阅读说明：本技术 盾构机掘进姿态矢量自适应调整方法及系统 (Shield tunneling machine excavation attitude vector self-adaptive adjustment method and system ) 是由 秦元 黄圣 顾健江 闵锐 刘智辉 陈柳锋 程瀛 袁向华 张智勇 杨晨平 屠磊 于 2019-09-20 设计创作，主要内容包括：本发明涉及一种盾构机掘进姿态矢量自适应调整方法及系统,该方法包括如下步骤：对盾构机上的千斤顶进行分区以形成多个分区千斤顶；在盾构机掘进施工的过程中,实时的对盾构机进行姿态分析以得到姿态调整信息；以及依据所述姿态调整信息分析得出各分区千斤顶的推进速度关系,并结合基准推进速度计算出各分区千斤顶的执行速度,通过所述执行速度控制对应的千斤顶的推进速度。本发明通过控制千斤顶的推进速度来实现盾构机的姿态纠偏,达到对盾构机主动的、可预期的姿态控制,且千斤顶推进速度的控制相较于油压控制可更加精确,盾构姿态调整的效果更佳。(The invention relates to a self-adaptive adjustment method and a self-adaptive adjustment system for a tunneling attitude vector of a shield tunneling machine, wherein the method comprises the following steps: partitioning the jacks on the shield tunneling machine to form a plurality of partitioned jacks; in the process of tunneling construction of the shield machine, carrying out attitude analysis on the shield machine in real time to obtain attitude adjustment information; and analyzing according to the attitude adjustment information to obtain the propelling speed relation of each partition jack, calculating the execution speed of each partition jack by combining the reference propelling speed, and controlling the propelling speed of the corresponding jack according to the execution speed. The invention realizes the posture correction of the shield machine by controlling the advancing speed of the jack, achieves the active and predictable posture control of the shield machine, and the advancing speed of the jack can be more accurately controlled compared with the oil pressure control, and the shield posture adjustment effect is better.)

1. A self-adaptive adjustment method for a shield tunneling machine excavation attitude vector is characterized by comprising the following steps:

Partitioning the jacks on the shield tunneling machine to form a plurality of partitioned jacks;

In the process of tunneling construction of the shield machine, carrying out attitude analysis on the shield machine in real time to obtain attitude adjustment information; and

And analyzing the attitude adjustment information to obtain the propelling speed relation of each partition jack, calculating the execution speed of each partition jack by combining the reference propelling speed, and controlling the propelling speed of the corresponding jack according to the execution speed.

2. The adaptive adjustment method for the shield tunneling machine excavation attitude vector according to claim 1, wherein the step of performing attitude analysis on the shield tunneling machine in real time to obtain attitude adjustment information includes:

acquiring a real-time posture of the shield tunneling machine;

and calculating the deviation distance and the deviation azimuth of the real-time attitude of the shield machine from the corresponding position on the construction design axis according to the construction design axis, and using the deviation distance and the deviation azimuth as attitude adjustment information.

3. The adaptive adjustment method for the shield tunneling machine excavation attitude vector according to claim 2, wherein the step of calculating the deviation azimuth comprises:

Dividing a circular area which takes the corresponding position point on the construction design axis as the circle center and is positioned in the vertical plane according to the partition mode of the jack to form sub-areas which are in one-to-one correspondence with the partition jacks;

And analyzing according to the real-time posture of the shield machine to obtain a sub-region where a position point needing to be adjusted on the real-time posture of the shield machine is located, and taking the sub-region obtained through analysis as a deviation azimuth.

4. The shield tunneling machine excavation attitude vector adaptive adjustment method according to claim 2 or 3, wherein the propulsion speed relationship includes that the propulsion speed of the partition jack corresponding to the deviation azimuth is greater than the propulsion speeds of the remaining partition jacks.

5. The shield tunneling machine excavation attitude vector adaptive adjustment method of claim 4, wherein the step of calculating the execution speed of each partition jack comprises:

setting corresponding speed parameters according to the deviation distance;

Setting the execution speed of the partition jack corresponding to the deviation azimuth in the attitude adjustment information as the sum of the reference propulsion speed and the speed parameter;

and setting the execution speeds of the rest of the partition jacks as the reference propelling speed.

