Shield tunneling machine key parameter analysis method, system and equipment and storage medium

Abstract

The invention relates to the technical field of shield tunneling machine tunneling, and discloses a shield tunneling machine key parameter analysis method, system and device and a storage medium, and the method comprises the steps: obtaining the indication strain data of a shield tunneling machine through a strain measurement device; carrying out stress calculation according to a preset bridge characteristic formula and the indication strain data to obtain live stress data; carrying out key parameter analysis on the live stress data to obtain prediction data; acquiring working condition data of the shield tunneling machine through a working condition measuring device; generating an optimization operation instruction according to the working condition data and the prediction data; the method comprises the following steps: outputting real-time stress data as prediction data serving shield tunneling machine construction operation through a mathematical analysis model, collecting current working condition data of a shield tunneling machine, comprehensively analyzing the working condition of the shield tunneling machine according to the working condition data and the prediction data, and generating an optimization instruction capable of optimizing the working condition of the shield tunneling machine; various working parameters of the shield tunneling machine are adjusted through the optimization instruction, and the shield tunneling machine is guided to operate efficiently and stably.

Description

Technical Field

[0001] The present invention relates to the technical field of shield machine excavation, and in particular to a shield machine key parameter analysis method, system, equipment and storage medium. Background Art

[0002] With the acceleration of urbanization, the demand for underground tunnel construction is growing. As a key equipment for underground construction, shield machines are widely used in various projects. However, shield machine construction currently encounters many difficulties. On the one hand, the geological conditions are complex and changeable, and the physical properties of strata in different regions vary significantly. The high compressibility of soft soil strata, the high abrasiveness of sand and gravel strata, and the high strength of hard rock strata pose great challenges to the stable operation of shield machines. In this situation, accurate control of the key parameters of the shield machine plays a decisive role in the success of the construction.

[0003] However, traditional shield machine parameter analysis methods have significant shortcomings. Traditional methods are often based on idealized assumptions, rely on inherent data, and are out of touch with the actual conditions of the construction site. In actual construction, the working conditions change frequently, and these real-time working conditions are the key basis for shield machine working condition analysis. However, traditional models are limited to the pre-set framework and lack effective data collection and feedback mechanisms. They are unable to capture the real-time characteristics of the stratum, the mechanical interaction between the shield machine and the soil, and the immediate impact of tool wear on the force distribution. As a result, the model output deviates greatly from the actual working conditions, making it difficult to provide a reliable decision-making basis for construction. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a method, system, equipment and storage medium for analyzing key parameters of a shield machine, wherein a strain measurement device is deployed on the shield machine, and the strain measurement devices are efficiently connected through a bridge circuit. Relying on the bridge circuit's keen perception and precise conversion capabilities of tiny strains, the stress changes on the shield body when the shield machine is running are captured in real time, thereby obtaining accurate real-time stress data; a mathematical analysis model is then used to output the real-time stress data as prediction data serving the construction operation of the shield machine; then the current operating data of the shield machine is collected, and based on the operating data and the prediction data, the working condition of the shield machine is comprehensively analyzed to generate optimization instructions that can optimize the working condition of the shield machine; the optimization instructions are used to adjust various working parameters of the shield machine to guide the shield machine to achieve efficient and stable operation.

[0005] A first aspect of the present invention provides a shield machine key parameter analysis method, which is applied to a shield machine key parameter analysis system. The shield machine key parameter analysis system includes: a control device and a strain measurement device and a working condition measurement device electrically connected to the control device. The strain measurement device is used to obtain the indicated strain data of the shield machine, and the working condition measurement device is used to obtain the working condition data of the shield machine. The shield machine key parameter analysis method includes the following steps: obtaining the indicated strain data of the shield machine through the strain measurement device; performing stress calculation according to a preset bridge characteristic formula and the indicated strain data to obtain actual stress data; performing key parameter analysis on the actual stress data to obtain predicted data; obtaining the working condition data of the shield machine through the working condition measurement device; and generating optimized operation instructions according to the working condition data and the predicted data.

[0006] Optionally, in a first implementation manner of the first aspect of the present invention, obtaining indicated strain data from a strain measurement device includes: the strain measurement device includes a first strain measurement unit and a second strain measurement unit; obtaining first strain data from the first strain measurement unit; obtaining second strain data from the second strain measurement unit; and merging the first strain data and the second strain data to generate indicated strain data.

[0007] Optionally, in a second implementation of the first aspect of the present invention, the stress calculation is performed according to a preset bridge characteristic formula and the indicated strain data to obtain actual stress data, including: the preset bridge characteristic formula includes a half-bridge circuit characteristic formula and a full-bridge circuit characteristic formula; first strain data and second strain data are extracted from the indicated strain data; stress calculation is performed according to the half-bridge circuit characteristic formula and the first strain data to obtain axial stress data; stress calculation is performed according to the full-bridge circuit characteristic formula and the second strain data to obtain torsional shear stress data; and data integration is performed on the axial stress data and the torsional shear stress data to obtain actual stress data.

[0008] Optionally, in a third implementation of the first aspect of the present invention, the key parameter analysis of the actual stress data to obtain predicted data includes: constructing an axial load analysis model and an annular torque analysis model; extracting axial stress data and torsional shear stress data from the actual stress data; inputting the axial stress data into the axial load analysis model to obtain thrust data and resistance data; inputting the torsional shear stress data into the annular torque analysis model to obtain rotational friction data and cutter disc torque data; and integrating the thrust data, resistance data, rotational friction data and cutter disc torque data to obtain predicted data.

[0009] Optionally, in a fourth implementation of the first aspect of the present invention, the working condition data of the shield machine is obtained from a working condition measurement device, including: the working condition measurement device includes a thrust sensing device, a torque sensing device and a load sensor; obtaining the working condition thrust data of the shield machine through the thrust sensing device; obtaining the working condition torque data of the shield machine through the torque sensing device; obtaining the working condition load data of the shield machine through the load sensor; and merging the working condition thrust data, working condition torque data and working condition load data to obtain the working condition data.

