Mud cake removing method based on negative angle water jet water cutter, water jet control method and shield tunneling machine

Abstract

The embodiment of the invention provides a mud cake removing method based on a negative angle water jet water cutter, a water jet control method and a shield tunneling machine, and the method comprises the steps: building an angle updating amount through a numerical relation among a current angle, a thickness deviation value and a thickness change rate through a Newton iteration method, continuously taking a negative angle interval as a constraint in an angle updating process, enabling an angle convergence process to run in a fixed interval, obtaining a thickness difference sequence again in each iteration, and enabling an angle sequence to generate continuous controllable change in a thickness prediction error direction, a greedy algorithm establishes a sequential traversal structure based on section energy and an erosion limit value in a section angle screening process, only an angle meeting an energy threshold value for the first time in a syn-position in each section is reserved as an effective angle, and a first angle meeting a condition in the syn-position is screened according to an erosion amount threshold value in a section without the effective angle; and converting a section angle determination behavior into a deterministic selection process depending on a conditional sequence and syn-position judgment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of spray angle control, in particular to a mud cake removing method based on a negative angle water jet cutter, a water jet control method and a shield tunneling machine. BACKGROUND

[0002] The technical field of spray angle control aims to make the spray energy produce predictable effects on the target surface by quantitatively adjusting the incident angle of the spray medium, form a stable cutting direction, establish a controlled erosion depth, produce a controllable peeling interface, and ensure that the spray energy is concentrated in the specified area. Through angle calculation, attitude driving mechanism adjustment and spray trajectory planning, the spray process reaches the set cutting efficiency, peeling range and surface treatment quality.

[0003] The purpose of the mud cake removing method based on the negative angle water jet cutter is to produce a controllable peeling effect on the interface between the mud cake and the base body by the negative angle incident water jet, make the attached mud cake fall off from the hole wall and the structure surface along the interface, control the residual thickness of the mud cake after removal within a quantifiable range without causing damage to the base body, ensure that the coverage rate of the removal area reaches the preset proportion, establish a stable peeling path, form a continuous erosion interface, achieve the layered rupture and overall removal of the mud cake, and restore the cleanliness of the hole wall and the structure surface to meet the subsequent construction requirements.

[0004] The existing spray angle control technology mainly focuses on the incident angle and the spray energy action area, and only plans the cutting direction, erosion depth and peeling interface at the macro level. The selection of the spray angle usually depends on empirical values and a small number of working condition tests, and there is no clear numerical correspondence between the spray angle and the residual thickness of the mud cake. It is difficult to give the residual thickness interval and error range corresponding to each negative angle during the construction process. The residual layer often appears uneven in thickness at different positions, and the base body may be exposed in some local areas while there is still a thick mud cake in another position. The existing scheme is more based on continuous trajectories and simple segmented step settings, and lacks sectionalized checking based on energy density and erosion limit values for the angles at each position on the path. The angle sequence adjustment is usually based on overall translation and overall enlargement or reduction, and uneven energy distribution between sections may cause local over-erosion and insufficient peeling. There is often no complete record of the association between the time sequence and the position sequence number between the spray angle command and the output of the attitude driving mechanism, making it difficult to reproduce the angle distribution of the previous batch of construction in the subsequent construction batch, and also difficult to trace back the angle configuration and residual thickness state of an abnormal section in time. SUMMARY

[0005] In order to solve one of the above technical defects, the present application provides a mud cake removing method based on a negative angle water jet cutter, a water jet control method and a shield tunneling machine.

[0006] According to a first aspect of the embodiments of this application, a method for removing mud cake based on a negative angle water jet is provided, comprising: S1: Based on the negative angle water jet jet component, read the initial negative angle and the upper and lower values ​​of the mud cake thickness and take the center value. Send the center value and the initial angle into the thickness calculation item and take the output thickness. Subtract them and record the difference to generate the thickness deviation. S2: Based on the thickness deviation, Newton's iteration method is used to perform step size addition or subtraction on the current angle according to the difference direction and compare it with the negative angle interval to replace the out-of-bounds value. The replacement angle is sent to the thickness calculation term to obtain the difference sequence. The corresponding angle is taken from the sequence according to the difference to generate the angle calibration value group. S3: Based on the angle calibration value group, assign numbers according to the benchmark points of the construction path, replace the over-limit items with the limit by subtracting the adjacent angles, and compile the section energy into an energy table according to the path order, organize it according to the path order, and generate the path spraying angle chain. S4: Based on the path spray angle chain, the angle is divided into segments and compared with the segment energy table item by item. A greedy algorithm is used to compare the angle with the erosion limit value and remove the angle identifiers that do not meet the limit value conditions. The angles that meet the energy threshold requirements are screened from the remaining angles according to the sequence number and written. If there are no options, the first matching angle is screened according to the erosion amount threshold and written, thus generating a segment spray angle group. S5: Based on the section spraying angle group, send the instruction angle in time sequence, subtract the execution angle to obtain the difference, write the angle that falls within the tolerance into the construction chain and sort it according to the spraying position to generate an angle construction record set.

[0007] According to a second aspect of the embodiments of this application, a water jet cleaning control method based on the above method is provided, comprising: 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. Based on the cutter head cleaning grid parameter set, the installation point and direction of the water jet nozzle are read, and the distance and direction between the center point of the sub-area and the pressure node of the test water supply pipeline are combined to form an energy value. Then, the effective coverage range is determined by a threshold to obtain the jet coverage energy distribution set. 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 values ​​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. Based on the nozzle cleaning assignment result set, a particle swarm optimization algorithm is used to add a fine adjustment amount to the nozzle mounting point, and then the distance is compared with the center point of the cutter head structure unit, and the accessibility is judged by the angle between the nozzle direction and the normal vector of the cleaning area, the accessible unit is recorded, and the nozzle arrangement adjustment parameter set is obtained; Based on the nozzle arrangement adjustment parameter set, the nozzle start time is read according to the test, the time amount of the assigned sub-area is arranged into the time axis and aligned with the cutter head rotation area reference, and then integrated into a continuous time period to obtain the nozzle start-stop timing table.

[0008] According to a third aspect of the embodiments of the present application, a shield machine is provided, comprising a control system, the control system being configured to execute the method according to any one of the preceding aspects.

[0009] Compared with the prior art, the advantages and positive effects of the present application are that: In the present application, the Newton iteration method establishes the angle update amount through the numerical relationship among the current angle, the thickness deviation amount and the thickness change rate, continuously takes the negative angle interval as the constraint in the angle updating process, makes the angle convergence process run in a fixed interval, and re-obtains the thickness difference sequence in each iteration, so that the angle sequence continuously and controllably changes in the thickness prediction error direction. In the present application, the greedy algorithm establishes a sequential traversal structure based on the segment energy and the erosion limit value in the segment angle screening process, only retains the first angle that meets the energy threshold in the order in each segment as the effective angle, and in the segment without effective angle, screens the first angle that meets the condition in the order according to the erosion amount threshold, and converts the segment angle determination behavior into a deterministic selection process depending on the condition sequence and the order judgment. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1 The flowchart of the mud cake removing method based on the negative angle water jet cutter provided by the embodiments of the present application is shown in the figure; Figure 2 The structural schematic diagram of the cutter head of the shield machine provided by the embodiments of the present application is shown in the figure; Figure 3 The structural schematic diagram of the center area of the cutter head of the shield machine provided by the embodiments of the present application is shown in the figure; Figure 4 The partial sectional view of the cutter head of the shield machine provided by the embodiments of the present application is shown in the figure; Figure 5 The structural schematic diagram of the shield machine provided by the embodiments of the present application is shown in the figure. DETAILED DESCRIPTION

[0011] Please refer to Figure 1 The present application provides a technical solution: a mud cake removing method based on a negative angle water jet cutter, which comprises the following steps: S1: Based on the negative angle water jet jet component, read the initial negative angle and the upper and lower values ​​of the mud cake thickness and take the center value. Send the center value and the initial angle into the thickness calculation item and take the output thickness. Subtract them and record the difference to generate the thickness deviation. S2: Based on the thickness deviation, Newton's iteration method is used to perform step size addition or subtraction on the current angle according to the difference direction and compare it with the negative angle interval to replace the out-of-bounds value. The replacement angle is sent to the thickness calculation term to obtain the difference sequence. The corresponding angle is taken from the sequence according to the difference to generate the angle calibration value group. S3: Based on the angle calibration value group, assign numbers according to the benchmark points of the construction path, replace the over-limit items by subtracting and comparing the limit of adjacent angles, and compile the section energy into an energy table according to the path order, organize it according to the path sequence, and generate the path spraying angle chain. S4: Based on the path spray angle chain, the angle is split into segments and compared with the segment energy table item by item. A greedy algorithm is used to compare the angle with the erosion limit value and remove the angles that do not meet the limit value conditions. The angles that meet the energy threshold requirements are screened from the remaining angles according to the sequence number and written. If there are no options, the first matching angle is screened according to the erosion amount threshold and written, thus generating the segment spray angle group. S5: Based on the section spraying angle group, send the instruction angle in time sequence, subtract the executed angle to get the difference, write the angle that falls within the tolerance into the construction chain and sort it according to the spraying position to generate an angle construction record set.

