A system and method for visualizing the state of slag in a shield sealed cabin

Abstract

The present invention provides a system and method for visualizing the state of slag in a shield sealed cabin, which relates to the technical field of tunnel engineering, and comprises: a shield sealed cabin, a front baffle, a rear baffle, a shield cutter head, an electric drive system, a pressurizing device, and a data acquisition and visualization system; wherein a detection sensor is arranged on the inner side of the rear baffle for real-time acquisition of the state of slag and environmental parameters in the shield sealed cabin; the electric drive system is connected to the shield cutter head through a connecting rod; stirring rods are installed on the shield cutter head, the stirring rods are asymmetrically arranged on the back of the shield cutter head and are distributed in a scattered manner, and the distance between the stirring rods increases in a gradient manner; the stirring rods have built-in radiation sources and radiation detectors; the pressurizing device is installed on the outer side of the rear baffle; the data acquisition and visualization system is connected to the electric drive system and the detection sensor; the present invention can simulate slag under different working conditions, observe and evaluate the slag improvement effect in real time, and effectively enhance the detection accuracy of slag density.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel engineering, and in particular to a system and method for visualizing the state of slag in a shield sealed cabin. Background Art

[0002] Shield construction technology is one of the important means of modern underground engineering construction. It is of great significance to optimize the utilization of urban underground space, improve the efficiency of infrastructure construction, reduce interference with ground traffic and the environment, and ensure the safety of the construction process.

[0003] In shield tunnel construction, the control of soil compartment pressure is particularly critical. Changes in the state of the slag will directly affect the pressure of the soil compartment. If the slag is not improved properly, it may cause stratum disturbance, resulting in uneven settlement or uplift of the soil around the tunnel, thus affecting the stability of the tunnel structure. Therefore, the use of visualization methods to monitor and analyze the state of the slag in the soil compartment in real time can help to more accurately evaluate the soil behavior and optimize the construction parameters, thereby improving the safety and controllability of shield tunneling.

[0004] At present, there are many technologies and methods for visualizing the state of slag in the soil compartment, mainly used to evaluate the key parameters of slag such as density, water content, and pressure distribution. For example, by installing a three-dimensional laser scanning device on the belt conveyor, the three-dimensional morphology of the slag can be collected and reconstructed in real time. However, this method cannot dynamically monitor the changes of slag inside the soil compartment, and is limited by the resolution and scanning frequency of the equipment, making it difficult to accurately capture the subtle changes of the slag. CT imaging technology can generate cross-sectional images inside the slag, help analyze the density and pore structure of the slag, and provide detailed information on the state of the slag. This technology is often used in laboratory research, and high-precision scanning equipment is used to obtain the changes in the state of slag under different pressures and water contents. However, the equipment is large and expensive, and it is difficult to be widely used in the visualization of slag state. In addition, resistance imaging technology, ultrasonic detection technology, etc. have also been applied to slag state analysis. However, the complexity of the internal environment of the soil compartment makes these methods susceptible to interference in practical applications, the signal attenuation is relatively serious, and it is impossible to achieve multi-parameter comprehensive visualization analysis, and it is difficult to dynamically simulate the evolution of the slag state in actual excavation conditions.

[0005] Regarding the above-mentioned related technologies, there are problems such as the existing visualization system and usage method of the debris status in the shield sealed cabin, which has a single test method, high requirements for the working environment, delayed analysis results, and lack of multi-parameter comprehensive visualization analysis methods. Summary of the invention

[0006] In view of the above technical problems in the related art, the present invention proposes a system and method for visualizing the status of slag in a shield sealed cabin.

[0007] In the first aspect, the present invention provides a visualization system for the state of slag in a shield sealed cabin, comprising a shield sealed cabin 1, a baffle 2, wherein the baffle 2 comprises a rear baffle 21 and a front baffle 22, a shield cutter head 3, an electric drive system 4, a pressurizing device 5, and a data acquisition and visualization system 6; wherein the top of the shield sealed cabin 1 is provided with a filling port 12, and the bottom is provided with a soil taking port A11; a detection sensor is provided on the inner side of the rear baffle 21 for real-time collection of the state of slag and environmental parameters in the shield sealed cabin 1; the shield cutter head 3 is arranged on the top of the shield sealed cabin 1 The electric drive system 4 is used to drive the shield cutter head 3; a plurality of stirring rods are installed on the shield cutter head 3, and the stirring rods are asymmetrically arranged on the back of the shield cutter head 3 and are scattered, and the distance between the stirring rods increases in a gradient; the stirring rods have a built-in radiation source 35 or a radiation detector 36; the pressurizing device 5 is installed on the outside of the rear baffle 21; the data acquisition and visualization system 6 is connected to the electric drive system 4 and the detection sensor; the detection sensor includes a particle moisture meter 212, an earth pressure box 213, a pore pressure gauge 214 and a barometer 215;

[0008] The rotation speed of the electric drive system 4 can be adjusted, and can control the closing and opening of the shutter of the radiation source 35 and the particle moisture meter 212; the high-pressure gas input by the pressurizing device 5 enters the shield sealed cabin 1 at a constant air pressure to adjust the internal pressure of the shield sealed cabin 1; the data acquisition and visualization system 6 is arranged outside the shield sealed cabin 1, and collects the slag status and environmental parameters in the shield sealed cabin 1 at preset time intervals, and the collected data results are visualized in the form of charts, and the slag density is calculated based on the collected data.

