Forward and reverse design and simulation method for virtual excavation of sinking type vertical shaft heading machine

Abstract

The invention discloses a forward and reverse design and simulation method for virtual excavation of a sunken vertical shaft heading machine. The method comprises the following steps: S1, initializing a terrain; s2, kinematic modeling of the heading machine; s3, track surface generation and virtual excavation; s4, forward design; s5, carrying out reverse design; and S6, outputting data. According to the forward and reverse design and simulation method for virtual excavation of the sinking type vertical shaft heading machine, geometric-level virtual excavation simulation can be realized based on geometric parameters, a kinematic model and stratum data of a VSM; the excavation effect of the preset excavation parameters can be verified through forward design, and a feasible excavation parameter set can be intelligently and reversely solved from the target excavation morphology through reverse design; and meanwhile, a standardized geometric model and structured data which can be directly used for subsequent engineering numerical analysis and construction guidance can be exported, so that the parameter determination precision, the process controllability and the scheme optimization capability before construction are improved.

Description

Technical Field

[0001] This invention relates to the field of engineering construction simulation technology, and in particular to a method for virtual excavation forward and reverse design and simulation of a sunken shaft tunneling machine. Background Technology

[0002] Vertical shaft sinking machines (VSMs) are key mechanized equipment for constructing shafts, pits, and deep foundation pits. Their tunneling process involves complex spatial geometric movements of the robotic arm and other tunneling mechanisms, cutting interactions with the ground, excavated soil removal, and segmented support—multiple coupled processes. Due to the complex and variable geological conditions and limited construction space in actual engineering projects, the precision requirements for setting tunneling parameters and controlling the construction process are extremely high. However, in current engineering practice, the pre-construction design and parameter determination face significant challenges, specifically manifested in the following ways: 1. Construction parameter setting relies on experience and on-site trial excavation. In existing technologies, tunneling parameters (such as advance rate, boom angle, advance step distance, and cutting sequence) are mainly determined by engineers' experience or through gradual testing and adjustment on the construction site. This approach lacks effective tools for accurately verifying and predicting parameter schemes before construction, resulting in parameter optimization lagging behind actual working conditions. This makes it difficult to achieve proactive control and forward-looking optimization of the construction process, increasing construction costs and time, and also introducing potential safety risks.

[0003] 2. Existing simulation technologies struggle to support precise virtual excavation at the engineering level. Currently, most simulation systems for shaft construction focus on 3D animation demonstrations of equipment movement or numerical analysis (such as finite element analysis) of the post-excavation ground mechanical response. These methods fail to utilize the real geometry and kinematic model of the VSM (Virtual Shaft Module) as the core driver to achieve precise, geometric-level simulation of cutting and sectioning processes with the 3D ground model. Their outputs are mostly visual animations or abstract mechanical contour maps, unable to directly generate engineering-level geometric models (such as solid models) and structured data for engineering drawing verification, manufacturing tolerance analysis, or precise quantity calculation. Therefore, their role in supporting specific construction decisions is limited.

[0004] 3. Incomplete forward and reverse design capabilities, lacking closed-loop optimization. Most existing methods only offer forward simulation capabilities, simulating and evaluating excavation effects given a set of tunneling parameters. However, they lack effective support for the more critical reverse design problem—that is, solving one or more sets of feasible, or even optimal, tunneling parameters to achieve the desired excavation face or target cross-sectional shape given in engineering design drawings. This prevents construction scheme design from achieving "goal-oriented" intelligent parameter optimization, limiting the proactive control over construction accuracy and goal conformity.

[0005] In summary, existing technologies struggle to conduct comprehensive, high-precision virtual simulation and closed-loop optimization design for the entire shaft excavation process (from mechanical movement to excavation face formation, volume changes, and muck removal balance) before construction. This makes it impossible to comprehensively assess key indicators such as excavation accuracy, muck removal balance, and cumulative shaft axis deviation at each stage in advance, and also prevents personalized optimization of excavation strategies based on specific geological data and mechanical characteristics. In projects with complex geological formations or high-precision control requirements, these shortcomings can easily lead to engineering risks such as over-excavation, under-excavation, shaft deviation, repeated trial excavation, and even soil instability. Summary of the Invention