6. The utility model provides a shield constructs quick-witted excavation attitude vector self-adaptation adjustment system which characterized in that includes:

the input unit is used for inputting a plurality of partition jacks formed by partitioning the jacks on the shield tunneling machine;

the attitude analysis unit is arranged on the shield machine and used for carrying out attitude analysis on the shield machine in real time in the excavation construction process of the shield machine so as to obtain attitude adjustment information;

And the processing unit is connected with the attitude analysis unit and the input unit, receives attitude adjustment information of the attitude analysis unit, is used for analyzing the propelling speed relation of each partition jack according to the attitude adjustment information, calculates the executing speed of each partition jack by combining a reference propelling speed, and further controls the propelling speed of the corresponding jack.

7. The adaptive shield tunneling machine excavation attitude vector adjusting system according to claim 6, wherein the attitude analysis unit includes an attitude acquisition module and a deviation calculation module connected to the attitude acquisition module;

the attitude acquisition module is used for acquiring the real-time attitude of the shield tunneling machine;

And the deviation calculation module is used for calculating a deviation distance and a deviation direction as attitude adjustment information according to the real-time attitude of the shield tunneling machine and the corresponding position on the construction design axis.

8. the adaptive shield tunneling machine excavation attitude vector adjustment system according to claim 7, wherein the deviation calculation module is configured to divide a circular region, which is centered at a corresponding position on the construction design axis and located in a vertical plane, into sub-regions corresponding to the partition jacks one to one; and analyzing according to the real-time posture of the shield machine to obtain a sub-region where a position point needing to be adjusted on the real-time posture of the shield machine is located, and taking the sub-region obtained through analysis as a deviation azimuth.

9. the adaptive shield tunneling machine tunneling attitude vector adjustment system according to claim 7 or 8, wherein the propulsion speed relationship includes that the propulsion speed of the segment jack corresponding to the deviated azimuth is greater than the propulsion speeds of the remaining segment jacks.

10. The adaptive shield tunneling machine excavation attitude vector adjustment system of claim 9, wherein the processing unit comprises a parameter setting module and a speed calculation module connected to the parameter setting module;

the parameter setting module is used for setting corresponding speed parameters according to the deviation distance;

The speed calculation module is used for setting the execution speed of the jack corresponding to the deviation azimuth in the attitude adjustment information as the sum of the reference propulsion speed and the speed parameter; and setting the execution speeds of the rest of the partition jacks as the reference propelling speed.

Technical Field

The invention relates to the field of shield construction engineering, in particular to a self-adaptive adjusting method and a self-adaptive adjusting system for a shield tunneling machine excavation attitude vector.

background

the goal of tunnel construction de-skew is to bring the tunnel construction axis as close as possible to the tunnel design axis (DTA). The actual tunnel construction axis is generally "snake" shaped near DTA within the quality control range. In the prior art, the shield is manually operated to correct the deviation, and the principle of the strategy of manually correcting and controlling the oil pressure of the subarea is 'duty correction, slow correction', and actually a method for repeatedly trying and obtaining the oil pressure of the actual subarea. The level of operator experience in manual rectification determines the "snake" amplitude and frequency.

the deviation rectifying mode for controlling the subarea oil pressure is to control the rear cavity pressure of the thrust oil cylinder of the shield machine, and the speed of each subarea oil cylinder of the shield machine is adjusted by adjusting the subarea pressure, so that the thrust attitude is adjusted. The oil cylinder pressure in the mode is passive, the oil cylinder pressure can be subjected to the reaction force of the soil body in front of the shield machine, the working condition of the soil body in front of the shield machine is changed at any time along with the tunneling of the shield machine, namely the reaction force of the soil body in front is an indeterminate value and unpredictable, so that the adjustment of the oil cylinder speed through the difference value of the oil cylinder pressure and the reaction force of the soil body in front becomes unpredictable, and the effect of adjusting the posture of the shield machine is also unpredictable inevitably.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, provides a self-adaptive adjustment method and a self-adaptive adjustment system for a tunneling attitude vector of a shield machine, and solves the problem that the existing oil pressure deviation correction mode is passive, so that the attitude adjustment effect of the shield machine is unpredictable.

