A method and system for operator-oriented small-diameter TBM turning monitoring

Abstract

The application provides a small-hole-diameter TBM turning monitoring method and system for operators, relates to the TBM tunneling technical field, and comprises the following steps: S1, in the turning tunneling stage, obtaining a target turning radius of a TBM device, a shield body length, a shield body end face radius and a tunneling mileage, and solving an expected stroke value of each oil cylinder at the tunneling mileage through a rigid body kinematics model; S2, based on the distribution of the oil cylinder on the shield body end face, dividing the shield body end face into four overlapping virtual functional surfaces, calculating an average expected stroke value of each virtual functional surface by using the expected stroke value, and generating a surface threshold value of each virtual functional surface according to the turning direction of the current TBM device and a preset redundancy directionality constraint; S3, according to the preset threshold value, detecting whether the actual stroke value of the oil cylinder appears abnormal fluctuation, if yes, turning to step S4; S4, calculating a stroke characteristic quantity of the virtual functional surface according to the actual stroke value, comparing the stroke characteristic quantity with the surface threshold value, and realizing risk visualization.

Description

Technical Field

[0001] This invention relates to the field of TBM tunneling technology, specifically to a method and system for monitoring the turning of small-diameter TBMs for operators. Background Technology

[0002] In projects such as drainage tunnels for pumped storage power stations and mine tunnels, small-diameter TBMs often need to perform extremely small-radius turns, with a radius of only 30 meters, to adapt to the requirements of the route layout. To achieve flexible turning, open-type TBMs typically use eight hydraulic cylinders arranged in a V-shape to connect the front and rear shields. By controlling the stroke difference of each set of cylinders, the shield can be deflected.

[0003] Currently, monitoring the turning posture of TBMs at construction sites mainly relies on the following methods: (1) Three-dimensional attitude guidance system: The spatial coordinates of the shield body are measured by a laser target or total station to calculate the deviation from the tunnel design axis. However, in small-radius turning sections, the laser beam is easily blocked and interrupted by the shield body itself, and the system only alarms after the deviation has actually occurred, which is a post-measurement and cannot predict the attitude deterioration trend in advance; (2) Independent monitoring of single-cylinder stroke: Currently, the common practice is to display the real-time stroke values ​​of 8 cylinders on the cab interface. Operators rely on their personal experience to perform spatial correlation analysis on the scattered data to determine whether there is deviation from the turning trajectory, insufficient shield tail clearance, or local structural damage. This method requires a high level of spatial imagination and engineering experience from the operator, resulting in a large cognitive load. Furthermore, the visualization interface only displays the real-time stroke value of a single cylinder and does not provide the operator with intuitive risk positioning and early warning, making it less user-friendly. Summary of the Invention

[0004] The purpose of this invention is to provide a small-diameter TBM turning monitoring method and system for operators. It uses a rigid body kinematics model to preset dynamic safety boundaries for the TBM equipment turning tunneling stage, and integrates the dispersed data of multiple cylinders into regional risk judgment based on the distribution of cylinders on the shield end face. It provides hierarchical early warning to operators in an intuitive and visual way, thereby improving construction safety and human-machine interaction friendliness.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following solution: A method for monitoring the turning of a small-diameter TBM (Tunnel Boring Machine) for operators, applied to an open-type TBM, wherein eight hydraulic cylinders are installed on the shield end face of the TBM, and the eight cylinders are arranged in pairs and non-uniformly distributed on the circumference of the shield end face; the method includes the following steps: S1. During the turning tunneling stage, obtain the target turning radius, shield length, shield end face radius and current tunneling mileage of the current TBM equipment, establish a rigid body kinematic model of the relative posture of the front and rear shields, and solve the expected stroke value of each cylinder at the current tunneling mileage through the rigid body kinematic model. S2. Based on the distribution of the hydraulic cylinders on the shield end face, the shield end face is divided into four overlapping virtual functional surfaces. Each virtual functional surface is composed of a pair of hydraulic cylinders and an adjacent hydraulic cylinder in the adjacent group. The average expected travel value of each virtual functional surface is calculated using the expected travel value, and directional constraints are applied according to the current turning direction of the TBM equipment and the preset redundancy to generate the surface threshold of each virtual functional surface. S3. Collect the actual stroke value of the hydraulic cylinder in real time at a preset frequency, and detect whether there is abnormal fluctuation in the actual stroke value according to the preset threshold. If so, proceed to step S4. S4. Calculate the travel characteristic quantity of the corresponding virtual functional surface based on the actual travel value, compare the travel characteristic quantity with the corresponding surface threshold, and assign the corresponding risk level to the four consecutive fan-shaped display areas on the shield end face in the visualization interface based on the comparison result.

