Three-dimensional visual simulation system and method for shield tunneling machine

Abstract

The invention provides a three-dimensional visual simulation system and method for a shield tunneling machine, belongs to the technical field of informatization control of tunnel equipment construction, and aims to solve the problems that in the prior art, a shield simulation system is difficult to vividly display the tunneling process of the shield tunneling machine, the simulation reality sense is low, the display effect is single, and user interaction is insufficient. The system comprises an external control signal module, a communication interface module, a cutterhead system module, a screw conveyor system module, a hydraulic propulsion system module, a shield tunneling machine kinematics module, a guide system module, an earth pressure balance system module, a soil body environment module and a Webts-based shield tunneling machine three-dimensional visual simulation system module. And a three-dimensional visual simulation system of the shield tunneling machine is constructed.

Description

Technical Field

[0001] The present invention belongs to the technical field of information control of tunnel equipment construction, and in particular relates to a three-dimensional visualization simulation system and method for a shield machine. Background Art

[0002] As my country's urbanization process continues to accelerate, the rational development and utilization of underground space has become an important way to expand urban capacity and utilize resources. With its high degree of automation, safety and efficiency, shield machines play an increasingly important role in the construction of urban subway tunnels in my country. Due to the variability of the shield machine construction environment and the complexity of the shield machine system, the risk of shield field testing is high, and some intelligent control algorithms are often difficult to apply directly to the site. The shield simulation system can provide a good verification method for the control algorithm. However, the existing shield simulation system is difficult to vividly display the tunneling process of the shield machine, and has the disadvantages of low simulation realism, single display effect, and insufficient user interaction.

[0003] Therefore, the development of a more realistic and reliable three-dimensional visualization simulation system for shield machines can not only display the three-dimensional excavation process of the shield machine in real time, but also facilitate the development and debugging of control algorithms, greatly reducing the trial and error risk of the algorithm, which is of great significance to improving the automation and intelligence level of shield machines. Summary of the invention

[0004] In view of this, the present invention provides a three-dimensional visualization simulation system and method for a shield machine to solve the problems in the prior art that the shield simulation system is difficult to vividly display the tunneling process of the shield machine, and has the disadvantages of low simulation realism, single display effect, and insufficient user interaction.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A three-dimensional visualization simulation system for a shield machine, the simulation system comprising an external control signal module, a communication interface module, a cutterhead system module, a screw conveyor system module, a hydraulic propulsion system module, a shield machine kinematics module, a guide system module, an earth pressure balance system module, a soil environment module and a three-dimensional visualization simulation system module for a shield machine;

[0007] The external control signal module sets the shield machine cutter system module, the propulsion system module, the screw conveyor system module and the simulation parameters through the data interface module;

[0008] The data interface module is respectively connected with the external control signal module, the cutterhead system module, the screw conveyor system module, the hydraulic propulsion system module, the earth pressure balance system module, the shield machine kinematics module, the soil environment module, the guide system module and the shield machine 3D visualization simulation system module, and is used to store the excavation data and control signals of the above modules, and provide data support for the 3D visualization simulation system;

[0009] The cutter head system module calculates the cutter head speed according to the cutter head speed signal input by the external control signal module;

[0010] The screw conveyor system module is connected to the earth pressure balance system module, calculates the screw conveyor speed according to the screw conveyor speed signal input by the external control signal module, and transmits the screw conveyor speed to the earth pressure balance system module;

[0011] The hydraulic propulsion system module is connected to the shield machine kinematics module and the earth pressure balance system module respectively, and calculates the propulsion speed of the shield machine and the stroke of each group of hydraulic cylinders of the shield machine according to the speed signal and pressure signal input by the external control signal module and the propulsion resistance, and transmits the propulsion speed of the shield machine to the earth pressure balance system module, and transmits the stroke of the hydraulic cylinder of the shield machine to the shield machine kinematics module;

[0012] The shield machine kinematics module is connected to the guidance system module. It calculates the shield body's posture according to the stroke of each group of hydraulic cylinders of the shield machine and transmits the shield body's posture to the guidance system module. Specifically, it includes:

[0013] Establish the world coordinate system O W -X W Y W Z W , Segment coordinate system O BN -X BN Y BN Z BN And the cutter head center coordinate system O C -X C Y C Z C , the displacement relationship from the center coordinates of the cutter head in the world coordinate system to the center coordinates of the cutter head in the BN coordinate system can be expressed as follows:

[0014]

[0015] in, W P C Represents the coordinates of the cutter head center in the world coordinate system, W P BN Indicates the coordinates of the origin of the current environment coordinate system in the world coordinate system. Represents the rotation matrix of the current environment coordinate system relative to the world coordinate system. BN PC It is expressed as the coordinates of the center of the shield blade in the current environment coordinate system;

[0016] The coordinates of the center of the shield blade in the current environment coordinate system are expressed by the following formula: BN P C :

[0017]

[0018] Wherein, h represents the width of the front middle shield body, is the average stroke of the four groups of zoned cylinders, θ is the horizontal deflection angle of the shield relative to the segment coordinate system, and ψ is the horizontal deflection angle of the shield relative to the segment coordinate system;

[0019] Then the rotation matrix of the shield relative to the segment coordinate system corresponding to the current ring number is It can be expressed as:

[0020]

[0021] The rotation matrix of the shield relative to the world coordinate system It can be expressed as:

[0022]

[0023] The guidance system module calculates the shield's posture deviation based on the shield's real-time posture and the tunnel's design axis data; specifically, it includes:

[0024] Step A1: According to the tunnel design axis data, the three-dimensional coordinates of the axis X are obtained. dta The function of mileage l is expressed as:

[0025]

[0026] Step A2: According to the position of the center of the shield machine cutterhead W P C and tunnel design axis function X dta (l), find the point on the tunnel design axis that is closest to the current cutterhead center and calculate the current cutterhead mileage l c , expressed as:

[0027]

[0028] Step A3: According to the calculated current cutter head mileage l c , get the coordinate X of the cutterhead center mapped to the tunnel design axis dta (l c );

[0029] Step A4: According to the cutter head mileage l cand mapped to the coordinate X of the tunnel design axis dta (l c ), calculate the incision horizontal deviation and incision vertical deviation data.

[0030] The earth pressure balance system module calculates the soil bin pressure according to the speed of the screw conveyor and the propulsion speed of the shield machine; specifically, it includes:

[0031] Based on the mass conservation law of the amount of soil entering and discharging from the sealed cabin, the sealed cabin earth pressure balance model is established, and its equation is expressed as follows:

[0032]

[0033] Among them, P(k+1) is the soil pressure of the sealed cabin at the next moment, P(k) is the soil pressure of the sealed cabin at the current moment, and E t is the tangent modulus of the slag, V is the volume of the sealed cabin, A is the area of ​​the excavation surface, v is the current propulsion speed of the shield machine, η is the soil discharge efficiency of the screw conveyor, and A s is the effective soil discharge area of ​​the screw conveyor, and L is the blade spacing of the screw conveyor.

[0034] The soil environment module calculates the thrust resistance of each hydraulic cylinder of the shield machine according to the soil parameters; specifically includes:

[0035] Considering the influence of water and soil pressure on the advancement of the shield machine, the theoretical soil pressure is calculated based on the Terzaghi theory, and its equation is expressed as:

[0036]

[0037] Among them, P s is the theoretical earth pressure, B is the loose width of the shield top cover, γ is the soil density, c is the soil cohesion, K is the soil lateral pressure coefficient, φ is the soil internal friction angle, H is the cover thickness, and P0 is the ground load;

[0038] The total resistance of the shield machine during excavation is mainly the water and soil pressure on the front side. Its value is obtained by adding the average of the soil side pressure at the top of the shield and the soil side pressure at the bottom of the shield plus the water pressure and multiplying it by the area of ​​the entire excavation surface. The equation is expressed as:

[0039]

[0040] Among them, F L is the resistance of the shield machine, P u is the lateral pressure of the soil at the top of the shield, P l is the lateral pressure of the soil at the bottom of the shield, P w is the water pressure and A is the area of ​​the excavation surface.

