TBM gripper shoe self-adaptive step changing device, control system and method

Abstract

The invention discloses a TBM gripper shoe adaptive step changing device, a control system and a method, and relates to the technical field of tunneling equipment automation, the TBM gripper shoe adaptive step changing device comprises a data acquisition module (laser radar array), a data processing module (point cloud denoising and feature extraction) and a control module (path planning and hydraulic servo control); according to the method, the surface of surrounding rock is scanned in real time through a laser radar, the characteristics of a steel arch and a collapse cavity are recognized in combination with an improved RANSAC algorithm and PointNet + +, a collision-free step changing path is automatically planned according to matching conditions, and displacement of an oil cylinder is accurately controlled through PID; the problems that traditional manual operation is low in positioning precision, cavity collapse response lags behind, and efficiency is limited are solved, and the safety and efficiency of TBM continuous tunneling are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel boring equipment automation, and in particular to a TBM gripper adaptive step-changing device, a control system and a method. Background Art

[0002] Against the backdrop of the rapid development of modern infrastructure, tunnel construction, as a crucial channel connecting cities and regions, places a high level of construction efficiency and quality directly on the success of the entire project. Tunnel boring machines (TBMs), high-end equipment integrating mechanization, automation, and intelligent technologies, have established themselves as a leading force in tunnel construction projects such as mountain tunnels, subway lines, and water conservancy projects due to their efficient, safe, and environmentally friendly construction. The operating principle of a TBM relies on its sophisticated mechanical structure, with the gripper system, a key support component, playing a crucial role.

[0003] The gripper system, the foundation of stable TBM excavation, provides strong support for the machine body during excavation through the precise coordination of components such as the gripper cylinder. It not only ensures the cutterhead maintains a stable excavation direction while breaking rock, but also effectively absorbs vibrations generated during excavation, protecting the machine from damage. However, in actual operations, the TBM gripper step change process often becomes a key factor restricting construction efficiency and quality.

[0004] Traditional TBM gripper changing relies on manual observation and experience, which has the following drawbacks:

[0005] Low positioning accuracy: Manual visual inspection cannot monitor the deformation of the steel arch in real time, which can easily lead to collision between the support shoe and the arch;

[0006] Delayed response to collapse cavity: The identification of collapse areas relies on geological reports, making it difficult to adjust the support points of the support shoes in a timely manner;

[0007] Limited efficiency: The step-changing cycle is long, which affects the continuous excavation speed of the TBM.

[0008] Existing technologies use image-based visual monitoring of gripper position, but these methods lack accurate 3D environmental information and are less resistant to dust interference. Therefore, there is an urgent need for a lidar-based TBM tunnel steel arch and collapse cavity identification system and method for adaptive gripper step-change control. Summary of the Invention

[0009] The purpose of the present invention is to provide a TBM gripper adaptive step-changing device, control system and method in order to solve the above problems.

[0010] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0011] A TBM gripper adaptive step-changing control device, comprising:

[0012] The main beam is used to install the step-changing guide;

[0013] A propulsion mechanism, comprising a saddle frame movable on the main beam and a propulsion cylinder for pulling the saddle frame to move, wherein two propulsion cylinders are respectively arranged on both sides of the main beam, and the two ends of the propulsion cylinders are respectively hinged to the saddle frame and the main beam; and

[0014] A gripper mechanism comprising gripper cylinders mounted on both sides of the saddle frame and grippers on movable ends of the gripper cylinders; and

[0015] Laser radar arrays for scanning the left and right support shoes and the surrounding rock surface within a range of not less than 2m in front of the left and right support shoes are arranged on both sides of the main beam.

[0016] A TBM gripper adaptive step-changing control system, comprising:

[0017] A data acquisition module, comprising a laser radar array respectively arranged on both sides of the main beam, for scanning the arch condition;

[0018] a data processing module, which includes a point cloud denoising unit and a feature extraction unit; and

[0019] a control module including a path planner and a hydraulic servo controller;

[0020] The point cloud denoising unit eliminates dust interference based on reflection intensity threshold and spatiotemporal filtering;

[0021] The feature extraction unit uses an improved RANSAC algorithm to fit the steel arch position and combines it with PointNet++ to segment the collapsed cavity point cloud cluster;

[0022] The path planner generates a collision-free motion path based on the feature extraction results;

[0023] The hydraulic servo controller adjusts the displacement of the gripper cylinder and the thrust cylinder through PID.

