Method and device for predicting articulated shield posture, electronic equipment, medium and product

Abstract

The present application relates to a kind of articulated shield posture prediction method, device, electronic equipment, medium and product, method includes: obtaining articulated shield structure parameter and soil characteristic parameter;Based on the parameters obtained, get shield machine-soil stiffness matrix and active force system load, based on the preset articulated shield pose state variable vector expression, according to shield machine-soil stiffness matrix, active force system load, articulated shield structure parameter and soil characteristic parameter, establish articulated shield machine tunneling mechanics equation;Based on the equation, the vector expression of articulated shield pose state variable is solved, the articulated shield pose state vector of target time is obtained, and the prediction result is obtained according to the articulated shield pose state vector of target time, so as to solve the problem that the articulated shield posture prediction exists large deviation caused by the difference between the movement mode of the front and rear structure of the shield machine in the shield articulating mechanism in the related art, improve the accuracy of articulated shield posture prediction.

Description

Technical Field

[0001] This invention relates to the field of shield tunnel construction control technology, and in particular to a method, device, electronic equipment, medium and product for predicting the attitude of an articulated shield. Background Technology

[0002] The motion of a tunnel boring machine (TBM) during tunneling is the result of the combined effects of the TBM system and the surrounding geological conditions. On one hand, the surrounding geological strata are the primary source of loads acting on the TBM; on the other hand, the surrounding soil is the most significant environmental constraint preventing changes in the TBM's posture. Accurately describing and predicting the TBM's posture during tunneling is crucial for TBM construction control.

[0003] In related technologies, the shield attitude prediction model is generally assumed to be a structure with 6 degrees of freedom, namely the shield machine's own weight, the force acting on the shield tail, the jack thrust, and the water and soil pressure acting on the cutterhead and shield shell. The relationship between the water and soil pressure around the shield and the shield's serpentine motion is considered when calculating the water and soil pressure around the shield.

[0004] However, the relevant technologies do not take into account the differences in motion modes between the front and rear structures of the tunnel boring machine in the articulated shield mechanism, which leads to a large deviation in the attitude prediction of the articulated shield, and this needs to be addressed urgently. Summary of the Invention

[0005] This invention provides a method, device, electronic equipment, medium, and product for predicting the attitude of an articulated shield tunnel, in order to solve the problem that the attitude prediction of articulated shield tunnels has a large deviation due to the lack of consideration of the difference in motion modes between the front and rear structures of the shield machine in the articulated shield mechanism in related technologies, thereby improving the accuracy of the attitude prediction of articulated shield tunnels.

[0006] A first aspect of the present invention provides a method for predicting the attitude of an articulated shield tunnel, comprising the following steps: obtaining structural parameters of the articulated shield and soil characteristic parameters; obtaining the shield-soil stiffness matrix and the active force system load based on the structural parameters of the articulated shield and the soil characteristic parameters, and establishing the tunneling mechanics equation of the articulated shield based on the preset vector expression of the articulated shield attitude state variables, according to the shield-soil stiffness matrix, the active force system load, the structural parameters of the articulated shield, and the soil characteristic parameters; solving the vector expression of the articulated shield attitude state variables based on the tunneling mechanics equation of the articulated shield to obtain the articulated shield attitude state vector at a target time, and obtaining the prediction result of the articulated shield attitude based on the articulated shield attitude state vector at the target time.

[0007] Furthermore, in some embodiments, the vector expression of the preset articulated shield posture state variables is determined by the shield machine state vector in the global coordinate system and the shield machine state vector in the shield motion coordinate system, wherein,

[0008] The shield machine's state vector in the global coordinate system:

[0009] ξ T ={x o y o z o α1β1ψ1α2β2ψ2} T

[0010] The shield machine state vector in the shield motion coordinate system:

[0011] ξ M ={r o p o q o Δα1 Δβ1 Δψ1 Δα2 Δβ2 Δψ2} T

[0012] Where, x o y o , z o Let α1 be the pitch angle of the shield front structure, β1 be the yaw angle of the shield front structure, ψ1 be the roll angle of the shield front structure, α2 be the pitch angle of the shield rear structure, β2 be the yaw angle of the shield rear structure, and ψ2 be the roll angle parameter of the shield rear structure. o p represents the displacement of the hinge center along the x-axis of the shield tunneling coordinate system. o Let q be the displacement of the hinge center in the y-axis direction of the shield motion coordinate system. o Let Δα1 be the displacement of the hinge center in the z-axis direction of the shield motion coordinate system, Δβ1 be the change in pitch angle of the shield rear structure, Δβ1 be the change in yaw angle of the shield front structure, Δψ1 be the change in roll angle of the shield front structure, Δα2 be the change in pitch angle of the shield rear structure, Δβ2 be the change in yaw angle of the shield rear structure, and Δψ2 be the change in roll angle of the shield rear structure.

[0013] Further, in some embodiments, obtaining the shield machine-soil stiffness matrix based on the articulated shield structure parameters and the soil characteristic parameters includes: obtaining the stiffness matrix of the shield perimeter of the shield machine front structure-soil, the cross-sectional rotational inertia matrix of the shield perimeter of the shield machine front structure-soil, the stiffness matrix of the shield machine rear structure-soil, the rotational inertia matrix of the shield machine rear structure-soil, the stiffness matrix of the shield cutterhead-soil, and the rotational inertia matrix of the shield cutterhead-soil based on the stiffness matrix of the shield perimeter of the shield machine front structure-soil, the cross-sectional rotational inertia matrix of the shield perimeter of the shield machine front structure-soil, the stiffness matrix of the shield machine rear structure-soil, the rotational inertia matrix of the shield machine rear structure-soil, the stiffness matrix of the shield cutterhead-soil, and the rotational inertia matrix of the shield cutterhead-soil, and obtaining the shield machine-soil stiffness matrix.

[0014] Furthermore, in some embodiments, obtaining the active force system load based on the articulated shield structure parameters and the soil characteristic parameters includes: acquiring the shield machine's self-weight load, the static soil and water load in front of the cutterhead, the jack thrust load, the segment load, and the static soil and water load around the shield; obtaining the resultant force and resultant moment of each node corresponding to the front and rear structures of the shield machine based on the shield machine's self-weight load, the static soil and water load in front of the cutterhead, the jack thrust load, the segment load, and the static soil and water load around the shield; and obtaining the active force system load based on the resultant force and the resultant moment.

[0015] Furthermore, in some embodiments, the tunneling mechanics equations of the articulated shield machine are:

[0016] F M +Kξ M =0

[0017] Among them, F M Let K be the load of the main dynamic system at the target time, K be the shield machine-soil stiffness matrix, and ξ be the load of the main dynamic system at the target time. M This is the shield machine state vector.