[0041] The shield machine 3D visualization simulation system module imports the tunnel design axis and the shield machine 3D physical model into the Webots 3D visualization scene, and drives the motors of the cutterhead system, screw conveyor system and hydraulic propulsion system according to the excavation data provided by the data interface module, thereby displaying the shield machine's excavation process in real-time 3D visualization.

[0042] A three-dimensional visualization simulation method for a shield machine, comprising:

[0043] The hydraulic propulsion system module, the screw conveyor module and the simulation parameters are set through the external control signal module via the data interface module;

[0044] The screw conveyor module calculates the screw conveyor speed according to the screw conveyor speed signal input by the external control signal module, and transmits the screw conveyor speed to the earth pressure balance system module;

[0045] The hydraulic propulsion system module calculates the propulsion speed of the shield machine according to the speed signal and pressure signal input by the external control signal module and the propulsion resistance, and transmits the propulsion speed of the shield machine to the earth pressure balance system module;

[0046] The soil bin pressure is calculated by the earth pressure balance system module according to the rotation speed of the screw conveyor and the propulsion speed of the shield machine;

[0047] The tunnel design axis and the 3D physical model of the shield machine are imported into the Webots 3D visualization scene through the shield machine 3D visualization simulation system module, and the motor of the screw conveyor system and the hydraulic propulsion system are driven according to the excavation data provided by the data interface module, so as to display the excavation process of the shield machine in real-time 3D visualization.

[0048] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0049] 1. The present invention constructs a shield machine three-dimensional visualization simulation system based on the Webots shield machine three-dimensional visualization simulation system module through an external control signal module, a communication interface module, a cutter system module, a screw conveyor system module, a hydraulic propulsion system module, a shield machine kinematics module, a guide system module, an earth pressure balance system module, and a soil environment module;

[0050] 2. The present invention realizes the interaction between external control signals and control signals of each subsystem in the simulation system through the data interface module, and realizes control simulation test of the shield machine cutter system, screw conveyor system and hydraulic propulsion system through external control signals, which provides a low-cost, zero-risk and high-reliability solution for verifying the control algorithm of the above systems, and solves the problem of high risk of field testing of control algorithms. In addition, the data interface module stores shield machine excavation data to provide data support for the optimization of control algorithms;

[0051] 3. The present invention simulates the tunneling process of the shield machine through the Webots three-dimensional simulation software, realizes the three-dimensional visualization display of the tunneling process of the shield machine, and displays the posture of the shield machine, the position and speed of the hydraulic cylinder in real time, which is convenient for observing the movement process of the shield machine and the deviation between the shield machine and the tunnel design axis, and solves the problem that the existing shield simulation system is difficult to vividly display the tunneling process of the shield machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The present invention will now be described by way of example with reference to the accompanying drawings, in which:

[0053] Figure 1 A schematic structural diagram of a three-dimensional visual simulation system for a shield machine provided by an embodiment of the present invention;

[0054] Figure 2 Top view of the current cutterhead center coordinates;

[0055] Figure 3 This is a schematic diagram of a three-dimensional model of a shield machine provided in real time by the present invention. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0057] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0059] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0060] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0061] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0062] Example 1

[0063] The present invention discloses a schematic diagram of a three-dimensional visualization simulation system for a shield machine according to the present invention. Figure 1 As shown, the simulation system includes: external control signal module, data interface module, cutter head system module, screw conveyor system module, hydraulic propulsion system module, shield machine kinematics module, guide system module, earth pressure balance system module, soil environment module and shield machine 3D visualization simulation system module based on Webots;

[0064] Among them, the external control signal module sets the shield machine cutter system, propulsion system, screw conveyor system and simulation parameters through the data interface module;

[0065] In the embodiment of the present invention, the data interface module performs data transmission via the TCP / IP protocol. In addition, the data interface module also includes a data storage area for storing excavation data and control signals.

