Narrow space assembling and starting guiding system

Abstract

The invention, which relates to the technical field of shield tunnel construction, discloses a narrow space assembling and launching guiding system comprising a space modeling module, an assembling planning module, an attitude sensing module, a deviation calculation module, a guiding decision module and an execution control module. The space modeling module constructs a three-dimensional space model of the starting well; the assembly planning module calculates an assembly feasible region and generates a modular assembly sequence; the attitude sensing module collects attitude data of the shield tunneling machine; the deviation calculation module calculates an attitude deviation value; the guiding decision-making module generates a fine tuning control scheme under the constraint of the assembly feasible region; and the execution control module executes adjustment and triggers closed-loop verification. According to the method, the problem that the precision is out of control when the shield tunneling machine is assembled in a narrow space is solved, the updated attitude data are collected again and the updated deviation value is verified after each attitude adjustment, the attitude deviation is ensured to be gradually converged to a deviation allowable threshold range, and the risk that the initial deviation is accumulated and amplified in subsequent tunneling is effectively reduced.

Description

Technical Field

[0001] This invention relates to the field of shield tunnel construction technology, and in particular to a confined space assembly and launching guidance system. Background Technology

[0002] As a core technology in tunnel construction, the success or failure of the entire project hinges on the accuracy of equipment assembly and initial positioning during the initial launch phase. However, in densely populated urban areas, construction often faces the challenge of insufficient operating space in the launch shaft, making it difficult to effectively implement traditional techniques within confined spaces.

[0003] In the tunnel boring machine (TBM) assembly phase, traditional methods rely on spacious work platforms for personnel and equipment movement. When the average operating space per person is reduced to less than 1.5 square meters, personnel movement and the hoisting of large components are severely restricted, directly leading to a loss of control over module docking accuracy. Simultaneously, the congested environment makes the dense pipeline connection work difficult and obstructed, significantly increasing the connection failure rate and the safety risks of component collisions and falls from heights. The problem is particularly pronounced in the initial attitude guidance phase. The TBM must establish a precise initial attitude during the initial launch phase; otherwise, irreversible deviations will accumulate during subsequent tunneling. While traditional automatic guidance systems can provide real-time attitude deviation data, they are insufficient in providing specific and actionable adjustment solutions. Especially due to the limited structure of the launching shaft, the TBM simply lacks the physical space for large-angle corrections. Therefore, operators cannot make effective fine-tuning within the confined space. This causes a small initial deviation to be amplified after entering the tunnel, ultimately requiring costly downtime and route corrections to compensate, severely slowing down construction progress and increasing costs. Summary of the Invention

[0004] The purpose of this invention is to provide a confined space assembly and launch guidance system to solve the problems of the prior art.

[0005] To achieve the above objectives, the present invention provides a confined space assembly and launch guidance system, including a space modeling module, an assembly planning module, an attitude perception module, a deviation calculation module, a guidance decision module, and an execution control module; Spatial modeling module: Obtains the spatial constraint parameters of the launching well and constructs a three-dimensional spatial model of the launching well; Spatial constraint parameters include wellbore geometry data, available working area data, and clearance height data; Assembly planning module: Performs spatial occupancy analysis on multiple modules to be assembled of the tunnel boring machine to obtain the spatial occupancy data corresponding to each module, calculates the assembly feasible region, and generates a modular assembly sequence based on the assembly feasible region and the interface dependency relationship between each module to be assembled. Interface dependency refers to the physical connection order constraints between modules to be assembled; Attitude perception module: Collects the attitude data of the tunnel boring machine through a multi-source sensor group deployed in the launching shaft; The attitude data of the tunnel boring machine includes its three-dimensional position coordinates and attitude angles; Deviation calculation module: Calculates the attitude deviation value based on the preset design axis parameters and the attitude data of the tunnel boring machine; Guiding decision module: compares the attitude deviation value with the preset deviation tolerance threshold to obtain the comparison result. If the comparison result is that the attitude deviation value does not exceed the deviation tolerance threshold, the starting ready signal is output to the execution control module. If the comparison result is that the attitude deviation value exceeds the deviation tolerance threshold, a fine-tuning control scheme is generated within the constraints of the assembly feasible domain. The execution control module is configured to control each module to be assembled to perform docking operations according to the modular assembly sequence, and to receive and execute fine-tuning control schemes to adjust the attitude of the tunnel boring machine. After each adjustment, the attitude perception module is triggered to re-collect updated attitude data of the tunnel boring machine.