[0006] The technical problem this invention aims to solve is to address the shortcomings of the existing technology by providing a virtual excavation forward and reverse design and simulation method for submerged shaft tunneling machines. This method can achieve geometric-level virtual excavation simulation based on the geometric parameters, kinematic model, and geological data of the VSM (Vehicle Shaft Management System). It can not only verify the excavation effect of preset tunneling parameters through forward design, but also intelligently derive feasible tunneling parameter sets from the target excavation morphology through reverse design. At the same time, it can export standardized geometric models and structured data that can be directly used for subsequent engineering numerical analysis and construction guidance, thereby improving the accuracy of parameter determination, process controllability, and scheme optimization capabilities before construction.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A virtual excavation forward and reverse design and simulation method for a sunken shaft tunneling machine includes the following steps: S1. Terrain Initialization: Generate an initial three-dimensional geological model of the shaft area based on geological exploration data, design parameters, or field measurement data. S2. Kinematic Modeling of Tunnel Boring Machine: Establish a kinematic model of the sunken vertical shaft tunnel boring machine. Based on the geometric parameters and motion sequence of the robotic arm, connecting rod and tunneling components, analyze the spatial motion trajectory of the tunnel boring machine. S3. Trajectory Surface Generation and Virtual Excavation: Based on the motion trajectory, the excavation surface that cuts the strata is determined, and the corresponding spline trajectory surface is constructed using a geometric modeling library; the spline trajectory surface is then subjected to geometric Boolean subtraction or voxel removal with the initial three-dimensional geological model to achieve virtual stratum cutting, excavation body removal, and terrain reconstruction, thereby obtaining the excavation process model and the corresponding excavation morphology and excavation volume data; S4. Forward design: Input a preset set of tunneling parameters, and calculate and output the corresponding excavation topography and excavation volume data by executing steps S1 to S3. S5. Reverse Design: Input the target excavation face or cross-sectional shape, establish the geometric mapping relationship between the target excavation face or cross-sectional shape and the tunneling parameter set, and solve the constrained optimization problem to reversely obtain the tunneling parameter set that satisfies the target excavation face or cross-sectional shape; S6. Data Output: Export the excavation process model, excavation morphology, excavation volume data, and reverse-engineered tunneling parameter set obtained from the simulation into geometric model files and structured data files.

[0008] As a preferred embodiment, in the S1 terrain initialization step, the geological exploration data, design parameters, or field measurement data include discrete sampling points, point clouds, contour lines, or voxelized terrain data; based on the discrete sampling points, point cloud data, discrete contour line sets, or voxelized terrain data, a continuous initial terrain surface is generated through interpolation, fitting, or surface reconstruction algorithms; the initial three-dimensional geological model includes multiple layers of soil, each layer containing one or more stratigraphic parameters among density, cohesion, friction angle, and water content.

[0009] As a preferred embodiment, in the S2 step of kinematic modeling of the tunneling machine, the geometric parameters of the tunneling machine include the link length and the relative positional relationship of the joint hinge points; the motion sequence includes the joint rotation angle, boom length, propulsion step distance, cylinder stroke, and propulsion depth; the motion sequence is discretized in units of time step or propulsion segment.

[0010] As a preferred embodiment, in the S3, trajectory surface generation and virtual excavation steps, the ray method is used to determine the excavation action surface. Specifically, it is determined whether the ray pointing from the joint hinge point of the robotic arm to the movement trajectory point intrudes into the current excavation contour. If so, it is determined that the position corresponding to the trajectory point has an excavation effect on the stratum. The geometric Boolean subtraction operation calculates the excavation volume change and excavation surface morphology of each advancement section and generates a segmented excavation data table.

[0011] As a preferred embodiment, the S3 trajectory surface generation and virtual excavation step further includes a geometric correction step: based on the geometric correction function determined by the stratum attribute parameters, empirical models or actual measurement data, the excavation working surface or the excavation morphology obtained by Boolean operation is corrected.

[0012] As a preferred embodiment, in step S5, the reverse design step, the geometric mapping relationship is established using the target cross-section geometric constraint function, and the optimization problem is solved by an iterative optimization algorithm, which includes gradient method, genetic algorithm, or a hybrid strategy of both. The method also includes a closed-loop verification step in which the tunneling parameter set obtained by reverse design is substituted into the forward design step for verification.

