Shield tunneling machine cutterhead water jet cleaning test method and shield tunneling machine

Abstract

The embodiment of the application provides a shield tunneling machine cutter head water jet cleaning test method and a shield tunneling machine, wherein, in the method, the Hungarian distribution algorithm performs line comparison, cross-line matching and minimum cost relationship establishment on a time matrix, so that a clear minimum time correlation is formed between nozzles and sub-areas, and a calculable balanced relationship of cleaning load is formed among multiple nozzles; the particle swarm optimization algorithm is used to perform fine adjustment of nozzle mounting points, so that nozzle coordinates can be continuously updated within a search range after displacement in a fixed direction; the position of a group of particles is iterated to find a higher reachability of a jet posture under distance and angle conditions, so that the spatial relationship between nozzle pointing, action area normal vector and 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 into a unified time axis and are aligned with a rotation reference, the nozzle start-stop behavior and the cutter head position form a continuous and recordable cleaning structure.

Description

Technical Field

[0001] This application relates to the field of water jet cleaning technology, and in particular to a test method for water jet cleaning of tunnel boring machine cutterhead and a tunnel boring machine. Background Technology

[0002] The field of water jet cleaning technology aims to use high-energy water jets with directional impact capabilities to shear, erode, and transport the adhesion layer on solid surfaces, achieving quantifiable peeling of the adhesion layer. By controlling the water jet pattern, jet direction, and jet coverage, the surface exposure rate is increased, and the energy is concentrated on the area to be cleaned. The peeling volume, residual thickness, and cleaning duration are used as the evaluation criteria for cleaning effect. The adhesion layer is removed under non-contact conditions, reducing the risks associated with mechanical intervention.

[0003] The purpose of the water jet cleaning test method for tunnel boring machine cutterhead is to establish a repeatable evaluation scheme to verify whether the peeling ability of water jet on the cutterhead adhesion layer under specified spraying conditions meets the predetermined cleaning standard. The aim is to obtain quantifiable results, including peeling volume, residual adhesion layer thickness, and cleaning time per unit area, to determine whether the spraying method can achieve the target exposure rate of the cutterhead within a limited cleaning period, and to determine whether the nozzle arrangement, spraying direction, and spraying coverage are feasible for engineering application.

[0004] Existing technologies for water jet cleaning of cutterheads often organize the spraying process based on pressure settings, spray pattern selection, and surface observation. This lack of fixed sub-regional division results in inconsistent geometric ranges for each cleaning test, making it difficult to compare peeling amounts and exposure rates. Spray coverage assessment relies heavily on distance and observable scouring traces, hindering the establishment of stable coverage quantification standards and leading to insufficient coverage or repeated spraying. Cleaning time estimation often relies on retrospective calculations based on peeling volume and residual thickness observed after the test, making it impossible to predict time before spraying or dynamically verify the time's rationality during the process. Furthermore, nozzle arrangement adjustments are typically made through on-site fine-tuning and test shots, making it difficult to quickly identify whether nozzle deflection will cover the target area, easily causing nozzle direction misalignment and application area misalignment. Summary of the Invention

[0005] To address one of the aforementioned technical deficiencies, this application provides a test method for water jet cleaning of a tunnel boring machine cutterhead and a tunnel boring machine.

[0006] According to a first aspect of the embodiments of this application, a test method for water jet cleaning of a tunnel boring machine cutterhead is provided, comprising:

[0007] 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.

[0008] 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.

[0009] 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.

[0010] 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.

[0011] 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.

[0012] 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.

[0013] As a further aspect of the present invention, the specific steps for generating the cutter head cleaning mesh parameter set are as follows:

[0014] 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.

[0015] 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.

[0016] As a further aspect of the present invention, the specific steps for generating the spray coverage energy distribution set are as follows:

[0017] 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.

[0018] 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.

[0019] As a further aspect of the present invention, the specific steps for generating the nozzle cleaning assignment result set are as follows:

[0020] 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.

[0021] 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.

[0022] 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.

[0023] As a further aspect of the present invention, 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. Subsequently, it searches for all positions with zero values ​​in the matrix and covers the rows and columns containing zero values ​​in sequence with straight lines. The covered rows and columns are recorded as a coverage set. When the number of rows and columns in the coverage set is insufficient to cover all zero values, the valley value is extracted from the positions not covered 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 re-executed on the new difference matrix. When the number of rows and columns in the coverage set reaches the number of nozzles, the uncovered zero value positions are collected as paired data according to the row and column coordinates and the paired data is used as the pairing index between the nozzle and the sub-region.