[0009] Specifically, the stirring rods are arranged on the back of the shield cutter disc 3, and there are four of them, namely the first stirring rod 31, the second stirring rod 32, the third stirring rod 33 and the fourth stirring rod 34. When the shield cutter disc 3 rotates, the soil in the cabin is stirred by the stirring rods on the back of the shield cutter disc 3. Space is reserved inside the stirring rods to assist in the installation of a radiation source 35 and a radiation detector 36, which are both electrically connected to the electric drive system 4 and are used to measure the density of the slag in the shield sealed cabin 1; the stirring rods are arranged asymmetrically and distributed in a scattered manner. The four stirring rods are located at different positions on the back of the shield cutter disc 3, and the distance between the first stirring rod 31 and the second stirring rod 32, the third stirring rod 33 and the fourth stirring rod 34 increases in a gradient manner.

[0010] Specifically, a radiation source 35 is installed in the first stirring rod 31, and radiation detectors 36 are installed in the second stirring rod 32, the third stirring rod 33 and the fourth stirring rod 34;

[0011] Specifically, the radiation source 35 is composed of an isotope source, a shielding container and a shutter assembly, and is installed in the first stirring rod 31; when the shutter is closed, the radiation is completely isolated; after the shutter is opened, the radiation is emitted to the radiation detectors 36 installed in the second stirring rod 32, the third stirring rod 33 and the fourth stirring rod 34.

[0012] The stirring rods of the present invention have built-in radiation sources or radiation detectors, which are asymmetrically arranged on the back of the shield cutter head in a scattered distribution, and the distance between the stirring rods increases in a gradient manner. The beneficial effects are:

[0013] 1) Optimize the mixing effect: The distance increases in a gradient manner so that the mixing rod can grade the soil at different positions in the cabin. This design can effectively improve the uniformity of soil mixing and reduce the phenomenon of local over-mixing or under-mixing;

[0014] 2) Enhance density detection accuracy: The first stirring rod is equipped with a radiation source, and the second to fourth stirring rods are used as receivers. Their gradient distribution can provide radiation absorption data of soil at different distances. This arrangement helps to build a three-dimensional density distribution model, thereby more accurately judging soil characteristics;

[0015] 3) Avoiding radiation interference effects: If the stirring rods are evenly spaced, the radiation detectors may interfere with each other, reducing the signal quality. The gradient distribution design can reduce the interference effect and ensure that the detection signal is clear and reliable.

[0016] Specifically, the slag state and environmental parameters include the moisture content of the slag in the shield sealed cabin 1 collected by the particle moisture meter 212, the soil pressure collected by the soil pressure box 213, the measured pore water / air pressure collected by the piezometer 214, and the air pressure in the cabin collected by the barometer 215; the detection sensors are integrated on the inner side of the rear baffle 21 and are electrically connected to the electric drive system 4; the particle moisture meter 212 is arranged on the top of the inner side of the rear baffle 21, and the soil pressure box 213, the piezometer 214 and the barometer 215 are arranged in pairs at the bottom and the middle of the inner side of the rear baffle 21 respectively; the particle moisture meter 212 is composed of a particle source, a shielding container and a light gate assembly. There is no radiation leakage when the light gate is closed. After the light gate is opened, particles are released in a specified direction in the cabin.

[0017] Specifically, a storage space for filling test slag is formed inside the shield sealed cabin 1, and a plurality of observation windows A13 are arranged around the cabin body of the shield sealed cabin 1 for observing the state of slag during the operation of the equipment; the rear baffle 21 is arranged at the bottom of the shield sealed cabin 1, and a circular opening matching the shape of the connecting rod 41 is arranged in the center thereof, and an observation window B211 is arranged on the rear baffle 21 for observing the state of slag in the cabin during the operation of the equipment; the front baffle 22 is located in front of the cutter disc for sealing slag, and a soil taking port B221 is opened on the front baffle 22.

[0018] The shield slag state visualization system provided by the present invention can simulate the laboratory environment of slag under different moisture content and density conditions, and conduct visualization research on the slag state under full warehouse, air pressure assisted and other working conditions to evaluate the improvement effect of slag under different working conditions. At the same time, the system can also monitor the parameters such as slag density, slag moisture content, soil pressure, pore water / air pressure and cabin air pressure in the soil warehouse in a closed environment in real time, realize multi-parameter comprehensive visualization analysis, and carry out optimization research on slag improvement and shield excavation parameters, providing scientific basis and technical support for slag state evaluation and over-excavation and under-excavation control during construction.

[0019] In addition, by installing a radiation source or radiation detector inside the stirring rod, arranging it asymmetrically in a scattered manner on the back of the shield cutter head, and increasing the distance between the stirring rods in a gradient manner, the stirring effect can be optimized, and the radiation interference effect can be avoided, thereby effectively enhancing the accuracy of density detection.

[0020] In a second aspect, the present invention provides a method for visualizing the state of slag in a shield sealed cabin, based on the system for visualizing the state of slag in a shield sealed cabin described in the first aspect, comprising the following steps:

[0021] S1. Open the filling port, fill the slag sample in the shield sealed cabin, and record the initial state parameters of the slag; the initial state parameters of the slag include the density of the slag and the moisture content of the slag;

[0022] S2. Close the filling port, start the pressurizing device, adjust the pressure in the shield sealed cabin to simulate the state of slag under different air pressure conditions, and record the air pressure in the cabin;

[0023] S3, start the electric drive system and adjust the speed of the shield cutter head to control the mixing intensity of the slag in the cabin and simulate different excavation conditions;

[0024] S4. During the rotation of the shield cutter head and the operation of the stirring rod, the density distribution of the slag in the shield sealed cabin is calculated by the ray array signal emitted by the ray source received by the ray detector; at the same time, the slag state and environmental parameters are collected by the detection sensor; the slag state and environmental parameters include the slag moisture content, soil pressure, pore water / air pressure and cabin air pressure; the stirring rod includes: a first stirring rod, a second stirring rod, a third stirring rod and a fourth stirring rod; the first stirring rod is equipped with a ray source, and the second stirring rod, the third stirring rod and the fourth stirring rod are equipped with a ray detector;

[0025] S5. synchronously collect the slag state and environmental parameters through a data acquisition and visualization system, and display the slag state and environmental parameters in real time through the data acquisition and visualization system;

[0026] S6. Analyze the effects of different rotation speeds and cabin air pressure conditions on soil density, soil moisture content, soil pressure and pore water / air pressure, record the experimental data under various conditions, compare and analyze the soil improvement effects under full storage and air pressure assisted conditions, and evaluate the effects of different experimental conditions on soil conditions;

[0027] S7. After the experiment is completed, the test data of soil density, soil moisture content, soil pressure and pore water / air pressure are recorded and extracted to analyze the soil state under different working conditions.