[0018] Further, in some embodiments, the step of solving the vector expression of the articulated shield tunneling machine's posture state variables based on the tunneling mechanics equations of the articulated shield tunneling machine to obtain the articulated shield tunneling machine's posture state vector at the target time, and obtaining the predicted result of the articulated shield tunneling machine's posture based on the articulated shield tunneling machine's posture state vector at the target time according to the tunneling mechanics equations of the articulated shield tunneling machine in the shield tunneling machine's motion coordinate system; converting the shield tunneling machine's posture state vector at the target time into the shield tunneling machine's posture state vector at the target time in the global coordinate system; obtaining the articulated shield tunneling machine's posture parameters at the target time based on the posture state vector at the target time in the global coordinate system, and generating the predicted result of the articulated shield tunneling machine's posture.

[0019] The method for predicting the attitude of an articulated shield tunneling machine (TBM) according to an embodiment of the present invention constructs a TBM-soil stiffness matrix and active force system loads by collecting structural parameters of the articulated TBM and soil characteristic parameters, and establishes tunneling mechanics equations by combining preset posture state variable vector expressions; finally, the equations are solved to obtain the posture state vector at the target time, thereby generating the attitude prediction result of the articulated TBM. This method solves the problem in related technologies where the difference in motion modes between the front and rear structures of the TBM in the articulated mechanism leads to a large deviation in the attitude prediction of the articulated TBM, thus improving the accuracy of the attitude prediction of the articulated TBM.

[0020] A second aspect of the present invention provides a device for predicting the attitude of an articulated shield tunnel, comprising: an acquisition module for acquiring structural parameters of the articulated shield and soil characteristic parameters; a construction module for obtaining a shield-soil stiffness matrix and active force system loads based on the articulated shield structural parameters and the soil characteristic parameters, and establishing an articulated shield tunneling mechanics equation based on a preset vector expression of the articulated shield attitude state variables, according to the shield-soil stiffness matrix, the active force system loads, the articulated shield structural parameters, and the soil characteristic parameters; and a prediction module for solving the vector expression of the articulated shield attitude state variables based on the articulated shield tunneling mechanics equation to obtain the articulated shield attitude state vector at a target time, and obtaining a prediction result of the articulated shield attitude based on the articulated shield attitude state vector at the target time.

[0021] Furthermore, in some embodiments, the vector expression of the preset articulated shield posture state variables is determined by the shield machine state vector in the global coordinate system and the shield machine state vector in the shield motion coordinate system, wherein,

[0022] The shield machine's state vector in the global coordinate system:

[0023] ξ T ={x o y o z o α1β1ψ1α2β2ψ2} T

[0024] The shield machine state vector in the shield motion coordinate system:

[0025] ξ M ={r o p o q o Δα1 Δβ1 Δψ1 Δα2 Δβ2 Δψ2} T

[0026] Where, x o yo , z o Let α1 be the pitch angle of the shield front structure, β1 be the yaw angle of the shield front structure, ψ1 be the roll angle of the shield front structure, α2 be the pitch angle of the shield rear structure, β2 be the yaw angle of the shield rear structure, and ψ2 be the roll angle parameter of the shield rear structure. o p represents the displacement of the hinge center along the x-axis of the shield tunneling coordinate system. o Let q be the displacement of the hinge center in the y-axis direction of the shield motion coordinate system. o Let Δα1 be the displacement of the hinge center in the z-axis direction of the shield motion coordinate system, Δβ1 be the change in pitch angle of the shield rear structure, Δβ1 be the change in yaw angle of the shield front structure, Δψ1 be the change in roll angle of the shield front structure, Δα2 be the change in pitch angle of the shield rear structure, Δβ2 be the change in yaw angle of the shield rear structure, and Δψ2 be the change in roll angle of the shield rear structure.

[0027] Further, in some embodiments, the construction module is specifically used to: obtain, based on the articulated shield structure parameters, the stiffness matrix of the shield perimeter-soil of the shield machine's front structure, the cross-sectional rotational inertia matrix of the shield perimeter-soil of the shield machine's front structure, the stiffness matrix of the shield machine's rear structure-soil, the rotational inertia matrix of the shield machine's rear structure-soil, the stiffness matrix of the shield cutterhead-soil, and the rotational inertia matrix of the shield cutterhead-soil; and obtain the shield machine-soil stiffness matrix based on the stiffness matrix of the shield perimeter-soil of the shield machine's front structure, the cross-sectional rotational inertia matrix of the shield perimeter-soil of the shield machine's front structure, the stiffness matrix of the shield machine's rear structure-soil, the rotational inertia matrix of the shield machine's rear structure-soil, the stiffness matrix of the shield cutterhead-soil, and the rotational inertia matrix of the shield cutterhead-soil.

[0028] Furthermore, in some embodiments, the construction module is also used to: obtain the shield machine's self-weight load, the static soil and water load in front of the cutterhead, the jack thrust load, the segment load, and the static soil and water load around the shield; based on the shield machine's self-weight load, the static soil and water load in front of the cutterhead, the jack thrust load, the segment load, and the static soil and water load around the shield, obtain the resultant force and resultant moment of each node corresponding to the front and rear structures of the shield machine; and obtain the active force system load based on the resultant force and the resultant moment.

[0029] Furthermore, in some embodiments, the tunneling mechanics equations of the articulated shield machine are:

[0030] F M +Kξ M =0

[0031] Among them, F MLet K be the load of the main dynamic system at the target time, K be the shield machine-soil stiffness matrix, and ξ be the load of the main dynamic system at the target time. M This is the shield machine state vector.

[0032] Furthermore, in some embodiments, the prediction module is specifically used to: obtain the shield machine state vector at the target time in the shield machine motion coordinate system according to the tunneling mechanics equations of the articulated shield machine in the shield machine motion coordinate system; convert the shield machine state vector at the target time into the shield machine state vector at the target time in the global coordinate system; obtain the articulated shield machine attitude parameters at the target time based on the state vector at the target time in the global coordinate system, and generate the prediction result of the articulated shield machine attitude.

[0033] The articulated shield attitude prediction device provided in this embodiment of the invention constructs a shield machine-soil stiffness matrix and active force system load by collecting articulated shield structural parameters and soil characteristic parameters, and establishes tunneling mechanics equations by combining preset posture state variable vector expressions; finally, it solves the equations to obtain the posture state vector at the target time, thereby generating the attitude prediction result of the articulated shield. This solves the problem in related technologies where the attitude prediction of articulated shields has a large deviation due to the difference in motion modes between the front and rear structures of the shield machine in the articulated shield mechanism is not considered, thus improving the accuracy of articulated shield attitude prediction.