[0024] As a further aspect of the present invention, the specific steps for generating the nozzle arrangement adjustment parameter set are as follows:

[0025] 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.

[0026] 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.

[0027] 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.

[0028] As a further aspect of the present invention, the particle swarm optimization algorithm first randomly generates a position vector and sets a corresponding velocity vector for each nozzle arrangement scheme within the search space. The position vector is recorded as the initial coordinate set of the particles, and the velocity vector is recorded as the initial velocity set of the particles. Then, based on data such as the nozzle installation point coordinates, injection direction angle, cutter head grid cell coverage, and cleaning time, the cost value of each particle is calculated, and the cost value is compared with the historical cost of the particles to update the historical adaptive position set of the particles. At the same time, the particle with the smallest cost value is selected from all particles and recorded as the swarm adaptive position set. Then, for each particle, the inertial weight is multiplied by the previous generation velocity and added to the particle's velocity. The weighted sum of the difference between the historical position and the current position and the difference between the group-adapted position and the current position is used to update the velocity vector. 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 historical adaptation position set and the group adaptation 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 adaptation position set are recorded as the output results of the particle swarm optimization algorithm.

[0029] As a further aspect of the present invention, the specific steps for generating the nozzle start-stop timing table are as follows:

[0030] 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.

[0031] 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.

[0032] As a further aspect of the present invention, the unified recording format comprises a set of time segment records for each nozzle, arranged in a fixed field order, including the start time, end time, sub-area number, and nozzle number. Each record is based on a continuous time period and forms an independent entry according to the nozzle number. The time segments within each entry are arranged in order of start time first and end time last. All entries form a data group with the same field structure, enabling the time segments of different nozzles to be read and compared in the same set according to the fixed field position.

[0033] According to a first aspect of the embodiments of this application, a tunnel boring machine is provided, including a control system for performing the above-described method.

[0034] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0035] In this invention, by dividing the cleaning area of ​​the blade disc into grids, the stripped object has a stable spatial index. Then, the effective coverage sub-area after energy threshold determination is combined with the adhesion layer thickness and pressure value to calculate the time, so that all sub-areas have a directly comparable cleaning time.

[0036] In this invention, the Hungarian allocation algorithm performs intra-row comparison, cross-row matching and minimum cost relationship establishment on the time matrix, so that a clear minimum time correlation is formed between the nozzle and the sub-area, and the cleaning load is formed into a calculable equilibrium relationship among multiple nozzles.

[0037] In this invention, the nozzle mounting point is fine-tuned by a particle swarm optimization algorithm, so that the nozzle coordinates can be continuously updated within the search range after displacement in a fixed direction. The position iteration of the swarm particles is used to find a spray posture with higher reachability under the conditions of distance and angle, so that the spatial relationship between the nozzle pointing, the normal vector of the action area and the cutter head structure can be updated in multiple rounds, thereby obtaining higher coverage matching accuracy. The nozzle start time and the assigned sub-area time are formed into a unified time axis and aligned with the rotation reference, so that the nozzle start and stop behavior and the cutter head position form a continuous and recordable cleaning structure. Attached Figure Description

[0038] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0039] Figure 1 A flowchart of the water jet cleaning test method provided in the embodiments of this application;

[0040] Figure 2 This is a schematic diagram of the structure of the tunnel boring machine cutterhead provided in an embodiment of this application;

[0041] Figure 3 This is a structural schematic diagram of the central region of the tunnel boring machine cutterhead provided in an embodiment of this application;

[0042] Figure 4 This is a partial sectional view of the cutterhead of a tunnel boring machine provided in an embodiment of this application;

[0043] Figure 5 This is a schematic diagram of the tunnel boring machine provided in an embodiment of this application. Detailed Implementation

[0044] To make the technical solutions and advantages of the embodiments of this application clearer, the exemplary embodiments of this application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not an exhaustive list of all embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0045] Please see Figure 1 This invention provides a technical solution: a test method for water jet cleaning of a tunnel boring machine cutterhead, comprising the following steps:

[0046] 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.

[0047] S2: Based on the cutter head cleaning grid parameter set, read the water jet nozzle installation point and direction, synthesize the distance and direction between the sub-area center point and the pressure node of the test water supply pipeline into an energy value, and then determine the effective coverage range with a threshold to obtain the jet coverage energy distribution set.

[0048] 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.

[0049] 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 compare the distance 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.

[0050] 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 and stop sequence table.

[0051] 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, stop time, and nozzle sequence number.

[0052] The specific steps for generating the tool shroud cleaning mesh parameter set are as follows:

[0053] 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.

