Water jet cleaning test method for cutter head of shield tunneling machine and shield tunneling machine

Abstract

The embodiment of the invention provides a shield tunneling machine cutterhead water jet cleaning test method and a shield tunneling machine, and in the method, a Hungary allocation algorithm executes in-line comparison, inter-line matching and minimum cost relation establishment on a time matrix, so that a clear minimum time relation is formed between a nozzle and a sub-region; the method comprises the following steps: cleaning a plurality of nozzles, enabling a cleaning load to form a computable equilibrium relationship among the plurality of nozzles, executing fine adjustment of nozzle mounting points through a particle swarm optimization algorithm, enabling nozzle coordinates to be continuously updated in a search range after displacement in a fixed direction, searching a spraying posture with higher accessibility under the conditions of distance quantity and an included angle through position iteration of swarm particles, and obtaining a spraying posture with higher reachability under the condition of the distance quantity and the included angle. The space relation among the nozzle direction, the action area normal vector and the cutter head structure is updated for multiple rounds, higher coverage matching precision is obtained, the nozzle starting time and the assigned sub-area time quantity form a unified time axis and are aligned with the rotation reference, and the nozzle starting and stopping behavior and the cutter head position form a continuous and recordable cleaning structure.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of water jet cleaning, in particular to a shield machine cutter head water jet cleaning test method and a shield machine. BACKGROUND

[0002] The technical field of water jet cleaning aims to use high-energy water flow with directional impact capability to implement shearing, erosion and transportation on the attached layer of the solid surface, achieve quantifiable peeling of the attached layer, improve surface exposure rate by controlling water flow form, jet direction and jet coverage, concentrate action energy on the area to be cleaned, and take peeling volume, residual thickness and cleaning duration as the evaluation basis of cleaning effect, to realize removal of the attached layer under non-contact conditions and reduce the risk brought by mechanical intervention.

[0003] The purpose of the shield machine cutter head water jet cleaning test method is to establish a set of repeatable evaluation scheme for verifying whether the peeling capability of the water jet on the attached layer of the cutter head under the specified jetting conditions meets the predetermined cleaning standard, aiming to obtain quantifiable results including peeling volume, attached layer residual thickness and cleaning time per unit area, to determine whether the jetting method can make the cutter head reach the target exposure rate within the limited cleaning period, and to determine whether the nozzle arrangement, jet direction and jet coverage range have engineering application feasibility.

[0004] The prior art often uses the method based on pressure setting, jet form selection and surface observation to organize the jetting process in the test process of the cutter head water jet cleaning, lacks fixed division of the sub-area range, makes the cleaning objects of each test have inconsistent geometric range, causes the peeling amount and exposure rate to be difficult to form comparability, relies on distance and observable scouring trace in the jet coverage judgment, is difficult to form stable coverage quantization standard, causes the phenomenon of insufficient jet area coverage or repeated jetting, often relies on the back calculation of the peeling volume and residual thickness observed after the test in the cleaning time inference, cannot estimate the time before jetting, cannot dynamically verify the rationality of the time during the jetting process, and usually judges through on-site fine adjustment and test firing in the nozzle arrangement adjustment, is difficult to quickly identify whether the nozzle can cover the target area after deflection, and is easy to cause the problems of nozzle direction bias and mislocation of the action area. SUMMARY

[0005] In order to solve one of the above technical defects, a shield machine cutter head water jet cleaning test method and a shield machine are provided in the embodiments of the present application.

[0006] According to a first aspect of the embodiments of the present application, a shield machine cutter head water jet cleaning test method is provided, comprising: S1: Based on the cutter head cleaning grid parameter set, the cutter head surface is cut into strips radially according to structural units and then subdivided according to tangential angles. The center point of the sub-region is corrected with the test frame positioning reference. Then, it is reordered and numbered according to the direction of the cutter head rotation area to obtain the cutter head cleaning grid parameter set. S2: Based on the cutter head cleaning grid parameter set, read the water jet nozzle installation point and direction, combine the distance and direction between the sub-region center point and the pressure node of the test water supply pipeline to form an energy value, and then use the threshold to determine the effective coverage range to obtain the jet coverage energy distribution set. S3: Based on the spray coverage energy distribution set, the Hungarian allocation algorithm is used to calculate the cleaning time according to the thickness of the sub-region adhesion layer and the pressure value. The time quantities are formed into a matrix and multiple values ​​are compared in the same row to determine the nozzle correspondence. All matching items are combined into a unified sequence to obtain the nozzle cleaning assignment result set. S4: Based on the nozzle cleaning assignment result set, the particle swarm optimization algorithm is used to add fine-tuning amount to the nozzle installation point, and then the distance is compared with the center point of the cutter head structure unit. The reachability is judged by the angle between the nozzle direction and the normal vector of the cleaning area. The reachable units are recorded to obtain the nozzle arrangement adjustment parameter set. S5: Based on the nozzle arrangement adjustment parameter set, read the nozzle start time according to the test, arrange the assigned sub-area time into the time axis and align it with the cutter head rotation area reference, then integrate it into a continuous time period and organize it uniformly to obtain the nozzle start-stop timing table.

[0007] As a further embodiment of the present invention, the cutter head cleaning grid parameter set includes sub-region number, sub-region coordinate points and sub-region position sequence; the spray coverage energy distribution set includes sub-region energy value, coverage mark and direction superposition value; the nozzle cleaning assignment result set includes nozzle number, sub-region number and cleaning time amount; the nozzle arrangement adjustment parameter set includes position adjustment amount, direction correction amount and reachability mark; and the nozzle start-stop sequence table includes start time, stop time and nozzle sequence number.

[0008] As a further aspect of the present invention, the specific steps for generating the cutter head cleaning mesh parameter set are as follows: Based on the cutter head cleaning grid parameter set, the cutter head surface is divided into several radial strips according to the change from the outer edge to the center. Then, tangential partitions are drawn according to a fixed angle. The actual position of the center point of each sub-region is re-determined using the test frame positioning point to generate a sub-region positioning dataset. Based on the sub-region positioning dataset, the numbering order of all sub-regions is rearranged according to the direction of the cutter head rotation area, and the rearranged numbers are arranged in a matrix to form a unified index, thus obtaining the cutter head cleaning grid parameter set.

[0009] As a further aspect of the present invention, the specific steps for generating the spray coverage energy distribution set are as follows: Based on the cutter disc cleaning grid parameter set, the water jet nozzle mounting point position and jetting direction are taken out, and then the straight line distance between each sub-area center point and test water supply pipeline pressure node and the direction amount are combined into energy amount, and recorded as the same sequence, to generate an energy base set; Based on the energy base set, the energy amount in the sequence is compared with the set threshold value in turn, the sub-area reaching the threshold value is divided into the effective coverage range, and the coverage result is classified into a separate sequence in the numbering order, to obtain a jetting coverage energy distribution set.

[0010] As a further scheme of the present application, the specific steps for generating the nozzle cleaning assignment result set are: Based on the jetting coverage energy distribution set, the Hungarian allocation algorithm is used to take out the thickness of the attached layer of each sub-area from the record table one by one, and the pressure value under the same number is sequentially brought into the thickness amount to be converted into time amount, and then the converted time amount is arranged into a continuous sequence in the order of sub-areas to generate a time amount sequence set; Based on the time amount sequence set, the sequence is divided into multiple rows according to the number of nozzles, and then the identification positions are determined according to the time amount in each row, and the identifications are classified into a group according to the nozzle arrangement order, to generate a nozzle corresponding identification set; Based on the nozzle corresponding identification set, the nozzle number and sub-area number are taken out in pairs according to the actual landing point of the identification, and then the corresponding time amount is inserted into the same sequence to form a continuous record, and the record is integrated into a set according to the overall order, to obtain a nozzle cleaning assignment result set.