[0006] Furthermore, the process of solving for the expected stroke value of each cylinder at the current tunneling mileage using a rigid body kinematics model is as follows: Pre-observation of the hydraulic cylinder's installation azimuth angle on the shield end face And the reference stroke value S; installation azimuth angle It is obtained from the TBM equipment design drawings or on-site measurement and calibration; the reference stroke value S is the measured calibration value of the stroke of each cylinder of the TBM equipment in the straight tunneling stage and in the state of coaxiality of the front and rear shields; During the turning tunneling phase, the horizontal deflection angle of the relative pose of the front and rear shields is calculated using a rigid body kinematics model, based on the target turning radius, shield length, shield end face radius, and current tunneling mileage of the current TBM equipment. Vertical deflection angle and axial approach ; Calculate the expected value of the trip Its formula is: ; Where r represents the radius of the shield end face.

[0007] Furthermore, the process of generating the surface thresholds for each virtual functional surface by applying directional constraints based on the current turning direction of the TBM equipment and the preset redundancy is as follows: Based on the current turning direction of the TBM equipment, each virtual functional surface is marked as the virtual functional surface located on the outside of the turn, the virtual functional surface located on the inside of the turn, the virtual functional surface located above, and the virtual functional surface located below; and the preset first redundancy, second redundancy, and third redundancy are obtained. For the virtual functional surface located on the outside of the turn, a first redundancy is subtracted from its expected average travel value to generate a lower limit threshold. For the virtual functional surface located inside the turn, a second redundancy is added to its expected average travel value to generate an upper limit threshold. For the virtual functional surfaces located above and below, a third redundancy is subtracted and added respectively to their average travel expectation values ​​to generate a range segment threshold consisting of an upper limit value and a lower limit value. And preset the maximum travel difference threshold for all virtual functional surfaces.

[0008] Furthermore, the first redundancy, the second redundancy, and the third redundancy are determined based on the statistical analysis of the deviation between the actual average travel value and the corresponding expected average travel value of each virtual functional surface during the historical turning tunneling phase of the TBM equipment.

[0009] Furthermore, the process of detecting whether there are abnormal fluctuations in the actual travel value based on a preset threshold is as follows: Detect whether the stroke change rate of any cylinder exceeds a preset change rate threshold, or whether the sudden change value of the stroke difference between a pair of cylinders exceeds a preset difference threshold; if so, determine that abnormal fluctuation has occurred and proceed to step S4.

[0010] Furthermore, step S4 specifically includes the following steps: S41. Calculate the average value of the actual stroke of all cylinders in the virtual functional surface as the virtual surface average value; calculate the difference between the maximum and minimum values ​​of the actual stroke of all cylinders in the virtual functional surface as the virtual surface maximum stroke difference value; use the virtual surface average value and the virtual surface maximum stroke difference value as stroke characteristic quantities. S42. Compare the travel feature quantities with the corresponding surface thresholds to generate the risk level of each virtual functional surface. The specific judgment rules are as follows: If the average value of the virtual surface of the virtual functional surface located on the outside of the turn is less than its corresponding lower threshold, it is judged as a risk of the turn trajectory being too large. If the average value of the virtual surface of the virtual functional surface located on the inside of the turn is greater than its corresponding upper limit threshold, it is judged as a risk of insufficient shield tail clearance. If the average value of the virtual surfaces located above or below exceeds the threshold of its corresponding range segment, it is judged as a risk of abnormal vertical posture. If the maximum travel difference of any virtual functional surface is greater than its corresponding maximum travel difference threshold, it is determined to be a risk of local structural bending. S43. Based on the comparison results, the corresponding risk levels are mapped to the four consecutive fan-shaped display areas on the shield end face in the visualization interface according to the preset rules.

[0011] Furthermore, each sector display area corresponds to a set of paired hydraulic cylinders. The process of mapping the corresponding risk level to four consecutive sector display areas on the shield end face in the visualization interface according to preset rules is as follows: Obtain the risk level of each virtual functional surface, compare the risk levels of the two virtual functional surfaces associated with each sector display area, and take the highest risk level of the two virtual functional surfaces as the risk display status of the sector display area.

