Open-type TBM attitude calculation method

Abstract

According to the open-type TBM attitude calculation method provided by the invention, open-type TBM attitude calculation can be carried out according to the previous measurement result when a guide system of the open-type TBM cannot carry out measurement, on-site tunneling is guided according to the calculated open-type TBM attitude under the condition of no guide system, and the influence of the guide system on open-type TBM tunneling is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of shield construction, and in particular to an open TBM posture estimation method. Background Art

[0002] Open TBM is a large-scale tunnel excavation equipment suitable for one-time forming of hard rock geology. The use of TBM for tunnel construction has the advantages of high efficiency, safety, environmental protection, and good forming quality. With the development of my country's underground space and the implementation of infrastructure projects such as water conservancy, railways and highways, TBM has broad application prospects.

[0003] At present, the posture calculation of open TBM relies on the guidance system, which is composed of a total station, laser targets, prisms and related communication equipment. However, the overall vibration of the open TBM is large when it is working, and there are cases where the guidance system cannot work normally. For example, the bubble of the total station cannot be stabilized or concentrated due to the overall vibration of the open TBM, making it impossible for the guidance system to measure the posture of the open TBM. For this type of situation, there is no effective solution yet. Summary of the invention

[0004] The purpose of the present invention is to overcome one or more shortcomings in the prior art and to provide a method for estimating the attitude of an open TBM.

[0005] To achieve the above object, the present invention provides a technical solution, which is a method for estimating the attitude of an open TBM, for estimating the attitude of an open TBM when the guidance system of the open TBM cannot perform measurement. The method comprises the following steps:

[0006] a. If the open TBM guidance system can be measured normally, the center point of the open TBM head is the zero point (0,0,0) T , taking the direction from the tail to the head of the open TBM as the positive direction of the X-axis, establish a left-hand coordinate system;

[0007] Get the center coordinates of the open TBM gripper shoe (-(x+d+L),0,0) T , where x is the distance between the center point of the head and the center point of the tail of the open TBM, d is the distance between the center point of the support shoe position and the center point of the tail of the open TBM when the main push cylinder stroke is 0, and L is the main push cylinder stroke;

[0008] b. Calculate the coordinates of the center point of the open TBM shoe during normal measurement of the guidance system (XC 0 , Y.C. 0 , ZC 0 ) T , calculated as:

[0009]

[0010] Among them, (XT 0 , YT 0 , ZT 0 ) T is the coordinate of the center point of the open TBM head during the normal measurement of the guidance system, R 0 is the rotation matrix, x is the distance between the center point of the head and the center point of the tail of the open TBM, d is the distance between the center point of the support shoe position and the center point of the tail of the open TBM when the main push cylinder stroke is 0, and L is the main push cylinder stroke;

[0011] c. If the open TBM guidance system cannot be measured, the center point of the open TBM gripper position is taken as the zero point (0,0,0) T , taking the direction from the tail to the head of the open TBM as the positive direction of the X-axis, establish a left-hand coordinate system;

[0012] Get the head center point coordinates of the open TBM (x+d+L,0,0) T , and the tail center coordinates of the open TBM (d+L,0,0) T , where x is the distance between the center point of the head and the center point of the tail of the open TBM, d is the distance between the center point of the support shoe position and the center point of the tail of the open TBM when the main push cylinder stroke is 0, and L is the main push cylinder stroke;

[0013] d. Calculate the azimuth angle γ of the open TBM after excavation 1 , the calculation method is:

[0014]

[0015] Among them, γ 0 is the azimuth of the open TBM measured by the open TBM guidance system at the moment before the open TBM guidance system cannot perform measurement, LL 0 The left stroke of the open TBM’s gripper cylinder before the open TBM’s guide system could not be measured, LR 0 LL is the right stroke of the open TBM’s gripper cylinder before the open TBM’s guide system cannot be measured. 1 When the open TBM guide system cannot be measured, the left stroke of the open TBM's gripper cylinder, LR 1 When the open TBM guide system cannot be measured, the right stroke of the open TBM gripper cylinder, x is the distance between the center point of the open TBM head and the center point of the tail, d is the distance between the center point of the gripper position and the center point of the open TBM tail when the main push cylinder stroke is 0, and L is the main push cylinder stroke;