[0013] A virtual excavation forward and reverse design and simulation system for a submerged shaft tunneling machine, used to implement the methods described above, including: The terrain modeling module is used to generate an initial three-dimensional geological model of the shaft area based on geological data. The kinematic modeling module is used to build the kinematic model of the sunken shaft tunneling machine and analyze the movement trajectory of the tunneling machine based on the geometric and kinematic parameters of the robotic arm. The excavation simulation module is used to determine the excavation surface based on the motion trajectory, and to construct spline surfaces using a geometric modeling library and perform geometric Boolean subtraction operations with the initial three-dimensional geological model to realize virtual stratum cutting and terrain reconstruction. The forward design module is used to call the terrain modeling module, the kinematic modeling module and the excavation simulation module to perform calculations based on the input set of tunneling parameters, and output the corresponding excavation morphology and excavation volume data; The reverse design module is used to, based on the input target excavation shape, establish a geometric mapping relationship between the target excavation shape and the set of tunneling parameters and solve the optimization problem to find the set of tunneling parameters that satisfies the target excavation shape. The data export module is used to export the simulation-derived models and data into geometric files and structured data files.

[0014] As a preferred embodiment, the excavation simulation module calls the geometric modeling library to construct spline surfaces and perform geometric Boolean subtraction operations.

[0015] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the virtual excavation forward and reverse design and simulation method for a sunken shaft tunneling machine as described above.

[0016] The present invention has the following beneficial effects: 1. This invention establishes a precise kinematic model of a Virtual Sandwich Model (VSM) and, based on its motion trajectory, constructs a spline trajectory surface using a geometric modeling library (such as OCCT). This surface is then subjected to geometric Boolean subtraction with a 3D geological model, achieving pixel-level precise geometric simulation of the "cutting-removal" process of the strata. This method directly generates engineering-grade, measurable excavation geometry (such as STL and STEP models) and structured engineering quantity data (such as volume and surface area), rather than merely providing a visual preview. This allows the simulation results to be directly used for construction drawing verification, manufacturing tolerance analysis, and accurate engineering quantity budgeting, greatly enhancing the practical value of simulation in the engineering design stage. It achieves realistic virtual excavation driven by geometry and kinematics, with high simulation accuracy and engineering practical value.

[0017] 2. This invention not only provides forward design functionality, allowing for the verification and comparison of preset parameter schemes, but its core innovation lies in the introduction of reverse design functionality. This function can automatically establish a geometric mapping relationship between the target and mechanical parameters based on the input target excavation morphology (such as the design cross-section), and use numerical optimization algorithms (such as genetic algorithms and gradient methods) to solve for the set of tunneling parameters that meet the target morphology. More importantly, through the "closed-loop verification" step, the reverse-calculated parameters are substituted into the forward simulation verification, ensuring the feasibility of the scheme. This closed loop of "target → parameters → verification" transforms construction design from "experience-based trial and error" to an intelligent process of "target-driven, parameter optimization," significantly improving the controllability and accuracy of the construction process. A complete closed loop of forward design and reverse solution is constructed to achieve target-oriented intelligent design of construction parameters.

[0018] 3. This invention, through segment-by-segment and layer-by-layer virtual simulation of the entire excavation process, can dynamically calculate and output key indicators such as excavation volume, slag discharge, excavation face morphology, and cumulative shaft axis deviation for each advancement segment before construction. This allows the construction team to identify potential risks in advance (such as excavation instability in specific strata) and optimize construction strategies based on simulation data (such as adjusting the advancement sequence and cutting order), thereby effectively reducing the frequency of on-site trial excavations, avoiding rework, and reducing the risk of safety accidents such as collapses and deviations caused by improper excavation control. The ability to quantitatively assess risks throughout the entire construction process in advance helps reduce project costs and safety risks.

[0019] 4. The data export module of this invention can export the geometrically accurate post-excavation terrain model and excavation body model directly generated by simulation into a format commonly used by CAE software (such as STEP and VTK), and export the excavation quantities and construction parameter tables into structured data files (such as CSV and JSON). This eliminates the cumbersome and error-prone manual conversion process between simulation results and numerical analysis models, achieving seamless data integration between design, simulation, and in-depth analysis, and significantly improving the efficiency and reliability of collaborative analysis of complex engineering problems. It connects the data flow between design simulation and engineering numerical analysis, thereby improving the overall efficiency of engineering analysis.