[0024] Preferably, the scanning range of the laser radar array covers the gripper shoe and the arch area in front of it that is not less than 2m.

[0025] Preferably, the point cloud denoising unit filters the low reflectivity point cloud by using a reflection intensity threshold, and combines spatiotemporal filtering to eliminate dynamic dust interference.

[0026] Preferably, the reflection intensity threshold is >60.

[0027] Preferably, the feature extraction unit calculates the steel arch width b2, the installation inclination angle θ, and the spacings Δ1 and Δ2 between the support shoe and the first adjacent and second adjacent steel arches, and determines the collapse risk area based on the local point cloud density standard deviation σ.

[0028] A TBM gripper adaptive step-changing control method includes the following steps:

[0029] Step 1: Use the LiDAR array to collect point cloud data of the gripper position and the arch range in front of it ≥2m;

[0030] Step 2: Identify the gripper positioning, steel arch features and collapse risk areas;

[0031] Step 3: Make a match judgment between the steel arch frame, the collapse cavity and the gripper shoe slot;

[0032] The conditions for direct support shoe application are L≤0.6B, W≤0.5B, D≤0.3B, H·sinθ≤b1-b2-5mm, and the center of the collapse cavity deviates from the TBM axis by ≤0.2B. If these conditions are not met, the steel arch needs to be adjusted through auxiliary measures until these conditions are met.

[0033] Step 4: Generate the gripper step-change path:

[0034] The retraction distance of the gripper cylinder is greater than the height h of the steel arch section;

[0035] The thrust cylinder contracts and the gripper moves horizontally with the saddle frame. The moving distance is:

[0036] When Δ1+0.5B=single cycle footage, move Δ1+0.5B;

[0037] When Δ1+0.5B=0.5 times the single-cycle footage, move Δ2+0.5B.

[0038] Preferably, the step 2 is specifically as follows:

[0039] Gripper positioning: Extract high reflectivity point cloud and perform spatial positioning based on gripper size;

[0040] Steel arch positioning: calculate the width b2, the inclination angle θ, and the spacing Δ1 and Δ2 between the support shoe and the first and second adjacent steel arches;

[0041] Collapse judgment: When the standard deviation of the local point cloud density σ>threshold σmax and accompanied by a negative height mutation, it is marked as a collapse risk area, and its size (length L × width W × depth D) and spatial position are calculated.

[0042] Preferably, in step 3, the auxiliary measure triggering condition is any one of the following:

[0043] The collapsed cavity is located at the edge of the gripper and at least one side is suspended;

[0044] L or W exceeds the direct gripper width B;

[0045] D≥0.5B.

[0046] Preferably: in step 3, the auxiliary measures are: the volume of the collapsed cavity is ≤ 3m 3 , high pressure spraying of quick-setting concrete through TBM reserved grouting holes; collapse cavity volume>3m 3 , choose formwork support.

[0047] Compared with the existing technology, the present invention has the following advantages: through the coordinated operation of the laser radar array, data processing module, and control module, it solves the problems of low positioning accuracy, delayed cavity collapse response, and limited efficiency during the traditional manual operation of the TBM gripper change process, significantly improving the safety and efficiency of continuous TBM excavation. The specific beneficial effects are as follows:

[0048] Improved positioning accuracy: Traditional TBM gripper switching relies on manual observation and experience. Manual visual inspection cannot monitor steel arch deformation in real time, which can easily lead to collisions between the grippers and the arch. This new approach uses lidar to scan the surrounding rock surface in real time. Combined with an improved RANSAC algorithm and PointNet++ to identify steel arch and collapse cavity features, it can accurately locate the grippers, steel arch, and collapse cavity risk areas, eliminating manual errors and improving positioning accuracy.

[0049] Timely response to collapse cavities: Traditional methods rely on geological reports to identify collapse areas, making it difficult to adjust support shoe support points in a timely manner. The feature extraction unit of the present invention determines collapse cavity risk areas based on the standard deviation σ of the local point cloud density. When a collapse cavity is detected, it can promptly perform a matching judgment and select appropriate auxiliary measures based on the size of the collapse cavity, such as using high-pressure jetting of rapid-setting concrete through reserved grouting holes in the TBM or using cast-in-place support. This allows for timely addressing of collapse cavities and ensures construction safety.