[0028] Specifically, in step S4, the calculation of the density distribution of the slag in the shield sealed cabin by using the ray array signal emitted by the ray source received by the ray detector specifically includes:

[0029] S41. Collect the coordinates of the stirring rod position at the corresponding time i when the shield cutter head rotates per second , and calculate the density of the soil at the current position of the stirring rod according to the ray array signal emitted by the ray source received by the ray detector , forming the first point cloud dataset ;

[0030] The stirring rod position coordinates corresponding to time i The calculation formula is as follows:

[0031] ,

[0032] in, is the radial distance from the stirring rod to the shield cutterhead; is the initial height of the stirring rod, which is fixed along the center axis of the shield cutterhead; is the rotation angle of the shield cutter head at the i-th moment; , , It represents the relative coordinates of the point where the ray passes at the i-th moment, that is, the position to which the stirring rod rotates when the ray detector receives the ray source;

[0033] The soil density corresponding to the stirring rod position at the corresponding time i The calculation formula is as follows:

[0034] ,

[0035] in, , , are the radiation intensities measured by the radiation detectors in the second stirring rod, the third stirring rod and the fourth stirring rod respectively; is the initial intensity of the ray source, is the attenuation coefficient of the ray, which is related to the energy of the ray and the composition of the soil. , and is the measured soil density at the current position of the second stirring rod, the third stirring rod and the fourth stirring rod, , and are the straight-line distances from the first stirring rod to the second stirring rod, the third stirring rod and the fourth stirring rod respectively; is the natural logarithm;

[0036] S42, divide the entire shield sealed cabin into voxels, according to the first density point cloud data set The density value of each interpolation point in the voxel grid is calculated by the density linear interpolation formula , and smooth the interpolation results to obtain the second density point cloud dataset ;

[0037] S43, along the radial line for the second density point cloud data set Linear interpolation is performed to obtain the density distribution of slag in the entire shield sealed cabin.

[0038] Specifically, the density linear interpolation formula in step S42 is as follows:

[0039] ,

[0040] In the formula, The interpolation points calculated for interpolation Density value at location; is the distance weight, is the straight-line distance between two sampling points, , , , represents the relative coordinates of the point through which the ray passes at the i-th moment, , , Represents the relative coordinates of the point through which the ray passes at the jth moment, j>i; N is the number of interpolation points.

[0041] Specifically, step S42 performs smoothing on the interpolation result by the following formula:

[0042] ,

[0043] In the formula, is the smoothed density point cloud dataset after smoothing. To smooth the radius, it can be manually adjusted according to needs; , , Interpolation point The coordinates of all sampling points with known density around; d is the derivative symbol, , , Express , , Perform derivation.

[0044] Specifically, the calculation formula for measuring the moisture content of slag using a particle moisture meter is as follows:

[0045] ,

[0046] In the formula, is the soil moisture content; is the particle count measured by the particle moisture meter; It is the particle count measured by the particle moisture meter in dry soil; It is the particle count measured by the particle moisture meter when the soil contains water; and It is the correction factor corresponding to different types of soil.

[0047] Specifically, before step S1, the following steps are also included:

[0048] S0. The light shutters of the radiation source and the particle moisture meter are closed by controlling the electric drive system, and the sealing status of the shield sealed cabin and the normal operation of each measuring equipment are checked to ensure that they are well connected with the data acquisition and visualization system; the soil borrowing port A is closed.

[0049] Compared with the conventional method of obtaining the density of slag, the method for visualizing the state of shield slag provided by the present invention has the following differences and advantages:

[0050] In conventional methods, density detectors or sampling devices are usually fixed at a certain position, and only limited measurement data can be obtained. The density measurement results can only represent a local area, and it is difficult to cover the entire cabin, and the spatial resolution is low. In this embodiment, the density of the slag can be detected by ray array signals, and continuous measurements can be made at multiple angles and positions, which can fully cover different areas of the sealed cabin, capture the local density changes of the slag, and obtain a density distribution with high spatial resolution.

[0051] Furthermore, conventional methods usually use a single density detector or sampling device to measure the soil, but due to the limitations of sampling position, number of samples and operation errors, there may be certain measurement errors and local deviations. Through the ray array signal, non-contact, continuous, multi-angle accurate measurement of density can be achieved, and the ray can quickly and evenly cover the entire space, whether the soil layer is uniform or non-uniform, it can provide more accurate density information. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0053] Figure 1 A schematic diagram of a system for visualizing the status of slag in a shield sealed cabin provided by an embodiment of the present invention;

[0054] Figure 2 A schematic diagram of a quarter-section of a slag status visualization system in a shield sealed cabin provided by an embodiment of the present invention;

[0055] Figure 3 A schematic diagram of the arrangement structure of the tailgate sensor provided in an embodiment of the present invention;

[0056] Figure 4 A schematic diagram of the shield cutterhead structure and sensor arrangement provided in an embodiment of the present invention; wherein: Figure 4 (a) is a schematic diagram of the shield cutterhead structure and sensor layout; Figure 4 (b) is a schematic diagram of the internal structure of the stirring rod;

