A shield tunneling axis trajectory planning method and system based on deviation correction capability constraint

Abstract

The present application belongs to the technical field of shield construction, and discloses a kind of trajectory planning method of shield tunneling axis based on rectification ability constraint, the present application is by the limit rectification torque that current can provide of push cylinder is substituted into the mechanical model in the process of shield machine tunneling, thus the minimum rectification radius under the constraint of mechanical level is calculated.Combining the minimum rectification radius of geometry level and mechanical level, the minimum rectification radius of shield machine at current position is obtained.The present application carries out trajectory planning based on rectification ability evaluation model, can adapt to trajectory rectification under various conditions, and the model simultaneously considers the constraint of geometry level and mechanical level to minimum rectification radius, and the minimum rectification radius obtained has high accuracy, provides reliable support for subsequent trajectory planning.At the same time, the present application can achieve continuous and smooth trajectory, continuous trajectory curvature and continuous curvature change rate by fitting five times polynomial curve, which meets the motion characteristics of shield machine and is easy to control rectification torque of push cylinder.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of shield construction, and particularly relates to a shield tunneling axis trajectory planning method and system based on correction capability constraint. BACKGROUND

[0002] Shield technology is a tunneling method with safety and high efficiency, small environmental impact, high applicability and high construction quality. With many advantages, this technology has been widely used in subway, railway, highway and water and electricity tunnel engineering. However, in the process of shield tunnel construction, because of the change of geological conditions, the complexity of construction environment and other factors, the shield tunneling trajectory often deviates from the design axis, and phenomena such as upward, head knocking, snake shape and horizontal deviation often occur. Such deviation not only causes tunnel overrun accidents, significantly reduces construction efficiency, but also leads to difficulties in segment assembly, damage and shield tail sealing failure, and even causes the abandonment of the formed tunnel, resulting in construction failure and huge economic losses.

[0003] In the existing shield trajectory correction planning method, some omit the trajectory planning part, directly control the tunneling parameters by analyzing the shield machine pose deviation, and make the shield machine return to the correct position. CN202111203818.X proposes a shield tunneling correction intelligent decision-making method based on reinforcement learning. The method establishes a shield correction decision-making model, and optimizes the final model through multi-round training in a simulation environment. However, the original training simulation environment is not suitable for all tunnels, and the geological conditions and other environmental factors of different tunnels are different. When this model is applied to new tunnel construction, a simulation environment needs to be rebuilt and the model needs to be retrained, which leads to the lack of universality and interpretability of this method. In other trajectory planning methods, the current correction capability of the shield machine needs to be comprehensively and accurately evaluated, but the existing methods only consider the geometric level (shield tail gap, push cylinder stroke difference, etc.) constraints on the correction capability, and ignore the mechanical level (limit correction torque) constraints on the correction capability, which will affect the accuracy of the current correction capability evaluation, and further blur the constraint conditions of the subsequent correction trajectory planning. At the same time, the correction curve mostly selects a combination of cubic polynomials or circular curves, which will lead to discontinuous curvature at the connection, which is not conducive to the control of the shield machine control cylinder, and will also cause a sudden change in centrifugal force in the tunneling process, affecting the quality of tunnel construction.

[0004] In view of the above problems, it is particularly important to invent a shield axis correction trajectory planning method with strong universality, smooth trajectory and meeting the motion characteristics of the shield machine.

[0005] Through the above analysis, the problems and defects of the prior art are:

[0006] The method using the model has low universality and needs to retrain the model in a new environment. The method using the correction curve has an unbalanced correction ability evaluation model, discontinuous trajectory curvature and low smoothness, and does not conform to the movement characteristics of the shield machine. SUMMARY

[0007] In view of the problems in the prior art, the present application provides a shield tunneling axis trajectory planning method based on correction ability constraint.

[0008] The present application is implemented as follows: a shield tunneling axis trajectory planning method based on correction ability constraint comprises the following steps:

[0009] S1, the minimum turning radius is used to evaluate the correction ability of the shield machine, the shield tail gap, the stroke difference of the propulsion oil cylinder and the related information of the articulated device are obtained, and the minimum correction radius under the geometric level constraint is calculated;

[0010] S2, the limit correction torque that the propulsion oil cylinder can currently provide is substituted into the mechanical model in the shield tunneling process, and the minimum correction radius under the mechanical level constraint is calculated;

[0011] S3, the minimum correction radius under the geometric level and the mechanical level is combined to obtain the minimum correction radius of the shield machine at the current position, which is used as the correction ability constraint for trajectory planning;

[0012] S4, the pose information of the shield machine at the current position is obtained, and the position information of the design axis DTA is obtained; the Frenet coordinate system is established with the design axis DTA as the reference line;

[0013] S5, trajectory planning is performed in the Frenet coordinate system, the current position of the shield machine is taken as the correction starting point, appropriate interval points are taken as the correction trajectory endpoints along the DTA, a quintic polynomial curve is used to fit the starting point and the endpoint to obtain a correction trajectory group; according to the minimum correction radius constraint, the first correction trajectory that meets the constraint is found along the tunneling direction, and the interval between the trajectory endpoint and the adjacent trajectory endpoint on the left is taken as a new planning interval, and the above steps are repeated to subdivide the interval until the final point is found;

[0014] S6, the correction trajectory corresponding to the final point is converted from the Frenet coordinate system to the rectangular coordinate system to obtain the shield axis correction trajectory.