[0066] The external control signal module reads and writes the data storage area in the simulation system through the TCP / IP protocol;

[0067] like Figure 1As shown in the figure, a shared data storage area is adopted between the external control signal module and the simulation system, and the external control signal can read and write the data storage area through the TCP / IP protocol. The main parameters inside the simulation system, as well as the input and output of the model, the intermediate state, etc. are all stored in the data storage area. Based on the above communication scheme, the external program can obtain the relevant status data of the virtual shield machine or write the relevant excavation data and control instructions through this interface to control the simulation process.

[0068] The cutter head system module calculates the cutter head speed based on the cutter head speed signal input by the external control signal module. The cutter head system hydraulic motor torque can be approximately expressed as:

[0069] T c =K c i c #(1)

[0070] Among them, T c Indicates the cutter head hydraulic motor torque, K c represents the torque gain of the cutter head hydraulic motor, i c Indicates the current input to the cutterhead hydraulic motor.

[0071] The torque balance equation of the cutter head hydraulic motor can be expressed as:

[0072]

[0073] Among them, T L1 Indicates the load torque of the cutter motor, J c Indicates the total inertia of the cutter hydraulic motor, B c represents the viscous damping coefficient of the cutter head hydraulic motor, ω c Indicates the angular velocity of the cutter head hydraulic motor.

[0074] The cutter head speed can be expressed as:

[0075]

[0076] Among them, n c Indicates the cutter head speed, λ c Indicates the transmission ratio of the cutter head hydraulic motor.

[0077] The screw conveyor system module is connected to the earth pressure balance system module. The screw conveyor speed is calculated according to the screw conveyor speed signal input by the external control signal module, and the screw conveyor speed is transmitted to the earth pressure balance system module. The torque of the screw conveyor hydraulic motor can be approximately expressed as:

[0078] T m =K m i m #(4)

[0079] Among them, T m Indicates the torque of the screw conveyor hydraulic motor, K m represents the torque gain of the screw conveyor hydraulic motor, i m Indicates the current input to the screw conveyor hydraulic motor.

[0080] The torque balance equation of the screw conveyor hydraulic motor can be expressed as:

[0081]

[0082] Among them, T L2 Indicates the load torque of the screw conveyor motor, J m Indicates the total inertia of the screw conveyor hydraulic motor, B m represents the viscous damping coefficient of the screw conveyor hydraulic motor, ω m Indicates the angular velocity of the screw conveyor hydraulic motor.

[0083] The screw conveyor speed can be expressed as:

[0084]

[0085] Where ω represents the speed of the screw conveyor, λ m Indicates the transmission ratio of the screw conveyor hydraulic motor.

[0086] The hydraulic propulsion system module calculates the propulsion speed of the shield machine and the stroke of each group of hydraulic cylinders of the shield machine according to the speed signal, pressure signal and propulsion resistance input by the external control signal module, and transmits the propulsion speed of the shield machine to the earth pressure balance system module, and transmits the stroke of the hydraulic cylinder of the shield machine to the kinematics module of the shield machine;

[0087]

[0088] In the formula, A L Indicates the hydraulic cylinder action area, P L represents the working pressure of the hydraulic cylinder, M represents the total mass of the system, B represents the damping coefficient of the system, and F L represents the external load force acting on the hydraulic cylinder, and x represents the stroke of the hydraulic cylinder.

[0089] The shield machine kinematics module is connected to the guidance system module, and the propulsion length of each group of propulsion cylinders can be calculated based on the hydraulic propulsion system module. This kinematic model is based on the real-time stroke of the propulsion cylinder, combined with the initial posture of the current ring cutter head and the actual stroke of the cylinder, and the real-time posture of the front and middle shield body is solved through geometric relationships. Figure 2 The figure shows the top view of the center coordinates of the current cutter head. The coordinate systems involved are the world coordinate system O W -X W Y W ZW , segment coordinate system O BN -X BN Y BN Z BN And the cutter head center coordinate system O C -X C Y C Z C , the displacement relationship from the center coordinate of the cutter head in the world coordinate system to the center coordinate of the cutter head in the BN coordinate system can be expressed as follows

[0090]

[0091] in, W P C Represents the coordinates of the cutter head center in the world coordinate system, W P BN Indicates the coordinates of the origin of the current ambient static coordinate system in the world coordinate system. Represents the rotation matrix of the current ring static coordinate system relative to the world coordinate system, BN P C It is expressed as the coordinates of the center of the shield cutter head in the current annular static coordinate system.