The technical scheme for realizing the purpose is as follows:

the invention provides a self-adaptive adjustment method for a tunneling attitude vector of a shield tunneling machine, which comprises the following steps:

partitioning the jacks on the shield tunneling machine to form a plurality of partitioned jacks;

in the process of tunneling construction of the shield machine, carrying out attitude analysis on the shield machine in real time to obtain attitude adjustment information; and

and analyzing the attitude adjustment information to obtain the propelling speed relation of each partition jack, calculating the execution speed of each partition jack by combining the reference propelling speed, and controlling the propelling speed of the corresponding jack according to the execution speed.

the self-adaptive adjusting method realizes the posture correction of the shield machine by controlling the advancing speed of the jack, achieves the active and predictable posture control of the shield machine, and the advancing speed of the jack can be more accurately controlled compared with the oil pressure control, and the shield posture adjusting effect is better. The main parameter of the tunneling attitude of the shield tunneling machine is the stroke difference of each partition jack, and the stroke difference is formed by accumulating the speed difference of the jacks for propelling each partition, so that the tunneling attitude of the shield tunneling machine can be actively controlled by directly adjusting the speed of each partition jack, and the self-adaptive adjustment according to the real-time attitude of the shield tunneling machine is realized.

the self-adaptive adjustment method for the excavation attitude vector of the shield machine is further improved in that the step of analyzing the attitude of the shield machine in real time to obtain attitude adjustment information comprises the following steps:

Acquiring a real-time posture of the shield tunneling machine;

and calculating the deviation distance and the deviation azimuth of the real-time attitude of the shield machine from the corresponding position on the construction design axis according to the construction design axis, and using the deviation distance and the deviation azimuth as attitude adjustment information.

The self-adaptive adjustment method for the excavation attitude vector of the shield machine is further improved in that the step of calculating the deviation azimuth comprises the following steps:

Dividing a circular area which takes the corresponding position point on the construction design axis as the circle center and is positioned in the vertical plane according to the partition mode of the jack to form sub-areas which are in one-to-one correspondence with the partition jacks;

And analyzing according to the real-time posture of the shield machine to obtain a sub-region where a position point needing to be adjusted on the real-time posture of the shield machine is located, and taking the sub-region obtained through analysis as a deviation azimuth.

The shield tunneling machine excavation attitude vector self-adaptive adjusting method is further improved in that the propelling speed relationship comprises that the propelling speed of the partition jack corresponding to the deviation azimuth is greater than that of the other partition jacks.

The shield tunneling machine excavation attitude vector self-adaptive adjusting method is further improved in that the step of calculating the execution speed of each partition jack comprises the following steps:

setting corresponding speed parameters according to the deviation distance;

setting the execution speed of the partition jack corresponding to the deviation azimuth in the attitude adjustment information as the sum of the reference propulsion speed and the speed parameter;

and setting the execution speeds of the rest of the partition jacks as the reference propelling speed.

The invention also provides a self-adaptive adjusting system for the excavation attitude vector of the shield tunneling machine, which comprises the following steps:

the input unit is used for inputting a plurality of partition jacks formed by partitioning the jacks on the shield tunneling machine;

The attitude analysis unit is arranged on the shield machine and used for carrying out attitude analysis on the shield machine in real time in the excavation construction process of the shield machine so as to obtain attitude adjustment information;

And the processing unit is connected with the attitude analysis unit and the input unit, receives attitude adjustment information of the attitude analysis unit, is used for analyzing the propelling speed relation of each partition jack according to the attitude adjustment information, calculates the executing speed of each partition jack by combining a reference propelling speed, and further controls the propelling speed of the corresponding jack.

the shield tunneling machine excavation attitude vector self-adaptive adjusting system is further improved in that the attitude analysis unit comprises an attitude acquisition module and a deviation calculation module connected with the attitude acquisition module;

The attitude acquisition module is used for acquiring the real-time attitude of the shield tunneling machine;

And the deviation calculation module is used for calculating a deviation distance and a deviation direction as attitude adjustment information according to the real-time attitude of the shield tunneling machine and the corresponding position on the construction design axis.

the shield tunneling machine excavation attitude vector self-adaptive adjusting system is further improved in that the deviation calculating module is used for dividing a circular area which takes a corresponding position on the construction design axis as a circle center and is positioned in a vertical plane into sub-areas which are in one-to-one correspondence with all partition jacks; and analyzing according to the real-time posture of the shield machine to obtain a sub-region where a position point needing to be adjusted on the real-time posture of the shield machine is located, and taking the sub-region obtained through analysis as a deviation azimuth.