[0015] Further, in the step S1, the geometric level constraint is divided into the shield tail gap, the stroke difference of the propulsion oil cylinder and the shield articulated device; the calculation process of the minimum correction radius R under the shield tail gap constraint is as follows: mj

[0016] ​

[0017] wherein R1 is the segment radius, δ is the tail gap, and l is the tail length;

[0018] Minimum correction radius R under the constraint of the difference in the stroke of the propulsion cylinder mF The calculation process is as follows:

[0019]

[0020] wherein R F is the installation radius of the cylinder, δ F is the maximum stroke difference of the propulsion cylinder, is the deflection angle of the center line of the cutter head when the propulsion cylinder is at the maximum stroke difference, and l s is the angle of rotation of the tunneling machine at the radius R mF is the distance advanced when the angle is .

[0021] Minimum correction radius R under the constraint of the hinged device mc The calculation process is as follows:

[0022]

[0023] wherein D is the diameter of the tunneling machine, (x H , y H ) are the coordinates of the tail point in the coordinate system established with the center of the cutter head as the origin;

[0024] The minimum correction radius under the constraint of the geometric level is obtained.

[0025] R jmin = max{R mj , R mc , R mF}.

[0026] Further, in the step S2, the constraint at the mechanical level is the limit correction torque that can be provided by the propulsion cylinder. The limit correction torque is brought into the mechanical model of the tunneling machine. In the mechanical model, the torque received by the tunneling machine is the resistance torque M D received by the cutter head during tunneling, the torque M RV of the surrounding soil, the gravity torque M G of the tunneling machine, and the correction torque T RV of the propulsion cylinder. The tunneling machine moves very slowly during tunneling, and the torques received by the tunneling machine can be considered to be in equilibrium. According to the formula:

[0027] M G + M D + M RV + T RV = 0

[0028] Thus, the minimum correction radius R under mechanical constraints is calculated. Lmin .

[0029] Furthermore, in step S3, the minimum correction radius r of the shield machine at the current position is the minimum correction radius R under the geometric level constraint. jmin and the minimum correction radius R under mechanical constraints Lmin The maximum value in, that is, r=max{R jmin ,R Lmin}, use r as a constraint to carry out the next step of trajectory planning.

[0030] Furthermore, in step S4, the position information of the shield machine at the current position specifically includes: the shield machine coordinates (x, y, z), the direction angle θ of the shield machine in the xoy plane, the direction angle θ in the xoz plane The current curvature κ of the shield machine's tunneling axis. The DTA's position information is the point obtained by discretizing the DTA at fixed mileage. The Frenet coordinate system is established by decoupling the three-dimensional space into the xoy and xoz planes, planning on these two planes, and using the projections of the DTA on these two planes as reference lines to establish the Frenet coordinate system.

[0031] Furthermore, in step S5, trajectory planning is performed in the Frenet coordinate system, and the current posture of the shield machine is projected from the Cartesian coordinate system to the Frenet coordinate system. The projection process is: [x, y, θ, κ] → [s0, l0, l0′, l0″],

[0032] Where s0 and l0 are coordinates in the Frenet coordinate system, l0′, l0″, l0″′ are the first-order derivative, second-order derivative, and third-order derivative of l0 with respect to s0; select a suitable interval along the excavation direction on the DTA, and select points with equal distances in the interval as the end points of the correction trajectory. Use a quintic polynomial curve to connect the current position of the shield machine [s0, l0, l0′, l0″] and the selected point [s1, l1, l1′, l1″] as the correction trajectory;

[0033] l(s)=a5s 5 +a4s 4 +a3s 3 +a2s 2 +a1s+a0

[0034] According to the starting and ending point information:

[0035]

[0036] The coefficients [a1, a2, a3, a4, a5] of the quintic polynomial can be solved, each taking point corresponds to a quintic polynomial curve, forming a group of correction trajectories; according to the minimum correction radius constraint, find the first trajectory that meets the constraint along the tunneling direction, take the interval between the trajectory endpoint and the left adjacent trajectory endpoint as the new planning interval, continue to take points at equal intervals as trajectory endpoints on the new planning interval, and repeat the above steps to continuously subdivide the interval until the final point is found;

[0037] In the step S6, the trajectory corresponding to the final point is converted from the Frenet coordinate system to the Cartesian coordinate system, and the shield axis correction trajectory is obtained.

[0038] Another object of the application is to provide a shield tunneling axis trajectory planning system based on correction ability constraint, comprising:

[0039] The calculation module is used for evaluating the correction ability of the shield machine with the minimum turning radius, obtaining the shield tail gap, the push cylinder stroke difference and the hinge device related information, and calculating the minimum correction radius under the geometric level constraint.

[0040] The substitution module is used for substituting the limit correction torque that can be provided by the push cylinder into the mechanical model in the shield tunneling process, and calculating the minimum correction radius under the mechanical level constraint.

[0041] The trajectory planning module is used for combining the minimum correction radii of the geometric level and the mechanical level, obtaining the minimum correction radius of the shield machine at the current position, and taking the minimum correction radius as the correction ability constraint to plan the trajectory.

[0042] The coordinate system establishment module is used for obtaining the pose information of the shield machine at the current position, obtaining the position information of the design axis DTA, and establishing the Frenet coordinate system with the design axis DTA as the reference line.

[0043] The fitting module is used for planning the trajectory in the Frenet coordinate system, taking the current position of the shield machine as the correction starting point, taking points at equal intervals in the appropriate interval along the DTA as the correction trajectory endpoints, using the quintic polynomial curve to fit the starting point and the endpoint, obtaining the correction trajectory group, finding the first correction trajectory that meets the constraint along the tunneling direction according to the minimum correction radius constraint, taking the interval between the trajectory endpoint and the left adjacent trajectory endpoint as the new planning interval, continuing to take points at equal intervals as trajectory endpoints on the new planning interval, and repeating the above steps to continuously subdivide the interval until the final point is found.