[0006] Furthermore, the deviation calculation module is also configured to recalculate updated attitude deviation values ​​based on the design axis parameters and the updated attitude data of the tunnel boring machine.

[0007] Furthermore, the guidance decision module is also configured to verify the updated attitude deviation value against the deviation tolerance threshold. If the updated attitude deviation value is within the deviation tolerance threshold range, it outputs a start-up ready signal to the execution control module.

[0008] Furthermore, the method for generating the three-dimensional spatial model of the launching well is as follows: the spatial modeling module converts the wellbore geometric dimension data into a three-dimensional boundary surface, maps the available working area data into an accessible region in three-dimensional space, converts the clearance height data into a vertical spatial constraint boundary, and generates the three-dimensional spatial model of the launching well based on the three-dimensional boundary surface, the accessible region in three-dimensional space, and the vertical spatial constraint boundary.

[0009] Furthermore, the spatial occupancy analysis method is as follows: the assembly planning module receives the three-dimensional spatial model and spatial constraint parameters of the launching shaft, and obtains the geometric shape data and mass data of each module to be assembled of the tunnel boring machine. The geometric shape data of each module to be assembled is mapped to the three-dimensional spatial model of the launching shaft, and the three-dimensional spatial volume and its boundary envelope occupied by each module to be assembled under different poses are calculated to obtain the spatial occupancy data corresponding to each module to be assembled. The space occupancy data includes the envelope volume data, boundary coordinate data, and center of gravity location data of each module to be assembled.

[0010] Furthermore, the formula for calculating the feasible region of assembly is as follows: ; in, Represents the feasible region for assembly; This indicates the internal space of the launching well. Indicates the first The space occupied by each obstacle The total number of obstacles; This indicates a boundary buffer zone reserved to ensure operational safety.

[0011] Furthermore, the modular assembly sequence includes the hoisting order, docking path, and target docking pose of each module to be assembled, which are obtained specifically as follows: The hoisting sequence is determined using a topological sorting algorithm based on interface dependencies and the quality data of each module. The docking path is the three-dimensional motion trajectory of each module to be assembled from the hoisting and entry point into the well to the target docking position; The target docking pose includes the three-dimensional position coordinates and attitude angles of each module to be assembled during docking.

[0012] Furthermore, the attitude perception module also includes data fusion processing of the raw measurement data collected by the multi-source sensor group, specifically as follows: A weighted average filtering algorithm is used to fuse repeated measurement data from multiple sensors to eliminate random measurement errors and obtain the current attitude data of the tunnel boring machine.

[0013] Furthermore, the attitude deviation values ​​include horizontal deviation, vertical deviation, and heading angle deviation. The formulas for calculating the horizontal deviation, vertical deviation, and heading angle deviation are as follows: ; in, Indicates the horizontal deviation; and These represent the horizontal and vertical coordinates of the tunnel boring machine, respectively. and These represent the horizontal and vertical coordinates of the design axis, respectively. ; in, Indicates the vertical deviation; Represents the vertical coordinates of the tunnel boring machine; Represents the vertical coordinates of the design axis; ; in, Indicates the deviation of the heading angle; Indicates the heading angle of the tunnel boring machine; Indicates the design heading angle.

[0014] Furthermore, the fine-tuning control scheme includes adjusting the direction vector and adjusting the displacement. The calculation formulas for adjusting the direction vector and adjusting the displacement are as follows: ; in, Indicates adjustment of the direction vector; Represents the three-dimensional position coordinates of the tunnel boring machine; Indicates the coordinates of the design location; ; ; in, This represents the ideal adjustment displacement. This indicates the amount of displacement to be adjusted. The function represents taking the smaller of the two parameters.