[0012] The thickness deviation includes the center value, the output thickness value of the calculation item, and the difference between the two. The angle calibration value group includes the corrected angle value, the boundary replacement angle value, and the angle value filtered by the difference sequence. The path spraying angle chain includes the continuous angle sequence, the segment energy table value, and the path number correspondence. The segment spraying angle group includes the angle item that meets the energy threshold, the angle item that meets the erosion threshold, and the segment sequence record item. The angle construction record set includes the executed angle item, the corresponding spraying position item, and the time sequence number item.

[0013] The specific steps for generating the thickness deviation are as follows: Based on the negative angle water jet jet component, first retrieve the initial negative angle set in the component and read the upper limit value and lower limit value of the residual thickness of the mud cake. Add the two thickness values ​​and halve them to obtain the center value. Then input the center value and the initial negative angle into the thickness calculation item to retrieve the thickness output. Perform a difference recording on the thickness output with the center value to generate the thickness difference item. Based on the thickness difference item, the difference is extracted from the record and recombined with the thickness center value and the initial negative angle to form a data entry. The entry is then stored in the difference set as the input for subsequent angle correction and an independent difference unit is established to generate the thickness deviation. Based on the negative angle water jet water cutter spray assembly, the initial negative angle in the assembly is first called and the upper limit value and the lower limit value of the mud cake residual thickness are read, the two thickness values are input into the add command in the numerical processing method, the add command is used to add the two values in sequence and generate a sum value, the sum value is input into the halve command and divided by the internal constant parameter two to generate a thickness center value, the thickness center value and the initial negative angle are input into the bind command to form a double field data group and sent to the thickness operation item, the angle field of the data group is processed by the single step interpolation in the compute command in the thickness calculation processing method, the interpolation result is superimposed on the spray pressure field and the thickness result is output, the thickness center value and the thickness result are input into the diff command to generate a difference, and the difference is written into the difference record set by the record command to complete the difference registration and generate a thickness difference value item; Based on the thickness difference value item, the difference record is read by using the data combination processing method, and the thickness center value and the initial negative angle are read synchronously, the three data are input into the merge command to merge them into a single data structure in the order of difference, center value and angle, the integer identification is generated by the tag command and attached to the data structure to form an independent numbering unit, the numbering unit is written into the difference set by the append command and registered in the set order, the newly added numbering unit in the set is pointed to the source of the subsequent angle correction link by the ref command, and the thickness difference value is generated.

[0014] The specific steps for generating the angle calibration value group are as follows: Based on the thickness difference value, the Newton iteration method is used to make a corresponding judgment between the difference direction and the current angle, and then select the step value, add or subtract the step value to the current angle to form the adjustment angle, and compare the adjustment angle with the upper and lower boundaries of the negative angle interval to generate the angle adjustment item; Based on the angle adjustment item, the adjustment angle and the negative angle interval are checked item by item, and the out-of-range angle is replaced by the interval boundary value, then the replaced angle is input into the thickness operation item to get the difference sequence, and the sequence is rearranged in the order of angle to generate the difference sequence item; Based on the difference sequence item, the difference and angle in the sequence are taken out in pairs, the angle that can be used for angle correction is locked according to the difference size, and is added to the output set to form a calibration angle group, and the angle calibration value group is generated. Based on the thickness deviation, using Newton iteration method, the update direction field is established in the difference direction of the thickness deviation and the corresponding relationship with the current angle is established, the angle update amount is calculated, the current angle is read through the command item fetch_angle, the thickness deviation is read through the command item fetch_delta, the angle fine adjustment increment parameter inc_val is set to zero point zero one through the command item set_inc, the angle increment value is generated by performing addition operation on the current angle and inc_val through the command item add_angle, the angle decrement value is generated by performing subtraction operation on the current angle and inc_val through the command item sub_angle, the thickness deviation signal is obtained by inputting the angle increment value into the thickness operation item through the command item eval_inc, the thickness deviation signal is obtained by inputting the angle decrement value into the thickness operation item through the command item eval_dec, the angle change rate is calculated by inputting the two deviation signals and inc_val through the command item calc_grad and taking the difference value and the increment ratio, the update amount update_val is calculated by inputting the thickness deviation and the angle change rate through the command item calc_update, the adjusted angle is generated by performing single-step subtraction on the current angle and update_val through the command item upd_angle, the adjusted angle is compared with the upper limit value minus_up and the lower limit value minus_low of the negative angle interval through the command item limit_range, and the replacement operation is performed on the out-of-bound angle, and the replaced angle is registered in the angle update set, and the angle adjustment item is generated; Based on the angle adjustment item, the registered angles in the angle adjustment item are read by the command item load_adj one by one and compared with the negative angle interval parameters minus_up and minus_low, the records with angles exceeding minus_up are replaced by minus_up through the command item chk_upper, the records with angles lower than minus_low are replaced by minus_low through the command item chk_lower, the replaced angles are input into the thickness calculation item one by one through the command item send_eval to obtain the corresponding thickness difference, the thickness differences are reordered according to the angle recording order through the command item reg_seq, and the angle field and the difference field are combined into a one-to-one corresponding structure set through the command item map_pair and stored in the sequence recorder to generate the difference sequence item; based on the difference sequence item, each difference and angle pair in the sequence is read by the command item load_seq, the difference field and the angle field are temporarily paired by the command item bind_pair, the pairs of structures are sequentially compared according to the difference size and marked the angles meeting the angle correction requirement through the command item cmp_val, the first numbered angle is extracted from the marked angles as the correction angle item through the command item pick_first, and the correction angle item is written into the angle set and recorded according to the in-out order through the command item add_out to generate the angle calibration value group.

[0015] Newton iteration method, taking the current angle and thickness deviation as input, first obtains the current thickness deviation value in the thickness prediction operation, and sets a small angle increment near the current angle, inputs the two sets of angles before and after the increment into the thickness prediction operation to obtain two sets of thickness values, takes the difference value of the two sets of thickness values and the ratio of the two sets of angle difference values as the thickness to angle change rate, performs division operation on the thickness deviation value and the thickness to angle change rate to obtain the angle correction amount, performs subtraction operation on the angle correction amount and the current angle to obtain the updated angle, compares the updated angle with the upper and lower boundaries of the preset negative angle interval and replaces the angles exceeding the upper and lower boundaries with the corresponding boundary values, and repeats the steps of thickness prediction, change rate calculation, angle correction amount calculation, updated angle calculation and interval comparison with the replaced angles as the new current angles until the iteration number reaches the preset upper limit and the absolute value of the thickness deviation is not greater than the preset deviation threshold; Newton iteration method, according to the formula:

[0016] Wherein: represents the current spray angle in the negative angle water jet cutting construction, represents the angle update value calculated according to the thickness deviation and the angle sensitivity, represents the current spray angle, the measured value of the residual thickness of the bottom mud cake, targeted mudcake removal thickness, mudcake thickness variation rate, deviation of mudcake thickness, shooting angle of last iteration step, current shooting angle variation speed estimate, shooting angle variation amplitude, scaling coefficient of Newton iteration step, historical thickness deviation compensation coefficient, angle variation sensitivity correction coefficient; Execution process: first, with the current shooting angle negative angle water jet flushing is performed on the construction surface, and the mudcake residual thickness formed at the angle is measured , then the targeted mudcake removal thickness is compared with the measured thickness to form a thickness deviation, which reflects the deviation degree of the current angle shooting removal effect, and the shooting angle of the last iteration step corresponding to the mudcake residual thickness forms a historical deviation , which is superimposed into the deviation composition term, and the historical deviation compensation coefficient adjusts the participation degree of the historical deviation in the correction of this angle, so as to realize the gradual correction of the accumulated deviation in the continuous construction step, and the difference between the current shooting angle and the last angle is used to calculate the angle variation speed estimate , and the angle variation speed is added to the sensitivity correction coefficient based on the thickness with respect to the angle derivative to adjust the modified correction term to form the sensitivity denominator, so that the denominator can reflect the comprehensive influence of the shooting angle variation trend on the mudcake removal effect, and then divide the above-mentioned deviation composition term by the improved sensitivity term to obtain the unscaled iteration step, and adjust the angle update amplitude by the step scaling coefficient to adapt to the stability requirement of negative angle construction, and subtract the scaled step from the current angle to obtain the angle update value , which is used to control the water jet cutter nozzle and perform the next round of mudcake removal operation, so as to ensure that the mudcake removal thickness converges to the set target in negative angle shooting construction.