[0044] The conversion module is used for converting the correction trajectory corresponding to the final point from the Frenet coordinate system to the rectangular coordinate system, and obtaining the shield axis correction trajectory.

[0045] Another object of the present application is to provide a computer device comprising a memory and a processor, the memory storing a computer program, the computer program being executed by the processor to cause the processor to perform the steps of the method for shield tunneling axis trajectory planning based on deviation correction capability constraint.

[0046] Another object of the present application is to provide a computer readable storage medium storing a computer program, the computer program being executed by a processor to cause the processor to perform the steps of the method for shield tunneling axis trajectory planning based on deviation correction capability constraint.

[0047] Another object of the present application is to provide an information data processing terminal for implementing the system for shield tunneling axis trajectory planning based on deviation correction capability constraint.

[0048] In combination with the above technical solutions and the technical problems solved, the technical solutions to be protected by the present application have the following advantages and positive effects:

[0049] Firstly, the sampling shield machine deviation correction capability evaluation model of the present application calculates the deviation correction capability at the geometric level and the mechanical level, which is more accurate than the method of only considering the geometric level constraint in the past, so that the subsequent trajectory planning is more in line with the actual situation, and the situation that the shield machine cannot move forward according to the planned trajectory is prevented.

[0050] 1. The present application adopts a quintic polynomial curve for trajectory planning, which can adapt to trajectory deviation correction under various conditions.

[0051] 2. The present application adopts a quintic polynomial curve for trajectory planning, which can achieve continuous and smooth trajectory, continuous trajectory curvature, and continuous curvature change rate. It conforms to the motion characteristics of the shield machine and is easy to promote the cylinder control deviation torque following.

[0052] The present application establishes a Frenet coordinate system with DTA as a reference line, which can use longitudinal displacement and transverse displacement to represent the current position based on DTA, thereby reducing the complexity and difficulty of trajectory planning.

[0053] The optimal trajectory found by the present application is the trajectory that meets the minimum curvature radius requirement and has the least distance of the point back to DTA. Unlike the past evaluation standard of arc length, the present application uses the distance of the point back to DTA as the evaluation standard. The less the distance of the deviation trajectory projected onto DTA, the earlier the shield machine returns to DTA, and the higher the quality of the target project.

[0054] Secondly, it is also embodied in the following important aspects:

[0055] (1) The shield machine is affected by various environmental condition mutations during tunneling, which causes the tunneling direction of the shield machine to inevitably deviate from the DTA, and manual operation is usually required for correction. However, manual operation completely relies on proficiency and experience, and mistakes are inevitable, which may cause serious consequences. This limitation seriously affects the efficiency and safety of construction. The shield tunneling axis trajectory planning method based on correction ability constraint used in the present application effectively overcomes this challenge, ensures that a correction trajectory conforming to the motion characteristics of the shield machine can be planned in real time when the shield machine deviates from the DTA, and guides the shield machine to return to the DTA, thereby realizing the correction of the posture of the shield machine without manual control. This innovation not only improves the construction efficiency, but also enhances the safety of operation, thereby having significant economic value.

[0056] (2) The present application solves the problems of unreasonable correction ability evaluation of the shield machine and discontinuous curvature of the correction trajectory in the existing shield machine correction trajectory planning technology. In the current shield machine correction trajectory planning method, the constraint condition of the correction ability only considers the constraint under the geometric size, without considering the mechanical level constraint of the shield machine. In addition, the correction curve line shape used in the existing trajectory planning method adopts a cubic polynomial, a reverse double circular arc and the like, which will cause the curvature to be discontinuous at the connection points such as the start point.

[0057] The present application establishes a mechanical model of the shield machine, analyzes the constraints of the correction ability of the shield machine at the mechanical level, and accurately calculates the minimum turning radius of the shield machine under the mechanical constraint.

[0058] In addition, the present application uses a quintic polynomial curve as the correction line shape, which ensures that the curvature is continuous everywhere on the entire correction trajectory. BRIEF DESCRIPTION OF DRAWINGS

[0059] Figure 1 is a flow chart of the shield tunneling axis trajectory planning method based on correction ability constraint provided by the embodiment of the present application.

[0060] Figure 2 is a structural block diagram of the shield tunneling axis trajectory planning system based on correction ability constraint provided by the embodiment of the present application.

[0061] Figure 3 is a schematic diagram of the conversion of the rectangular coordinate system to the Frenet coordinate system provided by the embodiment of the present application.

[0062] Figure 4 is a schematic diagram of the correction trajectory group generated under the Frenet coordinate system provided by the embodiment of the present application.

[0063] Figure 5 is a schematic diagram of the trajectory group screening and transition interval determination under the Frenet coordinate system provided by the embodiment of the present application.

[0064] Figure 6 is the optimal trajectory schematic diagram provided by the embodiment of the present application.