[0012] Furthermore, the visualization interface presents each sector display area in the form of cards, and the card color changes according to the risk display status; when a card is triggered, the real-time stroke difference of the pair of hydraulic cylinders corresponding to that sector display area is displayed.

[0013] A small-diameter TBM turning monitoring system for operators, employing an operator-oriented small-diameter TBM turning monitoring method, includes: Expected value calculation module: During the turning tunneling stage, the target turning radius, shield length, shield end face radius and current tunneling mileage of the current TBM equipment are obtained, a rigid body kinematic model of the relative posture of the front and rear shields is established, and the expected stroke value of each cylinder at the current tunneling mileage is solved through the rigid body kinematic model. Threshold generation module: Based on the distribution of hydraulic cylinders on the shield end face, the shield end face is divided into four overlapping virtual functional surfaces. Each virtual functional surface is composed of a pair of hydraulic cylinders and an adjacent hydraulic cylinder in the adjacent group. The average expected travel value of each virtual functional surface is calculated using the expected travel value, and directional constraints are applied according to the turning direction of the current TBM equipment and the preset redundancy to generate the surface threshold of each virtual functional surface. Anomaly Trigger Module: Collects the actual stroke value of the hydraulic cylinder in real time at a preset frequency, and detects whether there are abnormal fluctuations in the actual stroke value according to a preset threshold; Risk visualization module: Calculates the travel characteristic quantity of the corresponding virtual functional surface based on the actual travel value, compares the travel characteristic quantity with the corresponding surface threshold, and maps the corresponding risk level to four consecutive fan-shaped display areas on the shield end face in the visualization interface based on the comparison result.

[0014] The beneficial effects of this invention are: This invention provides a small-diameter TBM turning monitoring method and system for operators. By pre-establishing a rigid body kinematic model, the expected stroke value of each cylinder is solved in real time during the turning tunneling stage. Combined with the turning direction and a preset redundancy amount determined based on historical deviation statistics, directional constraints are applied to generate a dynamic surface threshold, which is used as a pre-positioned safety boundary to enhance construction redundancy. This allows the timing of operator intervention to be significantly advanced from post-correction to the risk bud stage, thereby effectively avoiding problems caused by an excessively narrow correction window.

[0015] Furthermore, addressing the existing physical layout of hydraulic cylinders on the shield end face of TBM equipment, which are grouped in pairs and unevenly distributed, this invention divides the shield end face into four overlapping virtual functional surfaces. Each virtual functional surface is composed of a group of paired hydraulic cylinders and an adjacent hydraulic cylinder from the adjacent group, covering an area of ​​approximately 90° circumference. The geometric principle of "three-point plane determination" is used to eliminate the geometric blind spots of two-cylinder sector monitoring in the existing visualization interface. The overlapping design ensures that the transition area between adjacent sectors is covered by at least one virtual functional surface, achieving monitoring without blind spots. At the same time, two complementary feature quantities, the average stroke of the virtual surface and the maximum stroke difference within the virtual surface, are calculated for each virtual functional surface. These are used to monitor the macroscopic turning attitude and the local structural health, respectively, achieving decoupled full coverage of the risk dimension.

[0016] Based on this, the present invention maps the risk levels of each virtual functional surface in the background to four consecutive fan-shaped display areas on the shield end face in the visualization interface according to preset mapping rules. Each fan-shaped display area corresponds to a pair of hydraulic cylinders. The risk level is displayed intuitively in the form of cards in the fan-shaped display area. When triggered, the real-time stroke difference of the corresponding pair of hydraulic cylinders can also be displayed. This allows operators to quickly identify the risk area directly based on the color and position of the card without having to analyze the independent stroke data of the eight hydraulic cylinders. This significantly shortens the judgment time, reduces the reliance on operational experience, and thus greatly improves the user-friendliness of human-computer interaction and construction safety. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating the small-diameter TBM turning monitoring method in Embodiment 1 of the present invention.

[0018] Figure 2 This is a schematic diagram of the TBM equipment turning right in Embodiment 1 of the present invention.

[0019] Figure 3 This is a schematic diagram of the shield end face in the visualization interface of Embodiment 1 of the present invention. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention.

[0022] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0023] Furthermore, for clarity and brevity, descriptions of well-known structures, functions, and configurations may have been omitted. Those skilled in the art will recognize that various changes and modifications can be made to the examples described herein without departing from the spirit and scope of this disclosure.