[0034] A third aspect of the present invention provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for predicting the attitude of an articulated shield tunnel as described in the above embodiments.

[0035] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the method for predicting the attitude of an articulated shield tunnel as described in the above embodiments.

[0036] A fifth aspect of the present invention provides a computer program product, including a computer program that is executed to implement the method for predicting the attitude of an articulated shield tunnel as described in the above embodiments.

[0037] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0038] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0039] Figure 1 A flowchart illustrating a method for predicting the attitude of an articulated shield tunneling machine according to an embodiment of the present invention;

[0040] Figure 2 A flowchart illustrating a method for predicting the attitude of an articulated shield tunneling machine according to a specific embodiment of the present invention;

[0041] Figure 3 This is a schematic diagram of the predicted shield posture state variables provided according to a specific embodiment of the present invention;

[0042] Figure 4 A block diagram of a device for predicting the attitude of a hinged tunnel boring machine according to an embodiment of the present invention;

[0043] Figure 5 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present invention. Detailed Implementation

[0044] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0045] The following describes, with reference to the accompanying drawings, a method, apparatus, electronic device, medium, and product for predicting the attitude of an articulated shield tunneling machine according to embodiments of the present invention. Addressing the problem mentioned in the background art, where the difference in motion modes between the front and rear structures of the shield machine in the articulated shield mechanism leads to significant deviations in the attitude prediction of articulated shield tunneling machines, this invention provides a method for predicting the attitude of an articulated shield tunneling machine. By collecting structural parameters of the articulated shield tunneling machine and soil characteristic parameters, a shield machine-soil stiffness matrix and active force system loads are constructed. Combined with a preset pose state variable vector expression, a tunneling mechanics equation is established. Finally, the equation is solved to obtain the pose state vector at the target time, thereby generating the attitude prediction result of the articulated shield tunneling machine. This solves the problem in the related art that the difference in motion modes between the front and rear structures of the shield machine in the articulated shield mechanism leads to significant deviations in the attitude prediction of articulated shield tunneling machines, thus improving the accuracy of the attitude prediction.

[0046] Specifically, Figure 1 A flowchart illustrating a method for predicting the attitude of an articulated shield tunneling machine according to an embodiment of the present invention.

[0047] like Figure 1 As shown, the method for predicting the attitude of the articulated shield tunnel includes the following steps:

[0048] In step S101, the structural parameters of the articulated shield tunnel and the characteristic parameters of the soil are obtained.

[0049] Among them, the structural parameters of the articulated shield refer to the parameters reflecting the geometric and physical properties of the shield machine itself, including the thickness of the cutterhead panel, the length of the front shield, the length of the middle shield, the length of the tail shield, the diameter of the front structure, the diameter of the tail shield, the diameter of the cutterhead, the inner diameter of the shield tail, the self-weight of the front structure, the self-weight of the rear structure, the center of gravity position lever arm vector, the area of ​​the jack piston and the number and position of the hydraulic cylinder zones, and the cutterhead opening ratio; the soil characteristic parameters refer to the parameters describing the mechanical properties of the strata and affecting the interaction between the shield and the soil, including the horizontal foundation reaction coefficient, the vertical foundation reaction coefficient, the friction coefficient between the shield shell and the soil, the friction coefficient between the cutterhead and the soil, the friction coefficient between the segments and the shield tail, the coefficient of earth pressure at rest, the saturated unit weight of the soil, and the burial depth of the cutterhead center.

[0050] Optionally, detailed technical parameters of the tunnel boring machine (such as diameter, length, and mass distribution) and geological survey reports can be obtained from the engineering design unit. On-site measurements can be conducted on parameters that are easily affected by construction, such as the inner diameter of the shield tail and the opening ratio of the cutterhead. The burial depth of the cutterhead center and the boundaries of soil layers can be confirmed through drilling or geophysical exploration. At the same time, the values ​​of key parameters such as friction coefficient and foundation reaction coefficient can be optimized through small-scale on-site tests (such as load inversion during the tunnel boring machine's advancement) to reduce theoretical calculation errors.

[0051] In step S102, based on the structural parameters of the articulated shield and the characteristic parameters of the soil, the shield machine-soil stiffness matrix and the active force system load are obtained. Based on the preset vector expression of the articulated shield posture state variables, the tunneling mechanics equation of the articulated shield machine is established according to the shield machine-soil stiffness matrix, the active force system load, the structural parameters of the articulated shield, and the characteristic parameters of the soil.

[0052] Specifically, firstly, based on the collected shield structure parameters and soil characteristic parameters, and combining the shield structure discretization model and the soil spring foundation model, an overall stiffness matrix of the shield machine-soil is constructed; then, the active force system loads are calculated, including the shield propulsion force, articulation force, and soil pressure and friction generated by the soil. At the same time, after defining the articulation segment posture state variables, based on the principle of static equilibrium, the stiffness matrix, active force system loads and related parameters are associated to establish mechanical equations.

[0053] Furthermore, in some embodiments, the preset vector expression for the articulated shield machine's pose state variables is determined by the shield machine's state vector in the global coordinate system and the shield machine's state vector in the shield motion coordinate system, wherein,

[0054] The shield tunneling machine's state vector in the global coordinate system:

[0055] ξ T ={x o y o z o α1β1ψ1α2β2ψ2} T

[0056] The shield machine's state vector in the shield motion coordinate system:

[0057] ξ M ={r o p o q o Δα1 Δβ1 Δψ1 Δα2 Δβ2 Δψ2} T

[0058] Where, x o y o , z o Let α1 be the pitch angle of the shield front structure, β1 be the yaw angle of the shield front structure, ψ1 be the roll angle of the shield front structure, α2 be the pitch angle of the shield rear structure, β2 be the yaw angle of the shield rear structure, and ψ2 be the roll angle parameter of the shield rear structure. o p represents the displacement of the hinge center along the x-axis of the shield tunneling coordinate system. o Let q be the displacement of the hinge center in the y-axis direction of the shield motion coordinate system. o Let Δα1 be the displacement of the hinge center in the z-axis direction of the shield motion coordinate system, Δβ1 be the change in pitch angle of the shield rear structure, Δβ1 be the change in yaw angle of the shield front structure, Δψ1 be the change in roll angle of the shield front structure, Δα2 be the change in pitch angle of the shield rear structure, Δβ2 be the change in yaw angle of the shield rear structure, and Δψ2 be the change in roll angle of the shield rear structure.