[0050] Improved construction efficiency: Traditional step-changing methods have long step-changing cycles, which affect the continuous tunneling speed of the TBM. The path planner in this invention generates a collision-free motion path based on feature extraction results. The hydraulic servo controller precisely controls the cylinder displacement through PID control, enabling fast and precise step-changing of the grippers. This shortens the step-changing cycle and improves the efficiency of continuous tunneling of the TBM.

[0051] Enhanced anti-interference capability: Existing technologies use visual imagery to monitor gripper position, resulting in inaccurate 3D environmental information and poor resistance to dust interference. The data acquisition module of this invention utilizes a lidar array, and the point cloud denoising unit in the data processing module eliminates dust interference using a reflection intensity threshold and spatiotemporal filtering. This enables accurate acquisition of point cloud data in dusty environments, ensuring system stability and reliability.

[0052] Realize automatic control: The present invention realizes automatic control of TBM gripper step change, reduces manual intervention, reduces labor intensity, and improves the intelligent level of construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0054] Figure 1 It is a cross-sectional view of a TBM gripper shoe adaptive step-changing control system according to the present invention.

[0055] Figure 2 It is a top view structural schematic diagram of a TBM gripper shoe adaptive step-changing device, control system and method described in the present invention.

[0056] The following are the descriptions of the reference numerals:

[0057] 1. Steel arch frame; 2. Gripper shoe; 3. LiDAR array; 4. Laser; 5. Gripper shoe slot; 6. Propulsion cylinder connecting ear seat; 7. Main beam; 8. Slide rail; 9. Gripper shoe cylinder; 10. Saddle frame; 11. Propulsion cylinder; 12. First adjacent steel arch frame; 13. Second adjacent steel arch frame. DETAILED DESCRIPTION

[0058] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" 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 device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0059] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be internal communication between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood based on specific circumstances.

[0060] The present invention will be further described below in conjunction with the accompanying drawings:

[0061] Example 1

[0062] like Figure 1-Figure 2 As shown, a TBM gripper adaptive step-changing device includes:

[0063] The main beam 7, the core component of the entire device's step-changing guidance, is made of high-strength alloy steel. Its structural design meets the high-intensity use requirements of the TBM in complex underground environments. The main beam 7's surface has been specially treated to provide excellent wear and corrosion resistance, effectively extending its service life. In actual engineering applications, the stability of the main beam 7 is directly related to the safety and accuracy of the TBM gripper 2's step-changing process. Its guiding function ensures that the gripper 2 moves along the predetermined path during step-changing, avoiding deviation or jamming.

[0064] The propulsion mechanism includes a saddle frame 10 and a propulsion cylinder 11; wherein the saddle frame 10 is mounted on the main beam 7 and can be flexibly moved; the saddle frame 10 and the main beam 7 are matched through a slide rail 8, and the slide rail 8 is manufactured using a high-precision processing technology with low surface roughness, which can reduce the friction when the saddle frame 10 slides and improve the smoothness and precision of movement; the material of the saddle frame 10 is also selected from high-strength alloy, which has sufficient strength and rigidity to withstand the tension of the propulsion cylinder 11 and the various loads transmitted by the support shoe 2 during operation; the propulsion mechanism includes two propulsion cylinders 11 , symmetrically arranged on both sides of the main beam 7; this symmetrical arrangement can ensure that the saddle frame 10 is evenly stressed during movement, avoiding the occurrence of unbalanced loads; the two ends of the propulsion cylinder 11 are respectively connected to the saddle frame 10 and the main beam 7 by hinged connection. The hinged structure allows the cylinder to rotate freely within a certain angle range, thereby adapting to the posture changes of the TBM under different working conditions; the propulsion cylinder 11 is hydraulically driven, with the characteristics of large output force and fast response speed, and can quickly and stably pull the saddle frame 10 to move on the main beam 7, realizing the step-changing operation of the TBM gripper 2;