[0017] The specific steps of generating the path shooting angle chain are as follows: Based on the angle calibration value group, first, establish a number for each angle according to the construction path reference point, then subtract the adjacent angles to obtain the variation and compare it with the variation limit one by one, replace the variation that exceeds the limit with the limit and write it back to the sequence, so that the angle sequence remains continuous, and generate the continuous angle sequence term. Based on the continuous angle sequence item, the continuous angle and the jet pressure are grouped by section, the energy value is converted for each section, the section energy is collected into an energy table in a sequential manner, and the angle sequence is arranged in order along the path to form a unified output, and the path jet angle chain is generated. Based on the angle calibration value group, the sequence difference limit method is used to read each angle in the angle calibration value group in order with the command item load_angle, and the command item map_id is used to establish the number in the construction path reference point number table number field, write the number to each angle record and form a numbered angle set, read the adjacent two records in the numbered angle set in pairs with the command item load_pair, and calculate the change amount by subtracting the previous angle field from the next angle field with the command item sub_pair, read the change limit limit_val with the command item load_limit, and perform item-by-item comparison with the command item cmp_limit, replace the angle difference limit_val with the command item set_limit, write back the replacement value to the original position of the sequence with the command item write_back, and keep the number structure unchanged, and after completing the replacement in all sequence positions, pack the numbered angle sequence with the command item seq_pack, and generate the continuous angle sequence item. Based on the continuous angle sequence item, the section energy conversion method is used to read each item in the continuous angle sequence item with the command item load_seq, and the command item group_seg is used to pair the angle value and the jet pressure value by section number to form a group, read the angle value with the command item load_ang and the jet pressure with the command item load_prs for each group of data, multiply the angle value and the jet pressure to generate an energy initial value with the command item mul_eng, set the energy factor value eng_factor to one with the command item adj_eng to perform energy adjustment processing and generate section energy, arrange all section energies in the original section order with the command item sort_seg, and integrate them into a section energy table with the command item build_tab, while reordering the continuous angle sequence item in the construction path number order with the command item order_path, and generating the path angle sequence output structure with the command item out_chain, to generate the path jet angle chain.

[0018] The construction path reference point is a sequence position point formed by equally dividing the path length at a fixed step along the jet operation path. The position point is obtained by dividing the total path length measured along the construction path at a predetermined step distance, and the numbering order is determined by the jet movement direction. Each divided position is recorded in order as a plurality of independent numbered points, and the construction path reference point is obtained by taking the jet head trajectory as the division reference.

[0019] The specific steps for generating the segment jet angle group are: Based on the path jet angle chain, the path angle is divided by segment and compared with the segment energy table item by item, and the angle corresponding energy value is compared with the erosion limit value and the non-compliant item is identified, and the segment angle comparison item is generated; Based on the segment angle comparison item, using the greedy algorithm, the angles not identified are arranged in sequence number and the angle energy is compared with the energy threshold value item by item, and the first angle in the sequence that meets the threshold value is extracted as the effective angle to generate the effective angle item; Based on the effective angle item, if the effective angle does not exist, the first compliant angle is filtered according to the erosion amount threshold value in the segment angle comparison item, and the effective angle and the filtered angle are written in sequence according to the segment order to generate the segment jet angle group; Based on the path jet angle chain, using the segment comparison processing method, the angle record is read by the command item load_chain and the angle is split by the command item seg_split according to the segment number, the corresponding energy value in the segment energy table is read by the command item fetch_eng, and the erosion limit value parameter eros_lim is read by the command item fetch_lim, the angle energy value and eros_lim are compared item by item by the command item cmp_eng, and the compliance identification and elimination identification are added for each record, the angle with identification is written into the segment comparison record set by the command item write_flag, and the segment angle comparison item is generated; Based on the segment angle comparison item, using the greedy algorithm, all angles not identified are read by the command item load_valid and arranged in ascending order of sequence number by the command item sort_id, the arranged angles are read item by item by the command item load_item and the energy threshold value parameter eng_thr is read by the command item fetch_thr, and the angle energy value and eng_thr are compared in sequence by the command item cmp_thr, in the comparison process, the first angle in the sequence that meets the threshold condition is picked up by the command item pick_sel and registered as the effective angle item, and written into the effective angle set by the command item reg_eff, to generate the effective angle item; Based on the effective angle item, the effective angle item is judged by the command item check_null whether there is a record, when the record does not exist, the segment angle comparison item is read by the command item load_pair angle record by piece and the command item fetch_elim reads the erosion threshold value eros_thr, the angle erosion value and eros_thr are compared by the command item cmp_eros and the first angle in the sequence which meets the erosion threshold value is obtained as the replacement angle item by the command item pick_alt, and the effective angle item and the replacement angle item are written into the sequence generation segment angle output chain by the command item chain_write according to the segment number, and the segment jet angle is generated.

[0020] The greedy algorithm reads the angle sequence in the segment angle comparison item which is not identified and eliminated in each segment, and establishes a traversal order from front to back according to the original serial number, and reads the corresponding energy value and corresponding erosion for each angle, compares the energy value with the preset energy threshold value, and records the effective angle and terminates the subsequent angle traversal of the segment when the energy value of a certain angle is not less than the energy threshold value and the corresponding erosion is not greater than the erosion limit value in the traversal process. If the effective angle is not recorded after the traversal is completed, the traversal order of all angles in the same segment which are not identified and eliminated is established again according to the original serial number, and only the corresponding erosion is compared with the erosion threshold value. When the erosion of a certain angle is not greater than the erosion threshold value, the replacement angle is recorded and the traversal is terminated. The recorded effective angle and replacement angle are established in a corresponding relationship with the corresponding segment number and written into the segment jet angle group corresponding to the position of the segment; The greedy algorithm is according to the formula:

[0021] Wherein: Indicates the candidate serial number of the angle which is not eliminated in the negative angle water jet cutter construction, Indicates the effective angle serial number selected by the greedy algorithm in the candidate angle serial number set, Indicates the set of all angle serial numbers which are not identified and eliminated, Indicates the serial number Corresponding angle energy value detected under mud cake removal operation, Indicates the energy threshold value for evaluating the effectiveness of water jet, Indicates the serial number Smooth deviation of angle energy from average value of adjacent energy during construction process, Indicates the serial number Reliability index of corresponding angle in historical mud cake removal task, Indicates the serial number weight coefficient for adjusting the influence degree of angle serial number in objective function, energy deviation weight coefficient representing the degree of influence of the energy deficiency penalty term, smoothness weight coefficient representing the degree of influence of the smoothness deviation amount, reliability weight coefficient representing the degree of influence of the reliability penalty term; Execution process: first, the un-rejected angle sequence set Establish a candidate angle sequence and arrange it in ascending order, then remove the angles Perform energy measurement on the corresponding angle to obtain the angle energy value , and compare it with the energy threshold to construct the energy deviation term , then calculate the neighborhood average energy with the neighborhood angle energy set with the sequence number , and obtain the smoothness deviation amount to reflect the stability of the angle energy, and then calculate the reliability index to represent the proportion of successful removal of the angle in the past construction, and then respectively with the sequence weight coefficient , energy deviation weight coefficient , smoothness weight coefficient , reliability weight coefficient Weight the sequence item, energy deviation term, smoothness deviation term, and reliability penalty term to construct the objective function, and finally perform a round of scanning in all sequence numbers to calculate the objective function value and select the sequence number with the minimum objective function value as , and the corresponding angle as the effective angle, which is used to control the direction of water jet and support the mud cake removal construction process.

[0022] The specific steps for generating the angle construction record set are as follows: Based on the section jet angle group, send the section angle to the guide arm in time order and calculate the difference between the command angle and the execution angle, and compare it with the tolerance and extract the angles within the tolerance range as recordable angles to generate the tolerance compliant angle item; Based on the tolerance compliant angle item, establish the numbering of the recordable angles according to the jet position and establish the corresponding relationship between the angles and the position, and then compile them into a construction chain according to the position sequence and fix them as the jet record sequence to generate the angle construction record set; ​Based on the segment injection angle group, a time sequence difference comparison method is adopted to read each segment angle record of the segment injection angle group by using the command item load_seg, to generate the delivery order according to the time sequence by using the command item sort_time, to send the angle record to the guide arm execution structure one by one by using the command item send_act, to read the corresponding execution angle by using the command item read_exec, to perform the angle difference calculation and generate the difference value by using the command item diff_ang, to compare the difference value with the tolerance parameter tol_val one by one by using the command item cmp_tol, to mark the angle falling within the tolerance range by using the command item flag_fit, to extract the marked angle to form a recordable angle set by using the command item pick_fit, and to generate the tolerance compliant angle item; Based on the tolerance compliant angle item, a position sequence binding method is adopted to read the angle record one by one by using the command item load_fit, to read the corresponding injection position parameter pos_val by using the command item fetch_pos, to perform the number binding of the angle record and pos_val by using the command item bind_pos, to generate the position angle item, to arrange all the position angle items in ascending order of pos_val by using the command item sort_pos, to compile into a continuous construction chain by using the command item build_chain, to register the construction chain as a fixed angle execution sequence by using the command item fix_seq, and to generate the angle construction record set.