[0024] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0025] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0026] The present invention will now be described in detail with reference to the accompanying drawings and embodiments: Example 1 In this embodiment, a method for monitoring small-diameter TBM turns, oriented towards operators, is provided, such as... Figure 1 As shown, the method for monitoring the turning of a small-diameter TBM includes the following steps: S1. During the turning tunneling stage, obtain the target turning radius, shield length, shield end face radius and current tunneling mileage of the current TBM equipment, establish a rigid body kinematic model of the relative posture of the front and rear shields, and solve the expected stroke value of each cylinder at the current tunneling mileage through the rigid body kinematic model. S2. Based on the distribution of the hydraulic cylinders on the shield end face, the shield end face is divided into four overlapping virtual functional surfaces. Each virtual functional surface is composed of a pair of hydraulic cylinders and an adjacent hydraulic cylinder in the adjacent group. The average expected travel value of each virtual functional surface is calculated using the expected travel value, and directional constraints are applied according to the current turning direction of the TBM equipment and the preset redundancy to generate the surface threshold of each virtual functional surface. S3. Collect the actual stroke value of the hydraulic cylinder in real time at a preset frequency, and detect whether there is abnormal fluctuation in the actual stroke value according to the preset threshold. If so, proceed to step S4. S4. Calculate the travel characteristic quantity of the corresponding virtual functional surface based on the actual travel value, compare the travel characteristic quantity with the corresponding surface threshold, and assign the corresponding risk level to the four consecutive fan-shaped display areas on the shield end face in the visualization interface based on the comparison result.

[0027] The above-mentioned method for monitoring the turning of small-diameter TBMs will be further explained: Firstly, this method is primarily applied to open-type TBM (Tunnel Boring Machine) equipment. This type of equipment has eight hydraulic cylinders installed on the shield face, arranged in pairs in a non-uniform V-shape around the circumference of the shield face. As an example layout, the installation positions of the eight cylinders can correspond to the clock positions of 11 o'clock, 1 o'clock, 2 o'clock, 4 o'clock, 5 o'clock, 7 o'clock, 8 o'clock, and 10 o'clock. Specifically, 11 o'clock and 1 o'clock form one pair, 2 o'clock and 4 o'clock form another, 5 o'clock and 7 o'clock form another, and 8 o'clock and 10 o'clock form yet another. In this layout, the central angle between the two points within each pair of cylinders is 60° (e.g., 11 o'clock and 1 o'clock), while the included angles between adjacent pairs of cylinders alternate between 30° and 90°, thus forming a non-uniform layout. Based on the circumferential distribution of the hydraulic cylinders, the shield end face is divided into four consecutive sector display areas in a clockwise order in the visual monitoring interface. Each sector corresponds to the installation orientation range of a pair of hydraulic cylinders, which makes it easy for operators to intuitively monitor the working status of each pair of hydraulic cylinders and the attitude of the shield.

[0028] As another exemplary layout, the installation positions of the eight hydraulic cylinders can correspond to the clock positions of 11:30, 12:30, 2:30, 3:30, 5:30, 6:30, 8:30, and 9:30. Specifically, the cylinders at 11:30 and 12:30 form one pair, those at 2:30 and 3:30 form another, those at 5:30 and 6:30 form another, and those at 8:30 and 9:30 form yet another, creating a non-uniform layout. Based on this circumferential distribution of the cylinders, the shield face is divided into four consecutive sector display areas in a clockwise direction in the visual monitoring interface, with each sector corresponding to the installation position range of a pair of hydraulic cylinders.

[0029] It should be noted that the above are merely two exemplary layouts of this application. Any non-uniform V-shaped layout that satisfies the requirement of two adjacent cylinders within each pair of cylinders, with unequal intervals between each pair of cylinders, can achieve the purpose of monitoring small-radius turns. The specific included angle value can be adjusted according to actual parameters such as the shield diameter and turning radius, and is not limited to the examples above.