[0065] Gripper 2 mechanism, gripper cylinder 9 is installed on both sides of saddle frame 10, as the power transmission component between gripper 2 and saddle frame 10, its performance directly affects the working effect of gripper 2; gripper cylinder 9 adopts multi-stage telescopic design, which can adjust the extension length of gripper 2 according to actual working requirements to adapt to surrounding rock surfaces of different shapes and sizes; the cylinder is equipped with a high-precision displacement sensor, which can monitor the extension displacement of gripper 2 in real time and provide accurate data support for the control system; gripper 2 is installed at the movable end of gripper cylinder 9, which is the direct contact between TBM and surrounding rock The gripper shoe 2 is a key component in contact with the surrounding rock. The gripper shoe 2 is designed with special anti-slip patterns on its surface to increase friction with the surrounding rock, ensuring that the TBM has sufficient support during excavation. On the side of the gripper shoe 2 away from the saddle frame 10, a gripper shoe slot 5 specifically for avoidance is provided corresponding to the steel arch frame 1. The size of the slot has been precisely designed to perfectly match the steel arch frame 1. During the step-changing process of the gripper shoe 2, the steel arch frame 1 is effectively avoided to avoid collision between the two, protecting the steel arch frame 1 and the gripper shoe 2 from damage, while ensuring the normal excavation operation of the TBM.

[0066] The laser radar array 3 is arranged on both sides of the main beam 7 ( Figure 1 and Figure 2 The figure is a single-side illustration; in reality, the laser radar arrays 3 on both sides are symmetrically arranged about the center line of the main beam 7. Their main function is to scan the left and right support shoes 2 and the surrounding rock surface within a range of not less than 2m in front of them. The laser radar array 3 adopts multi-line laser 4 radar technology, which has the characteristics of high resolution and wide viewing angle, and can quickly and accurately obtain three-dimensional point cloud data of the surrounding rock surface. By analyzing and processing these point cloud data, the shape and structure of the surrounding rock and the installation status of the steel arch frame 1 can be grasped in real time, providing important data basis for the adaptive step change of the TBM support shoe 2. In actual application, the laser radar array 3 can promptly detect abnormal conditions such as collapse cavities and cracks in the surrounding rock, and provide early warning for construction personnel to take corresponding safety measures.

[0067] Example 2

[0068] A TBM gripper adaptive step-changing control system, comprising:

[0069] The data acquisition module is primarily composed of laser radar arrays 3, positioned on either side of the main beam 7. The scanning range of these laser radar arrays 3 has been carefully designed to completely cover the gripper 2 and the arch area in front of it, which is at least 2 meters. During actual operation, the laser radar arrays 3 scan this area at high frequency, rapidly acquiring a large amount of point cloud data. This point cloud data can accurately restore the shape and position of the arch, as well as the surface characteristics of the surrounding rock, providing raw data support for subsequent data processing and analysis. The module's high resolution and real-time performance ensure that the system can promptly and accurately perceive changes in the surrounding environment, providing a reliable data foundation for the adaptive step-changing of the TBM gripper 2.

[0070] A data processing module, which includes a point cloud denoising unit and a feature extraction unit;

[0071] Point cloud denoising unit: In underground tunnel construction environments, there are a large number of interfering factors such as dust and water vapor. These factors can cause a large number of noise points in the point cloud data collected by the LiDAR. The point cloud denoising unit performs preliminary filtering on the collected point cloud data by setting a reflection intensity threshold (>60) to remove low-reflectivity noise points. At the same time, it combines a spatiotemporal filtering algorithm to further eliminate dynamic dust interference. The spatiotemporal filtering algorithm considers the continuity of point cloud data in time and space. By analyzing and processing point cloud data at adjacent time points and spatial locations, it can effectively remove noise points caused by dust movement, improving the quality and accuracy of point cloud data.

[0072] Feature extraction unit: The feature extraction unit is the core part of the data processing module. Its main function is to extract useful feature information from the denoised point cloud data. Specifically, the unit uses a series of advanced algorithms to calculate the width b2 of the steel arch 1, the installation inclination angle θ, and the spacing Δ1 and Δ2 between the gripper 2 and the first adjacent steel arch 12 and the second adjacent steel arch 13. During the calculation process, point cloud normal vector analysis and other technologies are used to accurately obtain the geometric characteristics and spatial position information of the steel arch 1. In addition, the feature extraction unit also determines the collapse risk area based on the local point cloud density standard deviation σ. When the local point cloud density standard deviation σ exceeds the threshold σmax and is accompanied by a negative height mutation, it is marked as a collapse risk area, and the size of the collapse cavity (length L×width W×depth D) and the spatial distribution position relative to the gripper 2 are calculated at the same time. In order to more accurately fit the position of the steel arch 1, the feature extraction unit uses an improved RANSAC algorithm and combines it with PointNet++ to segment the collapse cavity point cloud cluster, thereby achieving accurate identification and positioning of the steel arch 1 and the collapse cavity in complex environments.