[0023] On the basis of the above technical solutions, after analyzing and processing the mud cake parameters, the following shield cutter water jet cleaning control method can also be used, which includes the following steps: S1: Based on the cutter cleaning grid parameter set, the cutter surface is cut into strips along the radial direction according to the structure unit, and then subdivided according to the tangential angle. The sub-area center point is corrected based on the test frame positioning reference, and then reordered and numbered according to the direction of the cutter rotating area, to obtain the cutter cleaning grid parameter set; S2: Based on the cutter cleaning grid parameter set, the water jet nozzle installation point and direction are read, the distance and direction between the sub-area center point and the water supply pipeline pressure node are synthesized to obtain the energy value, and the threshold value is used to determine the effective coverage range, to obtain the jet coverage energy distribution set; S3: Based on the jet coverage energy distribution set, the Hungarian distribution algorithm is adopted to calculate the cleaning time according to the sub-area adhesion layer thickness and pressure value, the time value is composed into a matrix, and the nozzle corresponding relationship is determined by comparing multiple values in the same row, 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 adopted to add a fine adjustment amount to the nozzle installation point, and then compare the distance with the center point of the cutter structure unit, and judge the accessibility by the angle between the nozzle direction and the normal vector of the cleaning area, to record the accessible unit, 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, put the assigned sub-area time amount into the time axis and align the cutter head rotation area reference, then integrate into continuous time periods and arrange uniformly to obtain the nozzle start-stop timing table.

[0024] The cutter head cleaning grid parameter set includes sub-area number, sub-area coordinate point and sub-area position sequence, the jet coverage energy distribution set includes sub-area energy value, coverage mark and direction superposition value, the nozzle cleaning assignment result set includes nozzle number, sub-area number and cleaning time amount, the nozzle arrangement adjustment parameter set includes position adjustment amount, direction correction amount and accessibility mark, and the nozzle start-stop timing table includes start time, stop time and nozzle serial number.

[0025] The specific steps for generating the cutter head cleaning grid parameter set are as follows: Based on the cutter head cleaning grid parameter set, divide the change of the cutter head surface from the outer edge to the center into a plurality of radial strips, then divide the tangential partition according to the fixed angle, and re-determine the actual position of each sub-area center point according to the test frame positioning point to generate the sub-area positioning data set; Based on the sub-area positioning data set, re-arrange the numbering order of all sub-areas according to the direction of the cutter head rotation area, form a unified index according to the matrix arrangement method, and obtain the cutter head cleaning grid parameter set; Based on the cutter head cleaning grid parameter set, use the radial cutting strip value division algorithm to continuously take points along the fixed step distance from the outer edge to the center of the cutter head, sequentially mark the area between each point as a radial strip, then generate tangential areas on each radial strip at a fixed angle step and record the center point angle of each tangential area, then perform three-way translation on each center point using the three-axis coordinates of the test frame positioning point and sequentially superimpose the displacement amount to form the corrected center point position, and arrange all corrected positions in the generation order to generate the sub-area positioning data set; Based on the sub-area positioning data set, use the rotation area numbering rearrangement algorithm to perform angle conversion on the center point coordinates of each sub-area, sequentially arrange the converted angles according to the starting direction of the cutter head rotation area, and re-assign numbers to the arranged sub-areas, then establish a numbering matrix based on the number of radial strips as the row structure and based on the number of tangential partitions as the column structure, fill the corresponding numbers into the matrix positions one by one, and complete the arrangement of all row and column information to obtain the cutter head cleaning grid parameter set.

[0026] The specific steps for generating the jet coverage energy distribution set are as follows: Based on the cutter head cleaning grid parameter set, take out the water jet nozzle mounting point position and jet direction, then combine the straight line distance and direction amount between each sub-area center point and the water supply pipeline pressure node into an energy amount, and record it as the same sequence to generate the energy basis set; Based on the energy basis set, the energy amount in the sequence is compared with the set threshold value in turn, the sub-area reaching the threshold value is divided into the effective coverage range, and the coverage result is classified into a single sequence according to the numbering order, and the jet coverage energy distribution set is obtained; Based on the cutter cleaning grid parameter set, the energy amount combination operation algorithm is used to execute the three-axis coordinate value command for the water jet nozzle installation point position and the direction vector analysis command for the jet direction, and then the three-axis difference value command is executed for the center point coordinate of each sub-area and the water supply pipeline pressure node coordinate, and the difference components are combined into distance vectors in a fixed order, and the distance vector length is used as the distance amount, and the distance amount and the jet direction vector are executed one by one. The vector angle extraction command and the multiplication addition command are executed after extraction with the distance amount as the first factor and the angle amount as the second factor to form the energy amount value of a single sub-area, and then all energy amount values are sequentially added to the sequence buffer according to the sub-area numbering order, and a one-time read command is executed for the buffer to form a continuous energy amount sequence, and the energy basis set is generated; Based on the energy basis set, the energy threshold comparison algorithm is used to execute the comparison command for the energy amount in the sequence in order according to the numbering, and the fixed threshold value is used as the comparison reference, and the effective identification write command is executed for the energy amount greater than the threshold value, and the corresponding sub-area number is written into the coverage area buffer, and then the buffer content is rearranged according to the sub-area number from small to large, and after rearrangement, all effective numbers are written into the coverage record sequence in a single column structure and form an independent data group, and the jet coverage energy distribution set is obtained.

[0027] The specific steps for generating the nozzle cleaning assignment result set are: Based on the jet coverage energy distribution set, the Hungarian distribution algorithm is used to take out the thickness of the attached layer of each sub-area from the record table one by one, and the pressure value under the same number is sequentially brought into the thickness amount to be converted into time amount, and then the converted time amount is arranged into a continuous sequence in the order of sub-areas, and the time amount sequence set is generated; Based on the time amount sequence set, the sequence is divided into a multi-row structure according to the number of nozzles, and then the identification position is determined according to the time amount size in each row, and these identifications are arranged into a group according to the nozzle arrangement order, and the nozzle corresponding identification set is generated; Based on the nozzle corresponding identification set, the nozzle number and the sub-area number are taken out in pairs according to the actual landing point of the identification, and then the corresponding time amount is inserted into the same sequence to form a continuous record, and the record is integrated into the set according to the overall order, and the nozzle cleaning assignment result set is obtained; Based on the jet coverage energy distribution set, the thickness of the adhesion layer of each sub-area in the record table is read by item according to the sub-area number using the Hungarian allocation algorithm, and the read thickness is written in the thickness sequence in order of number, and the same number pressure value is written in the pressure sequence by calling the pressure value command, then the conversion command is executed by item according to the number with the thickness sequence as the input, and the corresponding value in the pressure sequence is used as the conversion factor to form the time amount, and the time amount is written in the time block buffer in an indexed manner, then the row minimum value subtraction command is executed in the Hungarian allocation algorithm on the time block buffer, and the minimum value is subtracted from each item in the corresponding row to form a row difference value matrix, and then the column minimum value subtraction command is executed and the minimum value is subtracted from each item in the corresponding column to form a column difference value matrix, and the position with a value of zero is found in the difference value matrix, and the zero value marker list is written according to the row and column where the zero value is located, then the cover command is executed on the zero value marker list, and the cover index is recorded in the row direction and the column direction respectively, and according to the insufficient coverage quantity, the minimum difference value is recorded in the uncovered position, and the minimum difference value subtraction and covered position addition commands are executed to update the difference value matrix, then the zero value finding and row and column covering actions are repeated until the coverage quantity meets the assignment size, and the row and column numbers in the difference value matrix are written in the index sequence according to the zero value distribution, generating the time amount sequence set; Based on the time amount sequence set, the Hungarian allocation algorithm is used to execute the split command on the sequence according to the number of nozzles, and the generated each row structure is executed according to the time amount size. The sorting command and the original index of each item in the sorting process is written in the identification buffer, then the position registration command is executed on the identification buffer row by row, and the identification in each row is merged into an identification group in the order of nozzle number, and after merging, all identification groups are written in the identification set in order, and the identification mapping relationship table is constructed, and after writing the entire mapping relationship table, the identification corresponding sequence is formed, generating the nozzle corresponding identification set; Based on the nozzle corresponding identification set, the row and column numbers in the identification are executed by the read command using the Hungarian allocation algorithm, and the corresponding nozzle number is taken out according to the read number, and the corresponding sub-area number is taken out according to the same number, and after taking out, the pairing command is executed and the pairing number is written in the pairing list, and the time amount in the same row number in the pairing list is executed by the insertion command, and after insertion, the continuous time record sequence is formed, then all record sequences are merged into a unified set in order, and the set alignment command is executed and the final pairing result group is formed, obtaining the nozzle cleaning assignment result set.