[0030] Based on this, this embodiment takes the right turn of the TBM equipment as an example, such as... Figure 2 As shown, during the turning tunneling stage, the background obtains the target turning radius R, shield length, shield end face radius r, and current tunneling mileage of the current TBM equipment; then, based on the distribution of the hydraulic cylinders on the shield end face, the shield end face is divided into four overlapping virtual functional surfaces. For example: the first virtual functional surface (the upper virtual functional surface) consists of the first pair of cylinder groups (11 o'clock and 1 o'clock) and the adjacent cylinder (2 o'clock) in the second pair of cylinder groups; the second virtual functional surface (the virtual functional surface on the inside of the turn) consists of the second pair of cylinder groups (2 o'clock and 4 o'clock) and the adjacent cylinder (5 o'clock) in the third pair of cylinder groups; the third virtual functional surface (the lower virtual functional surface) consists of the third pair of cylinder groups (5 o'clock and 7 o'clock) and the adjacent cylinder (8 o'clock) in the fourth pair of cylinder groups; the fourth virtual functional surface (the virtual functional surface on the outside of the turn) consists of the fourth pair of cylinder groups (8 o'clock and 10 o'clock) and the adjacent cylinder (11 o'clock) in the first pair of cylinder groups. Therefore, each virtual functional surface covers an area of ​​approximately 90° circumference.

[0031] In step S1, the process of solving for the expected stroke value of each hydraulic cylinder at the current tunneling mileage using a rigid body kinematics model is as follows: Pre-observation of the hydraulic cylinder's installation azimuth angle on the shield end face And the reference stroke value S; installation azimuth angle It is obtained from the TBM equipment design drawings or on-site measurement and calibration; the reference stroke value S is the measured calibration value of the stroke of each cylinder of the TBM equipment in the straight tunneling stage and in the state of coaxiality of the front and rear shields; During the turning tunneling phase, the horizontal deflection angle of the relative pose of the front and rear shields is calculated using a rigid body kinematics model, based on the target turning radius, shield length, shield end face radius, and current tunneling mileage of the current TBM equipment. Vertical deflection angle and axial approach Specifically, taking a target turning radius R=30m and a shield length L=8.2m as an example, the horizontal deflection angle... Additionally, the vertical deflection angle and axial approach The solution can be obtained similarly based on the radius of the vertical curve and spatial geometric relationships; Calculate the expected value of the trip Its formula is: ; Where r represents the radius of the shield end face.

[0032] To further explain the above formula, its geometric origin lies in rigid body space transformation: the front shield is considered a fixed reference body, and the rear shield is connected to the front shield via eight hydraulic cylinders. When the TBM enters a turning section, the rear shield undergoes spatial rigid body motion relative to the front shield. This motion can be decomposed into three steps: rotation around the vertical axis... (Horizontal turn), rotation around a horizontal axis (Vertical attitude adjustment), translation along the axis (generating) The spatial displacement of any point on the rear shield end face (i.e., the cylinder mounting point) relative to the corresponding point on the front shield is determined by the aforementioned rotation and translation. Furthermore, since the cylinder stroke sensor measures the relative displacement along the cylinder axis, the spatial displacement vector is projected onto the cylinder axis (i.e., the shield axis).

[0033] Based on this, the present invention adopts As a contribution to horizontal deflection, the deflection of the front and rear shield axes in the horizontal plane... Angle, then the azimuth angle above the end face is The axial displacement of the cylinder mounting point due to horizontal deflection depends on the vertical distance of that point from the horizontal neutral plane (the horizontal plane passing through the central axis); furthermore, using... As a contribution to vertical deflection, the deflection of the front and rear shield axes in the vertical plane... Angle. For the azimuth angle above the end face is The axial displacement of the cylinder mounting point due to vertical deflection depends on the horizontal distance of that point from the vertical neutral plane (the vertical plane passing through the central axis); furthermore, using... As an axial approximation factor, when the axes of the two shield bodies deflect, even without active expansion or contraction along the axial direction, the axial distance between the centers of the end faces will shorten due to geometric reasons (when two cylinders are joined at an angle, the projection of the center distance in the axial direction becomes shorter). This is the pure geometric compression, which produces a uniform reduction in the stroke of all cylinders (when...). The journey increases, The travel distance is reduced; in actual engineering, ΔZ is usually a positive value, indicating that the centers of the two shield end faces are closer together.

[0034] Specifically, it is installed at point 1 ( Taking the hydraulic cylinder as an example, with r=1.6m and S=1800mm, the theoretical expected stroke of the hydraulic cylinder at the current mileage can be calculated using the above formula. Other hydraulic cylinders can be calculated in the same way.