[0016] e. Calculate the center coordinates of the support shoe position after excavation (XC 1 , Y.C. 1 , ZC 1 ) T ,

[0017] If ((LR 1 -LL 1 )-(LR 0 -LL 0 )) / 2 is less than 0, then:

[0018]

[0019] If ((LR 1 -LL 1 )-(LR 0 -LL 0 )) / 2 is greater than 0, then:

[0020]

[0021] Among them, XC 0 , YC 0 , ZC 0 are the azimuth angles γ 0 The center point coordinates of the shoe position (XC 0 , Y.C. 0 , ZC 0 ) T Coordinate value, LL 0 The left stroke of the open TBM’s gripper cylinder before the open TBM’s guide system could not be measured, LR 0 LL is the right stroke of the open TBM’s gripper cylinder before the open TBM’s guide system cannot be measured. 1 When the open TBM guide system cannot be measured, the left stroke of the open TBM's gripper cylinder, LR 1 When the open TBM guide system cannot be measured, the right stroke of the open TBM's gripper cylinder, ZC 0 HL is the elevation of the center point of the open TBM gripper measured by the open TBM guidance system at the moment before the open TBM guidance system cannot perform measurement. 0 The left torque cylinder stroke of the open TBM before the open TBM guidance system cannot be measured, HR 0 is the stroke of the right torque cylinder of the open TBM before the open TBM guidance system cannot be measured, HL 1 When the open TBM guide system cannot be measured, the left torque cylinder stroke of the open TBM, HR 1The right torque cylinder stroke of the open TBM when the open TBM guide system cannot be measured.

[0022] f. According to the relative position relationship in the local coordinate system established with the center point of the open TBM gripper as the zero point, the center point coordinates of the gripper position after excavation (XC 1 , Y.C. 1 , ZC 1 ) T , calculate the head center coordinates of the open TBM after excavation (XT 1 , YT 1 , ZT 1 ) T and the tail center coordinates of the open TBM after excavation (XW 1 , YW 1 , ZW 1 ) T , calculated as:

[0023]

[0024] Among them, R 1 is the rotation matrix, x is the distance between the center point of the head and the center point of the tail of the open TBM, d is the distance between the center point of the support shoe position and the center point of the tail of the open TBM when the main push cylinder stroke is 0, and L is the main push cylinder stroke;

[0025] g. According to the head center coordinates of the open TBM after excavation (XT 1 , YT 1 , ZT 1 ) T and the tail center coordinates of the open TBM after excavation (XW 1 , YW 1 , ZW 1 ) T Calculate the current posture of the open TBM.

[0026] h. The open TBM posture estimation method is carried out according to steps ah. If the open TBM guidance system can perform measurements, the coordinates of the center point of the open TBM support shoe are updated.

[0027] Preferably, the rotation matrix R in step f is 1 The angle change matrix of the azimuth angle * the angle change matrix of the pitch angle * the angle change matrix of the roll angle, the rotation matrix R 1 The calculation method is:

[0028]

[0029] Among them, γ 1 is the azimuth of the open TBM after excavation, α1 , β 1 They are the real-time pitch angle and roll angle of the open TBM read out after excavation.

[0030] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0031] The open TBM posture estimation method provided by the present invention can estimate the open TBM posture according to previous measurement results when the guidance system of the open TBM is unable to perform measurement, and guide on-site excavation according to the estimated open TBM posture in the absence of a guidance system, thereby reducing the influence of the guidance system on the excavation of the open TBM. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of establishing a local coordinate system with the center point of the head of an open TBM as the zero point.

[0033] Figure 2 It is a schematic diagram of establishing a local coordinate system with the center point of the open TBM's gripper shoe as the zero point.

[0034] Figure 3 This is the schematic diagram of the calculation of the azimuth angle of an open TBM.