[0059] Among them, the global coordinate system refers to the fixed reference system preset by the project. The origin is usually based on the engineering benchmark point, and the coordinate axis direction is consistent with the geographical or engineering global location. It is used to locate the absolute position of the tunnel boring machine in the entire engineering space. The tunnel boring machine motion coordinate system refers to the local coordinate system that moves synchronously with the tunnel boring machine. The origin is usually set at the key part of the tunnel boring machine, and the coordinate axis direction is bound to the tunnel boring machine's own structure. It is used to reflect the relative motion state of the tunnel boring machine in real time. The tunnel boring machine state vector refers to the ordered set of variables used to describe the overall motion state, attitude, and key working parameters of the tunnel boring machine at a certain moment.

[0060] Specifically, the shield's pose state variables include the hinge center coordinate component x. o y o z o The parameters are: pitch angle α1, yaw angle β1, and roll angle ψ1 of the shield front structure; pitch angle α2, yaw angle β2, and roll angle ψ2 of the shield rear structure. From these parameters, the shield machine state vector in the global coordinate system is obtained.

[0061] ξT ={x o y o z o α1 β1 ψ1 α2 β2 ψ2} T

[0062] The shield machine's state vector in the shield motion coordinate system:

[0063] ξ M ={r o p o q o Δα1 Δβ1 Δψ1 Δα2 Δβ2 Δψ2} T

[0064] Among them, the shield machine state vector in the global coordinate system and the shield machine state vector in the shield motion coordinate system can be linked through coordinate transformation, mapping from the fixed engineering reference coordinate system to the local coordinate system that moves with the shield machine.

[0065] In some embodiments, the shield machine-soil stiffness matrix is ​​obtained based on the articulated shield structure parameters and soil characteristic parameters. This includes: obtaining the stiffness matrix of the shield perimeter of the shield machine front structure-soil, the cross-sectional rotational inertia matrix of the shield perimeter of the shield machine front structure-soil, the stiffness matrix of the shield machine rear structure-soil, the rotational inertia matrix of the shield machine rear structure-soil, the stiffness matrix of the shield cutterhead-soil, and the rotational inertia matrix of the shield cutterhead-soil based on the stiffness matrix of the shield perimeter of the shield machine front structure-soil, the cross-sectional rotational inertia matrix of the shield perimeter of the shield machine front structure-soil, the stiffness matrix of the shield machine rear structure-soil, the rotational inertia matrix of the shield machine rear structure-soil, the stiffness matrix of the shield cutterhead-soil, and the rotational inertia matrix of the shield cutterhead-soil, and obtaining the shield machine-soil stiffness matrix.

[0066] Among them, the stiffness matrix of the shield perimeter-soil of the tunnel boring machine (TBM) front structure refers to the matrix describing the deformation resistance between the shell of the TBM front structure and the surrounding soil; the moment of inertia matrix of the shield perimeter-soil of the TBM front structure refers to the matrix describing the rotational inertia characteristics of the TBM front structure at a specific cross section, considering the action of the surrounding soil; the stiffness matrix of the TBM rear structure-soil refers to the matrix describing the deformation resistance between the TBM rear structure and the surrounding soil; the moment of inertia matrix of the TBM rear structure-soil refers to the matrix describing the rotational inertia characteristics of the TBM rear structure under the action of the soil; the stiffness matrix of the cutterhead-soil refers to the matrix describing the deformation resistance between the TBM front cutterhead and the contacting soil; the moment of inertia matrix of the cutterhead-soil refers to the matrix describing the rotational inertia characteristics of the cutterhead when interacting with the soil; and the stiffness matrix of the TBM-soil refers to the matrix of the total reaction force / torque and deformation amount generated by the surrounding soil when the TBM as a whole undergoes translation or rotation in the soil.

[0067] For example, in an embodiment of the present invention, the stiffness matrix K of the shield perimeter and soil of the shield machine's front structure is calculated based on the structural parameters of the articulated shield. 1f The moment of inertia matrix J of the cross-section of the shield perimeter and soil of the tunnel boring machine front structure 1f :

[0068]

[0069]

[0070] Where t is the thickness of the cutter head panel; L f L is the length of the front shield. m The length of the central shield; l 1f× M B is the lever arm vector from the center of gravity of the front structure to the hinge node. 1f D is the shape function matrix of the front structure of the tunnel boring machine. 1f The elastic matrix of the ground strata for the front structure section of the tunnel boring machine is given by, where,

[0071]

[0072]

[0073] Among them, D f It is the diameter of the front structure of the tunnel boring machine, k eh k is the horizontal foundation reaction coefficient. ev is the vertical ground reaction coefficient, and μ1 is the friction coefficient between the shield and the soil.

[0074] Furthermore, the stiffness matrix K of the tunnel boring machine's rear structure-soil is obtained. 1r The moment of inertia matrix J of the rear structure of the tunnel boring machine and the soil 1r:

[0075]

[0076]

[0077] Among them, L r B is the length of the tail shield of the tunnel boring machine. 1r D is the cross-sectional shape function of the rear structure of the tunnel boring machine. 1r For the elastic matrix of the shield perimeter and ground strata of the rear structure of the tunnel boring machine, l 1r× M Let be the lever arm vector from the center of gravity of the rear structure to the hinge node, where

[0078]

[0079]

[0080] D r The diameter of the tail shield of the tunnel boring machine.

[0081] Furthermore, the stiffness matrix K of the shield cutterhead-soil mixture is obtained. 2c The moment of inertia matrix J of the shield cutterhead-soil mass 2c :

[0082]

[0083]

[0084] Among them, R c Let ρ be the diameter of the cutter head, ρ be the distance from any point on the cutter head panel to the center of the cutter head, θ be the polar angle of the polar coordinate system on the cutter head panel, and l be the diameter of the cutter head. 2c× M Let B be the lever arm vector from the center of gravity of the cutter head to the hinge node. 2c D is the shape function matrix of the cutter head panel. 2c Let be the elastic matrix of the cutterhead-soil mixture, where

[0085]

[0086]

[0087] Where μ2 is the friction coefficient between the cutterhead panel and the soil.

[0088] Furthermore, by combining the stiffness matrix and the moment of inertia matrix, the shield machine-soil stiffness matrix K is established:

[0089]

[0090] Therefore, based on the stiffness matrix of the shield perimeter-soil of the front structure of the tunnel boring machine (TBM), the cross-sectional rotational inertia matrix of the shield perimeter-soil of the front structure of the TBM, the stiffness matrix of the rear structure-soil of the TBM, the rotational inertia matrix of the rear structure-soil of the TBM, the stiffness matrix of the cutterhead-soil, and the rotational inertia matrix of the cutterhead-soil, the TBM-soil stiffness matrix can be obtained. The TBM-soil stiffness matrix can reflect the constraint effect of the surrounding soil on the TBM's motion behavior. The greater the stiffness, the greater the constraint effect on the TBM's motion behavior.