[0010] Optionally, in a fifth implementation of the first aspect of the present invention, the generating of optimized operation instructions based on the operating condition data and the predicted data includes: extracting operating condition thrust data, operating condition torque data and operating condition load data from the operating condition data; extracting thrust data, resistance data, rotational friction data and cutter disc torque data from the predicted data; optimizing and analyzing the operating condition thrust data and thrust data to obtain thrust optimization data; optimizing and analyzing the operating condition torque data and cutter disc torque data to obtain torque optimization data; optimizing and analyzing the operating condition load data, resistance data and rotational friction data to obtain load optimization data; generating optimized operation instructions based on the thrust optimization data, torque optimization data and load optimization data.

[0011] The second aspect of the present invention provides a shield machine key parameter analysis system, which includes: a control device and a strain measurement device and a working condition measurement device electrically connected to the control device; the control device is used to execute the shield machine key parameter analysis method as described above.

[0012] Optionally, in a first implementation manner of the second aspect of the present invention, the strain measurement device includes a first strain measurement unit and a second strain measurement unit; the first strain measurement unit includes a first strain rosette arranged at the top end of the inner wall of the shield body of the shield machine and a third strain rosette arranged at the bottom end of the inner wall of the shield body of the shield machine; the second strain measurement unit includes a second strain rosette and a fourth strain rosette arranged at the left and right ends of the inner wall of the shield body of the shield machine.

[0013] Optionally, in a second implementation of the second aspect of the present invention, the first strain gauge includes: a first 0-degree strain gauge arranged along the shield body axis direction of the shield machine, a first positive 45-degree strain gauge at a positive 45-degree angle with the shield body axis direction of the shield machine, a first negative 45-degree strain gauge at a negative 45-degree angle with the shield body axis direction of the shield machine, and three first temperature compensation gauges; the three first temperature compensation gauges are electrically connected to the first 0-degree strain gauge, the first positive 45-degree strain gauge, and the first negative 45-degree strain gauge through a half-bridge circuit, respectively; The third strain gauge comprises: a third 0-degree strain gauge arranged along the shield body axis direction of the shield machine, a third positive 45-degree strain gauge at a positive 45-degree angle with the shield body axis direction of the shield machine, a third negative 45-degree strain gauge at a negative 45-degree angle with the shield body axis direction of the shield machine, and three third temperature compensation gauges; the three third temperature compensation gauges are respectively electrically connected to the third 0-degree strain gauge, the third positive 45-degree strain gauge, and the third negative 45-degree strain gauge through a half-bridge circuit; The second strain gauge comprises: a second 0-degree strain gauge arranged along the shield axis of the shield machine, a second positive 45-degree strain gauge at a positive 45-degree angle to the shield axis of the shield machine, and a second negative 45-degree strain gauge at a negative 45-degree angle to the shield axis of the shield machine; The fourth strain gauge comprises: a fourth 0-degree strain gauge arranged along the shield axis of the shield machine, a fourth positive 45-degree strain gauge at a positive 45-degree angle with the shield axis of the shield machine, and a fourth negative 45-degree strain gauge at a negative 45-degree angle with the shield axis of the shield machine; The second 0-degree strain gauge and the fourth 0-degree strain gauge are electrically connected via a half-bridge circuit; the second positive 45-degree strain gauge, the second negative 45-degree strain gauge, the fourth positive 45-degree strain gauge and the fourth negative 45-degree strain gauge are electrically connected via a full-bridge circuit.

[0014] The third aspect of the present invention provides a shield machine key parameter analysis device, which includes: a memory and at least one processor, wherein instructions are stored in the memory; at least one of the processors calls the instructions in the memory to enable the shield machine key parameter analysis device to perform each step of the shield machine key parameter analysis method described in any one of the above items.

[0015] A fourth aspect of the present invention provides a computer-readable storage medium having instructions stored thereon, and when the instructions are executed by a processor, the various steps of any of the above-mentioned methods for analyzing key parameters of a shield machine are implemented.

[0016] In the technical solution of the present invention, strain measuring devices are deployed on the shield machine, and the strain measuring devices are efficiently connected through a bridge circuit. Relying on the bridge circuit's keen perception and precise conversion capabilities of tiny strains, the stress changes on the shield body during the operation of the shield machine are captured in real time, thereby obtaining accurate real-time stress data; a mathematical analysis model is then used to output the real-time stress data as prediction data serving the construction operation of the shield machine; then the current operating data of the shield machine is collected, and based on the operating data and the prediction data, the working condition of the shield machine is comprehensively analyzed to generate optimization instructions that can optimize the working condition of the shield machine; the optimization instructions are used to adjust various operating parameters of the shield machine to guide the shield machine to achieve efficient and stable operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 A first flow chart of a method for analyzing key parameters of a shield machine provided by an embodiment of the present invention; Figure 2 A second flow chart of the shield machine key parameter analysis method provided by the embodiment of the present invention; Figure 3 A third flow chart of the shield machine key parameter analysis method provided by the embodiment of the present invention; Figure 4 A fourth flow chart of a method for analyzing key parameters of a shield machine provided by an embodiment of the present invention; Figure 5 A fifth flow chart of the shield machine key parameter analysis method provided by the embodiment of the present invention; Figure 6 A sixth flow chart of the shield machine key parameter analysis method provided by the embodiment of the present invention; Figure 7 A structural schematic diagram of a shield machine key parameter analysis system provided by an embodiment of the present invention; Figure 8 A schematic diagram of the structure of a key parameter analysis device for a shield machine provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The present invention provides a method, system, equipment and storage medium for analyzing key parameters of a shield machine. The method deploys strain measuring devices on the shield machine, and the strain measuring devices are efficiently connected through a bridge circuit. By virtue of the bridge circuit's keen perception and precise conversion capabilities of tiny strains, the stress changes on the shield body when the shield machine is running are captured in real time, thereby obtaining accurate real-time stress data. A mathematical analysis model is then used to output the real-time stress data as prediction data serving the construction operation of the shield machine. Then, the current working condition data of the shield machine is collected, and based on the working condition data and the prediction data, the working condition of the shield machine is comprehensively analyzed to generate optimization instructions that can optimize the working condition of the shield machine. The optimization instructions are used to adjust various working parameters of the shield machine to guide the shield machine to achieve efficient and stable operation.