[0054] Based on the sub-region positioning dataset, the numbering order of all sub-regions is rearranged according to the direction of the tool head rotation area. The rearranged numbers are arranged in a matrix to form a unified index, thus obtaining the tool head cleaning grid parameter set.

[0055] Based on the cutter head cleaning grid parameter set, a radial slicing numerical partitioning algorithm is used to continuously take points along a fixed step distance from the outer edge of the cutter head to the center, and the areas between each point are sequentially marked as radial strips. Then, on each radial strip, tangential regions are generated by rotating segment by segment with a fixed angular step distance, and the center point angle of each tangential region is recorded. Then, the three-axis coordinates of the test frame positioning points are used to perform three-way translation on each center point, and the displacement is superimposed sequentially to form the corrected center point position. All corrected positions are arranged in the generation order to generate a sub-region positioning dataset.

[0056] Based on the sub-region positioning dataset, the rotation zone numbering rearrangement algorithm is used to perform angle conversion on the center point coordinates of each sub-region, and the converted angles are arranged in order according to the starting direction of the cutter head rotation zone. The arranged sub-regions are then renumbered. Then, a numbering matrix is ​​established with the number of radial strips as the row structure basis and the number of tangential partitions as the column structure basis. The corresponding numbers are filled into the matrix positions one by one, and all row and column information is sorted to obtain the cutter head cleaning mesh parameter set.

[0057] The specific steps for generating the jet coverage energy distribution set are as follows:

[0058] Based on the cutterhead cleaning grid parameter set, the installation point position and spray direction of the water jet nozzle are extracted. 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.

[0059] 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. The coverage results are then classified into separate sequences according to the numbering order to obtain the jet coverage energy distribution set.

[0060] 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.

[0061] 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.

[0062] The specific steps for generating the nozzle cleaning assignment result set are as follows:

[0063] 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.

[0064] 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.

[0065] 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.

[0066] Based on the spray coverage energy distribution set, the Hungarian allocation algorithm is used to execute a read command for the thickness of the adhesion layer in each sub-region of the record table according to the sub-region number. The read thickness is written into the thickness sequence in numerical order. Then, the pressure value retrieval command is called to write the pressure values ​​with the same number into the pressure sequence in sequence. Next, using the thickness sequence as input, a conversion command is executed item by item according to the number. The corresponding value in the pressure sequence is used as the conversion factor to form the time quantity, and the time quantity is written into the time block buffer in an indexed manner. Then, in the Hungarian allocation algorithm, a row minimum value subtraction command is executed on the time block buffer. The minimum value is subtracted from each item in the corresponding row to form a row difference matrix, and then the process is continued. The minimum value subtraction command is used to subtract the minimum value from each item in the corresponding column to form a column difference matrix. The position of zero value is found in the difference matrix and written into the zero value mark list according to the row and column of the zero value. Then, the zero value mark list is covered by the cover command, and the cover index is recorded in the row direction and column direction respectively. If the coverage is insufficient, the minimum difference is recorded in the uncovered position and the minimum difference subtraction and cover position addition commands are executed to update the difference matrix. Then, the zero value search and row and column coverage actions are repeated until the coverage meets the assignment scale. The row and column numbers in the difference matrix are written into the index sequence according to the zero value distribution to generate the time quantity sequence set.

[0067] Based on the time sequence set, the Hungarian allocation algorithm is used to split the sequence according to the number of nozzles, and the generated row structure is sorted according to the time size. The original index of each item during the sorting process is written into the identifier buffer. Then, the position registration command is executed on the identifier buffer row by row, and the identifiers in each row are merged into identifier groups according to the nozzle number order. After merging, all identifier groups are written into the identifier set in order, and an identifier mapping table is constructed. After the entire mapping table is written, the identifier corresponding sequence is formed, and the nozzle corresponding identifier set is generated.

[0068] Based on the nozzle corresponding identifier set, the Hungarian allocation algorithm is used to execute the read command on the row and column numbers in the identifier, retrieve the corresponding nozzle number according to the read number, retrieve the corresponding sub-area number according to the same number, execute the pairing command after retrieval, write the pairing number into the pairing list, execute the insertion command on the time quantity with the same row number in the pairing list, and form a continuous time record sequence after insertion. Then, all record sequences are merged into a unified set in sequence, and the set alignment command is executed to form the final pairing result group, thus obtaining the nozzle cleaning assignment result set.

[0069] 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.

[0070] The Hungarian allocation algorithm, according to the formula:

[0071]

[0072] 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 wear index of the nozzle 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;

[0073] 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 estimated 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.

[0074] The specific steps for generating the nozzle arrangement adjustment parameter set are as follows:

[0075] 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.