[0057] Figure 5 A schematic diagram of a method for visualizing the state of slag in a shield sealed cabin provided by an embodiment of the present invention;

[0058] Among them, 1-shield sealing cabin, 2-baffle, 3-shield cutter head, 4-electric drive system, 5-pressurization device, 6-data acquisition and visualization system, 11-excavation port A, 12-filling port, 13-observation window A, 21-rear baffle, 22-front baffle, 211-observation window B, 212-particle moisture meter, 213-soil pressure box, 214-pore pressure gauge, 215-barometer, 221-excavation port B, 31-first stirring rod, 32-second stirring rod, 33-third stirring rod, 34-fourth stirring rod, 35-radiation source, 36-radiation detector, 37-cutter head opening, 41-connecting rod. DETAILED DESCRIPTION

[0059] The present invention can be explained in detail through the following embodiments. The purpose of providing the present invention is to protect all technical improvements within the scope of the present invention. In the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "front", "back", "left", "right", etc. indicating directions or positional relationships, they only correspond to the drawings of the present application for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific direction.

[0060] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0061] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0062] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0063] Embodiment 1

[0064] refer to Figure 1-Figure 2 , this embodiment provides a visualization system for the state of slag in a shield sealed cabin, comprising a shield sealed cabin 1, a baffle 2, a shield cutter head 3, an electric drive system 4, a pressurizing device 5, and a data acquisition and visualization system 6; wherein, the rear baffle 21 and the front baffle 22 seal the shield sealed cabin 1; a circular opening arranged at a central position is provided on the rear baffle 21, and a detection sensor is arranged on the inner side of the rear baffle 21 for real-time collection of the state of slag and environmental parameters in the shield sealed cabin 1; the electric drive system 4 is used to drive the shield cutter head 3; a plurality of stirring rods are installed on the shield cutter head 3, and the stirring rods have built-in radiation sources 35 or radiation detectors 36, which are asymmetrically arranged on the back of the shield cutter head 3 in a scattered distribution, and the distance between the stirring rods increases in a gradient; the pressurizing device 5 is installed on the outer side of the rear baffle 21; the data acquisition and visualization system 6 is connected to the electric drive system 4 and the detection sensor;

[0065] The speed of the electric drive system 4 can be adjusted. The electric drive system 4 drives the connecting rod 41, and the connecting rod 41 passes through the circular opening on the rear baffle 21 and is connected to the shield cutter head 3, driving the shield cutter head 3 to rotate, thereby driving the shield cutter head 3 to rotate at different speeds, and stirring the slag in the cabin through the stirring rod on the back of the shield cutter head 3;

[0066] The shield sealed cabin 1 has a storage space for filling test slag inside, a filling port 12 is provided at the top of the shield sealed cabin 1, and a soil taking port A11 is provided at the bottom. Several observation windows A13 are provided around the cabin body of the shield sealed cabin 1 for observing the slag status during the operation of the equipment.

[0067] The rear baffle 21 is arranged at the bottom of the shield sealed cabin 1, and a circular opening matching the shape of the connecting rod 41 is provided in the center thereof. An observation window B211 is provided on the rear baffle 21 for observing the state of the debris in the cabin during the operation of the equipment; the front baffle 22 is located in front of the cutter disc, mainly used to block the debris, and a soil taking port B221 is provided on the front baffle 22; the rear baffle 21 and the front baffle 22 seal the shield sealed cabin 1.

[0068] like Figure 3 As shown, the detection sensor includes a particle moisture meter 212, an earth pressure box 213, a piezometer 214 and a barometer 215, and the slag state and environmental parameters include the moisture content of the slag in the shield sealed cabin 1 collected by the particle moisture meter 212, the earth pressure collected by the earth pressure box 213, the measured pore water / air pressure collected by the piezometer 214, and the air pressure in the cabin collected by the barometer 215; the detection sensors are integrated on the inner side of the rear baffle 21 and are electrically connected to the electric drive system 4; wherein the particle moisture meter 212 is arranged on the top of the inner side of the rear baffle 21, and the earth pressure box 213, the piezometer 214 and the barometer 215 are arranged in pairs at the bottom and the middle of the inner side of the rear baffle 21 respectively; the particle moisture meter 212 is composed of a particle source, a shielding container and a light gate assembly. There is no radiation leakage when the light gate is closed, and particles are released in a specified direction in the cabin after the light gate is opened;

[0069] It is worth noting that the receiving end of the particle moisture meter 212 is still the particle moisture meter 212 itself, and the particles collide with the water molecules in the measured substance. When the particles collide with the water molecules, some of the particles will be absorbed and the rest will be scattered. By measuring the ratio of absorbed particles to scattered particles, the moisture content in the measured substance can be inferred. Generally speaking, the specified direction is the horizontal direction.

[0070] The electric drive system 4 can control the closing and opening of the shutter of the ray source 35 and the particle moisture meter 212;

[0071] The high-pressure gas input by the pressurizing device 5 enters the shield sealed cabin 1 at a constant air pressure to adjust the internal pressure of the shield sealed cabin 1; the pressurizing device 5 can simulate the soil cabin pressure environment under different shield excavation states;

[0072] The shield cutterhead 3 is arranged on the top of the shield sealed cabin 1, and is used to divide the shield sealed cabin 1 into two spaces, respectively simulating the shield soil cabin and the tunnel excavation surface. The shield cutterhead 3 has a reserved cutterhead opening 37. During the rotation of the cutterhead, the cut soil enters the shield sealed cabin 1 through the cutterhead opening 37, and is mixed with the original slag in the cabin through the stirring rod; the shield cutterhead 3 is driven by the electric drive system 4 to rotate the connecting rod 41, which is used to simulate the cutterhead cutting state during the shield excavation process.