[0015] Therefore, the present invention employs the above-mentioned confined space assembly and launching guidance system, which has the following beneficial effects: 1. By constructing a three-dimensional spatial model of the starting well through the spatial modeling module, a precise spatial constraint basis is provided for the assembly planning module. This enables the assembly planning module to calculate the feasible assembly domain and plan obstacle avoidance docking paths under the constraints of a narrow space, effectively improving the docking accuracy of the modules and solving the problem of loss of control over the docking accuracy of modules in a narrow space in traditional methods. 2. By comprehensively receiving spatial constraint parameters, assembling feasible region and attitude deviation values ​​through the guidance decision module, a fine-tuning control scheme including adjustment direction vector and adjustment displacement is generated within the constraint range of the assembly feasible region, so that the adjustment scheme is executable in physical space; 3. A closed-loop feedback mechanism of "perception-calculation-decision-execution-re-perception" is formed by the attitude perception module, deviation calculation module, guidance decision module and execution control module. After each attitude adjustment, the attitude data is re-collected and updated and the updated deviation value is verified to ensure that the attitude deviation gradually converges to the deviation tolerance threshold range, effectively reducing the risk of the initial deviation accumulating and amplifying in subsequent tunneling, and avoiding expensive downtime and route correction in the later stage. 4. By connecting the data between the various modules of the system, the problems of assembly in confined spaces and initial guidance are systematically solved as a whole, realizing the coordinated optimization of assembly accuracy control and attitude guidance adjustment, thereby improving the overall system's operating efficiency and positioning accuracy.

[0016] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a confined space assembly and launching guidance system according to the present invention; Figure 2 This is a schematic diagram of the launching guidance system structure of the present invention, which is a confined space assembly and launching guidance system. Detailed Implementation

[0018] The following detailed description of embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0019] Please see Figures 1-2 A confined space assembly and initial guidance system includes a space modeling module, an assembly planning module, an attitude perception module, a deviation calculation module, a guidance decision module, and an execution control module. Spatial modeling module: Obtains the spatial constraint parameters of the launching well and constructs a three-dimensional spatial model of the launching well; The spatial modeling module first collects the raw measurement data of the launching well using a laser scanner or total station, and preprocesses the raw measurement data to obtain spatial constraint parameters. The spatial constraint parameters include well wall geometric dimensions, available working area, and clearance height. The well wall geometric dimensions represent the inner contour boundary of the launching well, including the inner diameter, depth, and inclination of the well wall. The available working area represents the effective planar area within the launching well that can be used for personnel and equipment activities. This data is calculated by subtracting the area occupied by fixed equipment and the reserved area for safety passages from the total planar area of ​​the launching well. The clearance height represents the vertical available space height from the bottom of the well to the wellhead within the launching well.

[0020] The method for generating the three-dimensional spatial model of the launching well is as follows: the spatial modeling module converts the well wall geometric dimension data into a three-dimensional boundary surface, maps the available working area data into a reachable area in three-dimensional space, converts the clearance height data into a vertical spatial constraint boundary, and generates the three-dimensional spatial model of the launching well by combining the above data.

[0021] The three-dimensional spatial model of the launching shaft includes obstacle distribution data and operation channel data. The obstacle distribution data records the three-dimensional coordinates of the fixed support structure, pipeline facilities and temporary equipment in the launching shaft and the space range they occupy. The operation channel data records the passable paths for personnel and equipment in the launching shaft, which avoid the obstacle distribution area and meet the minimum passage width requirements.

[0022] Assembly Planning Module: The assembly planning module is connected to the spatial modeling module and is configured to receive the three-dimensional spatial model of the launching shaft and spatial constraint parameters. It performs spatial occupancy analysis on multiple modules to be assembled by the tunnel boring machine to obtain the spatial occupancy data corresponding to each module. Based on the spatial occupancy data, spatial constraint parameters and obstacle distribution data, it calculates the assembly feasible region and generates a modular assembly sequence based on the assembly feasible region and the interface dependency relationship between each module to be assembled.