[0076] 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.

[0077] 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.

[0078] Based on the nozzle cleaning assignment result set, the particle swarm optimization algorithm is used to execute the position initialization command for the nozzle installation point coordinates. The three-axis coordinates of each nozzle are written into the particle position vector, the corresponding nozzle number is written into the index vector, the three-axis components of the velocity vector are initialized to zero, and after initialization, the direction offset command is executed for each position vector. The offset distance parameter is used as the three-axis increment to write the offset coordinates into the candidate coordinate list. Then, the nozzle number is appended to the candidate coordinate list to form an indexable record, and the record is written into the particle current coordinate set. After the coordinate set is established, the velocity update command is executed for each particle. The inertia factor is multiplied by the three-axis components of the previous velocity vector, the difference component between the particle's current coordinate and the particle's historical coordinate is multiplied by coefficient one and added to the velocity vector, the difference component between the particle's current coordinate and the group's historical coordinate is multiplied by coefficient two and added to the velocity vector, and the updated velocity vector is added to the current position component by component to obtain the new position coordinates. The new position is written into the coordinate set and the update steps are repeated until the iteration number requirement is reached to generate the nozzle adjustment coordinate set.

[0079] Based on the nozzle adjustment coordinate set, the particle swarm optimization algorithm is used to execute the coordinate reading command for each set of adjustment coordinates according to the nozzle number. The three-axis components of the adjustment coordinates are calculated item by item with the three-axis components of the center point coordinates of the cutter head structure unit. The difference components are written into the difference buffer. Then, the three-axis quantity accumulation command is executed on the difference buffer to form the distance quantity. The distance quantity is written into the distance record column in the order of nozzle number. During the writing process, the number and the distance quantity are kept in a one-to-one correspondence to form a distance sequence. After all the writing is completed, the distance sequence is used as the input data group of the particle swarm optimization algorithm fitness value to generate the nozzle distance comparison set.

[0080] Based on the nozzle distance reference set, the particle swarm optimization algorithm is used to execute the direction reading command according to the nozzle number. The three-axis components of the direction vector of each nozzle are written into the direction buffer, and the three-axis components of the normal vector of the cleaning zone are written into the normal buffer. Then, the multiply-add command is executed on the two sets of vectors to form the angle combination value. The combination value is input into the direction difference command to obtain the direction angle. The angle and distance are written into the decision sequence in parallel according to the number. After the decision sequence is written, the number filtering command is executed on the sequence. The numbers that meet the attainable requirements are written into the output list one by one to obtain the nozzle layout adjustment parameter set.

[0081] 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 coordinate set of the particles, and the velocity vectors as the initial velocity set. Then, based on data such as nozzle installation point coordinates, injection direction angle, cutter head mesh 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 adaptive position set. Simultaneously, the particle with the lowest cost value is selected from all particles and recorded as the swarm's adaptive position set. Finally, for each particle, the inertial weight is multiplied by the previous generation's velocity, and the particle's historical position and current position are added. The velocity vector is updated by weighting the difference between the current position and the difference between the current position and the group adaptation position. The updated velocity vector is then added to the current position coordinates dimension by dimension 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 adaptation position set and the group adaptation position set are updated according to the same rules. The velocity update, position update and cost calculation steps are repeated within the preset number of iterations. When the iteration ends, the nozzle coordinates and injection direction angle in the group adaptation position set are recorded as the output results of the particle swarm optimization algorithm.

[0082] Particle swarm optimization algorithm, according to the formula:

[0083]

[0084] in: Indicates the first The iteration number is The nozzle particle velocity vector Indicates the first The iteration number is The nozzle particle velocity vector Indicates the inertia weighting coefficient. Represents individual learning factors. Represents a random number in the interval between zero and one. Indicates the first The iteration number is The individual historical optimal position vector of the nozzle particle. Indicates the first The iteration number is The current position vector of the nozzle particle. This represents the radial position correction weighting coefficient. Indicates the number is The nozzle radial position index, This indicates the tool occlusion correction weight coefficient. Indicates the number is The nozzle-cutter obstruction impact index, Represents the group 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 correcting jet crosstalk. Indicates the number is The nozzle jet cross-interference index;

[0085] 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 into a unit vector along a fixed direction and superimposed with the current coordinates to form the nozzle coordinates for the next iteration. The controller repeats the above speed update and position update process for all nozzles until the iteration count and fitness convergence conditions are met. Finally, the multiple nozzle coordinates at the termination iteration time are used as the nozzle adjustment coordinate set for the cutterhead water jet cleaning path planning and execution.