[0073] Specifically, Figure 4 As shown in (a), the stirring rods are arranged on the back of the shield cutter head 3, and there are four stirring rods in total, namely the first stirring rod 31, the second stirring rod 32, the third stirring rod 33 and the fourth stirring rod 34. When the shield cutter head 3 rotates, the soil in the cabin is stirred by the stirring rods on the back of the shield cutter head 3, and space is reserved inside the stirring rods. A radiation source 35 is installed in the first stirring rod 31, and a radiation detector 36 is installed inside the second stirring rod 32, the third stirring rod 33 and the fourth stirring rod 34, which are all electrically connected to the electric drive system 4 for measuring the density of the slag in the shield sealed cabin 1; the stirring rods are asymmetrically arranged and scatteredly distributed. The four stirring rods are respectively located at different positions on the back of the shield cutter head 3, and the distances between the first stirring rod 31 and the second stirring rod 32, the third stirring rod 33 and the fourth stirring rod 34 increase in a gradient. Space is reserved inside the stirring rods, as shown in FIG. Figure 4 As shown in (b), a radiation source 35 and a radiation detector 36 are auxiliary installed;

[0074] Conventional stirring rods are usually arranged symmetrically and evenly or in a ring arrangement. In this embodiment, the stirring rods have built-in radiation sources or radiation detectors, which are asymmetrically arranged on the back of the shield cutter head in a scattered distribution, and the distance between the stirring rods increases in a gradient manner. The beneficial effects are:

[0075] 1) Optimize the mixing effect: The distance increases in a gradient manner so that the mixing rod can grade the soil at different positions in the cabin. This design can effectively improve the uniformity of soil mixing and reduce the phenomenon of local over-mixing or under-mixing;

[0076] 2) Enhance density detection accuracy: The first stirring rod is equipped with a radiation source, and the second to fourth stirring rods are used as receivers. Their gradient distribution can provide radiation absorption data of soil at different distances. This arrangement helps to build a three-dimensional density distribution model, thereby more accurately judging soil characteristics;

[0077] 3) Avoiding radiation interference effects: If the stirring rods are evenly spaced, the radiation detectors may interfere with each other, reducing the signal quality. The gradient distribution design can reduce the interference effect and ensure that the detection signal is clear and reliable.

[0078] Specifically, a radiation source 35 is installed in the first stirring rod 31, and radiation detectors 36 are installed in the second stirring rod 32, the third stirring rod 33 and the fourth stirring rod 34;

[0079] Specifically, the radiation source 35 is composed of an isotope source, a shielding container and a shutter assembly, and is installed in the first stirring rod 31; when the shutter is closed, the radiation is completely isolated; after the shutter is opened, the radiation is emitted to three designated radiation detectors 36 installed in the second stirring rod 32, the third stirring rod 33 and the fourth stirring rod 34;

[0080] The data acquisition and visualization system 6 is arranged outside the shield sealed cabin 1, and collects real-time data of soil moisture content, soil pressure, pore water / air pressure, and air pressure in the cabin at preset time intervals. The collected data results are visualized in the form of charts, and the soil density is calculated based on the collected data. All the collection results of the detection sensors are saved as a file and stored in an external storage device; the data acquisition and visualization system 6 can be connected to an external storage device for data extraction;

[0081] The preset time interval is determined according to actual needs. In order to observe the state of the slag in time in this embodiment, the preset time interval is preferably set to 1 second.

[0082] A shield soil state visualization system of this embodiment can simulate the laboratory environment of soil under different moisture content and density conditions, and conduct visualization research on soil state under full bin, air pressure assisted and other working conditions to evaluate the improvement effect of soil under different working conditions. At the same time, the system can also monitor the soil density, soil moisture content, soil pressure, pore water / air pressure and cabin air pressure in the soil bin in real time under a closed environment, realize multi-parameter comprehensive visualization analysis, and carry out optimization research on soil improvement and shield excavation parameters, providing scientific basis and technical support for soil state evaluation and over-excavation and under-excavation control during construction.

[0083] In addition, by installing a radiation source or radiation detector inside the stirring rod, arranging it asymmetrically in a scattered manner on the back of the shield cutter head, and increasing the distance between the stirring rods in a gradient manner, the stirring effect can be optimized, and the radiation interference effect can be avoided, thereby effectively enhancing the accuracy of density detection.

[0084] Embodiment 2

[0085] refer to Figure 5 This embodiment provides a method for visualizing the state of slag in a shield sealed cabin, based on a system for visualizing the state of slag in a shield sealed cabin described in Embodiment 1, including the following steps:

[0086] S0, the light shutters of the radiation source 35 and the particle moisture meter 212 are closed by controlling the electric drive system 4, and the sealing state of the shield sealed cabin 1 and the normal operation of each measuring device are checked to ensure that they are well connected with the data acquisition and visualization system 6; the soil borrowing port A11 is closed;

[0087] S1, open the filling port 12, fill the slag sample in the shield sealed cabin 1, and record the initial state parameters of the slag; the initial state parameters of the slag include the density of the slag and the moisture content of the slag;

[0088] S2, close the filling port 12, start the pressurizing device 5, adjust the pressure in the shield sealed cabin 1 to simulate the state of the slag under different air pressure conditions, and record the air pressure in the cabin;

[0089] S3, start the electric drive system 4, adjust the rotation speed of the shield cutter head 3 to control the mixing intensity of the slag in the cabin and simulate different excavation states;