[0023] The method for performing spatial occupancy analysis on multiple modules to be assembled in a tunnel boring machine to obtain the spatial occupancy data corresponding to each module is as follows: The assembly planning module first receives the three-dimensional spatial model of the launching shaft and spatial constraint parameters output by the spatial modeling module, and obtains the geometric shape data and mass data of each module to be assembled in the tunnel boring machine. The geometric shape data of each module to be assembled is mapped to the three-dimensional spatial model of the launching shaft, and the three-dimensional spatial volume and its boundary envelope occupied by each module to be assembled under different poses are calculated to obtain the spatial occupancy data corresponding to each module to be assembled.

[0024] It should be noted that the geometric shape data and mass data of the modules to be assembled are read from the preset module parameter database; the geometric shape data includes the length, diameter, outer contour surface equation and interface position coordinates of each module to be assembled, and the mass data includes the total mass and centroid position of each module to be assembled.

[0025] The modules to be assembled include a cutterhead module, a front shield module, a middle shield module, a tail shield module, and a rear matching trolley module.

[0026] The space occupancy data includes the envelope volume data, boundary coordinate data, and center of gravity location data of each module to be assembled.

[0027] The assembly planning module calculates the feasible assembly region based on spatial occupancy data, spatial constraint parameters, and obstacle distribution data. The formula for calculating the feasible assembly region is: ; in, The feasible region for assembly is a set of three-dimensional spatial regions. This represents the internal space of the starting well, determined by the geometric dimensions of the well wall. Indicates the first The space occupied by each obstacle The total number of obstacles; This represents a boundary buffer zone reserved to ensure operational safety. The width of this zone is determined based on available work area data and clearance height data.

[0028] The assembly planning module generates a modular assembly sequence based on the feasible assembly domain and the interface dependencies between the modules to be assembled. The modular assembly sequence includes the hoisting order, docking path, and target docking pose of each module. The method for generating the modular assembly sequence is as follows: the hoisting order is determined using a topology sorting algorithm based on interface dependencies and the quality data of each module; the docking path refers to the three-dimensional motion trajectory of each module from its hoisting entry position to its target docking position, which is planned within the feasible assembly domain and avoids areas with obstacles; the target docking pose includes the three-dimensional position coordinates of each module at the time of docking. and attitude angle ,in , , These represent the horizontal, vertical, and axial coordinates of the module to be assembled in the originating well coordinate system, respectively. , , These represent the pitch angle, roll angle, and yaw angle of the module to be assembled, respectively.

[0029] Among them, the interface dependency relationship refers to the physical connection sequence constraint between the modules to be assembled. In the embodiment of the present invention, the front shield module can only be docked after the cutter head module is in place.

[0030] Attitude perception module: The attitude perception module is configured to collect the current attitude data of the tunnel boring machine (TBM) through a multi-source sensor array deployed within the launching shaft. The TBM's attitude data includes its three-dimensional position coordinates and attitude angles.

[0031] Specifically, the multi-source sensor group includes a total station measurement unit, an inclination sensor unit, and a laser target unit. The total station measurement unit is positioned at a fixed reference point on the starting shaft wall to measure the three-dimensional position coordinates of the tunnel boring machine's characteristic points relative to the reference coordinate system; the inclination sensor unit is installed on the surface of the tunnel boring machine's shell to measure the tunnel boring machine's pitch and roll angles; and the laser target unit is installed at the center of the tunnel boring machine's tail and works in conjunction with the total station measurement unit to measure the tunnel boring machine's heading angle.

[0032] It should be noted that the three-dimensional position coordinates of the tunnel boring machine are represented as follows: ,in , , These represent the horizontal, vertical, and longitudinal coordinates of the tunnel boring machine's center point in the launching shaft coordinate system, respectively, with the coordinate unit being millimeters. The tunnel boring machine's attitude angle is expressed as... ,in Indicates the pitch angle of the tunnel boring machine. Indicates the roll angle of the tunnel boring machine. This indicates the heading angle of the tunnel boring machine, with the unit of angle being radians.