[0086] The specific steps for generating the nozzle start-stop timing table are as follows:

[0087] 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.

[0088] 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.

[0089] Based on the nozzle arrangement adjustment parameter set, a time series construction algorithm is used to execute a read command for each nozzle start time in the original test record. The read time values ​​are written into the start buffer according to the nozzle number. Then, the time quantity corresponding to the assigned sub-area is executed with a value retrieval command and written into the sub-area time buffer in numerical order. Then, the time axis establishment command is executed with the time in the start buffer as the reference and the minimum start value is used as the start point of the time axis. The time superposition command is executed for the time quantity of each nozzle. The superimposed time points are written into a unified time axis list in sequence. During the writing process, the continuity marking command is executed on the time axis list. The interval between adjacent time points is written into the interval sequence with a fixed step size. Then, the time points and the interval sequence are combined and written into the arrangement buffer to form a continuous time arrangement sequence. The numbering and labeling command is executed on the arrangement sequence to generate a time axis arrangement set.

[0090] Based on the time axis arrangement set, a time calibration and reconstruction algorithm is used to execute a read command for each time period in the sequence and use the time reference value set in the cutter head rotation area as the calibration reference for the read time period. The difference between the start time of each time period and the reference value is calculated and the difference is written into the offset list as the calibration offset. The offset list is then applied to all time periods in sequence to execute calibration commands and the calibrated time periods are written into the reconstruction sequence. After the reconstruction sequence is established, a serial command is executed according to the nozzle number to merge all time periods of the same nozzle number into a single continuous structure in sequence. The start time, end time, and nozzle number in each structure are written into a data column of a unified record format in a fixed field order and all data columns are written into the output set in sequence to obtain the nozzle start and stop timing table.

[0091] A unified recording format is used to create a collection of time segment records for each nozzle, arranged in a fixed field order, including the start time, end time, sub-area number, and nozzle number. Each record is based on a continuous time period and forms an independent entry according to the nozzle number. The time segments within each entry are arranged in order of start time first and end time last. All entries form a data group with the same field structure, enabling the time segments of different nozzles to be read and compared in the same set according to the fixed field positions.

[0092] Mud cake mainly refers to the semi-consolidated and consolidated blocky mass formed by the recombination of fine sand particles and debris cut off by the tunnel boring machine (TBM) cutterhead within the cutterhead chamber. Mud cake formation on the cutterhead can cause a series of technical problems: the cutterhead being covered by clay leads to reduced penetration and decreased tunneling efficiency; the cutterhead becoming clogged prevents the cutterhead from rotating, causing uneven wear; in severe cases, the cutterhead is completely covered by mud cake, preventing the TBM from continuing tunneling.

[0093] The high-pressure water jet assisted method uses pressurized inlet chamber and high-pressure water jet to clean mud cake. Compared with chemical and cleaning methods, it is a relatively effective method. However, in the existing technology, the water jet nozzle and the cutter are designed independently and are only evenly arranged on the cutter head panel, which makes it difficult for the high-pressure water jet to meet the engineering requirements for mud cake prevention.

[0094] like Figure 2 and Figure 3 As shown, this embodiment provides a tunnel boring machine cutterhead, including: cutterhead body 1, first water jet nozzle 13 and second water jet nozzle 14.

[0095] The outer end face of the cutter head body 1 is divided into a central region 11 and a peripheral region, and multiple cutter heads 12 are provided in both the central region and the peripheral region. The cutter heads in the central region are irregularly positioned, while the cutter heads in the peripheral region are arranged radially outward from the central region.

[0096] In this embodiment, six rows of cutter heads are arranged outward from the central region. Each row of cutter heads extends radially outward along the cutter head body 1 and is spaced apart. The six rows of cutter heads are evenly distributed circumferentially. Each cutter head 12 includes two coaxially arranged cutter rings, which are axially symmetrical.

[0097] The first water jet nozzle 13 is located at the intersection of the extension line of the axis of symmetry between the two cutter rings in one cutter head 12 and the extension line of the axis of symmetry between the two cutter rings in an adjacent cutter head. Specifically, as follows... Figure 3As shown, taking the cutter head 12 located at the lower left and the cutter head 12 located at the upper left as examples: the first water jet nozzle 13 is set at the intersection of the extension line L of the two cutter ring symmetry axes in the lower left cutter head 12 and the extension line L of the two cutter ring symmetry axes in the upper left cutter head 12. Similarly, a similar layout is adopted in the remaining cutter heads.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] The technical solution provided in this embodiment includes a cutter head body with multiple cutter heads in the central region of its outer end face. Each cutter head includes two axially symmetrically arranged cutter rings. A first water jet nozzle is located at the intersection of the extension line of the axis of symmetry between the two cutter rings in one cutter head and the extension line of the axis of symmetry between the two cutter rings in an adjacent cutter head. A second water jet nozzle is located at the intersection of the line connecting the center of one cutter ring and the edge of another cutter ring in one cutter head and the extension line connecting the center of one cutter ring and the edge of another cutter ring in an adjacent cutter head. This solution can remove mud cake more efficiently, reduce the obstruction of mud cake to the normal operation of the cutter head body and cutter heads, significantly improve the efficiency and effect of mud cake removal, and ensure the smoothness and reliability of cutting the soil.