[0028] The Hungarian allocation algorithm first takes the valley value of each row of the arranged matrix form of cleaning time amount and subtracts it from the corresponding row, so that each row forms a difference value distribution based on zero. Then, the valley value of each column of the processed matrix is taken and subtracted from the corresponding column, so that the column values form a new difference matrix. Subsequently, all values of zero in the matrix are found and covered in a straight line, and the covered rows and columns are recorded as a cover set. When the number of rows and columns in the cover set is not enough to cover all the zero values, the valley value is taken from the un-covered position of the matrix and subtracted from all un-covered positions and added to all covered positions to form a new difference matrix. The zero value finding and row and column covering actions are re-executed on the new difference matrix. When the number of rows and columns in the cover set reaches the number of nozzles, the un-covered zero value position is collected as paired data according to the row and column coordinates, and the paired data is used as the pairing index of the nozzle and the sub-area; The Hungarian allocation algorithm is according to the formula:

[0029] Wherein: represents the target adhesion layer thickness amount of the cutter sub-area No. represents the water jet injection pressure value of the cutter sub-area No. represents the water jet deposition removal efficiency coefficient, represents the water jet action time amount of the cutter sub-area No. represents the water jet energy coverage uniformity index of the cutter sub-area No. represents the water jet trajectory coverage overlap rate index of the cutter sub-area No. represents the nozzle wear degree index of the cutter sub-area No. represents the energy coverage uniformity correction weight coefficient, represents the trajectory coverage overlap rate correction weight coefficient, represents the nozzle wear correction weight coefficient; The execution process is as follows: first, read the target adhesion layer thickness amount of the sub-area No. on the cutter surface according to the sub-area number order, and call the water jet injection pressure value consistent with the sub-area number from the injection control unit . Then, the system calls the water jet deposition removal efficiency coefficient determined by experiment from the calibration parameter set . Then, calculate the energy coverage uniformity index of the sub-area No. based on the water jet energy distribution sampling result , and calculate the water jet trajectory coverage overlap rate index of the sub-area No.​​​​​​ sub-area trajectory coverage overlap rate index while accumulating the running record of the nozzles, the number sub-area nozzle wear degree index After that, the system calls the energy coverage uniformity correction weight coefficient and the trajectory coverage overlap rate correction weight coefficient and the nozzle wear correction weight coefficient obtained by least square fitting from the controller parameter area , , , , All of them are substituted into the formula, and by applying the joint correction containing the energy uniformity, trajectory overlap rate and nozzle wear three correction factors to the original time calculation result, the tool disc sub-area water jet action time amount is obtained Finally, the above process is executed in order according to the number for all tool disc sub-areas and a complete water jet action time amount sequence set is formed.

[0030] 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 nozzle installation point coordinates in a fixed direction by a certain distance to form a new set of coordinates, and then the corresponding nozzle number is attached to these new coordinates to make them a directly indexable list, generating a nozzle adjustment coordinate set; Based on the nozzle adjustment coordinate set, each set of adjusted coordinates is compared with the coordinates of the tool disc structure unit center point one by one, the distance between the two points is measured, and then the distance is arranged in a record column according to the nozzle number to generate a nozzle distance reference set; Based on the nozzle distance reference set, the nozzle direction quantity and the cleaning area normal vector are taken out in order according to the number, the included angle between the directions is calculated, and then the included angle and the distance are recorded together as a judgment item, finally the numbers that meet the accessibility requirement are collected into a list to obtain the nozzle arrangement adjustment parameter set; ​​​​​​​​​​​​​​​​​​Based on the nozzle cleaning assignment result set, the particle swarm optimization algorithm is used to execute the position initialization command on the nozzle mounting point coordinates, 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 value, and after the initialization is completed, the direction offset command is executed on each position vector, the offset distance parameter is taken as the three-axis increment, the offset coordinates are written into the candidate coordinate list, the nozzle number is attached 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 speed update command is executed on each particle, the three-axis components of the previous velocity vector are multiplied by the inertia factor, the difference components of the particle current coordinates and the particle historical coordinates are multiplied by coefficient one and added to the velocity vector, the difference components of the particle current coordinates and the group historical coordinates are multiplied by coefficient two and added to the velocity vector, and the updated velocity vector and the current position are added to obtain the new position coordinates. The new position is written into the coordinate set and the update step is repeated until the iteration number requirement is reached, and the nozzle adjustment coordinate set is generated; Based on the nozzle adjustment coordinate set, the particle swarm optimization algorithm is used to execute the coordinate reading command on each group of adjustment coordinates according to the nozzle number, the three-axis components of the adjustment coordinates and the three-axis components of the center point coordinates of the cutter head structure unit are calculated by difference, the difference components are written into the difference buffer, and 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, and the distance sequence is formed by keeping the number and distance quantity one-to-one corresponding during the writing process. After the writing is completed, the distance sequence is taken as the input data group of the particle swarm optimization algorithm fitness value, and the nozzle distance reference set is generated; Based on the nozzle distance reference set, the particle swarm optimization algorithm is used to execute the direction quantity reading command according to the nozzle number, the three-axis components of the direction vector of each nozzle are written into the direction buffer, the three-axis components of the normal vector of the cleaning area are written into the normal buffer, the multiplication and addition command is executed on the two groups of vectors to form the combined value of the included angle, the combined value is input into the direction difference command to obtain the direction included angle quantity, and the included angle quantity and the distance quantity are written into the judgment sequence according to the number. After the judgment sequence is written, the number filtering command is executed on the sequence, the numbers that meet the reachable requirement are written into the output list one by one, and the nozzle arrangement adjustment parameter set is obtained.

[0031] The particle swarm optimization algorithm first randomly generates a position vector for each nozzle arrangement scheme in the search space and sets a corresponding velocity vector, records the position vector as an initial coordinate set of the particle, records the velocity vector as an initial velocity set of the particle, then calculates the cost value of each particle according to the nozzle mounting point coordinates, the jet direction angle, the coverage of the cutter head grid unit, and the cleaning time, compares the cost value with the historical cost of the particle, updates the historical adaptive position set of the particle, simultaneously selects the minimum cost value in all particles and records it as the group adaptive position set, then updates the velocity vector for each particle according to the inertia weight multiplied by the previous generation velocity, adds the weighted sum of the difference between the historical position of the particle and the current position and the difference between the group adaptive position and the current position, adds the updated velocity vector and the current position coordinates to obtain new position coordinates, corrects the coordinates exceeding the installation range by boundary value interception or reverse folding, forms a new generation of particle position set, and recalculates the cost value corresponding to the new position and updates the particle historical adaptive position set and the group adaptive position set according to the same rules, repeatedly executes the velocity updating, position updating and cost calculation steps within the preset iteration number, and records the nozzle coordinates and jet direction angle in the group adaptive position set as the output results of the particle swarm optimization algorithm when the iteration ends; The particle swarm optimization algorithm is according to the formula:

[0032] Wherein: represents the velocity vector of the nozzle particle numbered at the th iteration, represents the velocity vector of the nozzle particle numbered at the th iteration, represents the inertia weight coefficient, represents the individual learning factor, represents a random number in the interval of zero to one, represents the individual historical optimal position vector of the nozzle particle numbered at the th iteration, represents the current position vector of the nozzle particle numbered at the th iteration, represents the radial position correction weight coefficient, represents the radial position index of the nozzle numbered , represents the cutter shielding correction weight coefficient, represents the cutter shielding influence index of the nozzle numbered , represents the 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; Execution process: First, initial coordinates are set for each of the multiple nozzles and used as the first... The current position vector of the next iteration At the same time, set the initial velocity vector of the corresponding nozzle. And load the inertia weight coefficient Individual learning factors With group learning factor The controller then calculates the cleaning coverage evaluation value based on the current nozzle coordinates and determines the number as follows. The individual historical best position vector of the nozzle and the global optimal position vector corresponding to all nozzle combinations In the same iteration, the controller obtains the radial position index based on the ratio of the nozzle radial distance to the cutter head radius. The tool obstruction influence index is obtained based on the obstruction angle and minimum distance between the nozzle and the adjacent tool. The historical scouring intensity deviation index was obtained by normalizing the residual thickness deviation of the nozzles in previous cleaning tests. The jet cross-interference index is obtained based on the proportion of overlapping areas between the water jet trajectories of the nozzles. Simultaneously, the radial position correction weighting coefficient is read from the calibration parameter set. Tool occlusion correction weight coefficient Historical scour intensity deviation correction weighting coefficient and the weighting coefficient for jet cross-interference correction The controller then generates a random number for each nozzle. and And and Substituting the individual terms into the formula, , , , , and Substitute the group terms into the formula, and then combine them with the inertia term. Add them together to get the speed update result. Then according to The displacement is decomposed along the fixed direction unit vector and superimposed with the current coordinates to form the nozzle coordinates of the next iteration The controller repeats the above speed update and position update processes for all nozzles until the iteration number and fitness convergence conditions are reached, and finally the nozzle coordinate set at the end of the iteration is taken as the nozzle adjustment coordinate set, which is used for cutter head water jet cleaning path planning and execution.