[0020] 5. The method of this invention can incorporate specific, multi-layered geological parameters, enabling virtual excavation simulation to realistically reflect the impact of different strata (such as soft soil and hard rock) on excavation results. Combining its forward and reverse design capabilities and multi-objective optimization potential, the system can generate customized optimal tunneling strategies (including robotic arm movement sequences, advance step combinations, and muck removal schemes) for shaft engineering under specific geological conditions, comprehensively considering excavation accuracy, efficiency, cost, and safety. This makes the construction scheme no longer universally applicable, but rather a highly adapted, optimized, and personalized scheme tailored to the specific engineering environment. Thus, while ensuring project quality and safety, it is expected to improve construction efficiency and save construction costs. It achieves the effect of supporting construction strategy optimization coupled with personalized strata data, enhancing the adaptability and economy of construction. Attached Figure Description

[0021] Figure 1 is a flowchart of the virtual excavation forward and reverse design and simulation method of the sunken shaft tunneling machine of the present invention; Figure 2 is a schematic diagram of the kinematic modeling of the shaft boring machine of the present invention; Figure 3 shows the excavation trajectory and excavation surface profile calculated based on excavation parameters according to the present invention; Figure 4 is a schematic diagram of the excavation spline surface generated based on the tunneling trajectory according to the present invention; Figure 5 is a schematic diagram of the optional geometric correction of the excavation bottom surface morphology according to the present invention; Figure 6 is a schematic diagram of Boolean operations between the trajectory surface and the terrain surface in this invention; Figure 7 is a schematic diagram of the calculation results and data export of the present invention. Detailed Implementation

[0022] The present invention will now be described in further detail with reference to the accompanying drawings and specific preferred embodiments.

[0023] In the description of this invention, it should be understood that the terms "left side," "right side," "upper part," "lower part," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. "First," "second," etc., do not indicate the importance of the components, and therefore should not be construed as a limitation of this invention. The specific dimensions used in this embodiment are only for illustrating the technical solution and do not limit the scope of protection of this invention.

[0024] This invention provides a method, system, and storage medium for virtual excavation forward and reverse design and simulation of a submerged shaft tunneling machine, which is used to perform geometric virtual simulation, parametric design, and optimization of the entire excavation process based on the submerged shaft tunneling machine before shaft (or deep foundation pit) construction.

[0025] This invention provides a method, system, and storage medium for virtual excavation forward and reverse design and simulation of a submerged shaft tunneling machine, which is used to perform geometric virtual simulation, parametric design, and optimization of the entire excavation process based on VSM before shaft (or deep foundation pit) construction.

[0026] like Figure 1 As shown, the method described in this embodiment mainly includes the following steps: S1. Terrain Initialization: Generate an initial three-dimensional geological model of the shaft area based on geological exploration data, design parameters, or field measurement data.

[0027] This step generates an initial three-dimensional geological model of the shaft area based on geological exploration data, design parameters, or field measurement data.

[0028] Specifically, the input data can be discrete sampling point coordinates (e.g., points on a vertical section of a shaft), point cloud data, discrete contour line sets, or voxelized terrain data. The system processes the input data: for example, when the input is discrete sampling points, it uses spline interpolation and other algorithms to fit and generate a continuous cross-sectional contour curve, then rotates it around the shaft's design axis to form a rotationally symmetric initial terrain surface; for other types of data, corresponding surface reconstruction or fitting algorithms are used. The generated initial 3D geological model can contain multi-layer soil information, with each layer associated with engineering geological parameters such as density, cohesion, internal friction angle, and water content. This step provides an accurate digital geological environment for subsequent virtual excavation.

[0029] S2. Kinematic Modeling of Tunnel Boring Machine: Establish a kinematic model of the sunken vertical shaft tunnel boring machine. Based on the geometric parameters and motion sequence of the robotic arm, connecting rod, and tunneling components, analyze the spatial motion trajectory of the tunnel boring machine.

[0030] This step establishes a kinematic model of the sunken shaft tunneling machine to analyze the spatial motion trajectory of its working mechanism.