[0092] The center coordinates of the shield machine cutterhead in the segment coordinate system corresponding to the current ring can be expressed as:

[0093]

[0094] Wherein, h represents the width of the front middle shield body, is the average stroke of the four groups of zoned cylinders, θ is the horizontal deflection angle of the shield relative to the segment coordinate system, and ψ is the horizontal deflection angle of the shield relative to the segment coordinate system, satisfying:

[0095]

[0096] Among them, x c1 Indicates the right partition cylinder stroke, x c2 Indicates the stroke of the lower partition cylinder, x c3 Indicates the stroke of the left partition cylinder, x c4 Indicates the stroke of the upper partition cylinder, l AC Indicates the distance between the left and right partition cylinders, l BD Indicates the distance between the upper and lower partition cylinders.

[0097] Then the rotation matrix of the shield relative to the segment coordinate system corresponding to the current ring number is It can be expressed as:

[0098]

[0099] The rotation matrix of the shield relative to the world coordinate system It can be expressed as:

[0100]

[0101] The shield body posture is calculated according to the stroke of each group of hydraulic cylinders of the shield machine, and the shield body posture is transmitted to the guidance system module; in the embodiment of the present invention, based on the physical meaning of each output data in the real guidance system, according to the real-time posture of the shield body and the tunnel design axis data in the simulation system, the posture deviation of the shield machine relative to the tunnel design axis is solved through the geometric relationship, so as to obtain the data output consistent with the physical meaning of the real guidance system. The specific calculation steps are as follows:

[0102] A1. According to the tunnel design axis data, the three-dimensional coordinates of the axis X can be obtained. dta The function of mileage l can be expressed as:

[0103]

[0104] A2. According to the position of the center of the shield machine cutterhead W P C and tunnel design axis function X dta (l), find the point on the tunnel design axis that is closest to the current cutterhead center and calculate the current cutterhead mileage l c , which can be expressed as:

[0105]

[0106] A3. According to the calculated current cutter head mileage l c , get the coordinate X of the cutterhead center mapped to the tunnel design axis dta (l c )

[0107] A4. According to the cutter mileage l c and mapped to the coordinate X of the tunnel design axis dta (l c ), the attitude deviation data such as the horizontal deviation of the incision and the vertical deviation of the incision can be calculated.

[0108] The earth pressure balance system module calculates the soil bin pressure based on the speed of the screw conveyor and the propulsion speed of the shield machine;

[0109] In the embodiment of the present invention, the earth pressure balance system module mainly calculates the soil bin pressure. The present invention establishes an earth pressure balance model for the sealed cabin based on the mass conservation law of the amount of soil entering and discharged from the sealed cabin, and its equation is expressed as:

[0110]

[0111] Among them, P(k+1) is the soil pressure of the sealed cabin at the next moment, P(k) is the soil pressure of the sealed cabin at the current moment, and E t is the tangent modulus of the slag, V is the volume of the sealed cabin, A is the area of ​​the excavation surface, v is the current propulsion speed of the shield machine, η is the soil discharge efficiency of the screw conveyor, and A s is the effective soil discharge area of ​​the screw conveyor, and L is the blade spacing of the screw conveyor.

[0112] The area A of the excavation surface can be expressed as:

[0113]

[0114] Where D is the cutterhead diameter of the shield machine.

[0115] Screw conveyor effective discharge area A s It can be expressed as:

[0116]

[0117] Where D1 is the diameter of the screw conveyor and D2 is the diameter of the screw conveyor shaft.