[0065] Figure 7 The effect diagram compared with manual correction of the embodiment of the present application. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0067] As shown in Figure 1 The shield tunneling axis trajectory planning method based on correction ability constraint provided by the embodiment of the present application comprises the following steps:

[0068] S1, the minimum turning radius is used to evaluate the correction ability of the shield machine, the shield tail gap, the push cylinder stroke difference and the hinge device related information of the shield machine are obtained, and the minimum correction radius under the geometric level constraint is calculated;

[0069] S2, the limit correction torque currently provided by the push cylinder is substituted into the mechanical model in the shield tunneling process, and the minimum correction radius under the mechanical level constraint is calculated;

[0070] S3, the minimum correction radius under the geometric level and the mechanical level is combined to obtain the minimum correction radius of the shield machine at the current position, which is used as the correction ability constraint for trajectory planning;

[0071] S4, the pose information of the shield machine at the current position is obtained, and the position information of the design axis DTA is obtained; the Frenet coordinate system is established with the design axis DTA as the reference line;

[0072] S5, trajectory planning is performed in the Frenet coordinate system, the current position of the shield machine is taken as the correction starting point, appropriate interval equidistant points are taken along the DTA as the correction trajectory endpoints, a quintic polynomial curve is used to fit the starting point and the endpoint to obtain a correction trajectory group; according to the minimum correction radius constraint, the first correction trajectory satisfying the constraint is found along the tunneling direction, and the interval between the trajectory endpoint and the adjacent trajectory endpoint on the left is taken as a new planning interval, and the above steps are repeated to continue to take equidistant points as trajectory endpoints in the new planning interval until the final taking point is found;

[0073] S6, the correction trajectory corresponding to the final taking point is converted from the Frenet coordinate system to the rectangular coordinate system to obtain the shield axis correction trajectory.

[0074] The deviation correction capability of a shield machine is constrained by geometric and mechanical aspects. In the geometric aspect, the minimum turning radius that the shield machine can achieve is determined by calculating the shield tail gap, the stroke difference of the thrust cylinder, and the relevant parameters of the articulated device. This minimum turning radius defines the minimum trajectory bending capability that the shield machine can achieve under geometric conditions. In the mechanical aspect, the minimum deviation correction radius that the shield machine can achieve during tunneling is calculated by establishing a mechanical model of the shield machine and substituting the limit deviation correction torque provided by the thrust cylinder. These two constraints together determine the minimum deviation correction radius at the current tunneling position of the shield machine, thereby defining the deviation correction capability of the shield machine.

[0075] Based on the minimum deviation correction radius in the geometric and mechanical aspects, and combined with the pose of the current position of the shield machine and the position information of the design axis DTA, a Frenet coordinate system is established around the design axis DTA. The trajectory planning starts from the current position of the shield machine (the starting point of deviation correction), takes equally spaced points along the DTA direction as the end points of the deviation correction trajectory, and uses a quintic polynomial curve to fit the path between the starting point and the end point to generate a group of candidate trajectory paths. Among the generated deviation correction trajectories, each trajectory is checked to see if it meets the current minimum deviation correction radius constraint, and the trajectory that first meets the constraint is selected.

[0076] For the group of trajectories that meet the deviation correction radius constraint, the end point of the trajectory that meets the constraint is selected, and an interval is formed between it and the end point of the adjacent trajectory on its left. The interval is further subdivided to take points at equal intervals, and new deviation correction trajectories are recalculated. The same screening method is used to find a more accurate trajectory end point. By gradually narrowing the planning interval and subdividing the trajectory end point, the final deviation correction trajectory is calculated through repeated iterations to ensure that the trajectory meets the deviation correction radius constraint while achieving the minimum trajectory deviation.

[0077] The finally selected deviation correction trajectory is represented in the Frenet coordinate system to facilitate optimization relative to the design axis. However, to implement actual tunneling control, the final trajectory needs to be converted from the Frenet coordinate system to the Cartesian coordinate system. The shield axis deviation correction trajectory obtained after conversion can be directly used to guide the tunneling operation of the shield machine, ensuring that the shield machine deviates along the optimized trajectory, improving the tunneling accuracy and reducing the construction risk.

[0078] In step S1 provided by the embodiment of the present application, the geometric aspect constraints include the shield tail gap, the stroke difference of the thrust cylinder, and the shield articulated device; and the calculation process of the minimum deviation correction radius R mj under the shield tail gap constraint is as follows:

[0079]

[0080] wherein R1 is the segment radius, δ is the shield tail gap, and l is the length of the shield tail portion.

[0081] Minimum deviation radius R under constraint of difference in stroke of propulsion oil cylinder mF The calculation process is as follows:

[0082]

[0083] Wherein, R F is the installation radius of the oil cylinder, δ F is the maximum stroke difference of the propulsion oil cylinder, is the deflection angle of the center line of the cutter head when the propulsion oil cylinder is at the maximum stroke difference, and l s is the distance advanced by the TBM when the TBM rotates at the radius R mF .

[0084] Minimum deviation radius R under constraint of hinged device mc The calculation process is as follows:

[0085]

[0086] Wherein, D is the diameter of the TBM, (x H , y H ) are the coordinates of the shield tail point in the coordinate system established with the center of the cutter head as the origin;

[0087] The minimum deviation radius under the constraint of the geometric level is obtained.

[0088] R jmin = max{R mj , R mc , R mF}.

[0089] In step S2 provided by the embodiment of the application, the constraint of the mechanical level is the limit deviation torque that can be provided by the propulsion oil cylinder, and the limit deviation torque is brought into the mechanical model of the TBM. In the mechanical model, the torque borne by the TBM is the resistance torque M D borne by the cutter head during tunneling, the torque M RV borne by the surrounding soil, the gravity torque M G of the TBM, and the deviation torque T RV of the propulsion oil cylinder. The TBM moves very slowly during tunneling, and the torque borne by the TBM can be regarded as balanced. According to the formula:

[0090] M G + M D + M RV + T RV = 0

[0091] Thus, the minimum deviation radius R Lmin under the constraint of the mechanical level is calculated.