the shield tunneling machine tunneling attitude vector self-adaptive adjusting system is further improved in that the propelling speed relationship comprises that the propelling speed of the partition jack corresponding to the deviation azimuth is greater than that of the other partition jacks.

the shield tunneling machine excavation attitude vector self-adaptive adjusting system is further improved in that the processing unit comprises a parameter setting module and a speed calculating module connected with the parameter setting module;

The parameter setting module is used for setting corresponding speed parameters according to the deviation distance;

The speed calculation module is used for setting the execution speed of the partition jack corresponding to the deviation azimuth in the attitude adjustment information as the sum of the reference propulsion speed and the speed parameter; and setting the execution speeds of the rest of the partition jacks as the reference propelling speed.

Drawings

Fig. 1 is a flow chart of a shield tunneling machine excavation attitude vector adaptive adjustment method of the invention.

Fig. 2 is a schematic diagram of a jack partition in the shield tunneling machine excavation attitude vector self-adaptive adjustment method and system.

Detailed Description

The invention is further described with reference to the following figures and specific examples.

Referring to fig. 1, the invention provides a self-adaptive adjustment method and a self-adaptive adjustment system for a tunneling attitude vector of a shield machine, which are used for solving the problem that the oil pressure is passive in the conventional subarea oil pressure deviation rectification adjustment mode, so that the attitude adjustment effect of the shield machine is unpredictable. The self-adaptive adjusting method and the self-adaptive adjusting system control the propelling speed of the jack, and realize active and predictable control of the shield tunneling attitude. The self-adaptive adjusting method and the self-adaptive adjusting system for the tunneling attitude vector of the shield tunneling machine realize automatic adaptive adjustment of the attitude of the shield tunneling machine according to the real-time attitude and the construction design axis of the shield tunneling machine, realize the self-adaptive adjusting effect, and avoid the problems of low accuracy and certain discreteness of the control effect caused by manual adjustment depending on manual experience in the prior art. The self-adaptive adjusting method and system for the shield tunneling machine excavation attitude vector are described below with reference to the accompanying drawings.

Referring to fig. 2, a schematic diagram of a jack partition in the shield tunneling machine excavation attitude vector self-adaptive adjustment method and system is shown. The self-adaptive adjusting system for the tunneling attitude vector of the shield tunneling machine is described below with reference to fig. 2.

the self-adaptive adjusting system for the tunneling attitude vector of the shield tunneling machine comprises an input unit, an attitude analysis unit and a processing unit, wherein the attitude analysis unit and the input unit are connected with the processing unit.

The input unit is used for inputting a plurality of partition jacks formed by partitioning the jacks on the shield tunneling machine, as shown in fig. 2, partitions of the jacks on the shield tunneling machine with a circular section are shown, the jacks arranged on the circular shield tunneling machine are divided into six partitions, specifically, the cross section of the shield tunneling machine is divided into six partitions clockwise, namely partitions a to F, and correspondingly, the partition a is a top partition, the partition D is a bottom partition, the partition B is an upper right waist partition, the partition C is a lower right waist partition, the partition F is an upper left waist partition, the partition E is a lower left waist partition, and the six divided partitions are symmetrically distributed. When each zone is divided, the number of the jacks in the zone D is more than that of the jacks in the other zones so as to resist the larger soil pressure of the bottom zone and ensure that the shield tunneling machine keeps stable tunneling. Taking 19 groups of jacks as an example, the number of the jacks in the partition D is 4, and the number of the jacks in the other partitions is 3. For a non-circular shield machine, the jacks can be partitioned according to the cross section shape of the shield machine, and the jack partitions are ensured to be symmetrically distributed as far as possible, so that the stability of the excavation construction of the shield machine is ensured.

the attitude analysis unit is arranged on the shield machine and used for carrying out attitude analysis on the shield machine in real time in the excavation construction process of the shield machine so as to obtain attitude adjustment information.

the processing unit receives the attitude adjustment information of the attitude analysis unit, is used for analyzing and obtaining the propulsion speed relation of each partition jack according to the attitude adjustment information, and calculates the execution speed of each partition jack by combining the reference propulsion speed so as to control the propulsion speed of the corresponding jack.