[0033] The specific steps for generating the nozzle start-stop timing table are as follows: Based on the nozzle arrangement adjustment parameter set, the nozzle start time is taken from the test original record, and the time amount corresponding to the assigned sub-area is added to the same time axis in the start order, thereby forming a continuous time arrangement sequence, and a time axis arrangement set is generated; Based on the time axis arrangement set, the position of the sequence is corrected in sections according to the time reference of the cutter head rotating area, and the continuous time period is reconnected as a unified record format according to the nozzle number, and the nozzle start-stop timing table is obtained; Based on the nozzle arrangement adjustment parameter set, the time sequence construction algorithm is used to execute a read command for each nozzle start time in the test original record, the read time value is written into the start buffer according to the nozzle number, a value command is executed for the time amount corresponding to the assigned sub-area and written into the sub-area time buffer according to the number order, a time axis establishment command is executed based on the time in the start buffer and the minimum start value is taken as the starting point of the time axis, a time superposition command is executed for the time amount of each nozzle, the superposed time points are written into a unified time axis list in order, a continuity marking command is executed for the time axis list during the writing process, the interval between adjacent time points is written into an interval sequence according to a fixed step, the time points and interval sequence are combined and written into an arrangement buffer to form a continuous time arrangement sequence, and a number annotation command is executed for the arrangement sequence to generate a time axis arrangement set; Based on the time axis arrangement set, the time alignment reconstruction algorithm is used to execute a read command for each time period in the sequence and take the time reference value set by the cutter head rotating area as the alignment reference, the difference between the start time of each time period and the reference value is calculated and written into an offset list as the alignment offset, the offset list is sequentially applied to all time periods to execute an alignment command and the aligned time period is written into a reconstruction sequence, after the reconstruction sequence is established, a concatenation command is executed according to the nozzle number, all time periods of nozzles with the same number are merged into a single continuous structure in order, and the start time, end time and nozzle number in each structure are written into a data column in a unified record format according to a fixed field order, and all data columns are sequentially written into an output set to obtain the nozzle start-stop timing table.

[0034] The unified record format arranges the starting time point, the stopping time point, the action sub-area number and the nozzle number corresponding to each nozzle in a fixed field order. Each record is a basic unit of continuous time period and forms an independent entry according to the nozzle number. The time period in each entry is sequentially arranged with the starting time point in front and the stopping time point behind. All entries form a data group of the same format with the same field structure, so that the time periods of different nozzles can be read and compared in the same set according to the fixed field position.

[0035] Based on the above scheme, the embodiment also provides a shield tunneling machine, comprising a control system, the control system being configured to execute the method as described above.

[0036] The shield tunneling machine further comprises a shield tunneling machine cutter head and a housing. As shown in Figure 2 and Figure 3 The shield tunneling machine cutter head comprises a cutter head body 1, a first water jet nozzle 13 and a second water jet nozzle 14.

[0037] The outer side end face of the cutter head body 1 is divided into a central area 11 and a peripheral area, and both the central area and the peripheral area are provided with a plurality of cutter heads 12. The cutter head positions in the central area are irregularly arranged, and the cutter heads in the peripheral area are radially arranged outwardly with the central area as the center.

[0038] In the embodiment, six rows of cutter heads are arranged outwardly from the central area, each row of cutter heads extends along the radial extension of the cutter head body 1 and is arranged at intervals. The six rows of cutter heads are uniformly arranged in the circumferential direction. Each cutter head 12 comprises two coaxially arranged cutter rings, and the two cutter rings are arranged in axial symmetry.

[0039] The first water jet nozzle 13 is arranged at the intersection of the extension line of the symmetry axis between the two cutter rings in one cutter head 12 and the extension line of the symmetry axis between the two cutter rings in an adjacent cutter head. As shown in Figure 3 For example, taking the cutter head 12 located at the lower left and the cutter head 12 located at the upper left as an example, the first water jet nozzle 13 is arranged at the intersection of the extension line L of the symmetry axis of the two cutter rings in the cutter head 12 located at the lower left and the extension line L of the symmetry axis of the two cutter rings in the cutter head 12 located at the upper left. Similarly, similar layouts are adopted in the remaining cutter heads.

[0040] The second water jet nozzle 14 is arranged at the intersection of the line connecting the center of one cutter ring and the edge of the other cutter ring in one cutter head 12 and the extension line of the line connecting the center of one cutter ring and the edge of the other cutter ring in an adjacent cutter head. As shown in Figure 3As shown, the left lower cutter head 12 and the left upper cutter head 12 are taken as examples for illustration: in the left lower cutter head 12, the second water jet nozzle 14 is arranged at the intersection of the extension line K of the line from the center of one cutter ring to the edge of another cutter ring and the extension line K of the line from the center of one cutter ring to the edge of another cutter ring in the left upper cutter head 12. Similarly, the similar scheme is also adopted for the remaining two adjacent cutter heads 12.

[0041] The cutter head 12 includes two kinds: one is that there is a gap between the two cutter rings, and the extension lines L and K of the two cutter rings do not coincide, and form an acute angle therebetween, such as the left upper cutter head 12 and the left lower cutter head 12 in FIG. 1. Figure 3

[0042] The other is that there is no gap or the gap is very small between the two cutter rings in the cutter head 12, and the extension lines L and K of the two cutter rings are considered to coincide, such as the top cutter head 12 and the right cutter head 12 in FIG. 1. For this scheme, for the top cutter head 12, the intersection of the coincident extension line L (K) and the extension line L of the right cutter head 12 is provided with the first water jet nozzle 13, and the intersection of the extension line K of the left upper cutter head 12 is provided with the second water jet nozzle 14. Figure 3

[0043] In the two cutter heads 12, the intersection of the cutter ring symmetry axis extension line L and the intersection of the line from the center of one cutter ring to the edge of another cutter ring are prone to cause the convergence and accumulation of the sludge, and are the high-risk areas of the formation of the mud cake. The first water jet nozzle 13 and the second water jet nozzle 14 are correspondingly arranged at the two positions, so that the high-pressure water jet can be used for flushing when the mud cake just has a tendency to form, and the further accumulation of the mud cake is effectively prevented.

[0044] Based on the above scheme, the first water jet nozzle 13 and the second water jet nozzle 14 in the embodiment are set according to the position of the cutter head 12, and can accurately match the formation law of the mud cake near each cutter head 12. Compared with the scheme in the prior art in which the water jet nozzles are uniformly arranged, the high-pressure water flow jetted by the first water jet nozzle 13 and the second water jet nozzle 14 in the embodiment can more efficiently remove the mud cake, reduce the hindrance of the mud cake to the normal operation of the cutter head 12 and the cutter disc body 1, significantly improve the mud cake removal efficiency and effect, and guarantee the smoothness and reliability of the cutting of the soil body.

[0045] ​​The technical scheme provided by the embodiment is characterized in that the outer side end surface of the cutter head body is provided with a plurality of tool heads, each of which comprises two tool rings arranged in axial symmetry; the first water jet nozzle is arranged at the intersection of the extension line of the symmetric axis between the two tool rings in one tool head and the extension line of the symmetric axis between the two tool rings in an adjacent tool head; and the second water jet nozzle is arranged at the intersection of the line connecting the center of one tool ring and the edge of the other tool ring in one tool head and the extension line of the line connecting the center of one tool ring and the edge of the other tool ring in an adjacent tool head, so that the mud cake can be removed more efficiently, the obstruction of the mud cake to the normal operation of the cutter head body and the tool heads is reduced, the mud cake removal efficiency and effect are significantly improved, and the smoothness and reliability of cutting the soil are ensured.

[0046] On the basis of the above technical scheme, the third water jet nozzle 15 is further adopted. The outer circumferential edge of one tool head 12 is tangent to a circle C, and the circle C is inscribed in the circular envelope of the central region 11 of the cutter head body. If there is no first water jet nozzle 13 or second water jet nozzle 14 in the circle C, the third water jet nozzle 15 is arranged at the center of the circle C.

[0047] The third water jet nozzle 15 can be arranged according to the position of the tool head 12 in the central region 11. For example, the outer circumferential edge of one tool head 12 is tangent to a circle C, and the circle C is inscribed in the circular envelope of the central region 11 of the cutter head body. Figure 3 For example, the blank area in the lower right of the tool head layout is large, the outer circumferential edge of the tool head 12 is tangent to a circle C, and the circle C is inscribed in the circular envelope of the central region 11 of the cutter head body. Figure 3 The center of each of the three circles C can be provided with the third water jet nozzle 15.

[0048] The third water jet nozzle 15 effectively fills the mud cake prevention blank area that may exist after the arrangement of the first water jet nozzle 13 and the second water jet nozzle 14, and can assist the first water jet nozzle 13 and the second water jet nozzle 14 in preventing and treating the mud cake in the central region 11 in a full range and without dead angle, so as to avoid the local accumulation of the mud cake on the central region 11, the deviation of the gravity center of the cutter head body 1, and the improvement of the stability and safety of the cutter head body 1 during rotation.