[0104] Based on the above technical solution, a third water jet nozzle 15 is also adopted. An outer tangent circle C is drawn with the outer peripheral edge of a cutter head 12, and the outer tangent circle C is internally tangent to the circular envelope of the central region 11 of the cutter head body. If there is no first water jet nozzle 13 or second water jet nozzle 14 within the outer tangent circle C, the third water jet nozzle 15 is disposed at the center of the outer tangent circle C.

[0105] The setting can be based on the position of the cutter head 12 in the central region 11. Figure 3 Taking the cutter head layout shown as an example, the lower right blank area is relatively large. The outer periphery of the cutter head 12 is circumscribed by a circle C, and the circumscribed circle C is internally tangent to the circular envelope of the central area 11 of the cutter head body. Figure 3 A third water jet nozzle 15 can be installed at the center of each of the three circumscribed circles C.

[0106] The third water jet nozzle 15 effectively fills the gap in mud cake prevention that may exist after the arrangement of the first two types of water jet nozzles. It can assist the first water jet nozzle 13 and the second water jet nozzle 14 in providing all-round, no-dead-angle mud cake prevention coverage to the central area, avoiding the local accumulation of mud cake on the central area 11, which would cause the center of gravity of the cutter head body 1 to shift, and improving the stability and safety of the cutter head body 1 when rotating.

[0107] The aforementioned first water jet nozzle 13, second water jet nozzle 14, and third water jet nozzle 15 can all be columnar structures, vertically mounted on the cutterhead body 1. All three nozzles spray water radially along the cutterhead body 1 to ensure that the high-pressure water jet can vertically impact the mud cake, improving the scouring effect. All nozzles are positioned in the central region 11 where the cutter head 12 is not located, thus not affecting the normal operation and design of the cutter head 12, ensuring that the cutting function and mud cake prevention function do not interfere with each other and work synergistically.

[0108] In this embodiment, the cutter head 12 is a double-edged hob, which is a structure containing two cutter rings.

[0109] Reference Figure 4 Considering that the depth of mud cake accumulation is not completely uniform, in this embodiment, the number of the first water jet nozzle 13, the second water jet nozzle 14, and the third water jet nozzle 15 is at least one. In this embodiment, the distance h between the nozzle 19 of the different first water jet nozzles 13, the second water jet nozzles 14, and the third water jet nozzles 15 and the panel of the cutter head body 1 is different, that is, the length of the first water jet nozzles 13, the second water jet nozzles 14, and the third water jet nozzles 15 extending out of the end face of the cutter head is different. They are arranged in a stepped manner on the cross-section of the cutter head, so that the high-pressure water jets ejected by the first water jet nozzles 13, the second water jet nozzles 14, and the third water jet nozzles 15 at different positions can form a multi-layered flushing effect in front of the cutter head body 1, effectively cleaning mud cakes of different accumulation depths. Whether it is shallow mud cake or mud cake that has accumulated to a relatively thick depth, it can be effectively cleaned, effectively enhancing the comprehensiveness and effectiveness of mud cake prevention and control.

[0110] Reference Figure 4 The implementation methods of the first water jet nozzle 13, the second water jet nozzle 14, and the third water jet nozzle 15 in this embodiment will be described. 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 are collectively referred to as water jet nozzles. The water jet nozzle is provided with a water inlet channel 16, which runs through the water jet nozzle along the axial direction. 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. Both ends of the water outlet channel 17 pass through the outer peripheral surface of the water jet nozzle. The water outlet channel 17 is connected to the water inlet channel 16, so the water jet nozzle can spray two jets of high-pressure water in opposite directions to achieve bidirectional scouring.

[0111] In practical work, the spray direction at both ends of the water outlet channel 17 can be flexibly adjusted according to the distribution of mud cake on the cutter head 12. For example, both ends can be aimed at the area around the cutter head 12 where mud cake is easy to accumulate, or at least one end can be aimed at one cutter head 12, thereby increasing the coverage area of ​​the high-pressure water jet on the area around the cutter head 12 and the central area 11, enhancing the scouring effect and improving the scouring efficiency.