[0011] As a further scheme of the present application, the Hungarian allocation algorithm first takes out the valley value of each row of the cleaning time amount arranged in a matrix form and subtracts it from each item in the corresponding row, so that each row forms a difference value distribution with zero as the reference, then takes out the valley value of each column of the processed matrix and subtracts it from each item in the corresponding column, so that the values in the column form a new difference value matrix at the same time, then finds all the positions with zero value in the matrix and covers the rows and columns containing the zero value in a straight line in turn, records the covered rows and columns as a coverage set, when the number of rows and columns in the coverage set is not enough to cover all the zero values, takes out the valley value from the positions in the matrix that have not been covered, and subtracts it from all the un-covered positions while adding it to all the covered positions to form a new difference value matrix, and then re-performs the zero value finding and row and column covering actions on the new difference value matrix, when the number of rows and columns in the coverage set reaches the number of nozzles, collects the un-covered zero value positions as paired data according to the row and column coordinates, and takes the paired data as the pairing index corresponding to the nozzle and the sub-area.

[0012] As a further scheme of the present application, the specific steps for generating the nozzle arrangement adjustment parameter set are: Based on the nozzle cleaning assignment result set, a particle swarm optimization algorithm is used to move the nozzle mounting point coordinates in a fixed direction by a distance to form a new set of coordinates, and then the corresponding nozzle numbers are attached to the new coordinates to make them a directly indexable list, generating a nozzle adjustment coordinate set; Based on the nozzle adjustment coordinate set, each set of adjusted coordinates is compared with the coordinates of the center point of the cutter head structure unit one by one, the distance between the two points is measured, and then the distance is arranged in a record column according to the nozzle number, generating a nozzle distance reference set; Based on the nozzle distance reference set, the nozzle direction quantity and the normal vector of the cleaning area are taken out in order according to the nozzle number, the included angle between the directions is calculated, and then the included angle and the distance are recorded together as a judgment item, and finally the numbers that meet the accessibility requirement are collected into a list to obtain a nozzle arrangement adjustment parameter set.

[0013] As a further scheme of the present application, the particle swarm optimization algorithm first randomly generates a position vector for each nozzle arrangement scheme in the search space and sets a corresponding velocity vector, records the position vector as the initial coordinate set of the particle, and records the velocity vector as the initial velocity set of the particle. Then, the cost value of each particle is calculated according to the nozzle mounting point coordinates, the jet direction angle, the cutter head grid unit coverage, and the cleaning time, and the cost value is compared with the particle historical cost to update the particle historical adaptive position set. At the same time, the cost value with the smallest value in all particles is selected and recorded as the group adaptive position set. Then, for each particle, the velocity vector is updated according to the inertia weight multiplied by the previous generation velocity, plus the weighted sum of the difference between the particle historical position and the current position, and the difference between the group adaptive position and the current position. Then, the updated velocity vector and the current position coordinate are added dimension by dimension to obtain the new position coordinate. The coordinates that exceed the installation range are truncated according to the boundary value or corrected in the reverse folding mode, and a new generation of particle position set is formed. The cost value corresponding to the new position is recalculated, and the particle historical adaptive position set and the group adaptive position set are updated according to the same rules. The velocity update, position update, and cost calculation steps are repeated for a predetermined number of iterations. When the iteration is completed, the nozzle coordinates and jet direction angles in the group adaptive position set are recorded as the output results of the particle swarm optimization algorithm.

[0014] As a further scheme of the present application, the specific steps for generating the nozzle start-stop timing table are as follows: Based on the nozzle arrangement adjustment parameter set, the nozzle start time is taken out according to the original test record, and the time amount corresponding to the assigned sub-area is added to the same time axis in the order of start, thereby forming a continuous time arrangement sequence, generating a time axis arrangement set; Based on the time axis arrangement set, the sequence is corrected in sections according to the time reference of the cutter head rotation area, and the continuous time period is reconnected as a unified record format according to the nozzle number, obtaining the nozzle start-stop timing table.

[0015] As a further scheme of the present application, the unified record format arranges the start time point, the stop time point, the action sub-area number and the nozzle number corresponding to each nozzle in a fixed field order in a time section record set, each record is taken as a basic unit of continuous time section and forms an independent entry according to the nozzle number, the time sections in each entry are sequentially arranged in the order of the start time point first and the stop time point second, and all the entries form a data group of the same format with the same field structure, so that the time sections of different nozzles can be read and compared in the same set according to the fixed field position.

[0016] According to a first aspect of the embodiments of the present application, a shield tunneling machine is provided, comprising a control system configured to perform the method described above.

[0017] Compared with the prior art, the present application has the following advantages and positive effects: In the present application, the girding of the cleaning area of the cutter head is divided, so that the stripping object has a stable spatial index, and the effective coverage sub-area after the energy threshold determination is used to jointly calculate the time amount with the thickness of the attached layer and the pressure value, so that all the sub-areas have a cleaning time length that can be directly compared; In the present application, the Hungarian allocation algorithm performs in-line comparison, cross-line matching and minimum cost relationship establishment on the time matrix, so that the minimum time relationship between the nozzles and the sub-areas is clear, and the cleaning load is balanced among the multiple nozzles. In the present application, the particle swarm optimization algorithm is used to fine-tune the nozzle installation point, so that the nozzle coordinates can be continuously updated in the search range after displacement in a fixed direction, the position of the group of particles is iterated to find a higher accessibility of the spraying posture under the distance and angle conditions, the spatial relationship between the nozzle pointing direction, the action area normal vector and the cutter head structure is updated in multiple rounds, higher coverage matching accuracy is obtained, the nozzle start time and the time amount of the assigned sub-area are formed on a unified time axis and aligned with the rotation reference, and the nozzle start-stop behavior and the cutter head position form a continuous and recordable cleaning structure. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings, which are included to provide a further understanding of the present application and constitute a part of this application, illustrate certain illustrative embodiments of the present application and are used to explain the present application, but do not limit the present application. In the drawings: Figure 1 A flowchart of the water jet cleaning test method provided by the embodiments of the present application; Figure 2 A structural schematic diagram of the cutter head of the shield tunneling machine provided by the embodiments of the present application; Figure 3 A structural schematic diagram of the central area of the cutter head of the shield tunneling machine provided by the embodiments of the present application; Figure 4A partial sectional view of a cutter head of a shield tunneling machine is provided in the embodiments of the present application. Figure 5 A structural schematic diagram of a shield tunneling machine is provided in the embodiments of the present application. DETAILED DESCRIPTION

[0019] In order to make the technical solutions and advantages in the embodiments of the present application clearer, the exemplary embodiments of the present application are further described in detail below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0020] Please refer to Figure 1 The present application provides a technical solution: a shield tunneling machine cutter head water jet cleaning test method, comprising the following steps: S1: based on the cutter head cleaning grid parameter set, the cutter head surface is cut into strips along the radial direction according to the structure unit and then subdivided according to the tangential angle, the sub-area center point is corrected with the test frame positioning reference, then reordered and numbered according to the cutter head rotation area direction, and the cutter head cleaning grid parameter set is obtained; S2: based on the cutter head cleaning grid parameter set, the water jet nozzle installation point and direction value are read, the distance value and direction value between the sub-area center point and the test water supply pipeline pressure node are synthesized to obtain the energy value, and then the threshold value is used to determine the effective coverage range to obtain the jet coverage energy distribution set; S3: based on the jet coverage energy distribution set, the Hungarian distribution algorithm is used, the cleaning time is calculated according to the sub-area attached layer thickness and pressure value, the time value is composed into a matrix and compared with multiple numerical values in the same row to determine the corresponding relationship of the nozzle, all matching items are combined into a unified sequence, and the nozzle cleaning assignment result set is obtained; S4: based on the nozzle cleaning assignment result set, the particle swarm optimization algorithm is used, a fine adjustment value is added to the nozzle installation point, the distance is compared with the cutter head structure unit center point, and the accessibility is judged by the angle between the nozzle direction and the normal vector of the cleaning area, and the reachable unit is recorded to obtain the nozzle arrangement adjustment parameter set; S5: based on the nozzle arrangement adjustment parameter set, the nozzle start time is read according to the test, the assigned sub-area time value is arranged into the time axis and aligned with the cutter head rotation area reference, and then integrated into a continuous time period for unified arrangement to obtain the nozzle start-stop time sequence table.