[0073] a control module including a path planner and a hydraulic servo controller;

[0074] Path planner: The path planner generates a collision-free motion path for the gripper 2 to change steps based on the results obtained by the feature extraction unit. In the process of generating the path, the path planner comprehensively considers factors such as the position of the steel arch 1, the distribution of the collapsed cavity, and the size of the gripper 2, and uses advanced path planning algorithms such as the A* algorithm and the Dijkstra algorithm to search for a safe and efficient step-changing path in a complex underground environment. The path planner has strong adaptability and can adjust the path in real time according to changes in the environment to ensure that the gripper 2 will not collide with obstacles such as the steel arch 1 and the collapsed cavity during the step-changing process, thereby ensuring the TB Normal operation of M; Hydraulic servo controller: The hydraulic servo controller adjusts the displacement of the gripper cylinder 9 and the thrust cylinder 11 through PID, and its control accuracy can reach ±5mm; PID adjustment algorithm is a classic control algorithm, which can achieve fast and stable control of the cylinder displacement through precise adjustment of the three parameters of proportion (P), integration (I) and differentiation (D); In actual work, the hydraulic servo controller controls the extension and retraction of the gripper cylinder 9 and the thrust cylinder 11 in real time according to the motion path generated by the path planner, ensuring that the gripper 2 moves accurately according to the predetermined path, realizing the adaptive step-changing operation of the TBM gripper 2.

[0075] In addition, this embodiment also provides a TBM gripper adaptive step-changing control method, comprising the following steps:

[0076] Step 1: Using the LiDAR arrays 3 positioned on both sides of the main beam 7, point cloud data is collected for the gripper 2 position and the arch range ≥ 2m in front of it. During the acquisition process, the LiDAR arrays 3 perform a full-scale scan of the target area at a set scanning frequency and angle to ensure complete and accurate point cloud data. To ensure the reliability of data acquisition, the system also incorporates a data verification mechanism that verifies the collected data in real time. If any data anomalies are detected, the data is immediately re-collected to ensure the accuracy of subsequent data processing and analysis.

[0077] Step 2: Identify the positioning of the gripper 2, the characteristics of the steel arch 1 and the risk area of ​​collapse;

[0078] Gripper 2 positioning: Extracting high-reflectivity point clouds (metal features) from the collected point cloud data. Since grippers 2 are typically made of metal and have high reflectivity, this property allows accurate separation of gripper 2-related point cloud data. Then, based on the known dimensions of the gripper 2, a 3D spatial positioning algorithm is used to accurately locate the gripper 2 and determine its specific position and orientation in the tunnel.

[0079] Positioning the steel arch 1: Similarly, a high-reflectivity point cloud (metal features) is extracted, and the width b2 of the steel arch 1 is calculated using a point cloud processing algorithm. Point cloud normal vector analysis is used to determine the installation inclination angle θ of the steel arch 1 relative to the vertical. Furthermore, the spacing Δ1 between the edge of the gripper 2 and the center axis of the first adjacent steel arch 12, as well as the spacing Δ2 between the edge of the gripper 2 and the center axis of the second adjacent steel arch 13, are calculated. Accurately obtaining these parameters provides a crucial basis for subsequent gripper 2 step-change path planning and safety assessment.

[0080] Collapse detection: Calculate the standard deviation σ of the local point cloud density. When σ exceeds the threshold σmax and is accompanied by a negative height mutation, it is marked as a collapse risk area. At the same time, through detailed analysis of the point cloud data in the collapse area, the collapse cavity dimensions (length L × width W × depth D) and its spatial distribution relative to gripper shoe 2 are calculated. During the detection process, multiple data analysis methods are combined to improve the accuracy and reliability of collapse cavity identification and promptly identify potential safety hazards.