[0090] S4, during the rotation of the shield cutter head 3 and the operation of the stirring rod, the density distribution of the slag in the shield sealed cabin 1 is calculated by using the ray array signal emitted by the ray source 35 received by the ray detector 36; at the same time, the slag state and environmental parameters are collected by using the detection sensor; the slag state and environmental parameters include slag moisture content, soil pressure, pore water / air pressure and cabin air pressure;

[0091] Specifically, the calculation of the density distribution of the slag in the shield sealed cabin 1 using the ray array signal emitted by the ray source 35 and received by the ray detector 36 specifically includes:

[0092] S41, collecting the stirring rod position coordinates corresponding to time i when the shield cutter head 3 rotates per second , and calculate the density of the soil at the current position of the stirring rod according to the ray array signal emitted by the ray source 35 received by the ray detector 36 , forming the first point cloud dataset ;

[0093] Taking a single stirring rod as an example, during the rotation of the cutter head, the shield cutter head rotates 3 degrees per second. , the stirring rod position coordinates corresponding to time i The calculation formula is as follows:

[0094] ,

[0095] Where: is the radial distance from the stirring rod to the shield cutterhead 3; is the initial height of the stirring rod, which is fixed along the central axis of the shield cutterhead 3; is the rotation angle of the shield cutterhead 3 at the i-th moment; , , = represents the relative coordinates of the point where the ray passes at the i-th moment. Since the propagation speed of the ray is close to the speed of light, the relative coordinates of the point where the ray passes are basically the position to which the stirring rod of the ray source 35 is rotated when received by the ray detector 36 in the corresponding stirring rod;

[0096] Specifically, the soil density corresponding to the stirring rod position at time i is The calculation formula is as follows:

[0097] ,

[0098] in, are respectively the radiation intensity measured by the radiation detector 36 in the stirring rod; is the initial intensity of the ray source 35, is the attenuation coefficient of the ray, which is related to the energy of the ray and the composition of the soil. is the density of the soil at the current position of the stirring rod, is the straight-line distance between the radiation source 35 and the radiation detector 36; is the natural logarithm;

[0099] Specifically, in this embodiment, since the radiation source 35 is installed in the first stirring rod 31, and the radiation detectors 36 are installed in the second stirring rod 32, the third stirring rod 33 and the fourth stirring rod 34, to calculate the straight-line distance between the radiation source and the radiation detector, it is only necessary to calculate the straight-line distance between the first stirring rod 31 and the second stirring rod 32, the third stirring rod 33 and the fourth stirring rod 34 respectively.

[0100] In this embodiment, the density of the soil corresponding to the stirring rod position at the time i The calculation formula is as follows:

[0101] ,

[0102] in, , , are the radiation intensities measured by the radiation detectors 36 in the second stirring rod 32, the third stirring rod 33 and the fourth stirring rod 34 respectively; is the initial intensity of the ray source 35, is the attenuation coefficient of the ray, which is related to the energy of the ray and the composition of the soil. , and is the measured soil density at the current position of the second stirring rod 32, the third stirring rod 33 and the fourth stirring rod 34, , and are the straight-line distances from the first stirring rod 31 to the second stirring rod 32 , the third stirring rod 33 and the fourth stirring rod 34 ; is the natural logarithm;

[0103] After the calculation is completed, record the corresponding position coordinates of the stirring rod at the corresponding time i and the corresponding density of the slag , forming the first density point cloud dataset ;

[0104] S42, dividing the entire shield sealed cabin 1 into voxels, according to the first density point cloud data set The density value of each interpolation point in the voxel grid is calculated by the density linear interpolation formula , and smooth the interpolation results to obtain the second density point cloud dataset ;

[0105] The density linear interpolation formula is as follows:

[0106] ,

[0107] In the formula, The interpolation points calculated for interpolation Density value at location; is the distance weight, is the straight-line distance between two sampling points, , , , represents the relative coordinates of the point through which the ray passes at the i-th moment, , , represents the relative coordinates of the point through which the ray passes at the jth moment, j>i;

[0108] The interpolation points are other unknown points in the undetected area between the two detection points (ray source and ray detector), and N is the number of interpolation points, that is, and The number of interpolation points between distances is determined according to the required interpolation accuracy; the larger N is, the more interpolation points there are.

[0109] After the interpolation is completed, the interpolation result is smoothed by the following formula to eliminate data noise and improve the continuity of density distribution:

[0110] ,

[0111] In the formula, is the smoothed density point cloud dataset after smoothing. To smooth the radius, it can be manually adjusted according to needs; , , Interpolation point The coordinates of all surrounding sampling points with known density. The sampling points with known density are the point cloud data in the interpolation result; d is the derivative symbol, , , Express , , To perform derivation;

[0112] Calculate the first smooth density point cloud data set corresponding to the second stirring rod 32, the third stirring rod 33 and the fourth stirring rod 34 , the second smooth density point cloud dataset And the third smooth density point cloud dataset , and unify them as the second density point cloud dataset ;

[0113] S43, along the radial line for the second density point cloud data set Linear interpolation is performed to obtain the density distribution of the slag in the entire shield sealed cabin 1.

[0114] Specifically, a particle moisture meter 212 is used to measure the moisture content of the slag soil, an earth pressure box 213 is used to measure the earth pressure, a pore pressure gauge 214 is used to measure the pore water / air pressure, and a barometer 215 is used to record the air pressure in the cabin;

[0115] Specifically, the calculation formula for measuring the moisture content of the slag using the particle moisture meter 212 is as follows:

[0116] ,

[0117] In the formula, is the soil moisture content; is the particle count measured by the particle moisture meter 212; is the particle count measured by the particle moisture meter 212 in the dry soil; is the particle count measured by the particle moisture meter 212 when the soil contains water; and It is the correction factor corresponding to different types of soil.