[0035] Figure 4 It is a flow chart of the open TBM posture estimation method. DETAILED DESCRIPTION

[0036] like Figure 1 As shown, when the open TBM guidance system is capable of measuring, the center point coordinates of the open TBM head are used as the zero point (0,0,0) T , a left-hand coordinate system is established with the direction from the tail to the head of the open TBM as the positive direction of the X-axis. The coordinate point of the center point of the gripper position in the above coordinate system is (-(x+d+L),0,0) T , where x is the distance between the center point of the head and the center point of the tail of the open TBM, d is the distance between the center point of the support shoe position and the center point of the tail of the open TBM when the main thrust cylinder stroke is 0, and L is the main thrust cylinder stroke.

[0037] like Figure 2 As shown, when the open TBM guide system cannot be measured, the coordinates of the center point of the open TBM gripper position are used as the zero point (0,0,0) T , a left-handed coordinate system is established with the direction from the tail of the open TBM to the head as the positive direction of the X-axis. The coordinates of the center point of the head of the open TBM in this coordinate system are (x+d+L,0,0) T, where x is the distance between the center point of the head of the open TBM and the center point of the tail, d is the distance between the center point of the gripper position and the center point of the tail of the open TBM when the main push cylinder stroke is 0, and L is the main push cylinder stroke; the coordinate point of the center point of the tail of the open TBM in the above coordinate system is (d+L,0,0) T , where d is the distance between the center point of the support shoe position and the center point of the tail of the open TBM when the main push cylinder stroke is 0, and L is the main push cylinder stroke.

[0038] Since the gripper shoes need to hold the tunnel wall tight during the excavation of the open TBM, it is believed that the center point coordinates of the gripper shoes during the excavation of the open TBM can be calculated according to the changes in other conditions. The gripper shoes can adjust the left and right torque cylinder strokes during the excavation process, and the elevation coordinates of the center point of the gripper shoes can be calculated according to the changes. The elevation change of the center point of the gripper shoes of the open TBM can be calculated according to the initial left and right torque cylinder strokes when the open TBM guidance system cannot be measured. The initial stroke of the left torque cylinder is HL 0 , the initial stroke of the right torque cylinder is HR 0 , the real-time stroke of the left torque cylinder during the attitude estimation process is HL 1 , the stroke of the right torque cylinder is HR 1 , then the real-time elevation of the center point of the support shoe position is ZC 1 =ZC 0 +((HL 1 +HR 1 )-(HL 0 +HR 0 )).

[0039] like Figure 3 As shown in the figure, during the excavation process, the open TBM can adjust the azimuth angle of the open TBM to control its posture by adjusting the left and right stroke of the gripper cylinder. Since the gripper is tightly held on the tunnel wall, the position of the head of the open TBM is relatively fixed, and the guidance system cannot measure the azimuth angle γ of the open TBM. 1 The change in the final azimuth γ when the guidance system can measure 0 It is related to the change of left and right stroke of the support shoe cylinder, and its calculation method is:

[0040]

[0041] Among them, LL 0 and LR 0 They are the left and right strokes of the support shoe cylinder when the open TBM guide system can be measured normally for the last time, LL 1 and LR 1 They are the real-time left and right strokes of the support shoe cylinder of an open TBM.

[0042] The horizontal coordinate of the center point of the gripper cylinder needs to be calculated based on the relationship between the horizontal translation of the center point of the gripper cylinder and the change of the gripper cylinder stroke, as well as the horizontal translation of the center point of the gripper cylinder and the offset angle. The horizontal translation of the center point of the gripper cylinder is ((LR 1 -LL 1 )-(LR 0 -LL 0 )) / 2. When ((LR 1 -LL 1 )-(LR 0 -LL 0 )) / 2 is less than 0, the direction of the horizontal translation of the center point of the support shoe cylinder is consistent with the azimuth direction of the open TBM γ 0 Vertical, and greater than γ 0 Small 90°, XC 1 =XC 0 +|((LR 1 -LL 1 )-(LR 0 -LL 0 )) / 2|*sin(γ 0 -90°), YC 1 =YC 0 +|((LR 1 -LL 1 )-(LR 0 -LL 0 )) / 2|*cos(γ 0 -90°); when ((LR 1 -LL 1 )-(LR 0 -LL 0 When )) / 2 is greater than 0, the direction of the horizontal translation of the center point of the support shoe cylinder is consistent with the azimuth direction of the open TBM γ 0 Vertical, and greater than γ 0 Large 90°, XC 1 =XC 0 +|((LR 1 -LL 1 )-(LR 0 -LL 0 )) / 2|*sin(γ 0 +90°), YC 1 =YC 0 +|((LR 1 -LL 1 )-(LR 0 -LL 0 )) / 2|*cos(γ 0 +90°).