[0031] like Figure 2 The schematic diagram of the kinematic modeling of the shaft tunneling machine shown includes input data such as the geometric parameters of the tunneling machine (e.g., the length of each link, the relative positional relationship of the joint hinge points, and the structural connection relationship of the robotic arm) and the motion sequence (e.g., the rotation angle of each joint, the arm span, the advance step distance, the cylinder stroke, and the advance depth). By establishing a unified global coordinate system and based on the geometric relationship of the robotic arm and coordinate transformation formulas (e.g., the DH parameter method), the motion parameters of each joint can be analyzed or numerically calculated. The spatial position and attitude of the end effector (e.g., the milling head) of the tunneling machine in each time step or each advance segment can be solved step by step, thus obtaining a continuous spatial motion trajectory.

[0032] In this context, numbers 1, 2, and 3 represent joints in the mechanical structure, where the rods are connected by joints and rotate only around the corresponding joints; number 4 represents the mechanical excavation section; and numbers 12, 23, 13, and 14 represent idealized rods used to describe the positional relationships between joints. , This refers to the hydraulic cylinder and piston in a mechanical structure. If a piston is installed on a rod, the corresponding rod can change as the piston extends and retracts. , The included angle value is used for coordinate transformation and mechanical arm kinematics calculation to help solve the excavation trajectory.

[0033] S3. Trajectory Surface Generation and Virtual Excavation: Based on the motion trajectory, the excavation surface that cuts the strata is determined, and the corresponding spline trajectory surface is constructed using a geometric modeling library; the spline trajectory surface is then subjected to geometric Boolean subtraction or voxel removal with the initial three-dimensional geological model to achieve virtual stratum cutting, excavation body removal, and terrain reconstruction, thereby obtaining the excavation process model and the corresponding excavation morphology and excavation volume data.

[0034] like Figure 3 The diagram shows the excavation trajectory and excavation face contour calculated based on excavation parameters. This step determines the actual excavation surface that cuts the ground based on the tunneling machine's trajectory and performs virtual excavation calculations. Specifically, it includes the following steps: S31. Select valid excavation action points from the motion trajectory. Since the milling arm of the VSM typically rotates and extends / retracts around a fixed hinge point, its motion can be abstracted as a ray extending outward from the hinge point. This embodiment uses the ray method for judgment: for each point on the trajectory, determine whether the ray pointing from the corresponding hinge point to that point intrudes into the currently excavated outline or the unexcavated stratum model. If it intrudes, it is determined that the point has an excavation effect on the stratum; otherwise, the point does not participate in the excavation face update of the current step. This method is particularly suitable for working conditions where the excavation radii of adjacent advance layers are inconsistent, and can effectively avoid geometric misjudgments.

[0035] S32. Using a geometric modeling library (such as Open CASCADE Technology, or OCCT for short), the selected set of effective excavation action points is constructed into a smooth spline trajectory surface. Then, this spline surface is translated or swept along the advancing direction to form a three-dimensional "virtual excavation volume".

[0036] S33, Perform virtual excavation calculations. For example... Figure 6The diagram illustrating the Boolean operation between the trajectory surface and the terrain surface shows a geometric Boolean subtraction operation (or voxel removal using voxelization technology) performed between the aforementioned "virtual excavation body" and the initial 3D geological model (or its updated version) generated in step S1. This operation precisely "cuts" and removes the portion occupied by the excavation body from the stratum model, achieving virtual stratum sectioning, while simultaneously updating the terrain surface in real time to complete terrain reconstruction. This process can calculate the volume of soil removed in each advancement segment or time step, the updated excavation face morphology, and generate a segmented excavation volume data table.

[0037] like Figure 5 The diagram illustrates optional geometric corrections to the excavation bottom surface morphology. As a preferred embodiment, geometric corrections can be introduced after obtaining the ideal geometric excavation result. For example, considering the unevenness of the strata or the influence of working conditions in actual construction, the actual contour of the bottom of the milling drum section may not be an ideal horizontal line. The system can determine a geometric correction function based on strata attribute parameters, empirical models, or actual measurement data to locally adjust the ideal excavation surface contour obtained from the above Boolean operations, making the simulated morphology closer to the actual engineering situation.