[0118] S5, synchronously collecting the slag state and environmental parameters through the data collection and visualization system 6, and displaying the slag state and environmental parameters in real time through the data collection and visualization system 6;

[0119] S6. Analyze the effects of different rotation speeds and cabin air pressure conditions on soil density, soil moisture content, soil pressure and pore water / air pressure, record the experimental data under various conditions, compare and analyze the soil improvement effects under full storage and air pressure assisted conditions, and evaluate the effects of different experimental conditions on soil conditions;

[0120] S7. After the experiment is completed, the test data of soil density, soil moisture content, soil pressure and pore water / air pressure are recorded and extracted for analyzing the soil state under different working conditions; the ray source 35 and the particle moisture meter 212 shutter assembly are turned off, the soil in the cabin is taken out through the soil taking port A11, and the shield sealed cabin 1 is cleaned;

[0121] The method for obtaining the slag density distribution provided by the shield slag state visualization method provided in this embodiment has the following differences and advantages compared with the conventional method for obtaining slag density:

[0122] In conventional methods, density detectors or sampling devices are usually fixed at a certain position, and only limited measurement data can be obtained. The density measurement results can only represent a local area, and it is difficult to cover the entire cabin, and the spatial resolution is low. In this embodiment, the density of the slag can be detected by ray array signals, and continuous measurements can be made at multiple angles and positions, which can fully cover different areas of the sealed cabin, capture the local density changes of the slag, and obtain a density distribution with high spatial resolution.

[0123] Furthermore, conventional methods usually use a single density detector or sampling device to measure the soil, but due to the limitations of sampling position, number of samples and operation errors, there may be certain measurement errors and local deviations. Through the ray array signal, non-contact, continuous, multi-angle accurate measurement of density can be achieved, and the ray can quickly and evenly cover the entire space, whether the soil layer is uniform or non-uniform, it can provide more accurate density information.

[0124] This specification is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of this specification. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 Processes Multiple processes and / or boxes Figure 1 A device that has the functions specified in one or more boxes.

[0125] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1The steps for the functions specified in one or more boxes.

[0126] The parts of the present invention that are not described in detail are prior art. It is obvious to those skilled in the art that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention; therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and it is intended that all changes that fall within the meaning and scope of equivalent elements are included in the present invention.

Claims

1. A visualization system for the status of slag in a shield sealed cabin, characterized in that: The invention comprises a shield sealed cabin (1), a baffle (2), wherein the baffle (2) comprises a rear baffle (21) and a front baffle (22), a shield cutter head (3), an electric drive system (4), a pressurizing device (5), and a data acquisition and visualization system (6); wherein the top of the shield sealed cabin (1) is provided with a filling port (12), and the bottom is provided with a soil taking port A (11); a detection sensor is provided on the inner side of the rear baffle (21) for real-time acquisition of the state of the slag and environmental parameters in the shield sealed cabin (1); the shield cutter head (3) is provided on the top of the shield sealed cabin (1); the electric drive system (4) Used to drive the shield cutterhead (3); a plurality of stirring rods are installed on the shield cutterhead (3), the stirring rods are asymmetrically arranged on the back of the shield cutterhead (3) and are distributed in a scattered manner, and the distance between the stirring rods increases in a gradient manner; the stirring rods have built-in radiation sources (35) or radiation detectors (36); the pressurizing device (5) is installed on the outside of the rear baffle (21); the data acquisition and visualization system (6) is connected to the electric drive system (4) and the detection sensor; the detection sensor includes a particle moisture meter (212), an earth pressure box (213), a piezometer (214) and a barometer (215); The rotation speed of the electric drive system (4) can be adjusted, and the shutter of the radiation source (35) and the particle moisture meter (212) can be controlled to be closed and opened; the high-pressure gas input by the pressurizing device (5) enters the shield sealed cabin (1) at a constant pressure to adjust the internal pressure of the shield sealed cabin (1); the data acquisition and visualization system (6) is arranged outside the shield sealed cabin (1), and collects the state of the slag and environmental parameters in the shield sealed cabin (1) at preset time intervals, and the collected data results are visualized in the form of charts, and the density of the slag is calculated based on the collected data; The stirring rods are arranged on the back of the shield cutter head (3), and there are four stirring rods in total, namely a first stirring rod (31), a second stirring rod (32), a third stirring rod (33) and a fourth stirring rod (34). When the shield cutter head (3) rotates, the soil in the cabin is stirred by the stirring rods on the back of the shield cutter head (3). Space is reserved inside the stirring rods to assist in installing a radiation source (35) and a radiation detector (36), which are both electrically connected to the electric drive system (4) and are used to measure the density of the slag in the shield sealed cabin (1). The stirring rods are arranged asymmetrically and distributed in a scattered manner. The four stirring rods are respectively located at different positions on the back of the shield cutter head (3), and the distances between the first stirring rod (31) and the second stirring rod (32), the third stirring rod (33) and the fourth stirring rod (34) increase in a gradient manner. A radiation source (35) is installed in the first stirring rod (31), and radiation detectors (36) are installed in the second stirring rod (32), the third stirring rod (33) and the fourth stirring rod (34); The slag soil state and environmental parameters include the slag soil moisture content in the shield sealed cabin (1) collected by the particle moisture meter (212), the soil pressure collected by the soil pressure box (213), the measured pore water / air pressure collected by the pore pressure meter (214), and the cabin air pressure collected by the barometer (215); the detection sensors are integrated on the inner side of the rear baffle (21) and are all electrically connected to the electric drive system (4); the particle moisture meter (212) is arranged on the inner top of the rear baffle (21), and the soil pressure box (213), the pore pressure meter (214) and the barometer (215) are arranged in pairs at the inner bottom and middle of the rear baffle (21); the particle moisture meter (212) is composed of a particle source, a shielding container and a light gate assembly; there is no radiation leakage when the light gate is closed, and particles are released in a specified direction in the cabin when the light gate is opened.