[0091] Furthermore, in some embodiments, the active force system load is obtained based on the structural parameters of the articulated shield and the characteristic parameters of the soil, including: obtaining the shield machine's self-weight load, the static soil and water load in front of the cutterhead, the jack thrust load, the segment load, and the static soil and water load around the shield; based on the shield machine's self-weight load, the static soil and water load in front of the cutterhead, the jack thrust load, the segment load, and the static soil and water load around the shield, the resultant force and resultant moment of each node of the front and rear structures of the shield machine are obtained; and the active force system load is obtained based on the resultant force and resultant moment.

[0092] Among them, the shield machine's self-weight load refers to the gravity load of the shield machine's own structure; the static soil and water load in front of the cutterhead refers to the resultant force of the static soil pressure generated by the unexcavated soil at the front of the cutterhead and the groundwater pressure; the jack thrust load refers to the axial thrust generated by the shield machine's propulsion jacks; the segment load refers to the force exerted by the assembled segments on the rear structure of the shield; the static soil and water load around the shield refers to the static pressure between the shield machine's outer shell and the surrounding soil and groundwater; the resultant force and resultant moment refer to the total force and total moment obtained by vector superposition of various loads around discrete nodes of the shield machine's front / rear structure; and the active force system load refers to the overall load vector formed by integrating the resultant force and resultant moment of each node of the shield machine.

[0093] Specifically, the basic parameters are first determined based on the design drawings and geological data, including the mass of each component of the shield, the size of the cutterhead, the parameters of the jacks, the specifications of the tunnel segments, and the characteristics of the soil and groundwater. The self-weight load is obtained based on the mass of the components. The static soil and water load in front is calculated based on the cutterhead burial depth and soil parameters. The thrust load is obtained from the hydraulic pressure and quantity of the jacks. The tunnel segment load is calculated based on the weight of the tunnel segments and the assembly status. The static soil and water load around the shield is calculated based on the shield burial depth and the lateral pressure coefficient. Second, the front and rear structures of the shield are discretized into several nodes. For each node, the various loads within its control range are integrated. The resultant force and resultant moment of each node are obtained through vector decomposition and synthesis. Finally, the resultant force and resultant moment of all nodes are integrated according to a unified coordinate system to form a vector matrix containing omnidirectional force and stress moment, i.e., the active force system load.

[0094] For example, in this embodiment of the invention, based on the structural parameters of the articulated shield tunnel and the soil characteristic parameters, the self-weight load F1 of the shield machine is calculated, and the resultant force and resultant moment of the gravity load on the front structure of the shield machine are:

[0095]

[0096]

[0097] The resultant force and resultant moment of gravity load on the rear structure of the tunnel boring machine are:

[0098]

[0099]

[0100] Among them, l 1i M This is the lever arm vector of the gravity center of each part of the tunnel boring machine.

[0101] Furthermore, establishing a static soil-water load F2 in front of the cutterhead, and considering the soil in the soil chamber and the cutterhead as the overall structure of the tunnel boring machine system, the active load acting on the cutterhead structure comes from the static soil-water pressure F2. Considering the frictional force experienced by the cutterhead during its clockwise rotation, and establishing a polar coordinate system with the q-axis as the polar axis and the instantaneous clockwise direction, the load vector on any infinitesimal element dθdρ on the cutterhead structure can be expressed as:

[0102]

[0103] Where σ2 is the total transverse stress of saturated soil, σ2=γ sat K0(h+ρcosθ), K0 is the coefficient of earth pressure at rest, ζ is the cutterhead opening ratio, γ sat If the saturated unit weight of the soil is given, then the resultant force and resultant moment of the static soil-water pressure load acting on the cutterhead structure are:

[0104]

[0105]

[0106] Among them, l2 M It is the lever arm vector of any point on the cutter head structure with respect to the center of the hinge structure.

[0107] Furthermore, establish the jack thrust load F3. The hydraulic cylinders are typically divided into four sections: upper, lower, left, and right, with each section using the same cylinder pressure. Let the pressure of each pair of cylinders in each of the upper, left, right, and lower sections be p. 31 p 32 p 33 and p 34 The resultant force and resultant torque generated by the jack are:

[0108]

[0109]

[0110] Where, p sj Let A be the pressure of any pair of hydraulic cylinders, j = 1, 2…16; s The piston area of ​​the jack; l 3j M Let be the lever arm vector of any cylinder's position relative to the center of the hinged structure.

[0111] Furthermore, establish the segment load F4. The force exerted by the segment at the shield tail is perpendicular to the interior of the shield tail and located at the shield tail. The shield tail load vector is F4. M for:

[0112]

[0113] Among them, F seg The force on the shield tail segments related to buoyancy is given by μ3, where μ3 is the coefficient of friction between the segments and the inner wall of the shield tail. Then, the moment is taken about the hinge center, and the resultant moment M4 generated by the shield tail is given. M for:

[0114]

[0115] Among them, l4 M The force arm vector of the segment's point of action with respect to the center of the hinge structure.

[0116] Furthermore, establishing the static soil and water load F5 around the shield, considering the shallow burial depth and soft soil of the shield tunnel, the soil and water load around the shield can be calculated using the full soil column method. The resultant force of the static soil and water pressure acting on the outer perimeter of the shield shell is then the unloading load on the tunnel boring machine, i.e., the weight of the excavated soil. In addition, during shield tunneling, the vertical load around the shield will also generate frictional force along the longitudinal direction of the shield. Using saturated unit weight for the soil at this location, the soil and water load vectors around the shield for the front and rear structures are:

[0117]

[0118]

[0119] Among them, G exf G is the excavation and unloading vector for the front structure of the tunnel boring machine. exr Let be the excavation unloading vector of the rear structure of the tunnel boring machine (TBM). The resultant moment of the front and rear structures of the TBM generated by the static soil and water load around the shield is:

[0120] M f5 M =F f5 M ×l f5 M

[0121]

[0122] Among them, l f5 M Let l be the lever arm vector of the unloading load corresponding to the front structure of the tunnel boring machine. r5 M This is the lever arm vector of the unloading load corresponding to the rear structure of the tunnel boring machine.

[0123] Therefore, based on the shield machine's self-weight load F1, the static soil and water load in front of the cutterhead F2, the jack thrust load F3, the segment load F4, and the static soil and water load around the shield F5, the active force system load F is obtained.

[0124] Furthermore, in some embodiments, the tunneling mechanics equations of the articulated shield machine are:

[0125] F M +Kξ M =0

[0126] Among them, F M Let K be the load of the main dynamic system at the target time, K be the shield machine-soil stiffness matrix, and ξ be the load of the main dynamic system at the target time. M This is the shield machine state vector.