[0092] ​The minimum deviation radius r of the current position of the shield tunneling machine in step S3 provided by the embodiment of the present application is the maximum value of the minimum deviation radius R under the geometric plane constraint and the minimum deviation radius R under the mechanical plane constraint, that is, r = max{R jmin ,R Lmin} and r is taken as a constraint for the next trajectory planning. jmin Lmin

[0093] The pose information of the current position of the shield tunneling machine in step S4 provided by the embodiment of the present application specifically includes: the coordinates (x, y, z) of the shield tunneling machine, the direction angle θ of the shield tunneling machine in the xoy plane, the direction angle of the shield tunneling machine in the xoz plane, and the current curvature κ of the tunneling axis of the shield tunneling machine; the position information of the DTA is obtained by discretizing the DTA according to a fixed mileage; the establishment of the Frenet coordinate system is to decouple the three-dimensional space into the xoy and xoz planes, and to plan in the two planes, and to take the projection of the DTA in the two planes as a reference line to establish the Frenet coordinate system.

[0094] In step S5 provided by the embodiment of the present application, the trajectory planning is performed in the Frenet coordinate system, the current pose of the shield tunneling machine is projected from the Cartesian coordinate system to the Frenet coordinate system, and the projection process is: [x, y, θ, κ]→[s0, l0, l0′, l0″],

[0095] wherein s0 and l0 are the coordinates in the Frenet coordinate system, l0′, l0″ and l0″′ are the first derivative, the second derivative and the third derivative of l0 with respect to s0; a suitable interval is taken along the tunneling direction on the DTA, points are taken at equal distances in the interval as deviation trajectory endpoints, and a quintic polynomial curve is used to connect the current position [s0, l0, l0′, l0″] of the shield tunneling machine and the taken points [s1, l1, l1′, l1″] as the deviation trajectory;

[0096] l(s) = a5s 5 +a4s 4 +a3s 3 +a2s 2 +a1s+a0

[0097] According to the start and end point information, we have:

[0098]

[0099] ​​The coefficients [a1, a2, a3, a4, a5] of the quintic polynomial can be solved, each taking point corresponds to a quintic polynomial curve, forming a group of correction trajectories; according to the minimum correction radius constraint, find the first correction trajectory that meets the constraint along the tunneling direction, take the interval between the trajectory endpoint and the left adjacent trajectory endpoint as the new planning interval, continue to take points at equal intervals as trajectory endpoints on the new planning interval, and repeat the above steps to continuously subdivide the interval until the final point is found;

[0100] In the step S6, the trajectory corresponding to the final point is converted from the Frenet coordinate system to the Cartesian coordinate system to obtain the shield axis correction trajectory; the trajectory is the trajectory with the smallest mileage on the DTA that meets the minimum correction radius constraint of the shield tunneling machine.

[0101] As shown in Figure 2 The trajectory planning system for shield tunneling axis based on correction ability constraint provided by the embodiment of the application comprises:

[0102] The calculation module is used to evaluate the correction ability of the shield tunneling machine with the minimum turning radius, obtain the shield tail gap, the stroke difference of the propulsion cylinder, and the related information of the articulated device, and thus calculate the minimum correction radius under the geometric level constraint;

[0103] The substitution module is used to substitute the limit correction torque that can be provided by the propulsion cylinder into the mechanical model in the shield tunneling process, and thus calculate the minimum correction radius under the mechanical level constraint;

[0104] The trajectory planning module is used to combine the minimum correction radii under the geometric level and the mechanical level, obtain the minimum correction radius of the shield tunneling machine at the current position, and take the minimum correction radius as the correction ability constraint to plan the trajectory;

[0105] The coordinate system establishment module is used to obtain the pose information of the shield tunneling machine at the current position, obtain the position information of the design axis DTA, and establish the Frenet coordinate system with the design axis DTA as the reference line;

[0106] The fitting module is used to plan the trajectory in the Frenet coordinate system, take the current position of the shield tunneling machine as the correction starting point, take points at equal intervals in the appropriate interval along the DTA as the correction trajectory endpoints, use the quintic polynomial curve to fit the starting point and the endpoint, obtain the correction trajectory group, find the first correction trajectory that meets the constraint along the tunneling direction according to the minimum correction radius constraint, take the interval between the trajectory endpoint and the left adjacent trajectory endpoint as the new planning interval, continue to take points at equal intervals as trajectory endpoints on the new planning interval, and repeat the above steps to continuously subdivide the interval until the final point is found.

[0107] A conversion module is configured to convert the deviation trajectory corresponding to the final sampling point from the Frenet coordinate system to the rectangular coordinate system to obtain the shield axis deviation trajectory.

[0108] Another object of the present application is to provide a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the computer program is executed by the processor to enable the processor to perform the steps of the shield tunneling axis trajectory planning method based on the deviation correction capability constraint.

[0109] Another object of the present application is to provide a computer readable storage medium storing a computer program, and the computer program is executed by a processor to enable the processor to perform the steps of the shield tunneling axis trajectory planning method based on the deviation correction capability constraint.

[0110] Another object of the present application is to provide an information data processing terminal for implementing the shield tunneling axis trajectory planning system based on the deviation correction capability constraint.

[0111] The present application is embodied as follows:

[0112] Embodiment 1: In a certain tunneling project, the shield machine deviates from the DTA, and the shield axis needs to be corrected.

[0113] According to the method flowchart, the specific steps are as follows:

[0114] S1, the deviation correction capability of the shield machine is evaluated by the minimum turning radius, the shield tail gap, the push cylinder stroke difference, and the hinge device related information are obtained, and the minimum deviation radius under the geometric level constraint is calculated.