[0038] S4. Forward design: Input a preset set of tunneling parameters, and calculate and output the corresponding excavation morphology and excavation volume data by executing steps S1 to S3.

[0039] This step performs forward design calculations to verify or evaluate the feasibility of the pre-designed construction plan.

[0040] like Figure 4 The diagram shows a schematic of the excavation spline surface generated based on the tunneling trajectory. The user inputs a preset set of tunneling parameters (i.e., the combination of motion variable parameters in step S2, such as a specific sequence of joint angles, advance step distance, etc.). The system automatically executes the complete process from steps S1 to S3, driving the virtual tunneling machine to "construct" in the digital strata based on this parameter set. After the simulation, the system outputs complete excavation volume data, including the final three-dimensional excavation topography, total excavation volume, step-by-step excavation volume, and estimated muck removal volume. Engineers can evaluate the merits of different schemes by comparing the forward simulation results of different parameter sets.

[0041] S5. Reverse Design: Input the target excavation face or cross-sectional shape, establish the geometric mapping relationship between the target excavation face or cross-sectional shape and the tunneling parameter set, and solve the constrained optimization problem to reverse-engineer the tunneling parameter set that satisfies the target excavation face or cross-sectional shape.

[0042] This step is a key innovation of the present invention: performing reverse design calculations to derive construction parameters from the shape of the target project.

[0043] The user inputs the desired target excavation face or cross-sectional shape (which can be a point cloud, surface model, cross-section DXF file, or parametric representation). Based on the established forward simulation model (i.e., the "geo-mechanical" simulation system constructed in steps S1-S3), an inverse optimization problem is constructed. Specifically, the following steps are included: S51. Establish mapping relationship: Use the geometric constraint function of the target section to establish the geometric mapping relationship between the target shape and the set of motion parameters of the tunneling machine.

[0044] S52. Constructing the Objective Function and Constraints: The objective function is constructed with the core objective of "minimizing the geometric error (such as L2 norm error, cross-sectional overlap rate) between the simulated terrain and the target terrain." Simultaneously, various engineering constraints are incorporated, such as kinematic reachability constraints for the robotic arm (joint angle limits, arm length range), propulsion step distance and angle limits, and construction safety constraints.

[0045] S53. Solving the Optimization Problem: Numerical optimization algorithms are used to solve the constrained problem described above. Depending on the problem complexity, gradient methods (such as SQP, L-BFGS), heuristic global search algorithms (such as genetic algorithms, particle swarm optimization), or a hybrid strategy of global optimization followed by local optimization can be used. Through iterative optimization, one or more sets of tunneling parameters that best approximate the target shape in the simulation results are obtained.

[0046] S54. Closed-loop verification: Substitute the parameter set obtained from the reverse calculation into the forward design process of step S4 for simulation verification. Compare the verification results with the error of the target morphology. If the preset convergence criterion is met (e.g., the error is less than a threshold), the parameter set is output as a feasible solution; otherwise, the optimization strategy can be adjusted and recalculated until a satisfactory solution is obtained. This forms a closed-loop design process of "target → parameters → verification".

[0047] S6. Data Output: Export the excavation process model, excavation morphology, excavation volume data, and reverse-engineered tunneling parameter set obtained from the simulation into geometric model files and structured data files.

[0048] like Figure 7 The calculation results and data export diagram shown indicate that after the simulation and design process is completed, the system will export the key result data into a standard engineering format for subsequent use.

[0049] The exported data mainly includes two categories: First, geometric model files, such as the excavated terrain model and excavation body model, supporting formats such as STL, OBJ, STEP, and VTK, which can be directly used for 3D printing, manufacturing verification, or imported into CAE software (such as ANSYS and Abaqus) for further numerical simulations of mechanics, fluid-structure interaction, etc.; Second, structured data files, such as CSV or JSON format files, which record detailed segmented excavation volume, slag discharge volume, construction parameter tables, shaft verticality curves, etc., for generating construction plan reports, calculating engineering quantities, and providing construction guidance.