[0021] The cutter head cleaning grid parameter set includes sub-area number, sub-area coordinate point and sub-area position sequence, the jet coverage energy distribution set includes sub-area energy value, coverage mark and direction superposition value, the nozzle cleaning assignment result set includes nozzle number, sub-area number and cleaning time value, the nozzle arrangement adjustment parameter set includes position adjustment value, direction correction value and accessibility mark, and the nozzle start-stop time sequence table includes start time, stop time and nozzle serial number.

[0022] The specific steps for generating the cutter disc cleaning grid parameter set are as follows: Based on the cutter disc cleaning grid parameter set, the change of the cutter disc surface from the outer edge to the center is divided into a plurality of radial strips, and then the tangential partition is drawn at a fixed angle, and the actual position of the center point of each sub-area is re-determined based on the positioning point of the test frame, to generate the sub-area positioning data set; Based on the sub-area positioning data set, the numbering order of all sub-areas is re-arranged according to the matrix arrangement method, and the unified index is formed to obtain the cutter disc cleaning grid parameter set; Based on the cutter disc cleaning grid parameter set, the radial cutting strip value division algorithm is used to continuously take points along the fixed step distance from the outer edge to the center of the cutter disc, and the area between the points is sequentially marked as a radial strip, and then the tangential area is generated by rotating in segments at a fixed angle step on each radial strip, and the center point angle of each tangential area is recorded, and then the three-axis coordinates of the test frame positioning point are used to perform three-way translation on each center point, and the displacement amount is sequentially superimposed to form the corrected center point position, and all corrected positions are arranged in the generation order to generate the sub-area positioning data set; Based on the sub-area positioning data set, the rotating area numbering rearrangement algorithm is used to perform angle conversion on the center point coordinates of each sub-area, and the converted angles are sequentially arranged according to the starting direction of the cutter disc rotating area, and the sub-areas are re-assigned numbers, and then the radial strip number is used as the row structure basis and the tangential partition number is used as the column structure basis to establish a numbering matrix, and the corresponding numbers are filled into the matrix positions one by one, and the row and column information is completed, to obtain the cutter disc cleaning grid parameter set.

[0023] The specific steps for generating the jet coverage energy distribution set are as follows: Based on the cutter disc cleaning grid parameter set, the water jet nozzle mounting point position and the jet direction are taken out, and then the straight line distance and direction amount between the center point of each sub-area and the test water supply pipeline pressure node are combined into an energy amount, and recorded as the same sequence, to generate the energy basis set; Based on the energy basis set, the energy amount in the sequence is sequentially compared with the set threshold value, the sub-areas reaching the threshold value are divided into the effective coverage range, and the coverage result is classified into a separate sequence according to the numbering order, to obtain the jet coverage energy distribution set; Based on the cutterhead cleaning mesh parameter set, an energy combination operation algorithm is used to execute a three-axis coordinate value retrieval command on the water jet nozzle installation point position and a direction vector analysis command on the spray direction. Then, a three-axis difference command is executed on the coordinates of the center point of each sub-zone and the coordinates of the pressure node of the water supply pipeline. The difference components are combined into a distance vector in a fixed order, and the distance vector length is used as the distance quantity. The distance quantity and the spray direction vector are extracted one by one. After extraction, a multiplication and addition command is executed with the distance quantity as the first factor and the angle quantity as the second factor to form the energy quantity value of a single sub-zone. Then, all energy quantity values ​​are added to the sequence buffer in the order of sub-zone number, and a one-time read command is executed on the buffer to form a continuous energy quantity sequence, generating an energy base set. Based on the energy base set, the energy threshold comparison algorithm is used to perform the comparison command on the energy in the sequence in numerical order, and a fixed threshold is used as the comparison benchmark. For the energy greater than the threshold, the valid identifier is written and the corresponding sub-region number is written to the coverage buffer. Then, the contents of the buffer are rearranged in ascending order of sub-region number. After rearrangement, all valid numbers are written into the coverage record sequence in a single column structure to form an independent data group, thus obtaining the jet coverage energy distribution set.

[0024] The specific steps for generating the nozzle cleaning assignment result set are as follows: Based on the energy distribution set of the spray coverage, the Hungarian allocation algorithm is used to extract the thickness of the attachment layer of each sub-region from the record table one by one, and the pressure value under the same number is sequentially substituted into the thickness amount to convert it into time amount. Then, the converted time amount is arranged into a continuous sequence according to the order of the sub-region to generate a time amount sequence set. Based on the time sequence set, the sequence is divided into multiple rows according to the number of nozzles. Then, the position of the identifier is determined in each row according to the time magnitude. These identifiers are grouped together according to the nozzle arrangement order to generate the nozzle corresponding identifier set. Based on the nozzle corresponding identifier set, the nozzle number and sub-area number are retrieved in pairs according to the actual landing point of the identifier. Then, the corresponding time quantity is inserted into the same sequence to form a continuous record. The records are then merged into the set in the overall order to obtain the nozzle cleaning assignment result set. Based on the jet coverage energy distribution set, the thickness of the adhesion layer of each sub-area in the record table is read one by one according to the sub-area number by using the Hungarian allocation algorithm, and the read thickness is written in the thickness sequence in order of number, and the same number pressure value is written in the pressure sequence by calling the pressure value command, then the conversion command is executed one by one according to the thickness sequence, and the corresponding value in the pressure sequence is used as the conversion factor to form the time amount, and the time amount is written in the time block buffer in an indexed manner, then the row minimum value subtraction command is executed in the Hungarian allocation algorithm, and the minimum value is subtracted from each item in the corresponding row to form a row difference value matrix, and then the column minimum value subtraction command is executed, and the minimum value is subtracted from each item in the corresponding column to form a column difference value matrix, and the position with a value of zero in the difference value matrix is found, and the zero value marker list is written according to the row and column where the zero value is located, then the cover command is executed on the zero value marker list, and the cover index is recorded in the row direction and the column direction respectively, and according to the insufficient cover quantity, the minimum difference value is recorded in the uncovered position, and the minimum difference value subtraction and cover position addition commands are executed to update the difference value matrix, then the zero value finding and row and column covering actions are repeated until the cover quantity meets the assignment size, and the row and column numbers in the difference value matrix are written in the index sequence according to the zero value distribution, generating a time amount sequence set; Based on the time amount sequence set, the Hungarian allocation algorithm is used to execute the split command on the sequence according to the number of nozzles, and the generated each row structure is executed according to the time amount size. The sorting command and the original index of each item in the sorting process is written in the identification buffer, then the position registration command is executed on the identification buffer row by row, and the identification in each row is merged into an identification group in the order of nozzle number, and after merging, all identification groups are written in the identification set in order, and the identification mapping relationship table is constructed, and after writing the entire mapping relationship table, the identification corresponding sequence is formed, generating the nozzle corresponding identification set; Based on the nozzle corresponding identification set, the row and column numbers in the identification are executed by using the Hungarian allocation algorithm. The read command and the corresponding nozzle number is taken out according to the read number, and the corresponding sub-area number is taken out according to the same number, and after taking out, the pairing command is executed, and the pairing number is written in the pairing list, and the time amount in the same row number in the pairing list is executed. The insertion command is formed after insertion to form a continuous time record sequence, then all record sequences are merged into a unified set in order, and the set alignment command is executed to form the final pairing result group, and the nozzle cleaning assignment result set is obtained.