[0112] In addition, a pulse solenoid valve 18 is installed on the water inlet channel 16 of the water jet nozzle, enabling the water jet nozzle to perform pulse water spraying when needed, thereby improving the efficiency of mud cake removal. Compared with continuous water spraying, pulse water spraying can generate a stronger impact force, and with the same water consumption, the effect of breaking up and removing mud cake is more significant, effectively reducing water consumption and improving the efficiency of mud cake control.

[0113] To achieve intelligent mud cake prevention, this embodiment also includes a control system. The control system monitors the torque of the cutterhead body 1 and adjusts the water pressure, flow rate, and spraying time of each water jet nozzle based on the torque. Torque is a key parameter reflecting the working state of the cutterhead body 1 and the degree of mud cake accumulation. When the torque of the cutterhead body 1 increases, indicating severe mud cake accumulation, the control system can increase the water pressure, flow rate, and spraying time of each water jet nozzle to quickly remove the mud cake and reduce the load on the cutterhead body 1. Conversely, it can decrease these parameters to save energy and extend the equipment's service life.

[0114] In this embodiment, the control system monitors the torque of the cutter head body 1 in several ways, including but not limited to the following:

[0115] (1) Using a torque sensor, the torque sensor is installed on the drive unit of the drive motor 6 that can drive the cutter head body 1 to rotate. The torque sensor works based on the strain principle or the magnetoelectric principle and can directly measure the torque transmitted by the drive unit. It has the characteristics of high measurement accuracy and fast response speed, and can obtain the torque information of the cutter head body in real time and accurately.

[0116] (2) When the drive motor 6 that drives the cutter head body 1 to rotate is running, the current magnitude and the output torque have a certain correspondence. According to the characteristic curve of the drive motor 6 and the relevant mathematical model, the torque of the cutter head body 1 can be indirectly calculated based on the current of the drive motor 6 by detecting the working current of the drive motor 6. There is no need to install a special torque sensor, and the cost is relatively low. While ensuring a certain measurement accuracy, it effectively reduces the cost investment of the equipment and is suitable for engineering projects with strict cost control.

[0117] (3) If the cutter head body 1 is hydraulically driven, a pressure sensor can be installed in the hydraulic drive system. For example, the pressure sensor can be installed on the oil inlet or return pipe of the hydraulic motor. When the cutter head 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 requires little modification to the hydraulic drive system.

[0118] On the panel of the cutter body 1, the mud cake usually forms gradually in the central area 11 first, and then accumulates thicker and thicker and gradually expands from the central area 11 to the edge of the cutter body 1.

[0119] Reference Figure 5 This embodiment also proposes a tunnel boring machine, including the high-pressure tunnel boring machine cutterhead provided in any of the above-mentioned contents. The rear of the cutterhead body 1 is rotatably connected to the shield shell 2. The shield shell 2 is a cylindrical hollow structure. The inner circumferential surface of the shield shell 2 is connected to a shield partition 3 arranged parallel to the cutterhead body 1. An installation ring 4 is installed on the side of the shield partition 3 near the cutterhead body 1. The end of the installation ring 4 near the cutterhead body 1 is connected to the outer ring of the shield bearing 5. The inner ring of the shield bearing 5 is connected to the drive part of the drive motor 6. The drive motor 6 is installed on the shield partition 3. The drive part of the drive motor 6 is connected to the cutterhead support arm 8 through a connecting plate 7. The cutterhead support arm 8 is connected to the cutterhead body 1.

[0120] The shield diaphragm 3 has a central hole in the center. The outer cylinder 9 passes through the central hole and is fixedly connected to the shield diaphragm 3. The outer circumferential surface of the outer cylinder 9 has a high-pressure water inlet 011. The inner cylinder 010 is coaxially sleeved inside the outer cylinder 9. The inner cylinder 010 is rotatably connected to the outer cylinder 9. The end of the inner cylinder 010 near the cutterhead body 1 is connected to the connecting plate 7, and the inner cylinder 010 penetrates the connecting plate 7.