[0033] The attitude perception module performs data fusion processing on the raw measurement data collected by the multi-source sensor group. Specifically, the attitude perception module uses a weighted average filtering algorithm to fuse repeated measurement data from multiple sensors, eliminating random measurement errors and obtaining the current attitude data of the tunnel boring machine. The fused attitude data of the tunnel boring machine is output to the deviation calculation module in the form of a data packet, which includes three fields: timestamp, three-dimensional position coordinates of the tunnel boring machine, and attitude angle of the tunnel boring machine.

[0034] It should be noted that the attitude perception module is also configured to re-acquire updated attitude data of the tunnel boring machine in response to trigger signals from the execution control module. After the execution control module completes an attitude adjustment operation, it sends an acquisition trigger signal to the attitude perception module. Upon receiving the signal, the attitude perception module activates the multi-source sensor group to perform a new round of data acquisition, obtains the updated attitude data of the tunnel boring machine, and transmits it to the deviation calculation module.

[0035] Deviation Calculation Module: The deviation calculation module is connected to the attitude perception module and is configured to receive the current attitude data of the tunnel boring machine and calculate the attitude deviation value based on the preset design axis parameters and the current attitude data of the tunnel boring machine.

[0036] Specifically, the deviation calculation module first reads the preset design axis parameters from the system storage unit. The deviation calculation module receives the tunnel boring machine's attitude data output by the attitude perception module, compares the tunnel boring machine's attitude data with the design axis parameters, and calculates the attitude deviation value. The attitude deviation value includes horizontal deviation, vertical deviation, and heading angle deviation. The deviation calculation module encapsulates the calculated attitude deviation value into a deviation data packet and outputs it to the guidance decision module. The deviation data packet contains four fields: horizontal deviation, vertical deviation, heading angle deviation, and a calculation timestamp.

[0037] It should be noted that the design axis parameters are based on the ideal starting posture of the tunnel boring machine, which is predetermined according to the tunnel design drawings, including the design position coordinates. and design attitude angle ,in This represents the lateral coordinate of the design axis in the originating well coordinate system. This represents the longitudinal coordinate of the design axis in the originating well coordinate system. This represents the vertical coordinate of the design axis in the originating well coordinate system. Indicates the design pitch angle. Indicates the design roll angle. Indicates the design heading angle.

[0038] The formula for calculating the horizontal deviation is: ; in, This indicates the horizontal deviation, expressed in millimeters. and These represent the horizontal and vertical coordinates of the tunnel boring machine (TBM) in its attitude data, respectively, and are derived from the output of the attitude perception module. and These represent the horizontal and vertical coordinates of the design axis in the design axis parameters, respectively, and are derived from preset values ​​in the system storage unit.

[0039] The formula for calculating the vertical deviation is: ; in, This indicates the vertical deviation in millimeters. A positive value indicates that the tunnel boring machine is above the design axis, and a negative value indicates that the tunnel boring machine is below the design axis. The vertical coordinates of the tunnel boring machine are derived from the output of the attitude perception module; The vertical coordinates in the design axis parameters are derived from preset values ​​in the system storage unit.

[0040] The formula for calculating the heading angle deviation is: ; in, This indicates the deviation of the heading angle, in radians. A positive value indicates that the tunnel boring machine's heading is deviated to the right, and a negative value indicates that the tunnel boring machine's heading is deviated to the left. The heading angle of the tunnel boring machine is derived from the output of the attitude sensing module; The design heading angle is derived from the preset value of the system storage unit.

[0041] In an embodiment of the present invention, the deviation calculation module is further configured to recalculate the updated attitude deviation value based on the design axis parameters and the updated attitude data of the tunnel boring machine. After the attitude sensing module outputs the updated attitude data of the tunnel boring machine, the deviation calculation module recalculates the horizontal deviation, vertical deviation, and heading angle deviation using the same calculation formula described above, obtains the updated attitude deviation value, and outputs it to the guidance decision module.