[0115] S2, the minimum deviation radius under the mechanical level constraint is calculated by substituting the limit deviation torque that the push cylinder can currently provide into the mechanical model in the shield tunneling process.

[0116] S3, the minimum deviation radius of the shield machine at the current position is obtained by combining the minimum deviation radii of the geometric level and the mechanical level, and is used as the deviation correction capability constraint for trajectory planning.

[0117] S4, the pose information of the shield machine at the current position is obtained, and the position information of the design axis DTA is obtained. The Frenet coordinate system is established with the design axis DTA as the reference line.

[0118] As Figure 4As shown, S5, trajectory planning is performed in the Frenet coordinate system, taking the current position of the shield machine as the deviation correction starting point, taking the points in the appropriate interval along the DTA as the deviation correction trajectory endpoints, using a quintic polynomial curve to fit the starting point and the endpoint to obtain a group of deviation correction trajectories. According to the minimum deviation correction radius constraint, find the first trajectory that meets the constraint along the tunneling direction, and take the interval between the trajectory endpoint and the adjacent trajectory endpoint on the left as the new planning interval, and continue to take points as trajectory endpoints in the new planning interval to repeat the above steps to subdivide the interval until the final point is found.

[0119] As shown, S6, the deviation correction trajectory corresponding to the final point is converted from the Frenet coordinate system to the rectangular coordinate system to obtain the shield axis deviation correction trajectory. Figure 3

[0120] In step S1, the minimum shield tail gap δ is 20 cm, the segment width B is 2 m, the shield tail length l is 3 m, and the segment radius R1 is 14.8 m. According to the formula:

[0121]

[0122] The minimum deviation correction radius R under the shield tail gap constraint is calculated as 239 m. mj

[0123] The maximum cylinder stroke difference δ is 0.1 m, the shield machine rotation angle θ is 1 radian, the forward arc length l is 1 m, and the cylinder installation radius R is 14.6 m. According to the formula: F s F

[0124]

[0125] The minimum deviation correction radius R under the cylinder stroke difference constraint is calculated as 292 m. mF

[0126] The shield machine has no hinge device, the shield machine length L0 is 80 m, the single forward tunneling stroke S of the shield machine is 2 m, and the maximum lateral displacement δ of one tunneling stroke is 10 m. According to the formula:

[0127]

[0128] The minimum deviation correction radius R under the no hinge constraint is calculated as 355 m. The minimum deviation correction radius R in the geometric level is: mc jmin = max{R mj ,R mF ,R mc} = 355 m.

[0129] ​​​​​​​​Wherein, in step S2, according to the mechanical model of the shield machine, the resistance torque M D , the torque of the surrounding soil force M RV , the torque of the gravity of the shield machine M G , the torque T of the deviation correction of the thrust cylinder RV According to the formula:

[0130] M D +M RV +M G +T RV = 0

[0131] Thus, the minimum deviation radius R under the constraint of the mechanical level is calculated Lmin is 245 meters.

[0132] Wherein, in step S3, the minimum deviation radius under the constraint of the mechanical level and the geometric level can obtain the minimum deviation radius r of the shield machine as 355 meters. Provide constraints for the subsequent trajectory planning.

[0133] Wherein, in step S4, the pose information of the current position of the shield machine specifically includes: the shield machine coordinates (0, 0.05, 0.05) unit m, the direction angle of the shield machine in the xoy plane θ = 1.5°, the direction angle of the shield machine in the xoz plane The current curvature of the shield machine excavation axis κ = 1 / 500 m. The DTA is a straight line segment, and the direction is along the x-axis direction. Decouple the three-dimensional space into the xoy and xoz planes, first plan in the xoy plane, use the DTA as the reference line in the Frenet coordinate system, convert the shield machine pose information from the Cartesian coordinate system to the Frenet coordinate system, and the conversion process is:

[0134] [x, y, θ, κ]→[s0, l0, l0', l0"]

[0135] [s0, l0, l0', l0"] = [0, 0.05, 0, 0]

[0136] Wherein x, y are the coordinates of the shield machine in the xoy plane, θ is the direction angle of the shield machine in the xoy plane, κ is the current curvature of the actual excavation axis of the shield machine, s0 is the horizontal coordinate of the shield machine in the Frenet coordinate system, which is also the mileage coordinate, l0 is the vertical coordinate of the Frenet coordinate system, that is, the distance from the point to the DTA, l'0 is the derivative of l0 to s0, and l"0 is the second derivative of l0 to s0.

[0137] Similarly, plan in the xoz plane and establish the Frenet coordinate system. The pose information of the shield machine in the Frenet coordinate system is:

[0138] [x, z, θ, κ]→[s0, l0, l'0, l"0]

[0139] [s0,l0,l′0,l″0]=[0,0.05,0,0]

[0140] As shown in Figure 5 , wherein, in step S5, in the Frenet coordinate system, an interval of 6m to 26m is taken along the S axis to the DTA excavation direction, ten points are taken at equal intervals in the interval, and a quintic polynomial curve is used to connect the current position [s0, l0, l0', l0"] of the shield machine and the points [s1, l1, l1', l1"] as the correction trajectory. Let the expression of the quintic polynomial curve be:

[0141] l(s)=a5s 5 +a4s 4 +a3s 3 +a2s 2 +a1s+a0

[0142] According to the start and end point information:

[0143]

[0144] The coefficients [a1, a2, a3, a4, a5] of the quintic polynomial can be solved, each point corresponds to a quintic polynomial curve, forming a correction trajectory group. Given that the minimum correction radius of the shield machine is 355m, in the correction trajectory group, according to the minimum correction radius constraint, find the first correction trajectory that meets the constraint along the excavation direction, and take the interval between the end point of the trajectory and the end point of the adjacent trajectory to the left as the new planning interval, and continue to take points at equal intervals as the end point of the trajectory in the new planning interval to repeat the above steps to subdivide the interval until the final point is found.