[0043] like Figure 4As shown in the figure, during the excavation process, if the open TBM can be measured normally, the coordinates of the head of the open TBM (XT 0 , YT 0 , ZT 0 ) T , the center point coordinates (XC 0 , Y.C. 0 , ZC 0 ) T :

[0044]

[0045] Where R 0 The calculation method is as follows: Read the real-time pitch angle β of the open TBM 0 , rolling angle α 0 , calculate the azimuth angle γ based on the head and tail coordinates of the open TBM 0 , calculated as follows:

[0046]

[0047] according to Figure 3 The method shown in the figure and the calculation method of the real-time coordinates of the center point elevation of the gripper shoe are used to calculate the real-time X and Y coordinates (XC 1 , Y.C. 1 , ZC 1 ) T :

[0048] If ((LR 1 -LL 1 )-(LR 0 -LL 0 )) / 2 is less than 0, (XC 1 , Y.C. 1 , ZC 1 ) T The calculation method is:

[0049]

[0050] If ((LR 1 -LL 1 )-(LR 0 -LL 0 )) / 2 is greater than 0, (XC 1 , Y.C. 1 , ZC 1 ) T The calculation method is:

[0051]

[0052] According to the relative position relationship in the local coordinate system established with the center point of the open TBM gripper as the zero point, the real-time center point coordinates of the open TBM gripper position (XC 1 , Y.C. 1 , ZC 1 ) T Calculation of open TBM head (XT 1 , YT 1 , ZT 1 ) T and tail center coordinates (XW 1 , YW 1 , ZW 1 ) T .

[0053]

[0054] The calculation method of R1 is to read the real-time pitch angle β of the open TBM. 1 , rolling angle α 1 , and the calculated real-time azimuth γ 1 , and then calculate according to the rotation matrix formula.

[0055] The open TBM posture estimation method is carried out according to the above steps. If the open TBM guidance system can perform measurement, the coordinates of the center point of the open TBM support shoe are updated.

