coordinate system {Ai-xyz} relative to the base coordinate system {A-xyz}, is the initial unit direction vector of the xAi axis of the spherical joint coordinate system {Ai-xyz}, and ; Then, the constraint equations of the rear ball joint limit swing angle of the shield thrust cylinder are as follows (19): ——（19）。 8. The solution method according to claim 1, characterized in that: The method of searching each subspace for a boundary corresponding to a given position or a given posture according to the solved shield posture constraint equation includes: from Start your search. Less than ,in It is the minimum value of the attitude or position adjustment boundary corresponding to the shield posture constraint equation in the X-axis direction of the base coordinate system {A-xyz}; After completing the above subspace search, continue to analyze the X-axis direction increment subspace until ,in It is the maximum value of the attitude or position adjustment boundary in the X-axis direction allowed by the shield posture constraint equation.

9. The solution method according to claim 1, characterized in that: The method of using a fast polar coordinate search method to determine the boundary of each subspace includes: Using polar coordinates Represents a point in the workspace, searching for the boundary of a subspace, with the starting polar coordinates being , given the starting polar angle is , polar diameter It starts from 0 and gradually increases until the shield propulsion mechanism satisfies one of the constraints solved by equation (20): ——（20） The polar coordinate point at this time This is the first boundary point of the searched subspace. ; Add an increment to the polar angle , continue searching for the second boundary point of the subspace ; Repeat the above steps until all boundary points of the subspace are searched, and the boundary of the subspace is determined.

10. The solution method according to any one of claims 1 to 9, characterized in that: The solution method also includes: Compile a computer program to visualize the solution results of the shield machine posture adjustment boundary.

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