2. The visualization system for the status of slag in the shield sealed cabin according to claim 1 is characterized in that: The radiation source (35) is composed of an isotope source, a shielding container and a shutter assembly, and is installed in the first stirring rod (31); when the shutter is closed, the radiation is completely isolated; when the shutter is opened, the radiation is emitted to the radiation detectors (36) installed in the second stirring rod (32), the third stirring rod (33) and the fourth stirring rod (34).

3. The visualization system for the status of slag in the shield sealed cabin according to claim 1 is characterized in that: The shield sealed cabin (1) has a storage space for filling the test slag inside, and a plurality of observation windows A (13) are arranged around the cabin body of the shield sealed cabin (1) for observing the state of the slag during the operation of the equipment; the rear baffle (21) is arranged at the bottom of the shield sealed cabin (1), and a circular opening matching the shape of the connecting rod (41) is arranged at the center thereof, and an observation window B (211) is arranged on the rear baffle (21) for observing the state of the slag in the cabin during the operation of the equipment; the front baffle (22) is located in front of the cutter head and is used to block the slag, and a soil taking opening B (221) is opened on the front baffle (22).

4. A method for visualizing the state of slag in a shield sealed cabin, based on the system for visualizing the state of slag in a shield sealed cabin according to any one of claims 1 to 3, characterized in that: The following steps are involved: S1. Open the filling port, fill the slag sample in the shield sealed cabin, and record the initial state parameters of the slag; the initial state parameters of the slag include the density of the slag and the moisture content of the slag; S2. Close the filling port, start the pressurizing device, adjust the pressure in the shield sealed cabin to simulate the state of slag under different air pressure conditions, and record the air pressure in the cabin; S3, start the electric drive system and adjust the speed of the shield cutter head to control the mixing intensity of the slag in the cabin and simulate different excavation conditions; S4. During the rotation of the shield cutter head and the operation of the stirring rod, the density distribution of the slag in the shield sealed cabin is calculated by the ray array signal emitted by the ray source received by the ray detector; at the same time, the slag state and environmental parameters are collected by the detection sensor; the slag state and environmental parameters include the slag moisture content, soil pressure, pore water / air pressure and cabin air pressure; the stirring rod includes: a first stirring rod, a second stirring rod, a third stirring rod and a fourth stirring rod; the first stirring rod is equipped with a ray source, and the second stirring rod, the third stirring rod and the fourth stirring rod are equipped with a ray detector; In step S4, the calculation of the density distribution of the slag in the shield sealed cabin by using the ray array signal emitted by the ray source received by the ray detector specifically includes: S41. Collect the coordinates of the stirring rod position at the corresponding time i when the shield cutter head rotates per second , and calculate the density of the soil at the current position of the stirring rod according to the ray array signal emitted by the ray source received by the ray detector , forming the first point cloud dataset ; The stirring rod position coordinates corresponding to time i The calculation formula is as follows: ， in, is the radial distance from the stirring rod to the shield cutterhead; is the initial height of the stirring rod, which is fixed along the center axis of the shield cutterhead; is the rotation angle of the shield cutter head at the i-th moment; , , It represents the relative coordinates of the point where the ray passes at the i-th moment, that is, the position to which the stirring rod rotates when the ray detector receives the ray source; The soil density corresponding to the stirring rod position at the corresponding time i The calculation formula is as follows: ， in, , , are the radiation intensities measured by the radiation detectors in the second stirring rod, the third stirring rod and the fourth stirring rod respectively; is the initial intensity of the ray source, is the attenuation coefficient of the ray, which is related to the energy of the ray and the composition of the soil. , and is the measured soil density at the current position of the second stirring rod, the third stirring rod and the fourth stirring rod, , and are the straight-line distances from the first stirring rod to the second stirring rod, the third stirring rod and the fourth stirring rod respectively; is the natural logarithm; S42, divide the entire shield sealed cabin into voxels, according to the first density point cloud data set The density value of each interpolation point in the voxel grid is calculated by the density linear interpolation formula , and smooth the interpolation results to obtain the second density point cloud dataset ; S43, along the radial line for the second density point cloud data set Perform linear interpolation to obtain the density distribution of the slag in the entire shield sealed cabin; S5. synchronously collect the slag state and environmental parameters through a data acquisition and visualization system, and display the slag state and environmental parameters in real time through the data acquisition and visualization system; S6. Analyze the effects of different rotation speeds and cabin air pressure conditions on soil density, soil moisture content, soil pressure and pore water / air pressure, record the experimental data under various conditions, compare and analyze the soil improvement effects under full storage and air pressure assisted conditions, and evaluate the effects of different experimental conditions on soil conditions; S7. After the experiment is completed, the test data of soil density, soil moisture content, soil pressure and pore water / air pressure are recorded and extracted to analyze the soil state under different working conditions.

5. The method for visualizing the state of slag in a shield sealed cabin according to claim 4 is characterized in that: The density linear interpolation formula in step S42 is as follows: ， In the formula, The interpolation points calculated for interpolation The density value at the location, is the distance weight, is the straight-line distance between two sampling points, , , , represents the relative coordinates of the point through which the ray passes at the i-th moment, , , Indicates The relative coordinates of the point through which the ray passes at the moment, ; N is the number of interpolation points.

6. The method for visualizing the state of slag in a shield sealed cabin according to claim 5 is characterized in that: Step S42 performs smoothing on the interpolation result using the following formula: ， In the formula, is the smoothed density point cloud dataset after smoothing. To smooth the radius, it can be manually adjusted according to needs; , , Interpolation point The coordinates of all surrounding sampling points with known density; To find the derivative symbol, , , Express , , Perform derivation.

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