[0025] The Hungarian allocation algorithm first extracts the valley value of each row of the cleaning time quantity arranged in matrix form and subtracts it from the corresponding items in the row, so that each row forms a difference distribution with zero as the base. Then, it extracts the valley value of each column of the processed matrix and subtracts it from the corresponding items in the column, so that the values ​​in the column synchronously form a new difference matrix. Then, it searches for all positions with zero values ​​in the matrix and covers the rows and columns containing zero values ​​in a straight line. The covered rows and columns are recorded as a cover set. When the number of rows and columns in the cover set is insufficient to cover all zero values, the valley value is extracted from the uncovered positions in the matrix and subtracted from all uncovered positions. At the same time, it is added to all covered positions to form a new difference matrix. The zero value search and row and column covering actions are repeated on the new difference matrix. When the number of rows and columns in the cover set reaches the number of nozzles, the uncovered zero value positions are collected into pairs according to the row and column coordinates and the pairs are used as the pairing indexes corresponding to the nozzles and sub-regions. The Hungarian allocation algorithm, according to the formula:

[0026] in: Indicates the number is The thickness of the target adhesion layer in the blade plate area. Indicates the number is The water jet injection pressure value in the cutter head area, This represents the water jet deposition removal efficiency coefficient. Indicates the number is The duration of water jet action in the blade plate area Indicates the number is The uniformity index of water jet energy coverage in the blade plate area. Indicates the number is The overlap rate index of water jet trajectory coverage in the blade plate area. Indicates the number is The nozzle wear index in the cutter head area. This represents the weighting coefficient for energy coverage uniformity correction. This represents the weighting coefficient for trajectory coverage overlap correction. This indicates the nozzle wear correction weighting factor; Execution process: First, read the target adhesion layer thickness of the sub-region numbered in the order of sub-region numbering on the surface of the cutter head. And retrieve the water jet injection pressure value that matches the sub-zone number from the injection control unit. The system then retrieves the water jet deposition removal efficiency coefficient, which has been determined experimentally, from the calibration parameter set. Then, based on the water jet energy distribution sampling results, the number is calculated as follows: Subregion energy coverage uniformity index And calculate the number based on the water jet trajectory generation model. Sub-region trajectory coverage overlap index At the same time, the number is calculated by accumulating the nozzle operation records. Sub-region nozzle wear index The system then retrieves the energy coverage uniformity correction weighting coefficients obtained through least-squares fitting from the controller parameter area. And trajectory coverage overlap rate correction weight coefficient and nozzle wear correction weighting factor The system will , , , , Substituting all the values ​​into the formula, and applying a joint correction factor that includes three correction factors—energy uniformity, trajectory overlap rate, and nozzle wear—to the original time calculation results, we obtain the result numbered as follows: Water jet action time in the blade plate area Finally, the above process is executed sequentially on all cutter disc areas according to their numbering order to form a complete set of water jet action time sequence.

[0027] The specific steps for generating the nozzle arrangement adjustment parameter set are as follows: Based on the nozzle cleaning assignment result set, the particle swarm optimization algorithm is used to move the coordinates of the nozzle installation point by a certain distance in a fixed direction to form a new set of coordinates. Then, the corresponding nozzle number is appended to these new coordinates to make them a list that can be directly indexed, thus generating the nozzle adjustment coordinate set. Based on the nozzle adjustment coordinate set, the adjusted coordinates of each group are compared with the coordinates of the center point of the cutter head structure unit one by one, the distance between the two points is measured, and the distances are arranged into a record column according to the nozzle number to generate a nozzle distance comparison set. Based on the nozzle distance reference set, the nozzle direction and the normal vector of the cleaning area are taken out in numerical order, the angle between the directions is calculated, and the angle and distance are recorded together as a judgment item. Finally, the numbers that meet the attainable requirements are collected into a list to obtain the nozzle layout adjustment parameter set. Based on the nozzle cleaning assignment result set, the particle swarm optimization algorithm is used to execute the position initialization command on the nozzle mounting point coordinates, write the three-axis coordinates of each nozzle into the particle position vector, write the corresponding nozzle number into the index vector, initialize the three-axis components of the velocity vector to zero value, and after the initialization is completed, execute the direction offset command on each position vector, write the offset coordinates into the candidate coordinate list with the offset distance parameter as the three-axis increment, then append the nozzle number to the candidate coordinate list to form an indexable record, and write the record into the particle current coordinate set. After the coordinate set is established, execute the speed update command on each particle, multiply the three-axis components of the previous velocity vector by the inertia factor, add the difference components of the particle current coordinates and the particle historical coordinates multiplied by coefficient one to the velocity vector, add the difference components of the particle current coordinates and the group historical coordinates multiplied by coefficient two to the velocity vector, and add the updated velocity vector and the current position to obtain the new position coordinates, write the new position to the coordinate set and repeat the update step until the iteration number requirement is reached to generate the nozzle adjustment coordinate set; Based on the nozzle adjustment coordinate set, the particle swarm optimization algorithm is used to execute the coordinate reading command on each group of adjustment coordinates according to the nozzle number, calculate the difference value of the three-axis components of the adjustment coordinates and the three-axis components of the center point coordinates of the cutter head structure unit, write the difference value components into the difference buffer, then execute the three-axis quantity accumulation command on the difference buffer to form the distance quantity, write the distance quantity into the distance record column in the order of nozzle number, maintain the one-to-one correspondence between the number and the distance quantity during the writing process, and form the distance sequence, and after the writing is completed, input the distance sequence as the input data group of the particle swarm optimization algorithm fitness value to generate the nozzle distance reference set; Based on the nozzle distance reference set, the particle swarm optimization algorithm is used to execute the direction quantity reading command according to the nozzle number, write the three-axis components of the direction vector of each nozzle into the direction buffer, write the three-axis components of the normal vector of the cleaning area into the normal buffer, then execute the multiplication and addition command on the two groups of vectors to form the combined value, input the combined value into the direction difference command to obtain the direction angle quantity, and write the angle quantity and the distance quantity side by side according to the number into the judgment sequence, after the judgment sequence is written, execute the number screening command on the sequence, write the numbers that meet the reachable requirement into the output list one by one to obtain the nozzle arrangement adjustment parameter set.

[0028] The particle swarm optimization algorithm first randomly generates a position vector for each nozzle arrangement scheme in the search space and sets a corresponding velocity vector, records the position vector as an initial coordinate set of the particle, records the velocity vector as an initial velocity set of the particle, then calculates the cost value of each particle according to the nozzle mounting point coordinates, the jet direction angle, the coverage of the cutter disc grid unit and the cleaning time and the like, compares the cost value with the historical cost of the particle, updates the historical adaptive position set of the particle, simultaneously selects the minimum cost value in all particles and records it as the population adaptive position set, then updates the velocity vector for each particle according to the inertia weight multiplied by the velocity of the previous generation plus the weighted sum of the difference between the historical position of the particle and the current position and the difference between the population adaptive position and the current position, adds the updated velocity vector and the current position coordinates dimension by dimension to obtain new position coordinates, corrects the coordinates exceeding the installation range by boundary value interception or reverse folding and forms a new generation of particle position set, and recalculates the cost value corresponding to the new position and updates the particle historical adaptive position set and the population adaptive position set according to the same rules, repeatedly executes the velocity updating, position updating and cost calculation steps within a preset number of iterations, and records the nozzle coordinates and jet direction angle in the population adaptive position set as the output results of the particle swarm optimization algorithm when the iteration ends; The particle swarm optimization algorithm is according to the formula:

[0029] Wherein: represents the velocity vector of the nozzle particle numbered at the th iteration, represents the velocity vector of the nozzle particle numbered at the th iteration, represents the inertia weight coefficient, represents the individual learning factor, represents a random number in the interval of zero to one, represents the individual historical optimal position vector of the nozzle particle numbered at the th iteration, represents the current position vector of the nozzle particle numbered at the th iteration, represents the radial position correction weight coefficient, represents the radial position index of the nozzle numbered , represents the cutter shielding correction weight coefficient, represents the cutter shielding influence index of the nozzle numbered , represents the population learning factor, Represents a random number in the interval between zero and one. Indicates the first The global optimal position vector of the nozzle particle swarm in the next iteration. This represents the weighting factor for correcting historical scour intensity deviation. Indicates the number is The nozzle's historical erosion intensity deviation index. This represents the weighting coefficient for jet cross-interference correction. Indicates the number is The nozzle jet cross-interference index; Execution process: First, initial coordinates are set for each of the multiple nozzles and used as the first... The current position vector of the next iteration At the same time, set the initial velocity vector of the corresponding nozzle. And load the inertia weight coefficient Individual learning factors With group learning factor The controller then calculates the cleaning coverage evaluation value based on the current nozzle coordinates and determines the number as follows. The individual historical best position vector of the nozzle and the global optimal position vector corresponding to all nozzle combinations In the same iteration, the controller obtains the radial position index based on the ratio of the nozzle radial distance to the cutter head radius. The tool obstruction influence index is obtained based on the obstruction angle and minimum distance between the nozzle and the adjacent tool. The historical scouring intensity deviation index was obtained by normalizing the residual thickness deviation of the nozzles in previous cleaning tests. The jet cross-interference index is obtained based on the proportion of overlapping areas between the water jet trajectories of the nozzles. Simultaneously, the radial position correction weighting coefficient is read from the calibration parameter set. Tool occlusion correction weight coefficient Historical scour intensity deviation correction weighting coefficient and the weighting coefficient for jet cross-interference correction The controller then generates a random number for each nozzle. and And and Substituting the individual terms into the formula, , , , , and Substitute the group terms into the formula, and then combine them with the inertia term. Add them together to get the speed update result. Then according to The displacement is decomposed along the fixed direction unit vector and superimposed with the current coordinates to form the nozzle coordinates of the next iteration The controller repeats the above speed update and position update processes for all nozzles until the iteration number and fitness convergence conditions are reached, and finally the nozzle coordinate set at the iteration termination time is taken as the nozzle adjustment coordinate set, which is used for cutter head water jet cleaning path planning and execution.