The shield tunneling machine excavation attitude vector self-adaptive adjusting system monitors the attitude of the shield tunneling machine in real time through the attitude analyzing unit, analyzes the attitude of the shield tunneling machine, analyzes the attitude adjusting information of the shield tunneling machine according to the construction design axis, namely, the attitude analyzing unit is used for knowing the direction of the shield tunneling machine required to be adjusted, the processing unit calculates the advancing execution speed of each partition jack according to the direction of the shield tunneling machine required to be adjusted, and the advancing speed of each jack is controlled by using the execution speed so as to quickly and accurately adjust the attitude of the shield tunneling machine to the required position. The propelling speed of the jack is active and can not be passively influenced by the pressure of the oil cylinder, and the propelling speed of the jack can be adjusted when the pressure of the oil cylinder is fixed, so that the control on the tunneling posture of the shield tunneling machine in a predictable manner is realized.

In one embodiment, the gesture analysis unit comprises a gesture obtaining module and a deviation calculation module connected with the gesture obtaining module; the attitude acquisition module is used for acquiring the real-time attitude of the shield tunneling machine; and the deviation calculation module is used for calculating a deviation distance and a deviation direction as posture adjustment information according to the real-time posture of the shield tunneling machine and the corresponding position on the construction design axis. Preferably, a position point on the central axis of the shield machine can be selected to calculate the deviation distance and the deviation direction, such as selecting the central point of the notch of the shield machine, the central point of the tail of the shield machine, or selecting the central point of the segment to be spliced in the shield machine; the deviation distance and the deviation direction can be calculated through the central axis of the shield machine; and the deviation distance and the deviation direction of the shield machine can be calculated according to the overall posture of the shield machine.

The deviation distance in the attitude adjustment information is the displacement amount required to be adjusted by the shield machine, and the deviation azimuth is the azimuth required to be adjusted by the shield machine, namely which area on the shield machine needs to be adjusted towards the construction design axis.

Furthermore, the deviation calculation module is used for dividing a circular area which takes a corresponding position on the construction design axis as a circle center and is positioned in a vertical plane into sub-areas which are in one-to-one correspondence with the partition jacks; and obtaining a sub-region where a position point needing to be adjusted on the real-time posture of the shield machine is located according to the real-time posture analysis of the shield machine, and taking the sub-region obtained through analysis as a deviation azimuth. The partitioned subareas correspond to the subarea jacks one by one, so that which subarea jack needs to be adjusted towards the construction design axis can be obtained, the propelling speed of the subarea jack is increased, and the subarea jack can be adjusted towards the construction design axis.

in one embodiment, the propulsion speed relationship includes that the propulsion speed of the sector jack corresponding to the deviated orientation is greater than the propulsion speeds of the remaining sector jacks. And when the processing unit analyzes and obtains the relation of the propelling speed of each partition jack according to the attitude adjustment information, finding out the corresponding partition jack according to the deviation direction in the attitude adjustment information, and further obtaining that the propelling speed of the partition jack needs to be adjusted to be higher than the propelling speed of the other partition jacks.

In one embodiment, the processing unit comprises a parameter setting module and a speed calculation module connected with the parameter setting module; the parameter setting module is used for setting corresponding speed parameters according to the deviation distance; the speed calculation module is used for setting the execution speed of the partition jack corresponding to the deviation azimuth in the attitude adjustment information as the sum of the reference propulsion speed and the speed parameter; and setting the execution speeds of the rest partition jacks as the reference propelling speed.

specifically, the shield tunneling machine excavation attitude vector self-adaptive adjusting system further comprises a storage unit, a comparison table of the deviation distance and the speed regulation ratio is stored in the storage unit, a parameter setting module is connected with the storage unit, after receiving the deviation distance, the parameter setting module finds the corresponding speed regulation ratio from the comparison table of the deviation distance and the speed regulation ratio in the storage unit according to the deviation distance, and then multiplies the speed regulation ratio by the reference propelling speed to obtain the speed parameter. Therefore, the speed regulation parameters are dynamically adjusted according to the actual conditions. Preferably, the reference advancing speed is inputted by the input unit and stored in the storage unit, and the reference advancing speed is determined according to the construction condition of the shield machine and can be inputted into the adaptive adjustment system of the present invention by the constructor.

In a preferred embodiment, the parameter setting module is connected with the input unit, when the parameter setting module receives the deviation distance, the deviation distance is displayed through the display device, and the constructor is prompted to manually input a speed parameter, and the speed parameter manually input by the constructor can be sent to the parameter setting module through the input unit. The speed parameter is manually controlled according to the deviation distance, the flexibility of the system is improved, the system can realize automatic control adjustment, and an interface can be provided for manual control.