[0127] Specifically, the front and rear structures of the tunnel boring machine are disassembled, and based on the displacement and load coordination conditions at the articulated node positions, the balance relationship between the ground resistance system and the active load system on the articulated tunnel boring machine is considered. Based on the obtained active force system load and the tunnel boring machine-soil stiffness matrix, the tunneling mechanics equations of the articulated tunnel boring machine in the tunnel boring machine motion coordinate system are established.

[0128] In step S103, the vector expression of the articulated shield tunneling machine's posture state variables is solved based on the tunneling mechanics equations to obtain the articulated shield tunneling machine's posture state vector at the target time, and the predicted posture of the articulated shield tunneling machine is obtained based on the articulated shield tunneling machine's posture state vector at the target time.

[0129] Furthermore, in some embodiments, the vector expression of the articulated shield tunneling machine's posture state variables is solved based on the tunneling mechanics equations of the articulated shield tunneling machine to obtain the articulated shield tunneling machine's posture state vector at the target time. The predicted posture of the articulated shield tunneling machine is then obtained based on this state vector. This includes: obtaining the shield tunneling machine's state vector at the target time in the shield tunneling coordinate system based on the tunneling mechanics equations of the articulated shield tunneling machine in the shield tunneling machine's motion coordinate system; converting the shield tunneling machine's state vector at the target time into the shield tunneling machine's state vector at the target time in the global coordinate system; and obtaining the articulated shield tunneling machine's posture parameters at the target time based on the state vector at the target time in the global coordinate system, thereby generating the predicted posture of the articulated shield tunneling machine.

[0130] Specifically, firstly, based on the tunneling mechanics equations of the articulated shield machine in the shield motion coordinate system, the state vector in the initial motion coordinate system is used as the initial condition. The equations are solved using the numerical integration method to obtain the shield machine state vector in the motion coordinate system at the target time. Then, based on the coordinates of the origin of the motion coordinate system at the target time in the global coordinate system and the attitude angle of the shield machine relative to the global coordinate system, the transpose of the rotation transformation matrix is ​​constructed. The state vector in the motion coordinate system is first aligned with the direction of the global coordinate axis through rotation transformation, and then the translation vector is superimposed to obtain the state vector at the target time in the global coordinate system. Finally, the attitude parameters are extracted from the state vector in the global coordinate system and compared with the theoretical attitude parameters of the design axis. The deviation is calculated, and the subsequent attitude change trend is extrapolated by combining the tunneling speed and time step to generate the articulated shield machine attitude prediction result, which includes attitude deviation warning and trajectory correction suggestions.

[0131] To enable those skilled in the art to better understand the method for predicting the attitude of articulated shield tunneling machines according to embodiments of the present invention, the following explanation will be provided in conjunction with specific embodiments.

[0132] Figure 2 This is a flowchart of a method for predicting the attitude of an articulated tunnel boring machine according to a specific embodiment of the present invention. Figure 3 This is a schematic diagram of the predicted shield tunneling posture state variables according to a specific embodiment of the present invention, as shown below. Figure 2 As shown, firstly, the shield's posture state variables are established, including three-dimensional spatial coordinates and three-dimensional attitude angles. Secondly, the tunneling mechanics equations of the articulated shield machine are established to describe the dynamic behavior of the shield machine during tunneling. Among them, the shield machine-soil stiffness matrix is ​​established by combining the structural parameters of the shield machine and the characteristic parameters of the soil, and the active force system load is determined. Thus, the tunneling mechanics equations of the articulated shield machine are obtained. Finally, the mechanics equations are solved to obtain the shield posture at the target time.

[0133] Furthermore, such as Figure 3 As shown, the predicted shield posture state variables include two core parameters: position and attitude. Different unit loads correspond to specific responses of the posture variables. Therefore, a unit load (force or moment) can be applied to the articulated part to quantitatively calculate the deformation, rotation angle and internal force distribution of the articulated structure under actual tunneling load.

[0134] The method for predicting the attitude of an articulated shield tunneling machine (TBM) according to an embodiment of the present invention constructs a TBM-soil stiffness matrix and active force system loads by collecting structural parameters of the articulated TBM and soil characteristic parameters, and establishes tunneling mechanics equations by combining preset posture state variable vector expressions; finally, the equations are solved to obtain the posture state vector at the target time, thereby generating the attitude prediction result of the articulated TBM. This method solves the problem in related technologies where the difference in motion modes between the front and rear structures of the TBM in the articulated mechanism leads to a large deviation in the attitude prediction of the articulated TBM, thus improving the accuracy of the attitude prediction of the articulated TBM.

[0135] Next, the device for predicting the attitude of an articulated shield tunnel according to an embodiment of the present invention is described with reference to the accompanying drawings.

[0136] Figure 4 A block diagram of a device for predicting the attitude of a hinged shield tunneling machine according to an embodiment of the present invention.

[0137] like Figure 4 As shown, the device 10 for predicting the attitude of the articulated shield tunnel includes: an acquisition module 100, a construction module 200, and a prediction module 300.

[0138] The module 100 is used to acquire the structural parameters and soil characteristic parameters of the articulated shield tunnel. The module 200 is used to obtain the shield machine-soil stiffness matrix and the active force system load based on the structural parameters and soil characteristic parameters of the articulated shield tunnel. Based on the preset vector expression of the articulated shield tunnel posture state variables, the module 300 is used to solve the vector expression of the articulated shield tunnel posture state variables based on the articulated shield tunnel posture state equation, obtain the articulated shield tunnel posture state vector at the target time, and obtain the prediction result of the articulated shield tunnel posture based on the articulated shield tunnel posture state vector at the target time.

[0139] Furthermore, in some embodiments, the preset vector expression for the articulated shield machine's pose state variables is determined by the shield machine's state vector in the global coordinate system and the shield machine's state vector in the shield motion coordinate system, wherein,

[0140] The shield tunneling machine's state vector in the global coordinate system:

[0141] ξ T ={x o y o z o α1 β1 ψ1 α2 β2 ψ2} T

[0142] The shield machine's state vector in the shield motion coordinate system:

[0143] ξ M ={r o p o q o Δα1 Δβ1 Δψ1 Δα2 Δβ2 Δψ2} T

[0144] Where, x o y o , z o Let α1 be the pitch angle of the shield front structure, β1 be the yaw angle of the shield front structure, ψ1 be the roll angle of the shield front structure, α2 be the pitch angle of the shield rear structure, β2 be the yaw angle of the shield rear structure, and ψ2 be the roll angle parameter of the shield rear structure. o p represents the displacement of the hinge center along the x-axis of the shield tunneling coordinate system. o Let q be the displacement of the hinge center in the y-axis direction of the shield motion coordinate system. o Let Δα1 be the displacement of the hinge center in the z-axis direction of the shield motion coordinate system, Δβ1 be the change in pitch angle of the shield rear structure, Δβ1 be the change in yaw angle of the shield front structure, Δψ1 be the change in roll angle of the shield front structure, Δα2 be the change in pitch angle of the shield rear structure, Δβ2 be the change in yaw angle of the shield rear structure, and Δψ2 be the change in roll angle of the shield rear structure.