[0042] Guiding Decision Module: This module connects to the spatial modeling module, assembly planning module, and deviation calculation module. It is configured to receive spatial constraint parameters, the assembly feasible region, and attitude deviation values. The module compares the attitude deviation values ​​with a preset tolerance threshold. If the attitude deviation exceeds the tolerance threshold, a fine-tuning control scheme is generated within the constraints of the assembly feasible region based on the attitude deviation value and the operation channel data. If the attitude deviation does not exceed the tolerance threshold, the guiding decision module directly outputs a start-up ready signal to the execution control module.

[0043] Specifically, the guidance decision module first receives the spatial constraint parameters and operation channel data output by the spatial modeling module, the assembly feasible region output by the assembly planning module, and the attitude deviation value output by the deviation calculation module. The guidance decision module reads the preset deviation tolerance threshold from the system storage unit, compares the attitude deviation value with the deviation tolerance threshold, and determines whether a fine-tuning control scheme needs to be generated based on the comparison result, and outputs it to the execution control module.

[0044] It should be noted that the allowable deviation threshold includes the allowable horizontal deviation threshold. Vertical deviation allowable threshold and the allowable threshold for heading angle deviation The above thresholds are preset according to the accuracy requirements of tunnel design.

[0045] The guidance decision module compares the attitude deviation value with the allowable deviation threshold. The comparison and judgment formula is as follows: ; in, The value represents the comparison result. A value of 1 indicates that the attitude deviation exceeds the allowable threshold, while a value of 0 indicates that the attitude deviation is within the allowable threshold range. Indicates the horizontal deviation. Indicates the vertical deviation. This indicates the deviation of the heading angle.

[0046] If the comparison results Then, the guiding decision module generates a fine-tuning control scheme within the constraints of the assembly feasible domain and outputs it to the execution control module.

[0047] If the comparison results Then the guidance decision module outputs an initial ready signal to the execution control module.

[0048] The fine-tuning control scheme includes adjusting the direction vector and adjusting the displacement.

[0049] The formula for calculating the adjustment direction vector is: ; in, This indicates the adjustment direction vector, which is a unit vector, indicating the direction in which the tunnel boring machine moves from its current position to its designed position; The three-dimensional position coordinates in the attitude data of the tunnel boring machine are derived from the data transmitted by the attitude perception module through the deviation calculation module. The coordinates of the design position in the design axis parameters are derived from the system storage unit.

[0050] The calculation of the adjustment displacement needs to consider the constraints of the assembly feasible region. Specifically, the guiding decision module first calculates the ideal adjustment displacement: ; in, This represents the ideal adjustment displacement in millimeters, and indicates the Euclidean distance from the current position to the design position.

[0051] The guidance decision module calculates the maximum adjustable displacement based on the assembly feasible region and operation path data. It should be noted that the maximum adjustable displacement refers to the displacement in the direction vector being adjusted. In terms of direction, the maximum distance that the tunnel boring machine can move is constrained by the assembly feasible domain boundary and the width of the working passage.

[0052] The final formula for adjusting the displacement is: ; in, This indicates the amount of displacement adjustment, in millimeters. The function takes the smaller of the two parameters to ensure that the actual adjustment does not exceed the constraints of the assembly feasible region.

[0053] The guidance decision module will adjust the direction vector. and adjusting displacement It is encapsulated as a fine-tuning control scheme and output to the execution control module.

[0054] In an embodiment of the present invention, the guidance decision module is further configured to verify the updated attitude deviation value against the deviation tolerance threshold. After the deviation calculation module outputs the updated attitude deviation value, the guidance decision module recalculates the comparison result using the aforementioned comparison judgment formula.

[0055] The execution control module is connected to the assembly planning module, guidance decision module and attitude perception module respectively. It is configured to control each module to be assembled to perform docking operations according to the modular assembly sequence, and to receive and execute fine-tuning control schemes to adjust the attitude of the tunnel boring machine. After each adjustment, it triggers the attitude perception module to re-collect updated attitude data of the tunnel boring machine.