[0030] The specific steps for generating the nozzle start-stop timing table are as follows: Based on the nozzle arrangement adjustment parameter set, the nozzle start time is taken from the test original record, and the time amount corresponding to the assigned sub-area is added to the same time axis in the start order, thereby forming a continuous time arrangement sequence, and a time axis arrangement set is generated; Based on the time axis arrangement set, the position of the sequence is corrected in sections according to the time reference of the cutter head rotating area, and the continuous time period is reconnected as a unified record format according to the nozzle number, and the nozzle start-stop timing table is obtained; Based on the nozzle arrangement adjustment parameter set, the time sequence construction algorithm is used to execute a read command for each nozzle start time in the test original record, the read time value is written into the start buffer according to the nozzle number, a value command is executed for the time amount corresponding to the assigned sub-area and written into the sub-area time buffer according to the number order, a time axis establishment command is executed based on the time in the start buffer and the minimum start value is taken as the starting point of the time axis, a time superposition command is executed for the time amount of each nozzle, the superposed time points are written into a unified time axis list in order, a continuity marking command is executed for the time axis list during the writing process, the interval between adjacent time points is written into an interval sequence according to a fixed step, the time points and interval sequence are combined and written into an arrangement buffer to form a continuous time arrangement sequence, and a number annotation command is executed for the arrangement sequence to generate a time axis arrangement set; Based on the time axis arrangement set, the time alignment reconstruction algorithm is used to execute a read command for each time period in the sequence and take the time reference value set by the cutter head rotating area as the alignment reference, the difference between the start time of each time period and the reference value is calculated and written into an offset list as the alignment offset, the offset list is sequentially applied to all time periods to execute an alignment command and the aligned time periods are written into a reconstruction sequence, after the reconstruction sequence is established, a concatenation command is executed according to the nozzle number, all time periods of nozzles with the same number are merged into a single continuous structure in order, and the start time, end time and nozzle number in each structure are written into a data column in a unified record format according to a fixed field order, and all data columns are sequentially written into an output set to obtain the nozzle start-stop timing table.

[0031] The unified record format arranges the starting time point, the stopping time point, the action sub-area number and the nozzle number corresponding to each nozzle in a fixed field order in a time section record set, each record takes a continuous time section as a basic unit and forms an independent entry according to the nozzle number, the time sections in each entry are sequentially arranged with the starting time point in front and the stopping time point behind, and all entries form a data group in the same format, so that the time sections of different nozzles can be read and compared in the same set according to the fixed field position.

[0032] The mud cake mainly refers to fine silt particles and debris cut by a shield cutter, which are re-aggregated in a cutter bin to form semi-consolidated and consolidated block bodies. The cutter head mud cake can cause a series of technical problems: the cutter is covered with clay, resulting in reduced penetration and reduced excavation efficiency; the cutter is blocked, causing the cutter to be unable to rotate, causing eccentric wear; and in severe cases, the cutter head is completely covered with mud cake, causing the shield machine to be unable to continue excavation.

[0033] The high-pressure water jet assisted method uses pressure into the bin and uses high-pressure water jet to clean the mud cake. Compared with the chemical method and the cleaning method, it is a relatively effective way, but in the prior art, the water jet nozzle and the cutter are independently designed and uniformly arranged on the cutter face plate, which makes it difficult for the high-pressure water jet to meet the engineering requirements in terms of mud cake prevention and control effect.

[0034] As shown in Figure 2 and Figure 3 , the embodiment provides a shield cutter head, which comprises a cutter head body 1, a first water jet nozzle 13 and a second water jet nozzle 14.

[0035] The outer side surface of the cutter head body 1 is divided into a central region 11 and a peripheral region, and both the central region and the peripheral region are provided with a plurality of cutter heads 12. The cutter head positions in the central region are irregularly arranged, and the cutter heads in the peripheral region are arranged radially outward from the central region.

[0036] In the embodiment, six rows of cutter heads are arranged outward from the central region, each row of cutter heads extends along the radial extension of the cutter head body 1 and is arranged at intervals. The six rows of cutter heads are uniformly arranged circumferentially. Each cutter head 12 comprises two coaxially arranged cutter rings, and the two cutter rings are arranged in axial symmetry.

[0037] The first water jet nozzle 13 is arranged at the intersection of the extension line of the symmetry axis between the two cutter rings in one cutter head 12 and the extension line of the symmetry axis between the two cutter rings in an adjacent cutter head. As shown in Figure 3 , taking the cutter head 12 located at the lower left and the cutter head 12 located at the upper left as an example, the first water jet nozzle 13 is arranged at the intersection of the extension line L of the symmetry axis of the two cutter rings in the cutter head 12 located at the lower left and the extension line L of the symmetry axis of the two cutter rings in the cutter head 12 located at the upper left. Similarly, similar layouts are adopted in the remaining cutter heads.

[0038] The second water jet nozzle 14 is located at the intersection of the line connecting the center of one cutter ring and the edge of the other cutter ring in a cutter head 12, and the extended line connecting the center of one cutter ring and the edge of the other cutter ring in a neighboring cutter head. Specifically, as follows... Figure 3 As shown, taking the cutter head 12 located at the lower left and the cutter head 12 located at the upper left as examples: In the cutter head 12 located at the lower left, a second water jet nozzle 14 is installed at the intersection of the extension line K of the line connecting the center of one cutter ring to the edge of the other cutter ring and the extension line K of the line connecting the center of one cutter ring to the edge of the other cutter ring in the cutter head 12 located at the upper left. Similarly, the other two adjacent cutter heads 12 adopt a similar scheme.

[0039] The cutter head 12 includes two types. One type has a gap between two cutter rings, in which case the extensions L and K of the two cutter rings do not coincide, and they form an acute angle. Figure 3 The blade 12 is located in the upper left and lower left corners.

[0040] Another scenario is where there is no gap or a very small gap between the two cutter rings in cutter head 12. In this case, the extension lines L and K of the two cutter rings are considered to coincide. Figure 3 The cutter head 12 is located at the top and the cutter head 12 is located on the right. In this design, for the top cutter head 12, the intersection of its overlapping extension line L (K) with the extension line L of the right cutter head 12 is provided with a first water jet nozzle 13, and the intersection of its extension line K with the extension line K of the upper left cutter head 12 is provided with a second water jet nozzle 14.

[0041] In the two cutter heads 12, the intersection of the extended line L of the cutter ring symmetry axis and the intersection of the extended line K of the line connecting the center of one cutter ring and the edge of the other cutter ring are prone to the accumulation and deposition of slag and soil, which are high-incidence areas for mud cake formation. By setting the first water jet nozzle 13 and the second water jet nozzle 14 at these two locations, high-pressure water jets can be used to flush away the mud cake as soon as it begins to form, effectively preventing further accumulation of mud cake.