[0035] In step S2, the process of applying directional constraints based on the current turning direction of the TBM equipment and the preset redundancy to generate the surface threshold of each virtual functional surface is as follows: Based on the current turning direction of the TBM equipment, each virtual functional surface is marked as the virtual functional surface located on the outside of the turn, the virtual functional surface located on the inside of the turn, the virtual functional surface located above, and the virtual functional surface located below; and the preset first redundancy, second redundancy, and third redundancy are obtained. For the virtual functional surface located on the outside of the turn, a first redundancy is subtracted from its expected average travel value to generate a lower limit threshold. For the virtual functional surface located inside the turn, a second redundancy is added to its expected average travel value to generate an upper limit threshold. For the virtual functional surfaces located above and below, a third redundancy is subtracted and added respectively to their average travel expectation values ​​to generate a range segment threshold consisting of an upper limit value and a lower limit value. And preset the maximum travel difference threshold for all virtual functional surfaces.

[0036] The first, second, and third redundancies are determined based on the statistical analysis of the deviation between the actual average travel value and the corresponding expected average travel value of each virtual functional face during the historical turning tunneling phase of the TBM equipment. For example, the absolute value of the mean deviation plus twice the standard deviation is taken as the redundancy value.

[0037] In step S3, the process of detecting whether there are abnormal fluctuations in the actual travel value according to the preset threshold is as follows: Detect whether the stroke change rate of any cylinder exceeds a preset change rate threshold, or whether the sudden change value of the stroke difference between a pair of cylinders exceeds a preset difference threshold; if so, determine that abnormal fluctuation has occurred and proceed to step S4.

[0038] Step S4 specifically includes the following steps: S41. Calculate the average value of the actual stroke of all cylinders in the virtual functional surface as the virtual surface average value; calculate the difference between the maximum and minimum values ​​of the actual stroke of all cylinders in the virtual functional surface as the virtual surface maximum stroke difference value; use the virtual surface average value and the virtual surface maximum stroke difference value as stroke characteristic quantities. S42. Compare the travel feature quantities with the corresponding surface thresholds to generate the risk level of each virtual functional surface. The specific judgment rules are as follows: If the average value of the virtual surface of the virtual functional surface located on the outside of the turn is less than its corresponding lower threshold, it is judged as a risk of the turn trajectory being too large. If the average value of the virtual surface of the virtual functional surface located on the inside of the turn is greater than its corresponding upper limit threshold, it is judged as a risk of insufficient shield tail clearance. If the average value of the virtual surfaces located above or below exceeds the threshold of its corresponding range segment, it is judged as a risk of abnormal vertical posture. If the maximum travel difference of any virtual functional surface is greater than its corresponding maximum travel difference threshold, it is determined to be a risk of local structural bending. S43. Based on the comparison results, the corresponding risk levels are mapped to the four consecutive fan-shaped display areas on the shield end face in the visualization interface according to the preset rules.

[0039] The visualization interface features four consecutive sector display areas, each corresponding to one of the four pairs of hydraulic cylinder groups on the shield's end face. Each sector display area is associated with two adjacent virtual functional surfaces it participates in forming, and the risk display status of that sector display area is determined by the higher risk level of the two adjacent virtual functional surfaces.

[0040] For example, such as Figure 3 As shown, the first sector display area (11 o'clock and 1 o'clock) simultaneously constitutes the first virtual functional surface (above) and the fourth virtual functional surface (outer side of the turn). If the risk level of the first virtual functional surface is "normal" and the risk level of the fourth virtual functional surface is "warning", then the card on the first sector display area will be displayed in a warning state, and can be displayed in yellow. Thus, any anomalies across sector transition areas can be explicitly presented through color changes in multiple associated sector display areas.

[0041] The interface presents each sector display area in card format, with card colors changing according to the risk display status: green for normal, yellow for warning, and red for alarm. When an operator clicks or touches a card, a details window pops up, displaying the real-time stroke difference of the paired hydraulic cylinders corresponding to that sector display area.

[0042] In summary, operators do not need to analyze the individual stroke values ​​of each of the eight hydraulic cylinders; they can intuitively determine the area and severity of the risk simply by looking at the color and location of the card, thus enabling them to make quick adjustment decisions.