[0049] The first water jet nozzle 13, the second water jet nozzle 14, and the third water jet nozzle 15 can all be columnar structures and are vertically installed on the cutter head body 1. The first water jet nozzle 13, the second water jet nozzle 14, and the third water jet nozzle 15 all spray water along the radial direction of the cutter head body 1, so as to ensure that the high-pressure water jet can vertically impact the mud cake and improve the flushing effect. The first water jet nozzle 13, the second water jet nozzle 14, and the third water jet nozzle 15 are all arranged at positions where no tool head 12 is arranged in the central region 11, so as not to affect the normal work and design of the tool head 12, to ensure that the cutting function and the mud cake prevention function do not interfere with each other, and to play a synergistic role.

[0050] The tool head 12 in the embodiment is a double-blade hob, that is, a structure comprising two tool rings.

[0051] With reference to Figure 4 , considering that the accumulation depth of the mud cake is not completely uniform, the number of the first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 in the embodiment is at least one, and the distance h of the water outlet 19 of the different first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 from the face plate of the cutter body 1 is different, that is, the length of the first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 protruding from the cutter end face is different, and the first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 are arranged in a stepped manner on the cutter section, so that the high-pressure water jet emitted by the first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 at different positions can form a multi-level flushing effect in front of the cutter body 1, effectively cleaning the mud cake at different accumulation depths. Whether it is a shallow mud cake or a thick mud cake, it can be effectively cleaned, effectively enhancing the comprehensiveness and effectiveness of mud cake prevention.

[0052] With reference to Figure 4 The implementation of the first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 in the embodiment is described, and the first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 can adopt the same structure and be collectively referred to as water jet nozzles. The water jet nozzle is provided with a water inlet channel 16 which penetrates in the axial direction of the water jet nozzle. The other end of the water jet nozzle is provided with a water outlet channel 17 which is perpendicular to the axial direction of the water jet nozzle. The two ends of the water outlet channel 17 penetrate the outer peripheral surface of the water jet nozzle. The water outlet channel 17 is in communication with the water inlet channel 16, so that the water jet nozzle can spray two jets of high-pressure water flow in opposite directions, achieving bidirectional flushing.

[0053] In actual work, according to the distribution of the mud cake on the cutter body 1, the two ends of the water outlet channel 17 can be flexibly adjusted to spray in different directions, such as both being aimed at the area where the mud cake is easy to accumulate around the cutter head 12, or at least one end being aimed at one cutter head 12, thereby improving the coverage area of the high-pressure water jet on the area around the cutter head 12 and the central area 11, enhancing the flushing effect and improving the flushing efficiency.

[0054] In addition, a pulse solenoid valve 18 is installed on the water inlet channel 16 of the water jet nozzle, so that the water jet nozzle can realize pulse water spraying when needed, improving the efficiency of mud cake removal. Compared with continuous water spraying, pulse water spraying can produce stronger impact force, and the effect of breaking and removing the mud cake is more significant under the condition of consuming the same amount of water, effectively reducing the consumption of water resources and improving the work efficiency of mud cake prevention.

[0055] In order to realize intelligent prevention and treatment of the mud cake, the embodiment further comprises a control system capable of monitoring the torque of the cutter body 1 and adjusting the water pressure, flow and water spraying time of each water jet nozzle according to the torque of the cutter body 1. The torque is a key parameter reflecting the working state and the accumulation degree of the mud cake of the cutter body 1. When the torque of the cutter body 1 becomes larger, it indicates that the mud cake is accumulated seriously. At this time, the control system can increase the water pressure, flow and water spraying time of each water jet nozzle to quickly remove the mud cake and reduce the load of the cutter body 1. Conversely, it is lowered to save energy and prolong the service life of the equipment.

[0056] The way in which the control system monitors the torque of the cutter body 1 in the embodiment includes but is not limited to the following: (1) A torque sensor is used. The torque sensor is installed on the driving part of the driving motor 6 capable of driving the cutter body 1 to rotate. The torque sensor works based on the strain principle or the magneto-electric principle and can directly measure the torque transmitted by the driving part, has the characteristics of high measurement accuracy and fast response speed, and can obtain the torque information of the cutter body in real time and accurately.

[0057] (2) When the driving motor 6 driving the cutter body 1 to rotate is running, the current size has a certain corresponding relationship with the output torque. According to the characteristic curve and the related mathematical model of the driving motor 6, the torque of the cutter body 1 can be indirectly calculated based on the current of the driving motor 6 by detecting the working current of the driving motor 6. No special torque sensor needs to be additionally installed, the cost is relatively low, the equipment cost investment is effectively reduced while ensuring a certain measurement accuracy, and it is suitable for engineering projects with strict cost control.

[0058] (3) If the cutter body 1 is hydraulically driven, a pressure sensor can be installed in the hydraulic driving system, such as being installed on the oil inlet or oil return pipeline of the hydraulic motor. When the cutter body 1 is subjected to torque, the pressure in the hydraulic system will change. The pressure sensor can measure this pressure change and obtain the torque value through the corresponding conversion relationship. The pressure sensor is easy to install and has little change to the hydraulic driving system.

[0059] On the panel of the cutter body 1, the mud cake is usually gradually formed in the central area 11 first, then becomes thicker and gradually expands from the central area 11 to the edge of the cutter body 1.

[0060] Referring to Figure 5The shield machine in the embodiment, the rear of the cutter head body 1 is rotationally connected with the shield shell 2, the shield shell 2 is a cylindrical hollow structure, the inner circumferential surface of the shield shell 2 is connected with the shield partition plate 3 which is arranged in parallel with the cutter head body 1, the side of the shield partition plate 3 close to the cutter head body 1 is provided with the mounting ring 4, one end of the mounting ring 4 close to the cutter head body 1 is connected with the outer ring of the shield bearing 5, the inner ring of the shield bearing 5 is connected with the driving part of the driving motor 6, the driving motor 6 is mounted on the shield partition plate 3, the driving part of the driving motor 6 is connected with the cutter head support arm 8 through the connecting plate 7, and the cutter head support arm 8 is connected with the cutter head body 1.

[0061] The center of the shield partition plate 3 is provided with a center hole, the outer cylinder 9 passes through the center hole and is fixedly connected with the shield partition plate 3, the outer circumferential surface of the outer cylinder 9 is provided with a high-pressure water inlet 011, the inner cylinder 010 is coaxially arranged in the inner part of the outer cylinder 9, the inner cylinder 010 is rotationally connected with the outer cylinder 9, one end of the inner cylinder 010 close to the cutter head body 1 is connected with the connecting plate 7, and the inner cylinder 010 penetrates the connecting plate 7.

[0062] The first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 are connected with one end of the high-pressure water inlet pipe 012 through the rotary joint, the other end of the high-pressure water inlet pipe 012 extends into the gap between the outer cylinder 9 and the inner cylinder 010 after penetrating the connecting plate 7, the gap is communicated with the high-pressure water inlet 011, the high-pressure water inlet 011 is connected with one end of the high-pressure water inlet pipe 013, the other end of the high-pressure water inlet pipe 013 is connected with the water storage barrel 014, the water storage barrel 014 is connected with the air pressure pump 015 through the high-pressure water inlet pipe 016, the high-pressure water inlet pipe 013 is provided with the high-pressure water valve 017, and the high-pressure water inlet pipe 016 is provided with the pressure gauge 018.

[0063] The first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 on the cutter head body 1 can spray high-pressure water along the radial direction of the cutter head body 1, and meanwhile, the cutter head body 1 can rotate under the driving of the driving motor 6 to remove the mud cake while excavating, thereby improving the construction efficiency of the shield machine under complex geological conditions such as rich mud soil layer, effectively reducing the problems of cutter wear and equipment failure caused by mud cake accumulation, reducing the construction cost, shortening the construction period and significantly improving the overall performance and engineering applicability of the shield machine.

[0064] After the shield machine is started, the driving motor 6 starts to work, the driving part of the driving motor 6 is connected with the cutter head support arm 8 through the connecting plate 7, and the cutter head support arm 8 is connected with the cutter head body 1, so that the power of the driving motor 6 can be transmitted to the cutter head body 1 to drive the cutter head body 1 to rotate around the central shaft of the shield bearing 5. The plurality of cutter heads 12 arranged in the central region 11 of the cutter head body 1 rotate to excavate the clay stratum and the clayey sand stratum to cut the soil into small sand particles and debris.

[0065] The air pressure pump 015 is connected with the water storage barrel 014 through the high-pressure water inlet pipe three 016 to pressurize the water storage barrel 014. The pressure gauge 018 on the high-pressure water inlet pipe three 016 monitors the pressure provided by the air pressure pump 015 in real time to ensure that the water supply pressure is stable in a suitable range, thereby providing a guarantee for the stable spraying of the subsequent high-pressure water jet. The high-pressure water flows out of the water storage barrel 014, passes through the high-pressure water inlet pipe two 013, and the high-pressure water valve 017 on the high-pressure water inlet pipe two 013 can control the on-off and flow 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 in the inner cylinder 010, and the inner cylinder 010 is rotatably connected with the outer cylinder 9. After the high-pressure water enters the gap between the outer cylinder 9 and the inner cylinder 010, it is transported to the first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 through the high-pressure water inlet pipe one 012. Since the cutter body 1 is constantly rotating, the high-pressure water inlet pipe one 012, the first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 are all connected through rotary joints, thereby ensuring the continuous supply of high-pressure water during the rotation of the cutter body 1.