[0081] Step 3: Make a match judgment between the steel arch frame 1, the collapsed cavity and the gripper shoe slot 5;

[0082] Direct gripper 2 conditions: The conditions for direct gripper 2 are L≤0.6B, W≤0.5B, D≤0.3B, H·sinθ≤b1-b2 - 5mm, where the gripper 2 width is B, the gripper 2 width is b1, the gripper 2 height is H, the steel arch 1 width is b2, and the arch installation inclination angle relative to the vertical direction is θ (obtained through point cloud normal vector analysis). In addition, the distance between the center of the collapse cavity and the TBM axis must be ≤0.2B. Only when these conditions are met can the gripper 2 be directly operated to ensure good matching between the gripper 2, the steel arch 1, and the collapse cavity, ensuring stable support and safe excavation of the TBM.

[0083] Auxiliary measures triggering conditions: Auxiliary measures are triggered when any of the following conditions occur: the collapse cavity is located at the edge of the gripper shoe 2 and at least one side is suspended; L or W exceeds the direct gripper shoe 2 width B; D ≥ 0.5B. These triggering conditions are set to ensure that appropriate measures are taken in a timely manner when encountering complex geological conditions or improper installation of the steel arch 1 to ensure the normal operation of the TBM and construction safety.

[0084] Selection of auxiliary measures: Select appropriate auxiliary measures according to the size of the collapsed cavity; when the collapsed cavity volume is ≤3m 3 When the collapse cavity is larger than 3m, high pressure quick-setting concrete is sprayed through the reserved grouting holes of TBM to quickly fill the collapse cavity and improve the stability of the surrounding rock. 3 When constructing the tunnel, formwork support is used. Through processes such as building formwork and pouring concrete, the collapsed cavity is fully supported to ensure the safety of the TBM during subsequent excavation.

[0085] Step 4: Generate the step-changing path of gripper 2;

[0086] Retraction of the gripper cylinder 9: First, the gripper cylinder 9 is retracted to a distance greater than the cross-sectional height h of the steel arch 1 to ensure that the gripper 2 does not collide with the steel arch 1 during the step change process. When controlling the retraction of the gripper cylinder 9, the hydraulic servo controller precisely adjusts the cylinder's displacement, retracting the gripper 2 at a predetermined speed and distance, preparing for subsequent horizontal movement.

[0087] The thrust cylinder 11 contracts and the gripper shoe 2 moves: the thrust cylinder 11 contracts, driving the gripper shoe 2 to move horizontally with the saddle frame 10; the moving distance is determined according to different working conditions: when Δ1+0.5B=single-cycle footage, the gripper shoe 2 moves Δ1+0.5B; when Δ1+0.5B=0.5 times the single-cycle footage, the gripper shoe 2 moves Δ2+0.5B; during the movement, the path planner monitors the position of the gripper shoe 2 and changes in the surrounding environment in real time, and the hydraulic servo controller accurately controls the contraction amount of the thrust cylinder 11 according to the instructions of the path planner, ensuring that the gripper shoe 2 moves accurately along the predetermined path, thereby realizing the adaptive step-changing operation of the TBM gripper shoe 2.

[0088] The steel arch 1, grippers 2, lidar array 3, main beam 7, slide rail 8, gripper cylinder 9, saddle frame 10, and thrust cylinder 11 described above are all standard components or components known to those skilled in the art. Their structures and principles are readily understood by those skilled in the art through technical manuals or routine experimental methods, and therefore will not be detailed here. In actual engineering applications, the selection and installation of these components must strictly adhere to relevant standards and specifications to ensure the proper operation and construction safety of the TBM gripper 2 adaptive step-changing device, system, and control method.

[0089] The basic principles, main features and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may be subject to various changes and improvements, and these changes and improvements shall fall within the scope of the invention claimed for protection.

Claims

1. A TBM gripper adaptive step-changing device, comprising: A main beam (7) for arranging step-changing guides; A propulsion mechanism, comprising a saddle frame (10) movable on the main beam (7) and a propulsion oil cylinder (11) for pulling the saddle frame (10) to move, wherein the propulsion oil cylinder (11) is provided in two pieces on both sides of the main beam (7), and the two ends of the propulsion oil cylinder (11) are respectively hinged to the saddle frame (10) and the main beam (7); and A gripper shoe (2) mechanism, comprising gripper shoe cylinders (9) mounted on both sides of the saddle frame (10) and gripper shoes (2) on the movable ends of the gripper shoe cylinders (9); Its characteristics are: Laser radar arrays (3) for scanning the left and right support shoes (2) and the surrounding rock surface in a range of not less than 2m in front of the left and right support shoes (2) are arranged on both sides of the main beam (7).