[0043] Example 2 A small-diameter TBM turning monitoring system for operators, employing an operator-oriented small-diameter TBM turning monitoring method, includes: Expected value calculation module: During the turning tunneling stage, the target turning radius, shield length, shield end face radius and current tunneling mileage of the current TBM equipment are obtained, a rigid body kinematic model of the relative posture of the front and rear shields is established, and the expected stroke value of each cylinder at the current tunneling mileage is solved through the rigid body kinematic model. Threshold generation module: Based on the distribution of hydraulic cylinders on the shield end face, the shield end face is divided into four overlapping virtual functional surfaces. Each virtual functional surface is composed of a pair of hydraulic cylinders and an adjacent hydraulic cylinder in the adjacent group. The average expected travel value of each virtual functional surface is calculated using the expected travel value, and directional constraints are applied according to the turning direction of the current TBM equipment and the preset redundancy to generate the surface threshold of each virtual functional surface. Anomaly Trigger Module: Collects the actual stroke value of the hydraulic cylinder in real time at a preset frequency, and detects whether there are abnormal fluctuations in the actual stroke value according to a preset threshold; Risk visualization module: Calculates the travel characteristic quantity of the corresponding virtual functional surface based on the actual travel value, compares the travel characteristic quantity with the corresponding surface threshold, and maps the corresponding risk level to four consecutive fan-shaped display areas on the shield end face in the visualization interface based on the comparison result.

[0044] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Based on the technical essence of the present invention, any simple modifications, equivalent substitutions, and improvements made to the above embodiments within the spirit and principles of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A method for monitoring the turning of a small-diameter TBM oriented towards operators, characterized in that, This method is applied to open-type TBM equipment, where eight hydraulic cylinders are installed on the shield end face of the TBM equipment. The eight hydraulic cylinders are arranged in pairs and are non-uniformly distributed on the circumference of the shield end face. The method includes the following steps: S1. During the turning tunneling stage, obtain the target turning radius, shield length, shield end face radius and current tunneling mileage of the current TBM equipment, establish a rigid body kinematic model of the relative posture of the front and rear shields, and solve the expected stroke value of each cylinder at the current tunneling mileage through the rigid body kinematic model. S2. Based on the distribution of the hydraulic cylinders on the shield end face, the shield end face is divided into four overlapping virtual functional surfaces. Each virtual functional surface is composed of a pair of hydraulic cylinders and an adjacent hydraulic cylinder in the adjacent group. The average expected travel value of each virtual functional surface is calculated using the expected travel value, and directional constraints are applied according to the current turning direction of the TBM equipment and the preset redundancy to generate the surface threshold of each virtual functional surface. S3. Collect the actual stroke value of the hydraulic cylinder in real time at a preset frequency, and detect whether there is abnormal fluctuation in the actual stroke value according to the preset threshold. If so, proceed to step S4. S4. Calculate the travel characteristic quantity of the corresponding virtual functional surface based on the actual travel value, compare the travel characteristic quantity with the corresponding surface threshold, and assign the corresponding risk level to the four consecutive fan-shaped display areas on the shield end face in the visualization interface based on the comparison result.

2. The operator-oriented small-diameter TBM turning monitoring method according to claim 1, characterized in that, The process of solving the expected stroke value of each hydraulic cylinder at the current tunneling mileage using a rigid body kinematics model is as follows: Pre-observation of the hydraulic cylinder's installation azimuth angle on the shield end face And the reference stroke value S; Installation azimuth angle It is obtained from the TBM equipment design drawings or on-site measurement and calibration; the reference stroke value S is the measured calibration value of the stroke of each cylinder of the TBM equipment in the straight tunneling stage and in the state of coaxiality of the front and rear shields; During the turning tunneling phase, the horizontal deflection angle of the relative pose of the front and rear shields is calculated using a rigid body kinematics model, based on the target turning radius, shield length, shield end face radius, and current tunneling mileage of the current TBM equipment. Vertical deflection angle and axial approach ; Calculate the expected value of the trip Its formula is: ； in, It is expressed as the radius of the shield end face.

3. The operator-oriented small-diameter TBM turning monitoring method according to claim 1, characterized in that, The process of generating the surface thresholds for each virtual functional surface by applying directional constraints based on the current turning direction of the TBM equipment and the preset redundancy is as follows: Based on the current turning direction of the TBM equipment, each virtual functional surface is marked as the virtual functional surface located on the outside of the turn, the virtual functional surface located on the inside of the turn, the virtual functional surface located above, and the virtual functional surface located below; and the preset first redundancy, second redundancy, and third redundancy are obtained. For the virtual functional surface located on the outside of the turn, a first redundancy is subtracted from its expected average travel value to generate a lower limit threshold. For the virtual functional surface located inside the turn, a second redundancy is added to its expected average travel value to generate an upper limit threshold. For the virtual functional surfaces located above and below, a third redundancy is subtracted and added respectively to their average travel expectation values ​​to generate a range segment threshold consisting of an upper limit value and a lower limit value. And preset the maximum travel difference threshold for all virtual functional surfaces.