[0042] Based on the above scheme, in this embodiment, the first water jet nozzle 13 and the second water jet nozzle 14 are set according to the position of the cutter head 12, which can accurately match the formation pattern of mud cake near each cutter head 12. Compared with the scheme of uniformly arranging water jet nozzles in the prior art, the high-pressure water jets sprayed by the first water jet nozzle 13 and the second water jet nozzle 14 in this embodiment can remove mud cake more efficiently, reduce the obstruction of mud cake to the normal operation of the cutter head body 1 and the cutter head 12, significantly improve the mud cake removal efficiency and effect, and ensure the smoothness and reliability of cutting the soil.

[0043] The technical scheme provided by the embodiment is characterized in that the outer side end surface of the cutter head body is provided with a plurality of tool heads, each of which comprises two tool rings arranged in axial symmetry; the first water jet nozzle is arranged at the intersection of the extension line of the symmetric axis between the two tool rings in one tool head and the extension line of the symmetric axis between the two tool rings in an adjacent tool head; and the second water jet nozzle is arranged at the intersection of the line connecting the center of one tool ring and the edge of the other tool ring in one tool head and the extension line of the line connecting the center of one tool ring and the edge of the other tool ring in an adjacent tool head, so that the mud cake can be removed more efficiently, the obstruction of the mud cake to the normal operation of the cutter head body and the tool heads is reduced, the mud cake removal efficiency and effect are significantly improved, and the smoothness and reliability of cutting the soil are ensured.

[0044] On the basis of the above technical scheme, the third water jet nozzle 15 is further adopted. The outer circumferential edge of one tool head 12 is tangent to a circle C, and the circle C is inscribed in the circular envelope of the center area 11 of the cutter head body. If there is no first water jet nozzle 13 or second water jet nozzle 14 in the circle C, the third water jet nozzle 15 is arranged at the center of the circle C.

[0045] The third water jet nozzle 15 can be arranged according to the position of the tool head 12 in the center area 11. For example, the outer circumferential edge of one tool head 12 is tangent to a circle C, and the circle C is inscribed in the circular envelope of the center area 11 of the cutter head body. Figure 3 For example, the blank area in the lower right of the tool head layout shown is large, the outer circumferential edge of the tool head 12 is tangent to a circle C, and the circle C is inscribed in the circular envelope of the center area 11 of the cutter head body. Figure 3 The center of each of the three circles C can be provided with the third water jet nozzle 15.

[0046] The third water jet nozzle 15 effectively fills the mud cake prevention blank area that may exist after the arrangement of the first water jet nozzle 13 and the second water jet nozzle 14, and can assist the first water jet nozzle 13 and the second water jet nozzle 14 in preventing and treating the mud cake in the center area 11 in all directions and without dead angle, so as to avoid the local accumulation of the mud cake on the center area 11, the deviation of the gravity center of the cutter head body 1, and the improvement of the stability and safety of the cutter head body 1 during rotation.

[0047] The first water jet nozzle 13, the second water jet nozzle 14, and the third water jet nozzle 15 can all be columnar structures and are vertically installed on the cutter head body 1. The first water jet nozzle 13, the second water jet nozzle 14, and the third water jet nozzle 15 all spray water along the radial direction of the cutter head body 1, so as to ensure that the high-pressure water jet can vertically impact the mud cake and improve the flushing effect. The first water jet nozzle 13, the second water jet nozzle 14, and the third water jet nozzle 15 are all arranged at positions where no tool head 12 is arranged in the center area 11, so as not to affect the normal work and design of the tool head 12, to ensure that the cutting function and the mud cake prevention function do not interfere with each other, and to play a synergistic role.

[0048] The tool head 12 in the embodiment is a double-blade hob, that is, a structure comprising two tool rings.

[0049] With reference to Figure 4 , considering that the accumulation depth of the mud cake is not completely uniform, the number of the first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 in the embodiment is at least one, and the distance h of the water outlet 19 of the different first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 from the face plate of the cutter body 1 is different, that is, the length of the first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 protruding from the cutter end face is different, and the first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 are arranged in a stepped manner on the cutter section, so that the high-pressure water jet emitted by the first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 at different positions can form a multi-level flushing effect in front of the cutter body 1, effectively cleaning the mud cake at different accumulation depths. Whether it is a shallow mud cake or a thick mud cake, it can be effectively cleaned, effectively enhancing the comprehensiveness and effectiveness of mud cake prevention.

[0050] With reference to Figure 4 , the embodiments of the first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 in the embodiment are described, and the first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 can adopt the same structure and be collectively referred to as water jet nozzles. The water jet nozzle is provided with a water inlet channel 16 which penetrates in the axial direction of the water jet nozzle. The other end of the water jet nozzle is provided with a water outlet channel 17 which is perpendicular to the axial direction of the water jet nozzle. The two ends of the water outlet channel 17 penetrate the outer peripheral surface of the water jet nozzle. The water outlet channel 17 is in communication with the water inlet channel 16, so that the water jet nozzle can spray two jets of high-pressure water flow in opposite directions, achieving bidirectional flushing.

[0051] In actual work, according to the distribution of the mud cake on the cutter body 1, the two ends of the water outlet channel 17 can be flexibly adjusted to spray in different directions, such as both being aimed at the area where the mud cake is easy to accumulate around the cutter head 12, or at least one end being aimed at one cutter head 12, thereby improving the coverage area of the high-pressure water jet on the area around the cutter head 12 and the central area 11, enhancing the flushing effect and improving the flushing efficiency.

[0052] In addition, a pulse solenoid valve 18 is installed on the water inlet channel 16 of the water jet nozzle, so that the water jet nozzle can realize pulse water spraying when needed, improving the efficiency of mud cake removal. Compared with continuous water spraying, pulse water spraying can produce stronger impact force, and the effect of breaking and removing the mud cake is more significant under the condition of consuming the same amount of water, effectively reducing the consumption of water resources and improving the work efficiency of mud cake prevention.

[0053] To achieve intelligent prevention and treatment of the cake, the embodiment further comprises a control system capable of monitoring the torque of the cutter body 1 and adjusting the water pressure, flow rate and water spraying time of each water jet nozzle according to the torque of the cutter body 1. The torque is a key parameter reflecting the working state of the cutter body 1 and the degree of cake accumulation. When the torque of the cutter body 1 becomes larger, it indicates that the cake is accumulated seriously. At this time, the control system can increase the water pressure, flow rate and water spraying time of each water jet nozzle to quickly remove the cake and reduce the load of the cutter body 1. Conversely, it is adjusted to be lower, saving energy and prolonging the service life of the equipment.

[0054] The way in which the control system monitors the torque of the cutter body 1 in the embodiment includes but is not limited to the following: (1) Use a torque sensor. The torque sensor is installed on the driving part of the driving motor 6 capable of driving the cutter body 1 to rotate. The torque sensor works based on the strain principle or the magneto-electric principle and can directly measure the torque transmitted by the driving part, has the characteristics of high measurement accuracy and fast response speed, and can obtain the torque information of the cutter body in real time and accurately.

[0055] (2) When the driving motor 6 driving the cutter body 1 to rotate is running, the current size has a certain corresponding relationship with the output torque. According to the characteristic curve and the related mathematical model of the driving motor 6, the torque of the cutter body 1 can be indirectly calculated based on the current of the driving motor 6 by detecting the working current of the driving motor 6. No additional special torque sensor needs to be installed, the cost is relatively low, the equipment cost investment is effectively reduced while ensuring a certain measurement accuracy, and it is suitable for engineering projects with strict cost control.

[0056] (3) If the cutter body 1 is hydraulically driven, a pressure sensor can be installed in the hydraulic driving system, such as being installed on the oil inlet or oil return pipeline of the hydraulic motor. When the cutter body 1 is subjected to torque, the pressure in the hydraulic system will change. The pressure sensor can measure this pressure change and obtain the torque value through the corresponding conversion relationship. The pressure sensor is easy to install and has little change to the hydraulic driving system.

[0057] On the panel of the cutter body 1, the cake is usually gradually formed in the central area 11 first, then becomes thicker and gradually expands from the central area 11 to the edge of the cutter body 1.