[0056] Specifically, during the tunnel boring machine (TBM) assembly phase, the execution control module receives the modular assembly sequence output by the assembly planning module and sequentially controls the hoisting equipment of each module to be assembled to perform hoisting operations according to the hoisting order defined in the modular assembly sequence. Based on the docking path, the execution control module controls each module to be assembled to move from its hoisting entry position to the target docking posture, and issues a docking confirmation signal after each module reaches the target docking posture. After each docking operation is completed, the execution control module sends a data acquisition trigger signal to the attitude sensing module, triggering the attitude sensing module to acquire the TBM's attitude data. The TBM's attitude data is processed by the deviation calculation module to obtain the attitude deviation value, which is then used by the guidance decision module to determine whether attitude adjustment is needed.

[0057] If the guidance decision module passes the verification and outputs a launch ready signal, the execution control module receives the launch ready signal and enters the launch preparation state, waiting for the tunnel boring machine to start tunneling. If the guidance decision module does not output a launch ready signal, it indicates that the updated attitude deviation value still exceeds the allowable deviation threshold. The guidance decision module will regenerate a fine-tuning control scheme, and the execution control module will receive the fine-tuning control scheme and execute attitude adjustment. The attitude sensing module will be repeatedly triggered to collect the attitude data of the tunnel boring machine and execute attitude adjustment until the updated attitude deviation value is within the allowable deviation threshold range.

[0058] Specifically, the execution control module determines the direction of action of the adjustment actuator based on the adjustment direction vector in the fine-tuning control scheme, and determines the range of action of the adjustment actuator based on the adjustment displacement. In the embodiment of the present invention, the adjustment actuator includes a hydraulic jack and an adjustment pad. The hydraulic jack is used to provide adjustment thrust, and the adjustment pad is used to maintain the stability of the tunnel boring machine attitude after the adjustment is completed.

[0059] It should be noted that the entire system is set in the rear-mounted trolley module, working with the tunnel boring machine and various sensors on the shaft wall to complete spatial modeling, data acquisition and calculation, and generate fine-tuning control schemes. Finally, the fine-tuning control schemes are executed by adjusting the actuators.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A confined space assembly and launch guidance system, characterized in that, It includes a spatial modeling module, an assembly planning module, an attitude perception module, a deviation calculation module, a guidance decision module, and an execution control module; Spatial modeling module: Obtains the spatial constraint parameters of the launching well and constructs a three-dimensional spatial model of the launching well; Spatial constraint parameters include wellbore geometry data, available working area data, and clearance height data; Assembly planning module: Performs spatial occupancy analysis on multiple modules to be assembled of the tunnel boring machine to obtain the spatial occupancy data corresponding to each module, calculates the assembly feasible region, and generates a modular assembly sequence based on the assembly feasible region and the interface dependency relationship between each module to be assembled. Interface dependency refers to the physical connection order constraints between modules to be assembled; Attitude perception module: Collects the attitude data of the tunnel boring machine through a multi-source sensor group deployed in the launching shaft; The attitude data of the tunnel boring machine includes its three-dimensional position coordinates and attitude angles; Deviation calculation module: Calculates the attitude deviation value based on the preset design axis parameters and the attitude data of the tunnel boring machine; Guiding decision module: compares the attitude deviation value with the preset deviation tolerance threshold to obtain the comparison result. If the comparison result is that the attitude deviation value does not exceed the deviation tolerance threshold, the starting ready signal is output to the execution control module. If the comparison result is that the attitude deviation value exceeds the deviation tolerance threshold, a fine-tuning control scheme is generated within the constraints of the assembly feasible domain. The execution control module is configured to control each module to be assembled to perform docking operations according to the modular assembly sequence, and to receive and execute fine-tuning control schemes to adjust the attitude of the tunnel boring machine. After each adjustment, the attitude perception module is triggered to re-collect updated attitude data of the tunnel boring machine.