[0145] Furthermore, in some embodiments, the construction module 200 is specifically used to: obtain the stiffness matrix of the shield perimeter-soil of the front structure of the tunnel boring machine, the cross-sectional rotational inertia matrix of the shield perimeter-soil of the front structure of the tunnel boring machine, the stiffness matrix of the rear structure-soil of the tunnel boring machine, the rotational inertia matrix of the rear structure-soil of the tunnel boring machine, the stiffness matrix of the cutterhead-soil, and the rotational inertia matrix of the cutterhead-soil based on the stiffness matrix of the shield perimeter-soil of the front structure of the tunnel boring machine, the cross-sectional rotational inertia matrix of the shield perimeter-soil of the front structure of the tunnel boring machine, the stiffness matrix of the rear structure-soil of the tunnel boring machine, the rotational inertia matrix of the rear structure-soil of the tunnel boring machine, the stiffness matrix of the cutterhead-soil, and the rotational inertia matrix of the cutterhead-soil, and obtain the tunnel boring machine-soil stiffness matrix;

[0146] Furthermore, in some embodiments, the construction module 200 is also used to: obtain the shield machine's self-weight load, the static soil and water load in front of the cutterhead, the jack thrust load, the segment load, and the static soil and water load around the shield; based on the shield machine's self-weight load, the static soil and water load in front of the cutterhead, the jack thrust load, the segment load, and the static soil and water load around the shield, obtain the resultant force and resultant moment of each node of the front and rear structures of the shield machine; and obtain the active force system load based on the resultant force and resultant moment.

[0147] Furthermore, in some embodiments, the tunneling mechanics equations of the articulated shield machine are:

[0148] F M +Kξ M =0

[0149] Among them, F M Let K be the load of the main dynamic system at the target time, K be the shield machine-soil stiffness matrix, and ξ be the load of the main dynamic system at the target time. M This is the shield machine state vector.

[0150] Furthermore, in some embodiments, the prediction module 300 is specifically used to: obtain the shield machine state vector at the target time in the shield machine motion coordinate system according to the tunneling mechanics equations of the articulated shield machine in the shield machine motion coordinate system; convert the shield machine state vector at the target time into the shield machine state vector at the target time in the global coordinate system; obtain the articulated shield machine attitude parameters at the target time based on the state vector at the target time in the global coordinate system, and generate the prediction result of the articulated shield machine attitude.

[0151] It should be noted that the above explanation of the method for predicting the attitude of articulated shield tunnels also applies to the device for predicting the attitude of articulated shield tunnels in this embodiment, and will not be repeated here.

[0152] The articulated shield attitude prediction device provided in this embodiment of the invention constructs a shield machine-soil stiffness matrix and active force system load by collecting articulated shield structural parameters and soil characteristic parameters, and establishes tunneling mechanics equations by combining preset posture state variable vector expressions; finally, it solves the equations to obtain the posture state vector at the target time, thereby generating the attitude prediction result of the articulated shield. This solves the problem in related technologies where the attitude prediction of articulated shields has a large deviation due to the difference in motion modes between the front and rear structures of the shield machine in the articulated shield mechanism is not considered, thus improving the accuracy of articulated shield attitude prediction.

[0153] Figure 5 This is a schematic diagram of an electronic device provided according to an embodiment of the present invention. The electronic device may include:

[0154] The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0155] When the processor 502 executes the program, it implements the method for predicting the attitude of the articulated shield tunnel provided in the above embodiments.

[0156] Furthermore, the electronic device also includes:

[0157] Communication interface 503 is used for communication between memory 501 and processor 502.

[0158] The memory 501 is used to store computer programs that can run on the processor 502.

[0159] The memory 501 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0160] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0161] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0162] Processor 502 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention.

[0163] In addition, embodiments of the present invention also provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described method for predicting the attitude of a hinged shield tunnel.

[0164] In addition, embodiments of the present invention also provide a computer program product, including a computer program that is executed to implement the above-described method for predicting the attitude of an articulated shield tunnel.

[0165] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0166] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0167] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of the invention pertain.

[0168] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0169] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

Claims

1. A method for predicting the attitude of an articulated tunnel boring machine, characterized in that, Includes the following steps: Obtain the structural parameters and soil characteristic parameters of the articulated shield tunnel. The structural parameters of the articulated shield tunnel include the thickness of the cutterhead panel, the length of the front shield, the length of the middle shield, the length of the tail shield, the diameter of the front structure, the diameter of the tail shield, the diameter of the cutterhead, the inner diameter of the tail shield, the self-weight of the front structure, the self-weight of the rear structure, the lever arm vector of the center of gravity, the piston area of ​​the jacks and the number and position of the hydraulic cylinders, and the cutterhead opening ratio. The soil characteristic parameters include the horizontal foundation reaction coefficient, the vertical foundation reaction coefficient, the friction coefficient between the shield shell and the soil, the friction coefficient between the cutterhead and the soil, the friction coefficient between the tunnel segments and the tail shield, the coefficient of earth pressure at rest, the saturated unit weight of the soil, and the burial depth of the cutterhead center. Based on the articulated shield structure parameters and the soil characteristic parameters, the shield machine-soil stiffness matrix and the active force system load are obtained. Based on the preset vector expression of the articulated shield posture state variables, the tunneling mechanics equation of the articulated shield machine is established according to the shield machine-soil stiffness matrix, the active force system load, the articulated shield structure parameters and the soil characteristic parameters. Based on the tunneling mechanics equations of the articulated shield machine, the vector expression of the articulated shield machine's posture state variables is solved to obtain the articulated shield machine's posture state vector at the target time, and the prediction result of the articulated shield machine's posture is obtained based on the articulated shield machine's posture state vector at the target time. The preset vector expression for the articulated shield machine's posture state variables is determined by the shield machine's state vector in the global coordinate system and the shield machine's state vector in the shield machine motion coordinate system. The shield machine's state vector in the global coordinate system: The shield machine state vector in the shield motion coordinate system: in, , , The three-dimensional coordinate components of the hinge center. The pitch angle of the shield tunneling front structure. The yaw angle of the shield tunneling front structure. The roll angle of the shield tunneling front structure. The pitch angle of the rear structure of the tunnel boring machine. The yaw angle of the shield tunneling rear structure. The rolling angle parameter of the shield tunneling rear end structure. The hinge center in the shield tunneling coordinate system Displacement in the axial direction, The hinge center in the shield tunneling coordinate system Displacement in the axial direction, The hinge center in the shield tunneling coordinate system Displacement in the axial direction, This represents the change in the pitch angle of the tunnel boring machine's front-end structure. This represents the change in the yaw angle of the tunnel boring machine's front-end structure. This represents the change in the roll angle of the tunnel boring machine's front end structure. This represents the change in the pitch angle of the shield tunnel's rear structure. This represents the change in the yaw angle of the shield tunneling rear structure. This represents the change in the roll angle of the shield tunneling rear structure.