[0019] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" or "having" and any variations thereof are intended to cover non-exclusive inclusions, 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 that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0020] For ease of understanding, the specific process of the embodiment of the present invention is described below. Figure 1 , an embodiment of the shield machine key parameter analysis method in the embodiment of the present invention includes: The shield machine key parameter analysis system comprises: a control device and a strain measuring device and a working condition measuring device electrically connected to the control device, wherein the strain measuring device is used to obtain the indicated strain data of the shield machine, and the working condition measuring device is used to obtain the working condition data of the shield machine; In one embodiment, the working condition measurement device acquires various working condition data in real time during the tunneling process of the shield machine, such as formation information (including formation hardness, elastic modulus, cohesion, etc.), tunneling parameters of the shield machine (tunneling speed, cutterhead speed, grouting pressure, etc.), and environmental data (such as temperature, humidity, and other environmental factors that may affect the operation of the equipment); The strain measurement device includes a first strain measurement unit and a second strain measurement unit, which work together on the inner wall of the shield body of the shield machine; the first strain measurement unit includes two groups of strain rosettes (the first strain rosette and the third strain rosette), each group of strain rosettes includes 3 strain gauges and three temperature compensation gauges, wherein each strain gauge is connected to its corresponding temperature compensation gauge through a half-bridge circuit, and this connection method can effectively compensate for the influence of temperature changes on the measurement results, ensure the accuracy of strain measurement, and thus obtain accurate indicated strain data. The second strain measurement unit also includes two groups of strain rosettes (the second strain rosette and the fourth strain rosette); the second strain rosette and the fourth strain rosette each include 3 strain gauges, and the 0-degree strain gauges in the two groups of strain rosettes are connected through a half-bridge circuit, which is mainly used to measure strain in a specific direction; the positive 45-degree strain gauge and the negative 45-degree strain gauge in the two groups of strain rosettes are connected through a full-bridge circuit, which provides key torque data for comprehensive analysis of shield body load.

[0021] The shield machine key parameter analysis method comprises the steps of: 101. Obtain the indicated strain data of the shield machine through the strain measurement device; In this embodiment, a strain measurement device is installed on the shield of the shield machine. When the shield machine is working and the shield is subjected to external loads (such as soil pressure, cutterhead cutting reaction force, etc.), the strain gauge can convert the mechanical strain it senses into voltage changes, and further convert it into indicated strain. Based on the real-time feedback characteristics of the strain gauge, the strain changes of the shield of the shield machine can be sensed in real time, thereby carrying out real-time analysis of the key parameters of the shield machine.

[0022] 102. Perform stress calculation according to a preset bridge characteristic formula and indicated strain data to obtain actual stress data; In this embodiment, the indicated strain data obtained from the strain measurement device is input into the corresponding bridge characteristic formula to calculate the corresponding axial strain and torque strain. Combined with the characteristic parameters such as the elastic modulus and Poisson's ratio of the shield material, the strain can be converted into the axial stress, annular stress, maximum principal stress, bending normal stress and torsional shear stress of the shield machine; these stresses reflect the real-time stress state of the shield machine, that is, real-time stress data, which provides an accurate data basis for subsequent key parameter analysis and model construction.

[0023] 103. Analyze the key parameters of the actual stress data to obtain the predicted data; In this embodiment, the axial thrust load model and the annular torque model of the shield machine are constructed with the actual stress data as the core input; the axial thrust change law of the shield machine is analyzed according to the axial thrust load model, so as to obtain the data related to the thrust of the shield machine and the data related to the forward resistance of the shield machine; the cutter head torque change of the shield machine under different working conditions is analyzed according to the torque model, so as to obtain the data related to the rotational friction of the shield machine and the data related to the torque of the shield machine; the key parameters such as the axial thrust and cutter head torque required by the shield machine are predicted through the real-time stress data and the mathematical model.

[0024] 104. Obtain the working condition data of the shield machine through the working condition measurement device; In this embodiment, a variety of working condition measurement devices are equipped to obtain working condition data of the shield machine; the working condition measurement devices include thrust sensors and torque sensors, which can directly measure the thrust and torque actually output by the shield machine; the working condition measurement devices also include formation hardness sensors and formation pressure sensors that measure geological data, which are used to detect the load conditions of the shield machine during operation. By detecting the working condition data, the actual operating status of the shield machine can be monitored in real time.

[0025] 105. Generate optimized operation instructions based on working condition data and prediction data; In this embodiment, the real-time working condition data obtained from the working condition measurement device is compared and analyzed with the predicted data obtained through model prediction. The comparison content includes the difference between the real-time value and the predicted value of key data such as the thrust, cutter head torque, and load of the shield machine; by evaluating the deviation between the current actual operating state of the shield machine and the expected state, the current problems encountered by the shield machine are analyzed, and then the corresponding optimization strategy is formulated. According to the determined optimization strategy, specific optimization operation instructions are generated to guide the shield machine to perform excavation work.

[0026] In an embodiment of the present invention, strain measuring devices are deployed on a shield machine, and the strain measuring devices are efficiently connected through a bridge circuit. By virtue of the bridge circuit's keen perception and precise conversion capabilities of tiny strains, the stress changes on the shield body during the operation of the shield machine are captured in real time, thereby obtaining accurate real-time stress data; a mathematical analysis model is then used to output the real-time stress data as prediction data serving the construction operation of the shield machine; then, the current operating data of the shield machine is collected, and based on the operating data and the prediction data, the working condition of the shield machine is comprehensively analyzed to generate optimization instructions that can optimize the working condition of the shield machine; the optimization instructions are used to adjust various operating parameters of the shield machine to guide the shield machine to achieve efficient and stable operation.