In a specific embodiment, the jack of the invention adopts a hydraulic oil cylinder, a pressure valve and a flow valve are correspondingly arranged at each partition jack, the pressure valve is used for controlling the oil pressure of the corresponding partition jack, and the flow valve is used for controlling the propelling speed of the corresponding partition jack. The processing unit in the shield tunneling machine tunneling attitude vector self-adaptive adjusting system is in control connection with the pressure valve and the flow valve of each partition jack so as to control the opening degree of the pressure valve and the flow valve of each partition jack and realize control of the oil pressure and the propelling speed of each partition jack.

Preferably, the system for adaptively adjusting the tunneling attitude vector of the shield tunneling machine comprises control modules in control connection with the partition jacks correspondingly, each control module is connected with the processing unit and receives the execution speed of each partition jack sent by the processing unit, and each control module controls the flow valve of the corresponding partition jack according to the received execution speed so as to realize the purpose of independently controlling the propulsion speed of each partition jack.

furthermore, a stroke sensor is arranged at each partition jack and used for detecting the stroke of each partition jack to form stroke data, the stroke sensor at each partition jack is in communication connection with the processing unit and sends the stroke data to the processing unit, the processing unit calculates the real-time propelling speed of each partition jack according to the stroke of each partition jack, the real-time propelling speed is used as feedback to compare the real-time propelling speed with the execution speed, if the real-time propelling speed exceeds the execution speed, a control instruction is sent to the control module of the corresponding partition jack to enable the control module to reduce the propelling speed of the partition jack, if the real-time propelling speed is less than the execution speed, the real-time propelling speed is sent to the control module to enable the control module to carry out self-adaptive adjustment according to the difference value of the execution speed and the real-time propelling speed, until the real-time propulsion speed approaches the execution speed.

furthermore, each partition jack is provided with a pressure sensor, the pressure sensor is used for detecting the oil pressure of each partition jack in real time to form oil pressure data, the pressure sensor at each partition jack is in communication connection with the processing unit and sends the oil pressure data to the processing unit, the processing unit adaptively adjusts the execution speed of each partition jack according to the received oil pressure data of each partition jack, specifically, the oil pressure data of each partition jack is judged, if the oil pressure data is more than 75% of a set pressure limit value, the execution speed of each partition jack is reduced to slow down the flow rate at the flow valve of each partition jack and avoid the situation of sudden change of the oil pressure at an excessive speed, the processing unit adjusts the opening of the pressure valve of each partition jack after reducing the speed of each partition jack, to reduce oil pressure; if the oil pressure data is below 45% of the set pressure limit value, adjusting the opening of the pressure valve of each partition jack to increase the oil pressure until the oil pressure data is between 45% and 75% of the set pressure limit value; if the oil pressure data is between 45% and 75% of the set pressure limit, the processing unit can normally adjust the flow valve of each partition jack so as to control the propelling speed of each partition jack in a speed control mode. The control of the processing unit on the pressure valves and the flow valves of the partition jacks can be realized through the corresponding control modules at the partition jacks, the flow valves are adaptively adjusted according to oil pressure data, the front soil pressure sudden change of the shield machine can be avoided, and the construction safety can be ensured.

In a specific embodiment, after obtaining the execution speed of each partition jack, the processing unit, in combination with the current posture of the shield machine, draws and displays the tunneling track of the shield machine tunneling from the current posture at the execution speed of each partition jack, so as to provide an intuitive expected tunneling track for constructors.

When the processing unit in the shield tunneling machine tunneling attitude vector self-adaptive adjusting system controls the propelling speed of the jacks in each subarea according to the execution speed, the processing unit simultaneously controls the oil pressure of the jacks in each subarea, namely, the flow valve and the pressure valve carry out double control, so that the danger of sudden pressure change can be effectively avoided. In the control process of the flow valve, the real-time propelling speed fed back by the stroke sensor is referred to and is close to the execution speed, so that a closed-loop speed automatic control system is formed.