[0058] Referring to Figure 5The embodiment also provides a shield tunneling machine, which comprises the high-pressure shield tunneling machine cutter head provided by any of the above contents, the rear of the cutter head body 1 is rotationally connected with a shield shell 2, the shield shell 2 is a cylindrical hollow structure, the inner circumferential surface of the shield shell 2 is connected with a shield partition plate 3 arranged in parallel with the cutter head body 1, the side of the shield partition plate 3 close to the cutter head body 1 is provided with a mounting ring 4, one end of the mounting ring 4 close to the cutter head body 1 is connected with the outer ring of a shield bearing 5, the inner ring of the shield bearing 5 is connected with the driving part of a driving motor 6, the driving motor 6 is mounted on the shield partition plate 3, the driving part of the driving motor 6 is connected with a cutter head support arm 8 through a connecting plate 7, and the cutter head support arm 8 is connected with the cutter head body 1.

[0059] The center of the shield partition plate 3 is provided with a center hole, an outer cylinder 9 penetrates the center hole and is fixedly connected with the shield partition plate 3, the outer circumferential surface of the outer cylinder 9 is provided with a high-pressure water inlet 011, the inner part of the outer cylinder 9 is coaxially sleeved with an inner cylinder 010, the inner cylinder 010 is rotationally connected with the outer cylinder 9, one end of the inner cylinder 010 close to the cutter head body 1 is connected with the connecting plate 7, and the inner cylinder 010 penetrates the connecting plate 7.

[0060] The first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 are connected with one end of a high-pressure water inlet pipe 012 through a rotary joint, the other end of the high-pressure water inlet pipe 012 extends into the gap between the outer cylinder 9 and the inner cylinder 010 after penetrating the connecting plate 7, the gap is communicated with the high-pressure water inlet 011, the high-pressure water inlet 011 is connected with one end of a high-pressure water inlet pipe 013, the other end of the high-pressure water inlet pipe 013 is connected with a water storage barrel 014, the water storage barrel 014 is connected with a gas pressure pump 015 through a high-pressure water inlet pipe 016, the high-pressure water inlet pipe 013 is provided with a high-pressure water valve 017, and the high-pressure water inlet pipe 016 is provided with a pressure gauge 018.

[0061] The first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 on the cutter head body 1 can spray high-pressure water along the radial direction of the cutter head body 1, and meanwhile, the cutter head body 1 can rotate under the driving of the driving motor 6 to remove the mud cake while excavating, thereby improving the construction efficiency of the shield tunneling machine under complex geological conditions such as rich mud soil, effectively reducing the problems of cutter head wear and equipment failure caused by mud cake accumulation, reducing the construction cost, shortening the construction period and significantly improving the overall performance and engineering applicability of the shield tunneling machine.

[0062] After the shield machine is started, the driving motor 6 starts to work, the driving part of the driving motor 6 is connected with the cutter head support arm 8 through the connecting plate 7, the cutter head support arm 8 is connected with the cutter head body 1, therefore the power of the driving motor 6 can be transmitted to the cutter head body 1, and the cutter head body 1 is driven to rotate around the central shaft of the shield bearing 5. The several cutters 12 arranged in the central region 11 of the cutter head body 1 rotate, and the clay stratum, clayey sand stratum and the like are excavated, and the soil is cut into fine sand particles and debris.

[0063] The air pressure pump 015 is connected with the water storage bucket 014 through the high-pressure water inlet pipe three 016, and the water storage bucket 014 is pressurized. The pressure gauge 018 on the high-pressure water inlet pipe three 016 monitors the pressure provided by the air pressure pump 015 in real time, ensures that the water supply pressure is stable in a suitable range, and provides protection for the stable spraying of the subsequent high-pressure water jet. The high-pressure water flows out of the water storage bucket 014, passes through the high-pressure water inlet pipe two 013, and the high-pressure water valve 017 on the high-pressure water inlet pipe two 013 can control the on-off and flow size of the high-pressure water. The high-pressure water enters the high-pressure water inlet 011 of the outer cylinder 9, the inner cylinder 010 is coaxially sleeved in the inner cylinder 010, and the inner cylinder 010 is rotatably connected with the outer cylinder 9. After the high-pressure water enters the gap between the outer cylinder 9 and the inner cylinder 010, it is transported to the first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 through the high-pressure water inlet pipe one 012. Since the cutter head body 1 is rotating, the high-pressure water inlet pipe one 012, the first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 are all connected through rotary joints, which ensures the continuous supply of high-pressure water during the rotation of the cutter head body 1.

[0064] The first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 can spray high-pressure water along the radial direction of the cutter head body 1. The first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 are designed based on the position of the cutter 12, and the high-pressure water jet accurately impacts the areas prone to forming mud cake on the cutter head body 1, such as the intersection of the cutter 12 cutter circle symmetry axis extension line L, the intersection of the outer cutter circle center and the inner cutter circle arbitrary angle connecting line extension line K, and the center position of the specific excircle C. The first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 can all realize pulse water spraying, enhance the breaking and cleaning effect of the mud cake, and reduce water resource consumption. After being washed by the high-pressure water jet, the mud cake is broken and dispersed, avoiding covering the cutter and blocking the cutter barrel, reducing cutter wear, ensuring normal rotation and cutting function of the cutter, and maintaining stable tunneling of the cutter head body 1.

[0065] During the process of excavating the earth body by the cutter head body 1, the control system monitors the torque of the cutter head body 1 in real time. In the normal tunneling process, the torque of the cutter head body 1 is in a relatively stable range. When the mud cake gradually accumulates on the cutter head body 1, the resistance received by the cutter head body 1 increases, and the torque also increases accordingly. The control system automatically adjusts the water pressure, flow rate and water spraying time of the first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 according to the monitored torque change. For example, when the torque increases, indicating that the mud cake accumulation is aggravated, the control system increases the water pressure and flow rate of the first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15, and appropriately prolongs the water spraying time, so as to enhance the scouring and crushing capacity of the mud cake; conversely, when the torque returns to normal, the corresponding parameters are reduced, thereby saving energy and water resources.

[0066] Those skilled in the art will appreciate that embodiments of the application can be supplied as a method, a system, or a computer program product. Accordingly, the application can be embodied in the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the application can be embodied in the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage media, etc.) having computer usable program code embodied thereon. The aspects of the embodiments of the application can be implemented in various computer languages, such as C, VHDL, Verilog, the object-oriented programming language Java, and the interpreted scripting language JavaScript, etc.

[0067] The application is described with reference to the flowcharts and / or block diagrams according to the methods, devices (systems), and computer program products of the embodiments of the application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus generate a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks. Figure 1 The means for implementing the functions specified in one or more flows and / or blocks.

[0068] These computer program instructions can also be stored in a computer-readable memory capable of guiding the computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer-readable memory produce a product including instruction means, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks. Figure 1 The means for implementing the functions specified in one or more flows and / or blocks.

[0069] These computer program instructions can also be loaded into a computer or other programmable data processing devices, so that a series of operation steps are performed on the computer or other programmable devices to generate computer-implemented processes, thus the instructions executed on the computer or other programmable devices provide a process for implementing the functions specified in the flowcharts Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0070] In the description of the present application, it is to be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0071] In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0072] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection or can communicate with each other; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0073] Although the preferred embodiments of the present application have been described, those skilled in the art can make further changes and modifications to these embodiments once they know the basic inventive concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0074] Obviously, many modifications and variations of the present application are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A test method for water jet cleaning of a tunnel boring machine cutterhead, characterized in that, Includes the following steps: S1: Based on the cutter head cleaning grid parameter set, the cutter head surface is cut into strips radially according to structural units and then subdivided according to tangential angles. The center point of the sub-region is corrected with the test frame positioning reference. Then, it is reordered and numbered according to the direction of the cutter head rotation area to obtain the cutter head cleaning grid parameter set. S2: Based on the cutter head cleaning grid parameter set, read the water jet nozzle installation point and direction, combine the distance and direction between the sub-region center point and the pressure node of the test water supply pipeline to form an energy value, and then use the threshold to determine the effective coverage range to obtain the jet coverage energy distribution set. S3: Based on the spray coverage energy distribution set, the Hungarian allocation algorithm is used to calculate the cleaning time according to the thickness of the sub-region adhesion layer and the pressure value. The time quantities are formed into a matrix and multiple values ​​are compared in the same row to determine the nozzle correspondence. All matching items are combined into a unified sequence to obtain the nozzle cleaning assignment result set. S4: Based on the nozzle cleaning assignment result set, the particle swarm optimization algorithm is used to add fine-tuning amount to the nozzle installation point, and then the distance is compared with the center point of the cutter head structure unit. The reachability is judged by the angle between the nozzle direction and the normal vector of the cleaning area. The reachable units are recorded to obtain the nozzle arrangement adjustment parameter set. S5: Based on the nozzle arrangement adjustment parameter set, read the nozzle start time according to the test, arrange the assigned sub-area time into the time axis and align it with the cutter head rotation area reference, then integrate it into a continuous time period and organize it uniformly to obtain the nozzle start-stop timing table.