[0027] See also Figure 2 Two embodiments of the shield machine key parameter analysis method in the embodiment of the present invention include: The strain measurement device comprises a first strain measurement unit and a second strain measurement unit; In this embodiment, the first strain measurement unit includes a first strain rosette arranged at the top of the inner wall of the shield machine and a third strain rosette arranged at the bottom of the inner wall of the shield machine; the second strain measurement unit includes a second strain rosette arranged on the left side of the inner wall of the shield machine and a fourth strain rosette arranged on the right side of the inner wall of the shield machine; through the strain measurement function of the four groups of strain rosettes, the strain measurement device realizes comprehensive monitoring of the shield machine.

[0028] 201. Acquire first strain data from a first strain measurement unit; In this embodiment, during the operation of the shield machine, when the shield body is subjected to an external load, the strain gauge in the first strain measurement unit converts the mechanical deformation it senses into first strain data (first indicated strain data). Specifically, the first strain gauge and the third strain gauge in the first strain unit each include three strain gauges and three temperature compensation gauges, and the temperature compensation gauge is electrically connected to the strain gauge through a half-bridge circuit; when the strain gauge is working, the first strain gauge and the third strain gauge can output indicated strain data in three directions, and the axial stress, hoop stress and maximum principal stress of the shield machine can be further derived through these indicated strain data.

[0029] 202. Acquire second strain data from a second strain measurement unit; In this embodiment, during the operation of the shield machine, when the shield body is subjected to an external load, the strain gauge in the second strain measurement unit converts the mechanical deformation sensed by it into second strain data (second indicated strain data). Specifically, the second strain gauge and the fourth strain gauge in the second strain unit each include three strain gauges, the 0-degree strain gauges in the second strain gauge and the fourth strain gauge are electrically connected through a half-bridge circuit, and the four 45-degree strain gauges in the second strain gauge and the fourth strain gauge are electrically connected through a full-bridge circuit; when the second strain gauge and the fourth strain gauge are working, the indicated strain data of the half-bridge circuit and the indicated strain data of the full-bridge circuit can be output, and the bending normal stress and torsional shear stress of the shield machine can be further derived through these indicated strain data.

[0030] 203. Merge the first strain data and the second strain data to generate indicated strain data; In this embodiment, since there may be a certain time difference in data collection between the two measurement units, the strain data from the first strain measurement unit and the second strain measurement unit need to be synchronized and aligned to obtain indicated strain data with time axis synchronization to ensure the accuracy of the indicated strain data.

[0031] See also Figure 3 , three embodiments of the shield machine key parameter analysis method in the embodiment of the present invention include: The preset bridge characteristic formula includes a half-bridge circuit characteristic formula and a full-bridge circuit characteristic formula; In this embodiment, because different bridge circuit connection modes are adopted between the strain gauges, different bridge characteristic calculation formulas need to be adopted.

[0032] 301. Extracting first strain data and second strain data from the indicated strain data; In this embodiment, the first strain data and the second strain data are extracted from the indicated strain data for subsequent stress calculation.

[0033] 302. Perform stress calculation according to the half-bridge circuit characteristic formula and the first strain data to obtain axial stress data; In this embodiment, for the first strain measurement unit, since its strain gauge is electrically connected to the temperature compensation gauge through a half-bridge circuit, the first strain data output by its strain gauge is the linear strain data of the shield machine; Specifically, the axial stress, hoop stress and maximum principal stress can be obtained using the following formulas, and their expressions are as follows: ; ; ; ; In the formula, , , They represent the linear strains in the directions of -45°, 0°, and 45° measured by the strain gauges, respectively. is the maximum linear strain, is the axial linear strain, is the hoop strain; is the shear strain; Based on the maximum linear strain, axial linear strain and hoop linear strain, the maximum principal stress can be solved , axial stress and hoop stress , which is expressed as follows: ; ; ; Where, E is the elastic modulus of the shield body of the shield machine; It should be noted that the maximum principal stress and hoop stress can be used to compare with the allowable stress of the material to measure the safety performance of the shield structure; the axial stress is used to construct the load analysis model.

[0034] 303. Perform stress calculation according to the full-bridge circuit characteristic formula and the second strain data to obtain torsional shear stress data; In this embodiment, corresponding to the second strain measurement unit, since the four 45-degree strain gauges in the second strain rosette and the fourth strain rosette included therein are electrically connected through a full-bridge circuit, and the two 0-degree strain gauges are electrically connected through a half-bridge circuit, the second strain data output by the full-bridge circuit and the half-bridge circuit need to be mathematically processed to obtain the corresponding axial strain and torque strain; Specifically, because the two 0° strain gauges are connected through a half-bridge circuit, the measured half-bridge circuit indicated strain includes the output strain of the two strain gauges, that is, the axial strain caused by the bending moment. The output of the half-bridge circuit indicates the strain 1 / 2, that is: ; Therefore, the bending normal stress The solution can be: ; Where, E is the elastic modulus of the shield body of the shield machine; Similarly, since two 45° strain gauges and two -45° strain gauges are connected through a full-bridge circuit, the measured full-bridge circuit indicated strain (second strain data) contains the output of the four strain gauges, that is, the torque strain of the shield machine. The output of the full bridge circuit indicates the strain 1 / 4 of (the second strain data), that is: ; Therefore, the torsional shear stress The solution can be: ; Where E is the elastic modulus of the shield body of the shield machine, It represents Poisson's ratio. The shield is a steel structure and its Poisson's ratio can be taken as 0.3.

[0035] Among them, the bending normal stress can be used to compare with the allowable stress of the material to measure the safety performance of the shield structure; the torsional shear stress is used to construct the hoop torque analysis model.