[0145] According to the above scheme, in step S6, the correction trajectory corresponding to the final point is converted from the Frenet coordinate system to the rectangular coordinate system, and the shield axis correction trajectory is obtained as shown in Figure 6 .

[0146] I. The specific application field or related product of the present application.

[0147] The present application is applied to Chongtai Tunnel, Jinwei Tunnel, and Tongsu Jiayang Tunnel construction sites. The trajectory correction software is integrated on the jetson nano ai embedded development board. The development board reads the shield machine pose and DTA related information, calculates the optimal correction trajectory, and transmits the trajectory information to the shield propulsion system to guide the shield machine back to the DTA. The whole process does not require manual assistance, realizes the automatic driving of the shield machine, greatly improves the construction safety and work efficiency, and saves about 10% of the operation cost.

[0148] II. Related evidence of the technical effects obtained by the embodiment of the present application.

[0149] In the construction site, for different deviation cases, the deviation correction algorithm is used to obtain the deviation correction information table and the deviation correction trajectory as follows:

[0150]

[0151] Figure 7 As shown, compared with manual deviation correction, the length of the deviation correction trajectory planned by the application is reduced by about one tenth.

[0152] It should be noted that the embodiments of the application can be realized by hardware, software or a combination of software and hardware. The hardware part can be realized by special logic; the software part can be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or a specially designed hardware. Those skilled in the art can understand that the above-mentioned devices and methods can be realized by computer executable instructions and / or included in processor control code, such as carrier media, such as magnetic disk, CD or DVD-ROM, programmable memory, such as read-only memory (firmware), or data carrier, such as optical or electronic signal carrier. The device and its modules of the application can be realized by hardware circuit, such as ultra-large scale integrated circuit or gate array, semiconductor, such as logic chip, transistor, etc., or programmable hardware device, such as field programmable gate array, programmable logic device, etc., or by software executed by various types of processors, or by a combination of the above-mentioned hardware circuit and software, such as firmware.

[0153] The above is only a specific embodiment of the application, but the protection scope of the application is not limited to this. Any modification, equivalent replacement and improvement made by those skilled in the art within the technical range disclosed by the application, as long as it is within the spirit and principle of the application, should be covered within the protection scope of the application.

Claims

1. A shield tunneling axis trajectory planning method based on deviation correction capability constraint, characterized in that: The following steps are involved: S1. Evaluate the shield machine's deviation correction capability using the minimum turning radius. Obtain information about the shield machine's tail clearance, thrust cylinder stroke difference, and articulation device, and calculate the minimum deviation correction radius under geometric constraints. S2. Substituting the current limit correction torque that the propulsion cylinder can provide into the mechanical model of the shield machine during tunneling, the minimum correction radius under mechanical constraints is calculated; S3. Combining the minimum correction radius at the geometric and mechanical levels, the minimum correction radius of the shield machine at the current position is obtained, and this is used as a correction capability constraint for trajectory planning. S4. Obtain the posture information of the shield machine at the current position and obtain the position information of the design axis DTA; Establish the Frenet coordinate system with the design axis DTA as the reference line; S5. Perform trajectory planning in the Frenet coordinate system. Take the current position of the shield machine as the correction starting point. Select points at equal distances along the DTA as the correction trajectory endpoints. Use a quintic polynomial curve to fit the start and end points to obtain a correction trajectory group. Based on the minimum correction radius constraint, find the correction trajectory that first meets the constraint along the excavation direction. Use the interval between the endpoint of this trajectory and the endpoint of the adjacent trajectory on the left as the new planning interval. Continue to select points at equal distances in the new planning interval as the trajectory endpoints. Repeat the above steps and continuously subdivide the interval until the final point is found. S6. Convert the deviation correction trajectory corresponding to the final point from the Frenet coordinate system to the rectangular coordinate system to obtain the shield axis deviation correction trajectory.

2. The shield tunneling axis trajectory planning method based on deviation correction capability constraint according to claim 1 is characterized in that: In step S1, the geometric constraints are divided into shield tail gap, propulsion cylinder stroke difference, and shield articulation device; the minimum correction radius R under the shield tail gap constraint mj The calculation process is: Where R1 is the segment radius, δ is the shield tail gap, and l is the length of the shield tail; Minimum correction radius R under the constraint of propulsion cylinder stroke difference mF The calculation process is: where R F is the cylinder installation radius, δ F is the maximum stroke difference of the propulsion cylinder, is the deflection angle of the cutter head centerline when the propulsion cylinder is at its maximum stroke difference, l s The shield machine has a radius R mF The rotation angle is The distance traveled; Minimum correction radius R under the constraint of the articulated device mc The calculation process is: Where D is the diameter of the shield machine, (x H ,y H ) is the coordinate of the shield tail point in the coordinate system established with the cutterhead center as the origin; Then obtain the minimum correction radius under geometric constraints; R jmin =max{R mj ,R mc ,R mF }。 3. The shield tunneling axis trajectory planning method based on deviation correction capability constraint according to claim 1 is characterized in that: In step S2, the mechanical constraint is the limit correction torque that the propulsion cylinder can provide. The limit correction torque is introduced into the mechanical model of the shield machine. In the mechanical model, the torque on the shield machine is the resistance torque M of the cutterhead. D , the force and moment of the surrounding soil M RV , shield machine gravity moment M G , Propulsion cylinder correction torque T RV , according to the formula: M G +M D +M RV +T RV =0 Thus, the minimum correction radius R under mechanical constraints is calculated. Lmin .