2. The test method for water jet cleaning of the tunnel boring machine cutterhead according to claim 1, characterized in that, The cutterhead cleaning grid parameter set includes sub-region number, sub-region coordinate points, and sub-region position sequence; the spray coverage energy distribution set includes sub-region energy value, coverage mark, and direction superposition value; the nozzle cleaning assignment result set includes nozzle number, sub-region number, and cleaning time; the nozzle arrangement adjustment parameter set includes position adjustment amount, direction correction amount, and reachability mark; and the nozzle start / stop sequence table includes start time, end time, and nozzle sequence number.

3. The test method for water jet cleaning of the tunnel boring machine cutterhead according to claim 1, characterized in that, The specific steps for generating the cutter head cleaning mesh parameter set are as follows: Based on the cutter head cleaning grid parameter set, the cutter head surface is divided into several radial strips according to the change from the outer edge to the center. Then, tangential partitions are drawn according to a fixed angle. The actual position of the center point of each sub-region is re-determined using the test frame positioning point to generate a sub-region positioning dataset. Based on the sub-region positioning dataset, the numbering order of all sub-regions is rearranged according to the direction of the cutter head rotation area, and the rearranged numbers are arranged in a matrix to form a unified index, thus obtaining the cutter head cleaning grid parameter set.

4. The test method for water jet cleaning of the tunnel boring machine cutterhead according to claim 1, characterized in that, The specific steps for generating the jet coverage energy distribution set are as follows: Based on the cutter head cleaning grid parameter set, the installation point position and spray direction of the water jet nozzle are extracted, and then the energy quantity is formed by combining the straight distance and direction between the center point of each sub-region and the pressure node of the test water supply pipeline, and recorded as the same sequence to generate the energy base set. Based on the energy base set, the energy in the sequence is compared with a set threshold in turn. Sub-regions that reach the threshold are included in the effective coverage range, and the coverage results are classified into separate sequences according to the numbering order to obtain the jet coverage energy distribution set.

5. The test method for water jet cleaning of the tunnel boring machine cutterhead according to claim 1, characterized in that, The specific steps for generating the nozzle cleaning assignment result set are as follows: Based on the spray coverage energy distribution set, the Hungarian allocation algorithm is used to extract the thickness of the adhesion layer of each sub-region from the record table one by one, and the pressure value under the same number is sequentially substituted into the thickness amount to convert it into time amount. Then, the converted time amount is arranged into a continuous sequence according to the sub-region order to generate a time amount sequence set. Based on the time sequence set, the sequence is divided into multiple rows according to the number of nozzles. Then, the position of the identifier is determined in each row according to the time magnitude. These identifiers are grouped together according to the nozzle arrangement order to generate a nozzle-corresponding identifier set. Based on the nozzle corresponding identifier set, the nozzle number and sub-area number are retrieved in pairs according to the actual landing point of the identifier, and the corresponding time quantity is inserted into the same sequence to form a continuous record. The records are then merged into the set in the overall order to obtain the nozzle cleaning assignment result set.

6. The test method for water jet cleaning of the tunnel boring machine cutterhead according to claim 5, characterized in that, The Hungarian allocation algorithm first extracts the valley value of each row of the cleaning time quantity arranged in matrix form and subtracts it from the corresponding items in the row, so that each row forms a difference distribution with zero as the base. Then, it extracts the valley value of each column of the processed matrix and subtracts it from the corresponding items in the column, so that the values ​​in the column synchronously form a new difference matrix. Then, it searches for all positions with zero values ​​in the matrix and covers the rows and columns containing zero values ​​in a straight line. The covered rows and columns are recorded as a cover set. When the number of rows and columns in the cover set is insufficient to cover all zero values, the valley value is extracted from the uncovered positions in the matrix and subtracted from all uncovered positions. At the same time, it is added to all covered positions to form a new difference matrix. Then, the zero value search and row and column covering actions are repeated on the new difference matrix. When the number of rows and columns in the cover set reaches the number of nozzles, the uncovered zero value positions are collected into pairs according to the row and column coordinates and the pairs are used as the pairing indexes corresponding to the nozzles and sub-regions.

7. The test method for water jet cleaning of the tunnel boring machine cutterhead according to claim 1, characterized in that, The specific steps for generating the nozzle arrangement adjustment parameter set are as follows: Based on the nozzle cleaning assignment result set, the particle swarm optimization algorithm is used to move the coordinates of the nozzle installation point by a certain distance in a fixed direction to form a new set of coordinates. Then, the corresponding nozzle number is appended to these new coordinates to make them a list that can be directly indexed, thus generating a set of nozzle adjustment coordinates. Based on the nozzle adjustment coordinate set, each set of adjusted coordinates is compared with the coordinates of the center point of the cutter head structure unit one by one, the distance between the two points is measured, and the distances are arranged into a record column according to the nozzle number to generate a nozzle distance comparison set. Based on the nozzle distance reference set, the nozzle direction and the normal vector of the cleaning area are taken out in numerical order, the angle between the directions is calculated, and the angle and distance are recorded together as a judgment item. Finally, the numbers that meet the attainable requirements are collected into a list to obtain the nozzle arrangement adjustment parameter set.

8. The test method for water jet cleaning of the tunnel boring machine cutterhead according to claim 7, characterized in that, The particle swarm optimization algorithm first randomly generates position vectors and sets corresponding velocity vectors for each nozzle arrangement scheme within the search space. The position vectors are recorded as the initial set of particle coordinates, and the velocity vectors as the initial set of particle velocities. Then, based on data such as nozzle installation point coordinates, injection direction angle, cutter head grid cell coverage, and cleaning time, the cost value of each particle is calculated. This cost value is compared with the particle's historical cost to update the particle's historical adaptation position set. Simultaneously, the particle with the lowest cost value is selected from all particles and recorded as the swarm adaptation position set. Finally, for each particle, the inertial weight is multiplied by the previous generation's velocity, and the particle's historical position is added to the current velocity. The velocity vector is updated by weighting the difference between the previous position and the difference between the group's adapted position and the current position. The updated velocity vector is then added dimension by dimension to the current position coordinates to obtain the new position coordinates. Coordinates that are outside the installation range are truncated by boundary values ​​or corrected by reverse foldback to form a new generation of particle position set. The cost value corresponding to the new position is recalculated and the particle history adapted position set and the group adapted position set are updated according to the same rules. The velocity update, position update and cost calculation steps are repeated within a preset number of iterations. When the iteration ends, the nozzle coordinates and injection direction angle in the group adapted position set are recorded as the output results of the particle swarm optimization algorithm.

9. The test method for water jet cleaning of the tunnel boring machine cutterhead according to claim 1, characterized in that, The specific steps for generating the nozzle start-stop timing table are as follows: Based on the nozzle arrangement adjustment parameter set, the nozzle start time is extracted according to the original test record, and the time corresponding to the assigned sub-area is added to the same time axis according to the start order, thereby forming a continuous time arrangement sequence and generating a time axis arrangement set. Based on the time axis arrangement set, the position of the sequence is checked segment by segment according to the time reference of the cutter head rotation area, and the continuous time periods are re-connected into a unified record format according to the nozzle number to obtain the nozzle start and stop sequence table.

10. A tunnel boring machine, characterized in that, Includes a control system for performing the method according to any one of claims 1-9.

Images