[0036] 304. Integrate the axial stress data and the torsional shear stress data to obtain actual stress data; In this embodiment, the axial stress data and the torsional shear stress data are integrated in time and space. With time as the axis, the axial stress data and the torsional shear stress data collected at different sections (such as two sections at different positions from the head of the shield machine) at the same time are matched to ensure the consistency of the data in time; in space, according to the structural characteristics of the shield body of the shield machine, the stress data at different positions are arranged and combined according to their relative position relationship on the shield body; by integrating the axial stress data and the torsional shear stress data, the actual stress data that can fully reflect the stress state of the shield machine at a certain moment is obtained.

[0037] See also Figure 4 , four embodiments of the shield machine key parameter analysis method in the embodiment of the present invention include: 401. Construct axial load analysis model and annular torque analysis model; In this embodiment, a load analysis model and annular torque analysis model are constructed based on the mechanical principles and structural characteristics of the shield machine; Specifically, by analyzing the force on the shield during the jacking process, the load analysis model can be obtained, referring to the following formula: Formula 1: ; Formula 2: ; In the formula, is the thrust resistance at the front end of the shield machine cutterhead, is the friction between the shield and the surrounding soil; is the propulsion force of the shield machine; is the shield length; is the distance from the cross section to the front end of the shield, is the outer diameter of the shield; is the inner diameter of the shield; Refers to the axial stress of the shield at the two sections k=1 and 2 ; By analyzing the friction torque of the shield machine during operation, a circumferential torque analysis model can be constructed based on the torque balance principle, referring to the following formula: Formula 3: ; Formula 4: ; In the formula, is the torsional section coefficient, is the torsional shear stress of section k, is the section torque; is the outer diameter of the shield; is the cutter head torque, is the unit friction resistance, is the distance from the cross section to the front end of the shield; Refers to two shield sections respectively.

[0038] 402. Extracting axial stress data and torsional shear stress data from actual stress data; In this embodiment, the real-time stress data is a data set that contains stress information of the shield body of the shield machine at different positions and directions. Before performing key parameter analysis, the axial stress data and torsional shear stress data under the same time axis need to be extracted to ensure data consistency.

[0039] 403. Inputting the axial stress data into the axial load analysis model to obtain thrust data and resistance data; In this embodiment, the axial stress data Input the axial load analysis model to obtain thrust and resistance data; Specifically, in different strata, as the grouting process is adjusted, the unit friction resistance f between the shield and the surrounding soil changes accordingly. The unit friction resistance f derived from the measured stress can be solved by the following formula: Formula 5: ; Substituting equation 5 into equation 1, we can obtain the thrust resistance at the front end of the shield machine cutterhead: , which is the resistance data, as follows: ; Substituting equation 5 into equation 2, we can obtain the thrust of the shield machine: , that is, the thrust data, as follows: .

[0040] 404. Inputting the torsional shear stress data into the hoop torque analysis model to obtain rotational friction data and cutter head torque data; In this embodiment, the torsional shear stress Substituting into the annular torque analysis model, the rotational friction data and cutter head torque data can be obtained; Combining equation 3 and equation 4, we can get the unit friction resistance of rotation: The expression is as follows: Formula 6: ; Substituting equation 6 into equation 4, we can get the cutter head torque: The expression is as follows: .

[0041] 405. Integrate the thrust data, the resistance data, the rotational friction data, and the cutter head torque data to obtain prediction data; In this embodiment, the thrust data and resistance data obtained by the axial load analysis model and the rotational friction data and cutter head torque data obtained by the annular torque analysis model are integrated. With time as the synchronization reference, the four data at the same time are combined to form a data set containing comprehensive working status information of the shield machine to obtain prediction data; the prediction data predicts the working status and force trend of the shield machine, the thrust data and cutter head torque data can be used to predict the working condition of the shield machine, and the rotational friction data and resistance data can evaluate the cutter head wear and jamming risk of the shield machine.

[0042] See also Figure 5 , five embodiments of the shield machine key parameter analysis method in the embodiment of the present invention include: The working condition measuring device includes a thrust sensor, a torque sensor and a load sensor; In this embodiment, the working condition measuring device is used to measure the real-time working condition data of the shield machine. The working condition measuring device usually includes a thrust sensor, a torque sensor and a load sensor. By installing various working condition measuring devices at key parts of the shield machine, such as the cutter head drive device, the jack, and the stress concentration area of ​​the shield body, the physical quantities such as stress, strain, pressure or torque of these parts are directly measured to infer the cutter head torque, total thrust and shield body load.

[0043] 501. Obtaining the working thrust data of the shield machine through the thrust sensor device; In this embodiment, a thrust sensing device (thrust sensor) is installed on the jack of the shield machine to sense the thrust change of the jack, thereby obtaining the working thrust data of the shield machine in real time.

[0044] 502. Obtaining the working torque data of the shield machine through the torque sensor device; In this embodiment, a torque sensing device (torque sensor) is installed on the cutterhead drive device of the shield machine to collect torque data generated by the rotation of the cutterhead, thereby generating the working torque data of the shield machine.

[0045] 503. Obtaining the working load data of the shield machine through the load sensor; In this embodiment, different types of load sensors (such as soil pressure sensors, water pressure sensors, formation hardness sensors, formation pressure sensors, etc.) are arranged in the stress-concentrated areas of the shield body of the shield machine (such as the shield body surface and the cutter head surface), and the corresponding load data are collected in real time during the operation of the shield machine, thereby generating the working load data of the shield machine.

[0046] 504. Merging the working condition thrust data, the working condition torque data, and the working condition load data to obtain working condition data; In this embodiment, since the data collection frequencies of different sensors may be different and there is a certain time delay in the data transmission and processing, it is necessary to synchronize and match the working thrust data from the thrust sensor device, the working torque data from the torque sensor device and the working load data from the load sensor, and accurately align the three sets of data on the time axis to form a complete working condition data set; the working condition data reflects the actual working conditions of the shield machine.