2. The method according to claim 1, characterized in that, The method for obtaining the shield machine-soil stiffness matrix based on the articulated shield structure parameters and the soil characteristic parameters includes: Based on the articulated shield structure parameters, the stiffness matrix of the shield perimeter-soil of the front structure of the shield machine, the cross-sectional rotational inertia matrix of the shield perimeter-soil of the front structure of the shield machine, the stiffness matrix of the rear structure-soil of the shield machine, the rotational inertia matrix of the rear structure-soil of the shield machine, the stiffness matrix of the shield cutterhead-soil, and the rotational inertia matrix of the shield cutterhead-soil are obtained. Based on the stiffness matrix of the shield perimeter-soil of the front structure of the tunnel boring machine, the cross-sectional rotational inertia matrix of the shield perimeter-soil of the front structure of the tunnel boring machine, the stiffness matrix of the rear structure-soil of the tunnel boring machine, the rotational inertia matrix of the rear structure-soil of the tunnel boring machine, the stiffness matrix of the cutterhead-soil, and the rotational inertia matrix of the cutterhead-soil, the shield machine-soil stiffness matrix is ​​obtained.

3. The method according to claim 1, characterized in that, The active force system loads obtained based on the articulated shield tunnel structure parameters and the soil characteristic parameters include: Obtain the shield machine's self-weight load, static soil and water load in front of the cutterhead, jack thrust load, segment load, and static soil and water load around the shield. Based on the shield machine's self-weight load, the static soil and water load in front of the cutterhead, the jack thrust load, the segment load, and the static soil and water load around the shield, the resultant force and resultant moment of each node of the shield machine's front and rear structures are obtained. The load of the active force system is obtained based on the resultant force and the resultant moment.

4. The method according to claim 1, characterized in that, The mechanical equations for tunneling of the articulated shield machine are as follows: in, The load on the main dynamic system at the target moment. The shield tunneling machine-soil stiffness matrix. This is the shield machine state vector.

5. The method according to claim 1, characterized in that, The process of solving the vector expression of the articulated shield tunneling machine's pose state variables based on the tunneling mechanics equations of the articulated shield tunneling machine to obtain the articulated shield tunneling machine's pose state vector at the target time, and obtaining the predicted attitude of the articulated shield tunneling machine based on the articulated shield tunneling machine's pose state vector at the target time, includes: Based on the tunneling mechanics equations of the articulated shield machine in the shield machine motion coordinate system, the shield machine state vector at the target moment in the shield machine motion coordinate system is obtained; The target moment shield machine state vector is converted into the target moment shield machine state vector in the global coordinate system; Based on the state vector at the target time in the global coordinate system, the attitude parameters of the articulated shield at the target time are obtained, and the prediction result of the attitude of the articulated shield is generated.

6. A device for predicting the attitude of an articulated shield tunnel, characterized in that, include: The acquisition module is used to acquire the structural parameters and soil characteristic parameters of the articulated shield tunnel. The structural parameters of the articulated shield tunnel include the thickness of the cutterhead panel, the length of the front shield, the length of the middle shield, the length of the tail shield, the diameter of the front structure, the diameter of the tail shield, the diameter of the cutterhead, the inner diameter of the tail shield, the self-weight of the front structure, the self-weight of the rear structure, the lever arm vector of the center of gravity, the piston area of ​​the jacks and the number and position of the hydraulic cylinders, and the cutterhead opening ratio. The soil characteristic parameters include the horizontal foundation reaction coefficient, the vertical foundation reaction coefficient, the friction coefficient between the shield shell and the soil, the friction coefficient between the cutterhead and the soil, the friction coefficient between the tunnel segments and the tail shield, the coefficient of earth pressure at rest, the saturated unit weight of the soil, and the burial depth of the cutterhead center. The construction module is used to obtain the shield machine-soil stiffness matrix and the active force system load based on the articulated shield structure parameters and the soil characteristic parameters, and to establish the articulated shield machine tunneling mechanics equations based on the preset vector expression of the articulated shield posture state variables, according to the shield machine-soil stiffness matrix, the active force system load, the articulated shield structure parameters and the soil characteristic parameters. The prediction module is used to solve the vector expression of the articulated shield tunneling machine's posture state variables based on the tunneling mechanics equations of the articulated shield tunneling machine, to obtain the articulated shield tunneling machine's posture state vector at the target time, and to obtain the prediction result of the articulated shield tunneling machine's posture based on the articulated shield tunneling machine's posture state vector at the target time. The preset vector expression for the articulated shield machine's posture state variables is determined by the shield machine's state vector in the global coordinate system and the shield machine's state vector in the shield machine motion coordinate system. The shield machine's state vector in the global coordinate system: The shield machine state vector in the shield motion coordinate system: in, , , The three-dimensional coordinate components of the hinge center. The pitch angle of the shield tunneling front structure. The yaw angle of the shield tunneling front structure. The roll angle of the shield tunneling front structure. The pitch angle of the rear structure of the tunnel boring machine. The yaw angle of the shield tunneling rear structure. The rolling angle parameter of the shield tunneling rear end structure. The hinge center in the shield tunneling coordinate system Displacement in the axial direction, The hinge center in the shield tunneling coordinate system Displacement in the axial direction, The hinge center in the shield tunneling coordinate system Displacement in the axial direction, This represents the change in the pitch angle of the tunnel boring machine's front-end structure. This represents the change in the yaw angle of the tunnel boring machine's front-end structure. This represents the change in the roll angle of the tunnel boring machine's front end structure. This represents the change in the pitch angle of the shield tunnel's rear structure. This represents the change in the yaw angle of the shield tunneling rear structure. This represents the change in the roll angle of the shield tunneling rear structure.

7. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the method for predicting the attitude of an articulated shield tunnel as described in any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the method for predicting the attitude of the articulated shield as described in any one of claims 1-5.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for predicting the attitude of the articulated shield tunnel as described in any one of claims 1-5.

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