[0118] The soil environment module calculates the propulsion resistance of each hydraulic cylinder of the shield machine according to the soil parameters;

[0119] In the embodiment of the present invention, the soil environment module mainly generates the propulsion resistance of the shield machine, and mainly considers the influence of water and soil pressure on the propulsion process of the shield machine. The present invention selects the Terzaghi theory as the theoretical basis for soil pressure calculation, and its equation is expressed as:

[0120]

[0121] Among them, P s is the theoretical earth pressure, B is the loose width of the shield top cover, γ is the soil density, c is the soil cohesion, K is the soil lateral pressure coefficient, φ is the soil internal friction angle, H is the cover thickness, and P0 is the ground load.

[0122] In addition, the total resistance of the shield machine during excavation is mainly the water and soil pressure on the front side. Its value can be obtained by adding the average of the soil side pressure at the top of the shield and the soil side pressure at the bottom of the shield plus the water pressure and multiplying it by the area of ​​the entire excavation surface. The equation is expressed as:

[0123]

[0124] Among them, F L is the resistance of the shield machine, P u is the lateral pressure of the soil at the top of the shield, P l is the lateral pressure of the soil at the bottom of the shield, P w is the water pressure and A is the area of ​​the excavation surface.

[0125] In the above formulas, formulas (1)-(7) and (20) are common basic theoretical formulas, and formulas (8)-(19) and (21) are derived formulas of this patent.

[0126] The shield machine 3D visualization simulation system module based on Webots imports the tunnel design axis and the shield machine 3D physical model into the Webots 3D visualization scene, and drives the motors of the cutterhead system, screw conveyor system and hydraulic propulsion system according to the excavation data provided by the data interface module, thereby displaying the excavation process of the shield machine in real-time 3D visualization.

[0127] In the embodiment of the present invention, the function of the shield machine three-dimensional visualization simulation system module based on Webots is to simulate the tunneling process of the shield machine, realize the three-dimensional visualization display of the shield machine tunneling process, and display the posture of the shield machine, the position and speed of the hydraulic cylinder in real time, so as to facilitate the observation of the movement process of the shield machine and the deviation between the shield machine and the tunnel design axis. Since the shield machine is essentially a complex robot, the present invention uses the Webots robot simulation environment to display the tunneling process of the shield machine in real time. First, according to Figure 3 The schematic diagram of the 3D model of the shield machine is shown in Figure 1. The Solidworks 3D simulation software is used to perform 3D modeling of the shield machine. The specific parameters of the 3D model of the shield machine are shown in Table 1. Secondly, the 3D model of the shield machine and the tunnel design axis are imported into the Webots robot simulation environment. At the same time, the actuator motors of the cutterhead system, screw conveyor system and hydraulic propulsion system are created in the simulation environment to realize the rotation of the cutterhead of the shield machine, the movement of each group of hydraulic cylinders and other movements in the Webots simulation environment. Finally, according to the excavation data read by the data interface module, the motor movement of each system is driven, and the excavation process of the shield machine is displayed in real time in 3D visualization.

[0128] Table 1 is the parameters of the shield machine 3D model

[0129]

[0130]

[0131] Example 2

[0132] This embodiment provides a three-dimensional visualization simulation method for a shield machine, including:

[0133] The hydraulic propulsion system module, the screw conveyor module and the simulation parameters are set through the external control signal module via the data interface module;

[0134] The screw conveyor module calculates the screw conveyor speed according to the screw conveyor speed signal input by the external control signal module, and transmits the screw conveyor speed to the earth pressure balance system module;

[0135] The hydraulic propulsion system module calculates the propulsion speed of the shield machine according to the speed signal and pressure signal input by the external control signal module and the propulsion resistance, and transmits the propulsion speed of the shield machine to the earth pressure balance system module;

[0136] The soil bin pressure is calculated by the earth pressure balance system module according to the rotation speed of the screw conveyor and the propulsion speed of the shield machine;

[0137] The tunnel design axis and the 3D physical model of the shield machine are imported into the Webots 3D visualization scene through the shield machine 3D visualization simulation system module, and the motor of the screw conveyor system and the hydraulic propulsion system are driven according to the excavation data provided by the data interface module, so as to display the excavation process of the shield machine in real-time 3D visualization.

[0138] The circuits, electronic components and modules involved are all prior art and can be fully implemented by those skilled in the art. Needless to say, the content protected by the present invention does not involve improvements to software and methods.