[0047] See also Figure 6 , six embodiments of the shield machine key parameter analysis method in the embodiment of the present invention include: 601. Extracting working condition thrust data, working condition torque data, and working condition load data from the working condition data; In this embodiment, the operating condition data is a data set that includes various working status information of the shield machine during operation. Before performing optimization analysis, the operating condition thrust data, operating condition torque data and operating condition load data under the same time axis need to be extracted to ensure data consistency.

[0048] 602. Extracting thrust data, resistance data, rotational friction data, and cutter head torque data from the prediction data; In this embodiment, the prediction data is a data set that includes the future working status of the shield machine. Before performing the optimization analysis, the thrust data, resistance data, rotational friction data and cutter head torque data under the same time axis need to be extracted to ensure data consistency.

[0049] 603. Optimizing and analyzing the working condition thrust data and the thrust data to obtain thrust optimization data; In this embodiment, the working condition thrust data and the thrust data are evaluated for differences, and the degree of deviation between the thrust data and the working condition thrust data is analyzed. Specifically, the difference between the working condition thrust data and the predicted thrust data at a certain moment can be calculated, and the changing trend of this difference over a period of time can be analyzed. If the difference continues to increase or decrease, it may mean that the working state of the shield machine has changed or the model prediction has deviated. According to the result of the difference evaluation, the thrust optimization strategy is determined. For example, if it is found that the predicted thrust data is greater than the actual working condition thrust data and the difference is large, it may mean that the propulsion efficiency of the shield machine is low, and the jack thrust output can be appropriately reduced to avoid excessive energy consumption and equipment wear. According to the determined optimization strategy, the thrust optimization data is generated, and the thrust optimization data includes the adjusted thrust size, the adjustment time node, and the adjustment method (such as slowly increasing or decreasing the thrust).

[0050] 604. Optimizing and analyzing the working condition torque data and the cutter head torque data to obtain torque optimization data; In this embodiment, the working torque data and the cutterhead torque data are evaluated for differences, and the degree of deviation is analyzed to generate an optimization strategy. Specifically, the cutterhead torque will show different fluctuation patterns when the shield machine cuts different strata. The torque anomaly may be caused by tool wear or geological adjustment changes. Therefore, it is necessary to make a comprehensive judgment based on factors such as the shield machine's tunneling speed, cutterhead speed, and stratum conditions. For example, when it is determined that the torque anomaly is caused by cutterhead tool wear, the optimization strategy may be to immediately arrange a tool replacement plan, and after replacing the tool, readjust the cutterhead speed and torque output curve according to the new tool performance and stratum conditions. When it is determined that the torque difference is caused by changes in stratum conditions, such as a sudden increase in stratum hardness, the optimization strategy may be to appropriately reduce the tunneling speed while increasing the cutterhead torque to maintain a stable cutting effect. According to the determined optimization strategy, torque optimization data is generated, and the torque optimization data includes the adjusted cutterhead torque size, speed adjustment value, adjustment time interval, etc.

[0051] 605. Optimizing and analyzing the working load data, resistance data, and rotational friction data to obtain load optimization data; In this embodiment, the working load data, resistance data and rotational friction data are comprehensively analyzed to evaluate the changing trends of resistance and rotational friction under different load conditions, so as to determine the load optimization strategy; specifically, if it is found that the friction of the shield body is too large due to the increase in soil pressure, which affects the propulsion efficiency of the shield machine, the optimization strategy may be to adjust the grouting process parameters, such as increasing the grouting amount or changing the grouting position to reduce the pressure of the soil around the shield body, thereby reducing the friction; if it is found that the resistance is too large and it is judged to be caused by the increase in formation hardness, the optimization strategy may include adjusting the cutter head speed and torque to improve the cutting efficiency, and appropriately reducing the propulsion speed to reduce the force on the shield body; according to the determined optimization strategy, load optimization data is generated, and the load optimization data includes the grouting process parameter adjustment value, the cutter head speed and torque adjustment parameters, the shield body posture adjustment parameters, etc.

[0052] 606. Generate an optimization operation instruction according to the thrust optimization data, the torque optimization data, and the load optimization data; In this embodiment, an optimization operation instruction is generated according to the thrust optimization data, the torque optimization data and the load optimization data, and the shield machine operating parameters are optimized and adjusted in time to guide the shield machine to perform tunneling work smoothly and efficiently.

[0053] The above describes the shield machine key parameter analysis method in the embodiment of the present invention. The following describes the shield machine key parameter analysis system in the embodiment of the present invention. Figure 7 In one embodiment of the present invention, a shield machine key parameter analysis system includes: The shield machine key parameter analysis system comprises: a control device 701 and a strain measurement device 702 and a working condition measurement device 703 electrically connected to the control device; In one embodiment, the strain measuring device includes a first strain measuring unit and a second strain measuring unit; the first strain unit uses its first strain rosette and third strain rosette distributed on the top and bottom of the inner wall of the shield machine to measure the axial strain, maximum linear strain and circumferential linear strain of the shield machine; the second strain measuring unit uses its second strain rosette and fourth strain rosette distributed on the left and right sides of the inner wall of the shield machine to measure the bending normal stress and torsional shear stress of the shield machine; The first strain rosette includes: a first 0-degree strain gauge arranged along the shield body axis direction of the shield machine, a first positive 45-degree strain gauge at a positive 45-degree angle with the shield body axis direction of the shield machine, a first negative 45-degree strain gauge at a negative 45-degree angle with the shield body axis direction of the shield machine, and three first temperature compensation gauges; the three first temperature compensation gauges are electrically connected to the first 0-degree strain gauge, the first positive 45-degree strain gauge, and the first negative 45-degree strain gauge through a half-bridge circuit, respectively; The third strain gauge comprises: a third 0-degree strain gauge arranged along the shield body axis direction of the shield machine, a third positive 45-degree strain gauge at a positive 45-degree angle with the shield body axis direction of the shield machine, a third negative 45-degree strain gauge at a negative 45-degree angle with the shield body axis direction of the shield machine, and three third temperature compensation gauges; the three third temperature compensation gauges are respectively electrically connected to the third 0-degree strain gauge, the third positive 45-degree strain gauge, and the third negative 45-degree strain gauge through a half-bridge circuit; Specifically, the working principle and composition of the first strain gauge and the third strain gauge are similar, and both include a 0-degree strain gauge, a positive 45-degree strain gauge, a negative 45-degree strain gauge, and three temperature compensation gauges; The 0-degree strain gauge is arranged along the axial direction of the shield body of the shield machine. Its main function is to measure the strain information in this direction and directly reflect the stress and deformation of the shield body in the axial direction.