[0066] The first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 can spray high-pressure water along the radial direction of the cutter body 1. The first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 are designed based on the position of the cutter head 12, and the high-pressure water jet sprayed thereby accurately impacts the areas on the cutter body 1 where mud cakes are prone to form, such as the intersection of the extension line L of the cutter head 12 cutter ring symmetry axis, the intersection of the extension line K of the center of the outer cutter ring and the center of the inner cutter ring, and the center position of the specific excircle C. The first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 can all realize pulse water spraying, thereby enhancing the breaking and cleaning effect of the mud cake and reducing water consumption. After being washed by the high-pressure water jet, the mud cake is broken and dispersed, thereby avoiding covering the cutter and blocking the cutter barrel, reducing cutter wear, ensuring normal rotation and cutting function of the cutter, and maintaining stable excavation of the cutter body 1.

[0067] During the process of excavating soil by the cutter body 1, the control system monitors the torque of the cutter body 1 in real time. In the normal process of excavation, the torque of the cutter body 1 is in a relatively stable range. But when the cutter body 1 gradually appears mud cake accumulation, the resistance of the cutter body 1 increases, and the torque will also rise accordingly. The control system automatically adjusts the water pressure, flow and spraying time of the first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15 according to the monitored torque change. For example, when the torque increases, indicating that the mud cake accumulation is aggravated, the control system will increase the water pressure and flow of the first water jet nozzle 13, the second water jet nozzle 14 and the third water jet nozzle 15, and appropriately prolong the spraying time, so as to enhance the scouring and crushing capacity of the mud cake; on the contrary, when the torque returns to normal, the corresponding parameters are reduced, energy and water resources are saved.

Claims

1. A method for removing mud cake based on a negative angle water jet, characterized in that, Includes the following steps: S1: Based on the negative angle water jet jet component, read the initial negative angle and the upper and lower values ​​of the mud cake thickness and take the center value. Send the center value and the initial angle into the thickness calculation item and take the output thickness. Subtract them and record the difference to generate the thickness deviation. S2: Based on the thickness deviation, Newton's iteration method is used to perform step size addition or subtraction on the current angle according to the difference direction and compare it with the negative angle interval to replace the out-of-bounds value. The replacement angle is sent to the thickness calculation term to obtain the difference sequence. The corresponding angle is taken from the sequence according to the difference to generate the angle calibration value group. S3: Based on the angle calibration value group, assign numbers according to the benchmark points of the construction path, replace the over-limit items with the limit by subtracting the adjacent angles, and compile the section energy into an energy table according to the path order, organize it according to the path order, and generate the path spraying angle chain. S4: Based on the path spray angle chain, the angle is divided into segments and compared with the segment energy table item by item. A greedy algorithm is used to compare the angle with the erosion limit value and remove the angle identifiers that do not meet the limit value conditions. The angles that meet the energy threshold requirements are screened from the remaining angles according to the sequence number and written. If there are no options, the first matching angle is screened according to the erosion amount threshold and written, thus generating a segment spray angle group. S5: Based on the section spraying angle group, send the instruction angle in time sequence, subtract the execution angle to obtain the difference, write the angle that falls within the tolerance into the construction chain and sort it according to the spraying position to generate an angle construction record set.

2. The method according to claim 1, characterized in that, The thickness deviation includes the center value, the output thickness value of the calculation item, and the difference between the two. The angle calibration value group includes the correction angle value, the boundary replacement angle value, and the difference sequence filtered angle value. The path spraying angle chain includes the continuous angle sequence, the segment energy table value, and the path number correspondence. The segment spraying angle group includes the angle item that meets the energy threshold, the angle item that meets the erosion threshold, and the segment sequence record item. The angle construction record set includes the executed angle item, the corresponding spraying position item, and the time sequence number item.

3. The method according to claim 1, characterized in that, The specific steps for generating the thickness deviation are as follows: Based on the negative angle water jet jet component, first retrieve the initial negative angle set in the component and read the upper limit value and lower limit value of the residual mud cake thickness. Add the two thickness values ​​and halve them to obtain the center value. Then, input the center value and the initial negative angle into the thickness calculation item to retrieve the thickness output. Perform a difference recording on the thickness output with the center value to generate the thickness difference item. Based on the thickness difference item, the difference is extracted from the record and recombined with the thickness center value and the initial negative angle to form a data entry. The entry is then stored in the difference set as input for subsequent angle correction and an independent difference unit is established to generate the thickness deviation.

4. The method according to claim 1, characterized in that, The specific steps for generating the angle calibration value set are as follows: Based on the thickness deviation, the Newton iteration method is used to determine the correspondence between the difference direction and the current angle and select the step value accordingly. The step value is then added to or subtracted from the current angle to form the adjustment angle. The adjustment angle is compared with the upper and lower bounds of the negative angle range to generate the angle adjustment item. Based on the angle adjustment item, the adjustment angle is checked against the negative angle range item by item, and the out-of-bounds angle is replaced with the range boundary value. Then, the replacement angle is input into the thickness calculation item to extract the difference sequence, and the sequence is rearranged according to the angle order to generate the difference sequence item. Based on the difference sequence item, the difference and angle are taken out in pairs from the sequence, and the angle that can be used for angle correction is locked according to the difference size. The difference is added to the output set to form a calibration angle group, and an angle calibration value group is generated.

5. The method according to claim 4, characterized in that, The Newton iteration method takes the current angle and the thickness deviation as input. First, it obtains the current thickness deviation value in the thickness prediction calculation and sets a small angle increment near the current angle. It inputs the two sets of angles before and after the increment into the thickness prediction calculation to obtain two sets of thickness values. The ratio of the difference between the two sets of thickness values ​​to the difference between the two sets of angles is used as the thickness-to-angle change rate. The thickness deviation value is divided by the thickness-to-angle change rate to obtain the angle correction amount. The angle correction amount is subtracted from the current angle to obtain the updated angle. The updated angle is compared with the upper and lower bounds of the preset negative angle interval, and angles exceeding the upper and lower bounds are replaced with the corresponding boundary values. The replaced angle is used as the new current angle to repeat the steps of thickness prediction, change rate calculation, angle correction amount calculation, updated angle calculation, and interval comparison until the number of iterations reaches the preset upper limit and the absolute value of the thickness deviation is not greater than the preset deviation threshold.

6. The method according to claim 1, characterized in that, The specific steps for generating the path injection angle chain are as follows: Based on the angle calibration value group, first, a number is established for each angle according to the construction path reference point. Then, the change is obtained by subtracting adjacent angles and compared with the change limit item by item. For the change that exceeds the limit, the limit is replaced and written back into the sequence to keep the angle sequence continuous and generate continuous angle sequence items. Based on the continuous angle sequence, the continuous angles and injection pressures are grouped by segment and the energy value of each segment is calculated. The segment energy is then collected into an energy table in sequence. At the same time, the angle sequence is arranged into a unified output according to the path order to generate a path injection angle chain.

7. The method according to claim 6, characterized in that, The construction path reference point is specifically a sequence of position points formed by dividing the path length equally at fixed step distances along the spraying operation path. The position points are obtained by dividing the total path length obtained by measuring the length of the construction path according to a preset step distance, and the numbering order is determined by the spraying movement direction. Each segmented position is recorded as multiple independent numbered points in sequence. The construction path reference point is obtained by using the movement trajectory of the spray head as a segmentation reference.

8. The method according to claim 1, characterized in that, The specific steps for generating the aforementioned section injection angle group are as follows: Based on the path spray angle chain, the path angles are separated into segments and compared with the segment energy table item by item. Then, the energy values ​​corresponding to the angles are compared with the erosion limit values ​​and non-compliance items are marked to generate segment angle comparison items. Based on the segment angle comparison item, a greedy algorithm is used to arrange the unidentified and removed angles by number and compare the angle energy with the energy threshold item by item. Then, the first angle in the sequence that meets the threshold is extracted as the valid angle to generate the valid angle item. Based on the effective angle item, if an effective angle does not exist, the first matching angle is screened out in the segment angle comparison item according to the erosion threshold, and then the effective angle and the screened angle are written into the sequence according to the segment order to generate the segment spray angle group.

9. A water jet cleaning control method for the cutterhead of a tunnel boring machine based on any one of claims 1-8, comprising: 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. Based on the cutter head cleaning grid parameter set, the installation point and direction of the water jet nozzle are read, and the distance and direction between the center point of the sub-area and the pressure node of the test water supply pipeline are combined to form an energy value. Then, the effective coverage range is determined by a threshold to obtain the jet coverage energy distribution set. 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 values ​​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. 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. Based on the nozzle arrangement adjustment parameter set, the nozzle start-up time is read according to the test, the assigned sub-region time is arranged into the time axis and aligned with the cutter head rotation area reference, and then integrated into a continuous time period and uniformly sorted to obtain the nozzle start-up 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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