The self-adaptive shield tunneling machine excavation attitude vector adjusting system has the beneficial effects that:

The adjusting system adjusts the propelling speed of each partition jack of the shield machine according to the attitude adjusting information of the shield machine, and actively and predictably controls the tunneling attitude of the shield machine through accurately controlling the propelling speed of each partition jack of the shield machine, so that the attitude of the shield machine can be quickly adjusted to a position matched with a construction design axis. Compared with the traditional method for adjusting the oil pressure of the jack, the method changes the unpredictable attitude adjustment mode of the speed difference caused by the pressure difference into the active attitude adjustment mode for directly controlling the speed difference of each partition jack, so that the relationship between the control quantity and the effect quantity is closer, and a better attitude control mode is realized.

the following describes a self-adaptive adjustment method of the shield tunneling machine excavation attitude vector provided by the invention.

The invention provides a self-adaptive adjustment method for a shield tunneling machine excavation attitude vector, which comprises the following steps:

As shown in fig. 1, step S11 is executed to partition the jack on the shield tunneling machine to form a plurality of partition jacks; then, step S12 is executed;

Step S12 is executed, and during the tunneling construction process of the shield machine, the shield machine is subjected to attitude analysis in real time to obtain attitude adjustment information; then, step S13 is executed;

And step S13, analyzing according to the attitude adjustment information to obtain the propulsion speed relationship of each partition jack, calculating the execution speed of each partition jack by combining the reference propulsion speed, and controlling the propulsion speed of the corresponding jack according to the execution speed.

The self-adaptive adjusting method realizes the posture correction of the shield machine by controlling the advancing speed of the jack, achieves the active and predictable posture control of the shield machine, and the advancing speed of the jack can be more accurately controlled compared with the oil pressure control, and the shield posture adjusting effect is better. The main parameter of the tunneling attitude of the shield tunneling machine is the stroke difference of each partition jack, and the stroke difference is formed by accumulating the speed difference of the jacks for propelling each partition, so that the tunneling attitude of the shield tunneling machine can be actively controlled by directly adjusting the speed of each partition jack, and the self-adaptive adjustment according to the real-time attitude of the shield tunneling machine is realized.

in a specific embodiment, the step of performing a real-time attitude analysis on the shield tunneling machine to obtain attitude adjustment information includes: acquiring a real-time posture of the shield tunneling machine; and calculating the deviation distance and the deviation azimuth of the real-time attitude of the shield machine from the corresponding position on the construction design axis according to the construction design axis, and using the deviation distance and the deviation azimuth as attitude adjustment information. Preferably, a position point on the central axis of the shield machine can be selected to calculate the deviation distance and the deviation direction, such as selecting the central point of the notch of the shield machine, the central point of the tail of the shield machine, or selecting the central point of the segment to be spliced in the shield machine; the deviation distance and the deviation direction can be calculated through the central axis of the shield machine; and the deviation distance and the deviation direction of the shield machine can be calculated according to the overall posture of the shield machine. The deviation distance in the attitude adjustment information is the displacement amount required to be adjusted by the shield machine, and the deviation azimuth is the azimuth required to be adjusted by the shield machine, namely which area on the shield machine needs to be adjusted towards the construction design axis.

Further, the step of calculating a deviation orientation comprises: dividing a circular area which takes a corresponding position point on a construction design axis as a circle center and is positioned in a vertical plane according to the partition mode of the jacks to form sub-areas which are in one-to-one correspondence with the partition jacks; and analyzing the real-time posture of the shield tunneling machine to obtain a sub-region where a position point needing to be adjusted on the real-time posture of the shield tunneling machine is located, and taking the sub-region obtained through analysis as a deviation azimuth. The partitioned subareas correspond to the subarea jacks one by one, so that which subarea jack needs to be adjusted towards the construction design axis can be obtained, the propelling speed of the subarea jack is increased, and the subarea jack can be adjusted towards the construction design axis.

In one embodiment, the propulsion speed relationship includes that the propulsion speed of the sector jack corresponding to the deviated orientation is greater than the propulsion speeds of the remaining sector jacks. And when the relation of the propelling speed of each partition jack is obtained according to the attitude adjustment information, finding out the corresponding partition jack according to the deviation direction in the attitude adjustment information, and further obtaining that the propelling speed of the partition jack needs to be adjusted to be higher than the propelling speed of the other partition jacks.