[0054] The positive 45-degree strain gauge is arranged at a positive 45-degree angle to the shield axis of the shield machine, and the negative 45-degree strain gauge is arranged at a negative 45-degree angle to the shield axis of the shield machine. These two strain gauges can sense the strain in the direction at a 45-degree angle to the axis. Combined with the axial strain measured by the 0-degree strain gauge, the shear strain and hoop strain can be calculated, thereby fully understanding the stress state of the shield in this area.

[0055] In addition, the three temperature compensation sheets are electrically connected to the corresponding strain gauges through a half-bridge circuit. Due to the complex working environment of the shield machine, the temperature changes greatly, and the temperature change will affect the voltage of the strain gauge, thereby interfering with the accuracy of the strain measurement. The temperature compensation sheet is made of the same material as the strain gauge, but it does not bear strain and is only sensitive to temperature changes. By connecting to the strain gauge through a half-bridge circuit, the characteristic that the voltage of the temperature compensation sheet changes with temperature is used to offset the influence of temperature changes on the strain gauge measurement results, thereby ensuring the accuracy and reliability of the strain measurement data, so that the measurement results can truly reflect the stress and strain of the shield body without being affected by ambient temperature fluctuations. The second strain gauge includes: a second 0-degree strain gauge arranged along the shield axis of the shield machine, a second positive 45-degree strain gauge at a positive 45-degree angle to the shield axis of the shield machine, and a second negative 45-degree strain gauge at a negative 45-degree angle to the shield axis of the shield machine; The fourth strain gauge comprises: a fourth 0-degree strain gauge arranged along the shield axis direction of the shield machine, a fourth positive 45-degree strain gauge at a positive 45-degree angle with the shield axis direction of the shield machine, and a fourth negative 45-degree strain gauge at a negative 45-degree angle with the shield axis direction of the shield machine; The second 0-degree strain gauge and the fourth 0-degree strain gauge are electrically connected via a half-bridge circuit; the second positive 45-degree strain gauge, the second negative 45-degree strain gauge, the fourth positive 45-degree strain gauge and the fourth negative 45-degree strain gauge are electrically connected via a full-bridge circuit; Specifically, the second strain gauge and the fourth strain gauge each include three strain gauges, namely, a 0-degree strain gauge, a positive 45-degree strain gauge at a positive 45-degree angle with the shield axis of the shield machine, and a negative 45-degree strain gauge at a negative 45-degree angle with the shield axis of the shield machine; The 0-degree strain gauge of the second strain gauge rosette and the 0-degree strain gauge of the fourth strain gauge rosette are electrically connected through a half-bridge circuit to detect the bending deformation of the shield in the axial direction; The positive 45-degree strain gauge and the negative 45-degree angle strain gauge of the second strain rosette and the positive 45-degree strain gauge and the negative 45-degree strain gauge of the fourth strain rosette are electrically connected through a full-bridge circuit to detect the torque strain of the shield. The full-bridge circuit connection method makes full use of the strain change information of the four strain gauges to improve the sensitivity and accuracy of torque measurement.

[0056] It should be noted that there are at least two groups of strain measurement devices installed on the shield machine to realize the strain data collection of at least two inner wall sections of the shield machine. This layout is designed based on the complex stress characteristics of the shield machine and the need for comprehensive monitoring data.

[0057] Figure 8 1 is a schematic diagram of the structure of a shield machine key parameter analysis device provided by an embodiment of the present invention. The shield machine key parameter analysis device 800 may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) 810 (for example, one or more processors) and a memory 820, and one or more storage media 830 (for example, one or more mass storage devices) storing application programs 833 or data 832. Among them, the memory 820 and the storage medium 830 can be short-term storage or permanent storage. The program stored in the storage medium 830 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations in the shield machine key parameter analysis device 800. Furthermore, the processor 810 may be configured to communicate with the storage medium 830, and execute a series of instruction operations in the storage medium 830 on the shield machine key parameter analysis device 800 to implement the steps of the shield machine key parameter analysis method provided by the above-mentioned method embodiments.

[0058] The shield machine key parameter analysis device 800 may also include one or more power supplies 840, one or more wired or wireless network interfaces 850, one or more input and output interfaces 860, and / or one or more operating systems 831, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art will appreciate that Figure 8The structure of the shield machine key parameter analysis equipment shown does not constitute a limitation of the shield machine key parameter analysis equipment, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0059] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions are executed on a computer, the computer executes the steps of the shield machine key parameter analysis method.

[0060] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system or system or unit described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0061] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the whole or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0062] Finally, it should be noted that the above description is only a preferred example of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A shield machine key parameter analysis method, characterized in that: Applied to a shield machine key parameter analysis system, the shield machine key parameter analysis system comprises: a control device and a strain measurement device and a working condition measurement device electrically connected to the control device, the strain measurement device is used to obtain the indicated strain data of the shield machine, and the working condition measurement device is used to obtain the working condition data of the shield machine; the shield machine key parameter analysis method comprises the steps of: Obtaining indicated strain data of the shield machine through a strain measuring device; The stress is calculated according to the preset bridge characteristic formula and the indicated strain data to obtain the actual stress data; Analyze the key parameters of the actual stress data to obtain the predicted data; Obtain the shield machine's operating data through the operating condition measurement device; Generate optimized operating instructions based on operating condition data and prediction data.