[0050] Corresponding to the above method, this embodiment also provides a virtual excavation forward and reverse design and simulation system for a sunken shaft tunneling machine. This system can be implemented in software and runs on general-purpose or special-purpose computing devices. Its main modules include: The terrain modeling module is used to generate an initial three-dimensional geological model of the shaft area based on geological data. The kinematic modeling module is used to build the kinematic model of the sunken shaft tunneling machine and analyze the movement trajectory of the tunneling machine based on the geometric and kinematic parameters of the robotic arm. The excavation simulation module is used to determine the excavation surface based on the motion trajectory, and to construct spline surfaces using a geometric modeling library and perform geometric Boolean subtraction operations with the initial three-dimensional geological model to realize virtual stratum cutting and terrain reconstruction. The forward design module is used to call the terrain modeling module, the kinematic modeling module and the excavation simulation module to perform calculations based on the input set of tunneling parameters, and output the corresponding excavation morphology and excavation volume data; The reverse design module is used to, based on the input target excavation shape, establish a geometric mapping relationship between the target excavation shape and the set of tunneling parameters and solve the optimization problem to find the set of tunneling parameters that satisfies the target excavation shape. The data export module is used to export the simulation-derived models and data into geometric files and structured data files.

[0051] In addition, the system may also include auxiliary modules such as input data module, preprocessing module, model export and interface module, visualization and verification module.

[0052] The input data module is used to receive and manage various types of input data. This includes the mechanical geometry and kinematic description of the VSM (joint type and parameters, link length, cutter head geometry, advance step distance, arm motion sequence, etc.), stratigraphic information (layered geological parameters such as density, strength, water content, etc.), initial topography / surface data, construction constraints (such as maximum permissible deviation), and engineering objectives (such as target cross-sectional morphology).

[0053] The preprocessing module works in conjunction with the input data module to perform preprocessing operations such as formatting, coordinate system unification, discretization, or resampling on the received raw data to make it meet the input requirements of subsequent calculation modules.

[0054] The model export and interface module is responsible for exporting the excavation terrain, excavation body geometric model, and related structured parameters (volume, slag discharge, construction stage table, etc.) obtained from simulation calculations into common geometric formats such as STL, STEP, and VTK, as well as structured data formats such as CSV and JSON, so as to seamlessly interface with third-party numerical simulation tools such as FEM, DEM, and CFD.

[0055] The visualization and verification module provides a human-computer interaction interface. This module supports the dynamic display of the excavation process, stratum changes, and mechanical movements in a 3D scene; it provides functions such as slice viewing, progress playback, and comparison of multiple schemes; and it enables the visualization verification of forward simulation results and reverse design results, geometric error analysis, and parameter sensitivity display to assist users in decision-making.

[0056] The above modules work together to form a complete software system with forward and reverse engineering capabilities and simulation capabilities. The present invention also relates to a computer-readable storage medium, such as a disk, optical disk, solid-state drive, or server storage space. This medium stores a computer program (instructions) that, when loaded and executed by a processor (such as a computer's CPU), can control the computer system to implement any one or more of the virtual excavation forward and reverse design and simulation methods for sunken shaft tunneling machines described in steps S1 to S6 of the above method.

[0057] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all fall within the protection scope of the present invention.

Claims

1. A virtual excavation forward and reverse design and simulation method for a sunken shaft tunneling machine, characterized in that, Includes the following steps: S1. Terrain Initialization: Generate an initial three-dimensional geological model of the shaft area based on geological exploration data, design parameters, or field measurement data. S2. Kinematic Modeling of Tunnel Boring Machine: Establish a kinematic model of the sunken vertical shaft tunnel boring machine. Based on the geometric parameters and motion sequence of the robotic arm, connecting rod and tunneling components, analyze the spatial motion trajectory of the tunnel boring machine. S3. Trajectory Surface Generation and Virtual Excavation: Based on the motion trajectory, the excavation surface that cuts the strata is determined, and the corresponding spline trajectory surface is constructed using a geometric modeling library; the spline trajectory surface is then subjected to geometric Boolean subtraction or voxel removal with the initial three-dimensional geological model to achieve virtual stratum cutting, excavation body removal, and terrain reconstruction, thereby obtaining the excavation process model and the corresponding excavation morphology and excavation volume data; S4. Forward design: Input a preset set of tunneling parameters, and calculate and output the corresponding excavation topography and excavation volume data by executing steps S1 to S3. S5. Reverse Design: Input the target excavation face or cross-sectional shape, establish the geometric mapping relationship between the target excavation face or cross-sectional shape and the tunneling parameter set, and solve the constrained optimization problem to reversely obtain the tunneling parameter set that satisfies the target excavation face or cross-sectional shape; S6. Data Output: Export the excavation process model, excavation morphology, excavation volume data, and reverse-engineered tunneling parameter set obtained from the simulation into geometric model files and structured data files.