[0139] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0140] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A three-dimensional visualization simulation system for a shield machine, characterized in that: The simulation system includes an external control signal module, a data interface module, a screw conveyor system module, a hydraulic propulsion system module, an earth pressure balance system module and a shield machine three-dimensional visualization simulation system module; The external control signal module sets the hydraulic propulsion system module, the screw conveyor module and the simulation parameters through the data interface module; The screw conveyor module calculates the screw conveyor speed according to the screw conveyor speed signal input by the external control signal module, and transmits the screw conveyor speed to the earth pressure balance system module; The hydraulic propulsion system module calculates the propulsion speed of the shield machine according to the speed signal and pressure signal input by the external control signal module and the propulsion resistance, and transmits the propulsion speed of the shield machine to the earth pressure balance system module; The earth pressure balance system module calculates the soil bin pressure according to the rotation speed of the screw conveyor and the propulsion speed of the shield machine; The shield machine 3D visualization simulation system module imports the tunnel design axis and the shield machine 3D physical model into the Webots 3D visualization scene, and drives the motor of the screw conveyor system and the hydraulic propulsion system according to the excavation data provided by the data interface module, and displays the excavation process of the shield machine in real-time 3D visualization.

2. A shield machine three-dimensional visualization simulation system according to claim 1, characterized in that: The simulation system also includes a cutterhead system module, a shield machine kinematics module, a guide system module and a soil environment module, and the external control signal module also sets the cutterhead system module through the data interface module; The data interface module is respectively connected to the external control signal module, the cutterhead system module, the screw conveyor system module, the hydraulic propulsion system module, the earth pressure balance system module, the shield machine kinematics module, the soil environment module, the guide system module and the shield machine 3D visualization simulation system module based on Webots, and is used to store the excavation data and control signals of the above modules, and provide data support for the 3D visualization simulation system; The cutter head system module calculates the cutter head speed according to the cutter head speed signal input by the external control signal module; The hydraulic propulsion system module can also calculate the stroke of each group of hydraulic cylinders of the shield machine according to the speed signal and pressure signal input by the external control signal module and the propulsion resistance, and transmit the stroke of the hydraulic cylinder of the shield machine to the kinematic module of the shield machine; The shield machine kinematics module calculates the shield body's posture according to the stroke of each group of hydraulic cylinders of the shield machine, and transmits the shield body's posture to the guidance system module; The guidance system module calculates the posture deviation of the shield body according to the real-time posture of the shield body and the tunnel design axis data; The soil environment module calculates the propulsion resistance of each hydraulic cylinder of the shield machine according to soil parameters; The shield machine three-dimensional visualization simulation system module can also drive the motor of the cutter head system according to the excavation data provided by the data interface module.

3. A shield machine three-dimensional visualization simulation system according to claim 2, characterized in that: The shield machine kinematics module calculates the posture of the shield body according to the stroke of each group of hydraulic cylinders of the shield machine, specifically including: Establish the world coordinate system O W -X W Y W Z W , Segment coordinate system O BN -X BN Y BN Z BN And the cutter head center coordinate system O C -X C Y C Z C , the displacement relationship from the center coordinate of the cutter head in the world coordinate system to the center coordinate of the cutter head in the BN coordinate system can be expressed as follows: in, W P C Represents the coordinates of the cutter head center in the world coordinate system, W P BN Indicates the coordinates of the origin of the current environment coordinate system in the world coordinate system. Represents the rotation matrix of the current environment coordinate system relative to the world coordinate system. BN P C It is expressed as the coordinates of the center of the shield blade in the current environment coordinate system; The coordinates of the center of the shield blade in the current environment coordinate system are expressed by the following formula: BN P C : Wherein, h represents the width of the front middle shield body, is the average stroke of the four groups of zoned cylinders, θ is the horizontal deflection angle of the shield relative to the segment coordinate system, and ψ is the horizontal deflection angle of the shield relative to the segment coordinate system; Then the rotation matrix of the shield relative to the segment coordinate system corresponding to the current ring number is It can be expressed as: The rotation matrix of the shield relative to the world coordinate system It can be expressed as:

4. A shield machine three-dimensional visualization simulation system according to claim 2, characterized in that: The guidance system module calculates the posture deviation of the shield body according to the real-time posture of the shield body and the tunnel design axis data, specifically including: Step A1: According to the tunnel design axis data, the three-dimensional coordinates of the axis X are obtained. dta The function of mileage l is expressed as: Step A2: According to the position of the center of the shield machine cutterhead W P C and tunnel design axis function X dta (l), find the point on the tunnel design axis that is closest to the current cutterhead center and calculate the current cutterhead mileage l c , expressed as: Step A3: According to the calculated current cutter head mileage l c , get the coordinate X of the cutterhead center mapped to the tunnel design axis dta (l c ); Step A4: According to the cutter mileage l c and mapped to the coordinate X of the tunnel design axis dta (l c ), calculate the incision horizontal deviation and incision vertical deviation data.

5. A shield machine three-dimensional visualization simulation system according to claim 2, characterized in that: The earth pressure balance system module calculates the earth bin pressure according to the rotation speed of the screw conveyor and the propulsion speed of the shield machine, specifically including: Based on the mass conservation law of the amount of soil entering and discharging from the sealed cabin, the sealed cabin earth pressure balance model is established, and its equation is expressed as follows: Among them, P(k+1) is the soil pressure of the sealed cabin at the next moment, P(k) is the soil pressure of the sealed cabin at the current moment, and E t is the tangent modulus of the slag, V is the volume of the sealed cabin, A is the area of ​​the excavation surface, v is the current propulsion speed of the shield machine, η is the soil discharge efficiency of the screw conveyor, and A s is the effective soil discharge area of ​​the screw conveyor, and L is the blade spacing of the screw conveyor.

6. A shield machine three-dimensional visualization simulation system according to claim 2, characterized in that: The soil environment module calculates the propulsion resistance of each hydraulic cylinder of the shield machine according to the soil parameters, specifically including: Considering the influence of water and soil pressure on the advancement of the shield machine, the theoretical soil pressure is calculated based on the Terzaghi theory, and its equation is expressed as: Among them, P s is the theoretical earth pressure, B is the loose width of the shield top cover, γ is the soil density, c is the soil cohesion, K is the soil lateral pressure coefficient, φ is the soil internal friction angle, H is the cover thickness, and P0 is the ground load; The total resistance of the shield machine during excavation is mainly the water and soil pressure on the front side. Its value is obtained by adding the average of the soil side pressure at the top of the shield and the soil side pressure at the bottom of the shield plus the water pressure and multiplying it by the area of ​​the entire excavation surface. The equation is expressed as: Among them, F L is the resistance of the shield machine, P u is the lateral pressure of the soil at the top of the shield, P l is the lateral pressure of the soil at the bottom of the shield, P w is the water pressure and A is the area of ​​the excavation surface.

7. A three-dimensional visualization simulation method for a shield machine, characterized in that: The method is realized by a shield machine three-dimensional visualization simulation system as described in claims 1 to 6, comprising: The hydraulic propulsion system module, the screw conveyor module and the simulation parameters are set through the external control signal module via the data interface module; The screw conveyor module calculates the screw conveyor speed according to the screw conveyor speed signal input by the external control signal module, and transmits the screw conveyor speed to the earth pressure balance system module; The hydraulic propulsion system module calculates the propulsion speed of the shield machine according to the speed signal and pressure signal input by the external control signal module and the propulsion resistance, and transmits the propulsion speed of the shield machine to the earth pressure balance system module; The soil bin pressure is calculated by the earth pressure balance system module according to the rotation speed of the screw conveyor and the propulsion speed of the shield machine; The tunnel design axis and the 3D physical model of the shield machine are imported into the Webots 3D visualization scene through the shield machine 3D visualization simulation system module, and the motor of the screw conveyor system and the hydraulic propulsion system are driven according to the excavation data provided by the data interface module, so as to display the excavation process of the shield machine in real-time 3D visualization.

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