2. The shield machine key parameter analysis method according to claim 1 is characterized in that: The step of obtaining the indicated strain data from the strain measuring device comprises: The strain measurement device comprises a first strain measurement unit and a second strain measurement unit; acquiring first strain data from a first strain measurement unit; acquiring second strain data from a second strain measurement unit; The first strain data and the second strain data are combined to generate indicated strain data.

3. The shield machine key parameter analysis method according to claim 1 is characterized in that: The stress calculation is performed according to the preset bridge characteristic formula and the indicated strain data to obtain the actual stress data, including: The preset bridge characteristic formula includes a half-bridge circuit characteristic formula and a full-bridge circuit characteristic formula; extracting first strain data and second strain data from the indicated strain data; Perform stress calculation according to the half-bridge circuit characteristic formula and the first strain data to obtain axial stress data; Stress calculation is performed according to the full-bridge circuit characteristic formula and the second strain data to obtain the torsional shear stress data; The axial stress data and torsional shear stress data are integrated to obtain the actual stress data.

4. The shield machine key parameter analysis method according to claim 1 is characterized in that: The key parameter analysis of the actual stress data to obtain the predicted data includes: Construct axial load analysis model and hoop torque analysis model; Extract axial stress data and torsional shear stress data from actual stress data; Input the axial stress data into the axial load analysis model to obtain thrust data and resistance data; Input the torsional shear stress data into the hoop torque analysis model to obtain the rotational friction data and cutter head torque data; The thrust data, resistance data, rotational friction data and cutter head torque data are integrated to obtain prediction data.

5. The shield machine key parameter analysis method according to claim 1, characterized in that: The step of obtaining the working condition data of the shield machine from the working condition measurement device includes: The working condition measuring device includes a thrust sensor, a torque sensor and a load sensor; Obtain the working thrust data of the shield machine through the thrust sensor device; Obtain the working torque data of the shield machine through the torque sensor device; Obtain the working load data of the shield machine through the load sensor; The working condition thrust data, working condition torque data and working condition load data are merged to obtain the working condition data.

6. The shield machine key parameter analysis method according to claim 1, characterized in that: The generating of the optimization operation instruction according to the operating condition data and the prediction data comprises: Extracting working condition thrust data, working condition torque data and working condition load data from working condition data; Extracting thrust data, resistance data, rotational friction data and cutter head torque data from the predicted data; Optimize and analyze the working condition thrust data and thrust data to obtain thrust optimization data; Optimize and analyze the working torque data and the cutter head torque data to obtain the torque optimization data; Optimize and analyze the working load data, resistance data and rotational friction data to obtain load optimization data; Generate optimized operation instructions based on thrust optimization data, torque optimization data and load optimization data.

7. A shield machine key parameter analysis system, characterized in that: The shield machine key parameter analysis system includes: a control device and a strain measurement device and a working condition measurement device electrically connected to the control device; the control device is used to execute the shield machine key parameter analysis method as described in any one of claims 1-7.

8. The shield machine key parameter analysis system according to claim 7, characterized in that: The strain measuring device includes a first strain measuring unit and a second strain measuring unit; the first strain measuring unit includes a first strain rosette arranged at the top of the inner wall of the shield body of the shield machine and a third strain rosette arranged at the bottom of the inner wall of the shield body of the shield machine; the second strain measuring unit includes a second strain rosette and a fourth strain rosette arranged at the left and right ends of the inner wall of the shield body of the shield machine.

9. The shield machine key parameter analysis system according to claim 8, characterized in that: The first strain gauge comprises: a first 0-degree strain gauge arranged along the shield axis direction of the shield machine, a first positive 45-degree strain gauge at a positive 45-degree angle with the shield axis direction of the shield machine, a first negative 45-degree strain gauge at a negative 45-degree angle with the shield axis direction of the shield machine, and three first temperature compensation gauges; the three first temperature compensation gauges are respectively electrically connected to the first 0-degree strain gauge, the first positive 45-degree strain gauge, and the first negative 45-degree strain gauge through a half-bridge circuit; The third strain gauge comprises: a third 0-degree strain gauge arranged along the shield body axis direction of the shield machine, a third positive 45-degree strain gauge at a positive 45-degree angle with the shield body axis direction of the shield machine, a third negative 45-degree strain gauge at a negative 45-degree angle with the shield body axis direction of the shield machine, and three third temperature compensation gauges; the three third temperature compensation gauges are respectively electrically connected to the third 0-degree strain gauge, the third positive 45-degree strain gauge, and the third negative 45-degree strain gauge through a half-bridge circuit; The second strain gauge comprises: a second 0-degree strain gauge arranged along the shield axis of the shield machine, a second positive 45-degree strain gauge at a positive 45-degree angle to the shield axis of the shield machine, and a second negative 45-degree strain gauge at a negative 45-degree angle to the shield axis of the shield machine; The fourth strain gauge comprises: a fourth 0-degree strain gauge arranged along the shield axis of the shield machine, a fourth positive 45-degree strain gauge at a positive 45-degree angle with the shield axis of the shield machine, and a fourth negative 45-degree strain gauge at a negative 45-degree angle with the shield axis of the shield machine; The second 0-degree strain gauge and the fourth 0-degree strain gauge are electrically connected via a half-bridge circuit; the second positive 45-degree strain gauge, the second negative 45-degree strain gauge, the fourth positive 45-degree strain gauge and the fourth negative 45-degree strain gauge are electrically connected via a full-bridge circuit.

10. A shield machine key parameter analysis device, characterized in that: The shield machine key parameter analysis device comprises: a memory and at least one processor, wherein the memory stores instructions; At least one of the processors calls the instructions in the memory to enable the shield machine key parameter analysis device to perform each step of the shield machine key parameter analysis method as described in any one of claims 1-7.

11. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by the processor, the various steps of the shield machine key parameter analysis method as described in any one of claims 1-7 are implemented.

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