[0121] The first water jet nozzle 13, the second water jet nozzle 14, and the third water jet nozzle 15 are all connected to one end of the high-pressure water inlet pipe 1 012 via a rotary joint. The other end of the high-pressure water inlet pipe 1 012 passes through the connecting plate 7 and extends into the gap between the outer cylinder 9 and the inner cylinder 010. This gap is connected to the high-pressure water inlet 011. The high-pressure water inlet 011 is connected to one end of the high-pressure water inlet pipe 2 013. The other end of the high-pressure water inlet pipe 2 013 is connected to the water storage tank 014. The water storage tank 014 is connected to the air pressure pump 015 via the high-pressure water inlet pipe 3 016. The high-pressure water inlet pipe 2 013 is equipped with a high-pressure water valve 017, and the high-pressure water inlet pipe 3 016 is equipped with a pressure gauge 018.

[0122] The first water jet nozzle 13, the second water jet nozzle 14, and the third water jet nozzle 15 on the cutterhead body 1 can spray high-pressure water in the radial direction of the cutterhead body 1. At the same time, the cutterhead body 1 can rotate under the drive of the drive motor 6, excavating and removing mud cake at the same time. This improves the construction efficiency of the tunnel boring machine in complex geological conditions such as rich mud soil layers, effectively reduces problems such as cutterhead wear and equipment failure caused by mud cake accumulation, reduces construction costs, shortens the construction cycle, and significantly improves the overall performance and engineering applicability of the tunnel boring machine.

[0123] After the tunnel boring machine (TBM) is started, the drive motor 6 begins to work. The drive unit of the drive motor 6 is connected to the cutterhead support arm 8 via the connecting plate 7. The cutterhead support arm 8 is in turn connected to the cutterhead body 1. Therefore, the power of the drive motor 6 can be transmitted to the cutterhead body 1, causing the cutterhead body 1 to rotate around the central axis of the shield bearing 5. Several cutter heads 12 set in the central area 11 of the cutterhead body 1 rotate accordingly, excavating clay strata, clayey sandy soil strata, etc., cutting the soil into fine sand particles and debris.

[0124] The air pump 015 is connected to the water storage tank 014 via the high-pressure water inlet pipe 3 016, pressurizing the water storage tank 014. The pressure gauge 018 on the high-pressure water inlet pipe 3 016 monitors the pressure provided by the air pump 015 in real time, ensuring that the water supply pressure is stable within a suitable range, thus guaranteeing the stable spraying of the subsequent high-pressure water jet. High-pressure water flows out from the water storage tank 014, passing through the high-pressure water inlet pipe 2 013. The high-pressure water valve 017 on the high-pressure water inlet pipe 2 013 controls the on / off state and flow rate 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 inside the outer cylinder 9, and the inner cylinder 010 is rotatably connected to the outer cylinder 9. After entering the gap between the outer cylinder 9 and the inner cylinder 010, the high-pressure water is delivered 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 1 012. As the cutter head body 1 rotates continuously, the high-pressure water inlet pipe 1012 is connected to the first water jet nozzle 13, the second water jet nozzle 14, and the third water jet nozzle 15 through a rotary joint, ensuring a continuous supply of high-pressure water during the rotation of the cutter head body 1.

[0125] 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 cutterhead body 1. These nozzles are designed based on the position of the cutter head 12, and the high-pressure water jets they spray precisely impact areas on the cutterhead body 1 where mud cake easily forms, such as the intersection of the extended lines L of the cutter head 12's cutter ring symmetry axis, the intersection of the extended line K connecting the center of the outer cutter ring and any corner of the inner cutter ring, and the center of a specific circumscribed circle C. All three nozzles can achieve pulsed water spraying, enhancing the breaking and removal of mud cake and reducing water consumption. Through the high-pressure water jet flushing, the mud cake is broken and dispersed, preventing it from covering the cutter head and clogging the cutter cylinder, reducing cutter wear, ensuring normal cutter rotation and cutting function, and maintaining stable tunneling of the cutterhead body 1.

[0126] During the excavation of soil by the cutterhead body 1, the control system monitors the torque of the cutterhead body 1 in real time. During normal excavation, the torque of the cutterhead body 1 remains within a relatively stable range. However, as mud cake gradually accumulates on the cutterhead body 1, the resistance it experiences increases, and the torque also rises accordingly. Based on the monitored torque changes, the control system automatically adjusts the water pressure, flow rate, and spraying time of the first water jet nozzle 13, the second water jet nozzle 14, and the third water jet nozzle 15. For example, when the increased torque indicates heavier mud cake accumulation, 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 extends the spraying time to enhance the flushing and breaking up of the mud cake; conversely, when the torque returns to normal, the corresponding parameters are reduced to save energy and water resources.

[0127] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of this 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.

[0128] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations 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, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0129] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0130] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0131] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0132] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0133] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0134] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0135] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

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 positions that are not covered 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 of data according to the row and column coordinates and the pairs of data 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.

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