In one embodiment, the step of calculating the execution speed of each partition jack comprises: setting corresponding speed parameters according to the deviation distance; setting the execution speed of the partition jack corresponding to the deviation azimuth in the attitude adjustment information as the sum of the reference propulsion speed and the speed parameter; and setting the execution speeds of the rest partition jacks as the reference propelling speed. Specifically, a speed regulation proportion is set corresponding to the deviation distance, a comparison table of the relation between the deviation distance and the speed regulation proportion is set, the corresponding speed regulation proportion is found from the comparison table of the relation between the deviation distance and the speed regulation proportion according to the deviation distance, and then the speed parameter is obtained by multiplying the speed regulation proportion and the reference propulsion speed. Therefore, the speed regulation parameters are dynamically adjusted according to the actual conditions. Preferably, the reference propulsion speed is determined according to the construction condition of the shield tunneling machine and can be manually input by a constructor. In another preferred embodiment, the speed parameter can be manually input by a constructor, and the constructor can perform manual control according to the deviation distance, so that the flexibility of speed control of the jack is improved, and the speed parameter can be automatically adjusted and also can be manually controlled.

in a specific embodiment, when the jack is partitioned, as shown in fig. 2, the partition of the jack on the shield machine with a circular cross section is shown, and the jack arranged on the shield machine with a circular cross section is partitioned into six partitions, specifically, the cross section of the shield machine is partitioned into six partitions clockwise, namely partitions a to F, and accordingly, partition a is a top partition, partition D is a bottom partition, partition B is an upper right waist partition, partition C is a lower right waist partition, partition F is an upper left waist partition, partition E is a lower left waist partition, and the partitioned six partitions are symmetrically distributed. When each zone is divided, the number of the jacks in the zone D is more than that of the jacks in the other zones so as to resist the larger soil pressure of the bottom zone and ensure that the shield tunneling machine keeps stable tunneling. Taking 19 groups of jacks as an example, the number of the jacks in the partition D is 4, and the number of the jacks in the other partitions is 3. For a non-circular shield machine, the jacks can be partitioned according to the cross section shape of the shield machine, and the jack partitions are ensured to be symmetrically distributed as far as possible, so that the stability of the excavation construction of the shield machine is ensured.

In a specific embodiment, the jack provided by the invention adopts a hydraulic oil cylinder, a pressure valve and a flow valve are correspondingly arranged at each partition jack, the pressure valve is used for controlling the oil pressure of the corresponding partition jack, and the flow valve is used for controlling the propelling speed of the corresponding partition jack. When the advancing speed of each partition jack is adjusted by utilizing execution speed control, the advancing speed of the corresponding partition jack is controlled by controlling the flow valve.

When the advancing speed of each partition jack is controlled, stroke forming stroke data of each partition jack is obtained in real time, the real-time advancing speed of each partition jack is calculated by utilizing the stroke data, the real-time advancing speed and the executing speed are compared, if the real-time advancing speed exceeds the executing speed, the advancing speed of the partition jack is controlled to be reduced, if the real-time advancing speed is smaller than the executing speed, the difference value of the executing speed and the real-time advancing speed is adjusted in a self-adaptive mode until the real-time advancing speed approaches to the executing speed.

When the propelling speed of each partition jack is controlled, acquiring oil pressure of each partition jack in real time to form oil pressure data, analyzing the oil pressure data to perform self-adaptive adjustment on the execution speed of each partition jack, specifically, if the oil pressure data is more than 75% of a set pressure limit value, reducing the execution speed of each partition jack to slow down the flow rate at a flow valve of each partition jack and avoid the situation of sudden change of the oil pressure at an excessive speed, and after reducing the speed of each partition jack, regulating the opening of the pressure valve of each partition jack to reduce the oil pressure; if the oil pressure data is below 45% of the set pressure limit value, adjusting the opening of the pressure valve of each partition jack to increase the oil pressure until the oil pressure data is between 45% and 75% of the set pressure limit value; and if the oil pressure data is between 45% and 75% of the set pressure limit, the flow valve of each partition jack can be normally adjusted to control the propelling speed of each partition jack in an execution speed mode. The flow valve is adaptively adjusted according to the oil pressure data, so that the sudden change of the front soil pressure of the shield machine can be avoided, and the construction safety can be ensured.

While the present invention has been described in detail and with reference to the embodiments thereof as illustrated in the accompanying drawings, it will be apparent to one skilled in the art that various changes and modifications can be made therein. Therefore, certain details of the embodiments are not to be interpreted as limiting, and the scope of the invention is to be determined by the appended claims.