[0056] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the contents of the present invention and implement them accordingly. They cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for estimating the attitude of an open TBM, which is used to estimate the attitude of an open TBM when the guidance system of the open TBM cannot perform measurement, and the method comprises the following steps: a. If the open TBM guidance system can be measured normally, the center point of the open TBM head is the zero point (0,0,0) T , taking the direction from the tail to the head of the open TBM as the positive direction of the X-axis, establish a left-hand coordinate system; Get the center coordinates of the open TBM gripper shoe (-(x+d+L),0,0) T , where x is the distance between the center point of the head and the center point of the tail of the open TBM, d is the distance between the center point of the support shoe position and the center point of the tail of the open TBM when the main push cylinder stroke is 0, and L is the main push cylinder stroke; b. Calculate the coordinates of the center point of the open TBM gripper during normal measurement of the guidance system (XC0, YC0, ZC0) T , calculated as: Among them, (XT0, YT0, ZT0) T is the coordinate of the center point of the open TBM head during the normal measurement of the guidance system, R0 is the rotation matrix, x is the distance between the center point of the open TBM head and the center point of the tail, d is the distance between the center point of the support shoe position and the center point of the open TBM tail when the main push cylinder stroke is 0, and L is the main push cylinder stroke; c. If the open TBM guidance system cannot be measured, the center point of the open TBM gripper position is taken as the zero point (0,0,0) T , taking the direction from the tail to the head of the open TBM as the positive direction of the X-axis, establish a left-hand coordinate system; Get the head center point coordinates of the open TBM (x+d+L,0,0) T , and the tail center coordinates of the open TBM (d+L,0,0) T , where x is the distance between the center point of the head and the center point of the tail of the open TBM, d is the distance between the center point of the support shoe position and the center point of the tail of the open TBM when the main push cylinder stroke is 0, and L is the main push cylinder stroke; d. Calculate the azimuth angle γ1 of the open TBM after excavation. The calculation method is: Among them, γ0 is the azimuth of the open TBM measured by the open TBM guidance system at the moment before the open TBM guidance system cannot measure, LL0 is the left stroke of the open TBM's gripper cylinder at the moment before the open TBM guidance system cannot measure, LR0 is the right stroke of the open TBM's gripper cylinder at the moment before the open TBM guidance system cannot measure, LL1 is the left stroke of the open TBM's gripper cylinder when the open TBM guidance system cannot measure, LR1 is the right stroke of the open TBM's gripper cylinder when the open TBM guidance system cannot measure, x is the distance between the center point of the open TBM head and the center point of the tail, d is the distance from the center point of the gripper position to the center point of the open TBM's tail when the main push cylinder stroke is 0, and L is the main push cylinder stroke; e. Calculate the center point coordinates of the support shoe position after excavation (XC1, YC1, ZC1) T , If ((LR1-LL1)-(LR0-LL0)) / 2 is less than 0, then: If ((LR1-LL1)-(LR0-LL0)) / 2 is greater than 0, then: Among them, XC0, YC0, and ZC0 are the coordinates of the center point of the gripper position when the azimuth angle is γ0 (XC0, YC0, ZC0) T The coordinate values ​​are as follows: LL0 is the left stroke of the open TBM's gripper cylinder before the open TBM's guide system cannot measure; LR0 is the right stroke of the open TBM's gripper cylinder before the open TBM's guide system cannot measure; LL1 is the left stroke of the open TBM's gripper cylinder when the open TBM's guide system cannot measure; LR1 is the right stroke of the open TBM's gripper cylinder when the open TBM's guide system cannot measure; ZC0 is the stroke before the open TBM's guide system cannot measure At a certain moment, the elevation of the center point of the open TBM support shoe measured by the open TBM guide system, HL0 is the left torque cylinder stroke of the open TBM at the moment before the open TBM guide system is unable to measure, HR0 is the right torque cylinder stroke of the open TBM at the moment before the open TBM guide system is unable to measure, HL1 is the left torque cylinder stroke of the open TBM when the open TBM guide system is unable to measure, HR1 is the right torque cylinder stroke of the open TBM when the open TBM guide system is unable to measure. f. According to the relative position relationship in the local coordinate system established with the center point of the open TBM gripper as the zero point, the center point coordinates of the gripper position after excavation (XC1, YC1, ZC1) T , calculate the head center coordinates (XT1, YT1, ZT1) of the open TBM after excavation T and the tail center coordinates of the open TBM after excavation (XW1, YW1, ZW1) T , calculated as: Among them, R1 is the rotation matrix, x is the distance between the center point of the head of the open TBM and the center point of the tail, d is the distance between the center point of the support shoe position and the center point of the tail of the open TBM when the main push cylinder stroke is 0, and L is the main push cylinder stroke; g. According to the head center coordinates of the open TBM after excavation (XT1, YT1, ZT1) T and the tail center coordinates of the open TBM after excavation (XW1, YW1, ZW1) T Calculate the current posture of the open TBM. h. The open TBM posture estimation method is carried out according to steps ah. If the open TBM guidance system can perform measurements, the coordinates of the center point of the open TBM support shoe are updated.

2. The open TBM posture estimation method according to claim 1 is characterized in that: In step f, the rotation matrix R1 is the angle change matrix of the azimuth angle * the angle change matrix of the pitch angle * the angle change matrix of the roll angle. The calculation method of the rotation matrix R1 is: Among them, γ1 is the azimuth angle of the open TBM after excavation, and α1 and β1 are the real-time pitch angle and roll angle of the open TBM read after excavation, respectively.

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