4. The shield tunneling axis trajectory planning method based on deviation correction capability constraint according to claim 1 is characterized in that: In step S3, the minimum correction radius r of the shield machine at the current position is the minimum correction radius R under the geometric level constraint. jmin and the minimum correction radius R under mechanical constraints Lmin The maximum value in, that is, r=max{R jmin ,R Lmin }, use r as a constraint to carry out the next step of trajectory planning.

5. The shield tunneling axis trajectory planning method based on deviation correction capability constraint as claimed in claim 1, characterized in that: In step S4, the position information of the current position of the shield machine specifically includes: the shield machine coordinates (x, y, z), the direction angle θ of the shield machine in the xoy plane, the direction angle θ in the xoz plane The current curvature κ of the shield machine's tunneling axis. The DTA's position information is the point obtained by discretizing the DTA at fixed mileage. The Frenet coordinate system is established by decoupling the three-dimensional space into the xoy and xoz planes, planning on these two planes, and using the projections of the DTA on these two planes as reference lines to establish the Frenet coordinate system.

6. The shield tunneling axis trajectory planning method based on deviation correction capability constraint according to claim 1 is characterized in that: In step S5, trajectory planning is performed in the Frenet coordinate system, and the current posture of the shield machine is projected from the Cartesian coordinate system to the Frenet coordinate system. The projection process is: [x, y, θ, κ]→[s0, l0, l′0, l″0], where x and y are the coordinates of the shield machine in the xoy plane, θ is the direction angle of the shield machine in the xoy plane, κ is the current curvature of the actual excavation axis of the shield machine, and s0 is the horizontal position of the shield machine in the Frenet coordinate system. The mark is also the mileage coordinate, l0 is the ordinate in the Frenet coordinate system, that is, the distance from the point to the DTA, l′0 is the derivative of l0 with respect to s0, and l″0 is the second-order derivative of l0 with respect to s0. On the DTA, a suitable interval is selected along the excavation direction, and points with equal distances in this interval are selected as the end points of the correction trajectory. The current position of the shield machine [s0, l0, l′0, l″0] and the selected point [s1, l1, l1′, l1″] are connected with a quintic polynomial curve as the correction trajectory. l(s)=a5s 5 +a4s 4 +a3s 3 +a2s 2 +a1s+a0 According to the starting and ending point information: The coefficients of the quintic polynomial [a1, a2, a3, a4, a5] can be solved. Each point corresponds to a quintic polynomial curve, forming a correction trajectory group. Based on the minimum correction radius constraint, the correction trajectory that first meets the constraint is found along the excavation direction. The interval between the end point of this trajectory and the end point of the adjacent trajectory on the left is used as the new planning interval. In the new planning interval, points with equal distances are continued to be selected as the trajectory end points. The above steps are repeated to continuously subdivide the interval until the final point is found. In step S6, the trajectory corresponding to the final point is converted from the Frenet coordinate system to the Cartesian coordinate system to obtain the shield axis correction trajectory; this trajectory is the trajectory with the minimum mileage projected on the DTA that meets the minimum correction radius constraint of the shield machine.

7. A shield tunneling axis trajectory planning system based on deviation correction capability constraint, which implements the shield tunneling axis trajectory planning method based on deviation correction capability constraint as described in any one of claims 1 to 6, characterized in that: The shield tunneling axis trajectory planning system based on deviation correction capability constraint includes: The calculation module is used to evaluate the shield machine's deviation correction capability based on the minimum turning radius. It obtains information related to the shield tail gap, thrust cylinder stroke difference, and articulation device, and thus calculates the minimum deviation correction radius under geometric constraints. The substitution module is used to substitute the current limit correction torque that the propulsion cylinder can provide into the mechanical model of the shield machine during excavation, thereby calculating the minimum correction radius under the mechanical constraints; The trajectory planning module is used to combine the minimum correction radius at the geometric and mechanical levels to obtain the minimum correction radius of the shield machine at the current position, and use it as a correction capability constraint for trajectory planning; The coordinate system establishment module is used to obtain the posture information of the shield machine at its current position and the position information of the design axis DTA; and to establish the Frenet coordinate system with the design axis DTA as the reference line; The fitting module is used to perform trajectory planning in the Frenet coordinate system. The current position of the shield machine is used as the correction starting point. Points with equal distances are selected along the DTA as the correction trajectory endpoints. The starting and end points are fitted with a quintic polynomial curve to obtain a correction trajectory group. Based on the minimum correction radius constraint, the correction trajectory that first meets the constraint is found along the excavation direction. The interval between the trajectory endpoint and the adjacent trajectory endpoint on the left is used as the new planning interval. Points with equal distances are selected in the new planning interval as the trajectory endpoints. The above steps are repeated to continuously subdivide the interval until the final point is found. The conversion module is used to convert the correction trajectory corresponding to the final point from the Frenet coordinate system to the rectangular coordinate system to obtain the shield axis correction trajectory.

8. A computer device, characterized in that: The computer device includes a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the shield tunneling axis trajectory planning method based on correction capability constraints as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor executes the steps of the shield tunneling axis trajectory planning method based on correction capability constraint as described in any one of claims 1 to 6.

10. An information data processing terminal, characterized in that: The information data processing terminal is used to implement the shield tunneling axis trajectory planning system based on correction capability constraints as described in claim 7.

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