4. The operator-oriented small-diameter TBM turning monitoring method according to claim 3, characterized in that, The first redundancy, the second redundancy, and the third redundancy are determined based on the statistical analysis of the deviation between the actual average travel value and the corresponding expected average travel value of each virtual functional surface during the historical turning tunneling phase of the TBM equipment.

5. The operator-oriented small-diameter TBM turning monitoring method according to claim 1, characterized in that, The process of detecting whether there are abnormal fluctuations in the actual travel value based on a preset threshold is as follows: Detect whether the stroke change rate of any cylinder exceeds a preset change rate threshold, or whether the sudden change value of the stroke difference between a pair of cylinders exceeds a preset difference threshold; if so, determine that abnormal fluctuation has occurred and proceed to step S4.

6. The operator-oriented small-diameter TBM turning monitoring method according to claim 3, characterized in that, Step S4 specifically includes the following steps: S41. Calculate the average value of the actual stroke of all cylinders in the virtual functional surface as the virtual surface average value; calculate the difference between the maximum and minimum values ​​of the actual stroke of all cylinders in the virtual functional surface as the virtual surface maximum stroke difference value; use the virtual surface average value and the virtual surface maximum stroke difference value as stroke characteristic quantities. S42. Compare the travel feature quantities with the corresponding surface thresholds to generate the risk level of each virtual functional surface. The specific judgment rules are as follows: If the average value of the virtual surface of the virtual functional surface located on the outside of the turn is less than its corresponding lower threshold, it is judged as a risk of the turn trajectory being too large. If the average value of the virtual surface of the virtual functional surface located on the inside of the turn is greater than its corresponding upper limit threshold, it is judged as a risk of insufficient shield tail clearance. If the average value of the virtual surfaces located above or below exceeds the threshold of its corresponding range segment, it is judged as a risk of abnormal vertical posture. If the maximum travel difference of any virtual functional surface is greater than its corresponding maximum travel difference threshold, it is determined to be a risk of local structural bending. S43. Based on the comparison results, the corresponding risk levels are mapped to the four consecutive fan-shaped display areas on the shield end face in the visualization interface according to the preset rules.

7. A method for monitoring the turning of a small-diameter TBM oriented towards operators according to claim 6, characterized in that, Each sector display area corresponds to a set of paired hydraulic cylinders. The process of mapping the corresponding risk level to four consecutive sector display areas on the shield end face in the visualization interface according to preset rules is as follows: Obtain the risk level of each virtual functional surface, compare the risk levels of the two virtual functional surfaces associated with each sector display area, and take the highest risk level of the two virtual functional surfaces as the risk display status of the sector display area.

8. A method for monitoring the turning of a small-diameter TBM oriented towards operators according to claim 7, characterized in that, The visualization interface presents each sector display area in the form of cards, and the card color changes according to the risk display status; when a card is triggered, the real-time stroke difference of the pair of hydraulic cylinders corresponding to that sector display area is displayed.

9. A small-diameter TBM turning monitoring system for operators, characterized in that, The method for monitoring small-diameter TBM turns for operators as described in any one of claims 1-8 includes: Expected value calculation module: During the turning tunneling stage, the target turning radius, shield length, shield end face radius and current tunneling mileage of the current TBM equipment are obtained, a rigid body kinematic model of the relative posture of the front and rear shields is established, and the expected stroke value of each cylinder at the current tunneling mileage is solved through the rigid body kinematic model. Threshold generation module: Based on the distribution of hydraulic cylinders on the shield end face, the shield end face is divided into four overlapping virtual functional surfaces. Each virtual functional surface is composed of a pair of hydraulic cylinders and an adjacent hydraulic cylinder in the adjacent group. The average expected travel value of each virtual functional surface is calculated using the expected travel value, and directional constraints are applied according to the current turning direction of the TBM equipment and the preset redundancy to generate the surface threshold of each virtual functional surface. Anomaly Trigger Module: Collects the actual stroke value of the hydraulic cylinder in real time at a preset frequency, and detects whether there are abnormal fluctuations in the actual stroke value according to a preset threshold; Risk visualization module: Calculates the travel characteristic quantity of the corresponding virtual functional surface based on the actual travel value, compares the travel characteristic quantity with the corresponding surface threshold, and maps the corresponding risk level to four consecutive fan-shaped display areas on the shield end face in the visualization interface based on the comparison result.

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