2. The virtual excavation forward and reverse design and simulation method for a sunken shaft tunneling machine according to claim 1, characterized in that: In step S1, the terrain initialization step, the geological exploration data, design parameters, or field measurement data include discrete sampling points, point clouds, contour lines, or voxelized terrain data; based on the discrete sampling points, point cloud data, discrete contour line sets, or voxelized terrain data, a continuous initial terrain surface is generated through interpolation, fitting, or surface reconstruction algorithms; the initial three-dimensional geological model includes multiple layers of soil, each layer containing one or more stratigraphic parameters among density, cohesion, friction angle, and water content.

3. The virtual excavation forward and reverse design and simulation method for a sunken shaft tunneling machine according to claim 2, characterized in that: In the S2 step of kinematic modeling of the tunneling machine, the geometric parameters of the tunneling machine include the link length and the relative positional relationship of the joint hinge points; the motion sequence includes the joint rotation angle, boom length, propulsion step distance, cylinder stroke, and propulsion depth; the motion sequence is discretized in units of time step or propulsion segment.

4. The virtual excavation forward and reverse design and simulation method for a sunken shaft tunneling machine according to claim 3, characterized in that: In step S3, trajectory surface generation and virtual excavation, the ray method is used to determine the excavation action surface. Specifically, it is determined whether the ray pointing from the joint hinge point of the robotic arm to the movement trajectory point intrudes into the current excavation contour. If so, it is determined that the position corresponding to the trajectory point has an excavation effect on the stratum. The geometric Boolean subtraction operation calculates the excavation volume change and excavation surface morphology of each advancement section and generates a segmented excavation data table.

5. The virtual excavation forward and reverse design and simulation method for a sunken shaft tunneling machine according to claim 4, characterized in that: The S3 trajectory surface generation and virtual excavation steps also include a geometric correction step: based on the geometric correction function determined by the stratum attribute parameters, empirical models or actual measurement data, the excavation working surface or the excavation morphology obtained by Boolean operation is corrected.

6. The virtual excavation forward and reverse design and simulation method for a sunken shaft tunneling machine according to claim 5, characterized in that: In step S5, the reverse design step, the geometric mapping relationship is established using the target section geometric constraint function, and the optimization problem is solved by an iterative optimization algorithm, which includes gradient method, genetic algorithm or a hybrid strategy of the two; the method also includes a closed-loop verification step in which the tunneling parameter set obtained by reverse design is substituted into the forward design step for verification.

7. A virtual excavation forward and reverse design and simulation system for a sunken shaft tunneling machine, used to implement the method according to any one of claims 1 to 6, characterized in that, include: The terrain modeling module is used to generate an initial three-dimensional geological model of the shaft area based on geological data. The kinematic modeling module is used to build the kinematic model of the sunken shaft tunneling machine and analyze the movement trajectory of the tunneling machine based on the geometric and kinematic parameters of the robotic arm. The excavation simulation module is used to determine the excavation surface based on the motion trajectory, and to construct spline surfaces using a geometric modeling library and perform geometric Boolean subtraction operations with the initial three-dimensional geological model to realize virtual stratum cutting and terrain reconstruction. The forward design module is used to call the terrain modeling module, the kinematic modeling module and the excavation simulation module to perform calculations based on the input set of tunneling parameters, and output the corresponding excavation morphology and excavation volume data; The reverse design module is used to, based on the input target excavation shape, establish a geometric mapping relationship between the target excavation shape and the set of tunneling parameters and solve the optimization problem to find the set of tunneling parameters that satisfies the target excavation shape. The data export module is used to export the simulation-derived models and data into geometric files and structured data files.

8. The system according to claim 7, characterized in that, The excavation simulation module calls the geometric modeling library to construct spline surfaces and perform geometric Boolean subtraction operations.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the virtual excavation forward and reverse design and simulation method for a sunken shaft tunneling machine as described in any one of claims 1 to 6.

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