2. A TBM gripper adaptive step-changing control system, characterized in that: include: A data acquisition module, comprising laser radar arrays (3) respectively arranged on both sides of the main beam (7) for scanning the arch conditions; A data processing module, which includes a point cloud denoising unit and a feature extraction unit; as well as a control module including a path planner and a hydraulic servo controller; The point cloud denoising unit eliminates dust interference based on reflection intensity threshold and spatiotemporal filtering; The feature extraction unit adopts an improved RANSAC algorithm to fit the position of the steel arch (1), and combines it with PointNet++ to segment the collapsed cavity point cloud cluster; The path planner generates a collision-free motion path based on the feature extraction results; The hydraulic servo controller adjusts the displacement of the gripper cylinder (9) and the propulsion cylinder (11) through PID.

3. The TBM gripper adaptive step-changing control system according to claim 2, characterized in that: The scanning range of the laser radar array (3) covers the support shoe (2) and the arch area in front of it that is not less than 2m.

4. The TBM gripper adaptive step-changing control system according to claim 2, characterized in that: The point cloud denoising unit filters low reflectivity point clouds by using a reflection intensity threshold, and combines spatiotemporal filtering to eliminate dynamic dust interference.

5. The TBM gripper adaptive step-changing control system according to claim 4, characterized in that: The reflection intensity threshold is >60.

6. The TBM gripper adaptive step-changing control system according to claim 2, characterized in that: The feature extraction unit calculates the width b2 of the steel arch frame (1), the installation inclination angle θ, and the spacings Δ1 and Δ2 between the support shoe (2) and the first adjacent steel arch frame (12) and the second adjacent steel arch frame (13), and determines the collapse risk area based on the standard deviation σ of the local point cloud density.

7. A TBM gripper adaptive step-changing control method, characterized in that: The following steps are involved: Step 1: Collect point cloud data of the position of the support shoe (2) and the arch range in front of it ≥2m through the laser radar array (3); Step 2: Identify the positioning of the support shoe (2), the characteristics of the steel arch (1) and the risk area of ​​collapse; Step 3: Make a match judgment between the steel arch frame (1), the collapsed cavity and the support shoe slot (5); Among them, the conditions for satisfying the direct support shoe (2) are L≤0.6B, W≤0.5B, D≤0.3B, H·sinθ≤b1_b2_5mm, and the distance between the center of the collapsed cavity and the axis of the TBM is ≤0.2B; if these conditions are not satisfied, the steel arch frame (1) needs to be adjusted through auxiliary measures until the conditions are satisfied; Step 4: Generate the step-change path of the support shoe (2): The retraction distance of the shoe oil cylinder (9) is greater than the cross-sectional height h of the steel arch frame (1); The propulsion cylinder (11) contracts, and the gripper (2) moves horizontally with the saddle frame (10), and the moving distance is: When Δ1+0.5B=single cycle footage, move Δ1+0.5B; When Δ1+0.5B=0.5 times the single-cycle footage, move Δ2+0.5B.

8. The TBM gripper adaptive step-changing control method according to claim 1, characterized in that: The step 2 is specifically as follows: Gripper (2) positioning: extracting high reflectivity point cloud and performing spatial positioning according to the size of the gripper (2); Positioning of the steel arch frame (1): calculating the width b2, the inclination angle θ and the spacings Δ1 and Δ2 between the support shoe (2) and the first adjacent steel arch frame (12) and the second adjacent steel arch frame (13); Collapse judgment: When the standard deviation of the local point cloud density σ>threshold σmax and accompanied by a negative height mutation, it is marked as a collapse risk area, and its size (length L × width W × depth D) and spatial position are calculated.

9. The TBM gripper adaptive step-changing control method according to claim 8, characterized in that: In step 3, the auxiliary measure triggering condition is to meet any of the following conditions: The collapsed cavity is located at the edge of the support shoe (2) and at least one edge is suspended; L or W exceeds the width B of the direct gripper shoe (2); D≥0.5B.

10. The TBM gripper adaptive step-changing control method according to claim 9, characterized in that: In step 3, the auxiliary measures are: the volume of the collapsed cavity is ≤ 3m 3 , high pressure spraying of quick-setting concrete through TBM reserved grouting holes; collapse cavity volume>3m 3 , choose formwork support.

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