2. The confined space assembly and launch guidance system according to claim 1, characterized in that, The deviation calculation module is also configured to recalculate updated attitude deviation values ​​based on the design axis parameters and updated shield machine attitude data.

3. The confined space assembly and launch guidance system according to claim 2, characterized in that, The guidance decision module is also configured to verify the updated attitude deviation value against the deviation tolerance threshold. If the updated attitude deviation value is within the deviation tolerance threshold range, it outputs a start-up ready signal to the execution control module.

4. The confined space assembly and launch guidance system according to claim 3, characterized in that, The method for generating the three-dimensional spatial model of the launching well is as follows: the spatial modeling module converts the well wall geometric dimension data into a three-dimensional boundary surface, maps the available working area data into an accessible region in three-dimensional space, converts the clearance height data into a vertical spatial constraint boundary, and generates the three-dimensional spatial model of the launching well based on the three-dimensional boundary surface, the accessible region in three-dimensional space, and the vertical spatial constraint boundary.

5. The confined space assembly and launch guidance system according to claim 4, characterized in that, The spatial occupancy analysis method is as follows: The assembly planning module receives the three-dimensional spatial model and spatial constraint parameters of the launching shaft, and obtains the geometric shape data and mass data of each module to be assembled of the shield machine. The geometric shape data of each module to be assembled is mapped to the three-dimensional spatial model of the launching shaft. The three-dimensional spatial volume and its boundary envelope occupied by each module to be assembled under different poses are calculated to obtain the spatial occupancy data corresponding to each module to be assembled. The space occupancy data includes the envelope volume data, boundary coordinate data, and center of gravity location data of each module to be assembled.

6. The confined space assembly and launch guidance system according to claim 5, characterized in that, The formula for calculating the feasible region of assembly is: ； in, Represents the feasible region for assembly; This indicates the internal space of the launching well. Indicates the first The space occupied by each obstacle The total number of obstacles; This indicates a boundary buffer zone reserved to ensure operational safety.

7. The confined space assembly and launch guidance system according to claim 6, characterized in that, The modular assembly sequence includes the hoisting order, docking path, and target docking pose of each module to be assembled. The specific method for obtaining this sequence is as follows: The hoisting sequence is determined using a topological sorting algorithm based on interface dependencies and the quality data of each module. The docking path is the three-dimensional motion trajectory of each module to be assembled from the hoisting and entry point into the well to the target docking position; The target docking pose includes the three-dimensional position coordinates and attitude angles of each module to be assembled during docking.

8. The confined space assembly and launch guidance system according to claim 7, characterized in that, The attitude perception module also includes data fusion processing of the raw measurement data collected by the multi-source sensor group. The specific method is as follows: A weighted average filtering algorithm is used to fuse repeated measurement data from multiple sensors to eliminate random measurement errors and obtain the current attitude data of the tunnel boring machine.

9. The confined space assembly and launch guidance system according to claim 8, characterized in that, Attitude deviations include horizontal deviation, vertical deviation, and heading angle deviation. The formulas for calculating horizontal deviation, vertical deviation, and heading angle deviation are as follows: ； in, Indicates the horizontal deviation; and These represent the horizontal and vertical coordinates of the tunnel boring machine, respectively. and These represent the horizontal and vertical coordinates of the design axis, respectively. ； in, Indicates the vertical deviation; Represents the vertical coordinates of the tunnel boring machine; Represents the vertical coordinates of the design axis; ； in, Indicates the deviation of the heading angle; Indicates the heading angle of the tunnel boring machine; Indicates the design heading angle.

10. A confined space assembly and launch guidance system according to claim 9, characterized in that, The fine-tuning control scheme includes adjusting the direction vector and adjusting the displacement. The calculation formulas for adjusting the direction vector and adjusting the displacement are as follows: ； in, Indicates adjustment of the direction vector; Represents the three-dimensional position coordinates of the tunnel boring machine; Indicates the coordinates of the design location; ； ； in, This represents the ideal adjustment displacement. This indicates the amount of displacement to be adjusted. The function represents taking the smaller of the two parameters.

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