CN108005672A - A kind of horizontal correction method for planning track of TBM - Google Patents
A kind of horizontal correction method for planning track of TBM Download PDFInfo
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/11—Making by using boring or cutting machines with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
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Abstract
本发明公开了一种TBM水平纠偏轨迹规划方法，包括1)通过TBM导航系统获得TBM刀盘中心与预定轨迹偏离的水平距离和刀盘掘进方向与预定轨迹的夹角；2)确定TBM掘进作业中最小转弯半径；3)根据TBM刀盘中心与预定轨迹偏离的水平距离、刀盘掘进方向与预定轨迹的夹角以及TBM最小转弯半径，规划出由相互外切的两段圆弧构成的TBM水平纠偏轨迹，根据该TBM水平纠偏轨迹，通过控制TBM水平支撑油缸的位移进而控制TBM调向完成水平纠偏。本发明设计的水平纠偏轨迹可以避免或减少洞壁调向而形成的变化或错台，通过选定合适的纠偏轨迹圆弧半径，使TBM尽快回到设计路线上来以提高工程质量，达到TBM高效、精准施工作业的效果。
The invention discloses a TBM horizontal deviation correction track planning method, comprising 1) obtaining the horizontal distance between the center of the TBM cutter head and the predetermined track and the angle between the cutter head driving direction and the predetermined track through the TBM navigation system; 2) determining the TBM driving operation 3) According to the horizontal distance between the center of the TBM cutterhead and the predetermined trajectory, the angle between the cutterhead driving direction and the predetermined trajectory, and the minimum turning radius of the TBM, a TBM composed of two circular arcs circumscribing each other is planned Horizontal deviation correction trajectory, according to the TBM horizontal deviation correction trajectory, by controlling the displacement of the TBM horizontal support cylinder and then controlling the TBM direction adjustment to complete the horizontal deviation correction. The horizontal deviation correction trajectory designed by the present invention can avoid or reduce the change or wrong platform caused by the direction adjustment of the cave wall. By selecting a suitable deviation correction trajectory arc radius, the TBM can return to the design route as soon as possible to improve the project quality and achieve TBM high efficiency. , The effect of precise construction work.
Description
技术领域technical field
本发明涉及全断面硬岩掘进机(Tunnel Boring Machine，简称TBM)技术领域，具体涉及一种TBM水平纠偏轨迹规划方法。The invention relates to the technical field of a full-face hard rock tunnel boring machine (TBM for short), in particular to a method for planning a horizontal deviation correction trajectory of a TBM.
背景技术Background technique
近年来全断面硬岩掘进机在各种隧道施工中的广泛应用，由于开敞式TBM定向性与稳定性差，以及受围岩软硬不均等影响，在直线推进作业时，会出现偏离预定轨迹的现象，这会导致开挖的隧道质量较差，甚至不能满足工程要求。因此轨迹纠偏已成为提高作业效率、精度及施工质量所面临的主要问题，当掘进作业过程中出现轨迹偏差，TBM导航系统界面会为司机提供返航纠偏轨迹，现在的纠偏轨迹规划方法主要有最小转向轴法和相关的几何抛线法，两种方法均不能达到理想的调向效果，洞壁上会出现应该极力避免的因调向而形成的变化和错台。在纠偏过程中，由于纠偏轨迹圆弧的半径小于TBM最小转弯半径，必须采用偏移法，也会在洞壁上出现变化和错台。调向过程中洞壁出现的变化和错台会严重损害TBM中与洞壁接触的部分。那么就需要当TBM导航系统中激光靶点超出设定范围时，根据TBM的偏差数据(位置和方向)，规划出调向效果更优纠偏轨迹，尽力避免或减少洞壁调向而形成的变化或错台，使TBM尽快回到设计路线上来以提高工程质量，达到TBM高效、精准施工作业的效果。In recent years, full-face hard rock boring machines have been widely used in various tunnel constructions. Due to the poor orientation and stability of open TBMs and the influence of uneven hardness of surrounding rocks, deviations from the planned trajectory may occur during straight-line advancing operations. phenomenon, which will lead to poor quality of excavated tunnels, or even fail to meet engineering requirements. Therefore, trajectory correction has become the main problem to improve operation efficiency, precision and construction quality. When a trajectory deviation occurs during the excavation operation, the TBM navigation system interface will provide the driver with a return correction trajectory. The current correction trajectory planning method mainly includes minimum steering. Neither the axis method nor the related geometric throwing method can achieve the ideal direction adjustment effect, and there will be changes and misalignment caused by the direction adjustment that should be avoided as much as possible on the cave wall. During the deviation correction process, since the radius of the deviation correction trajectory arc is smaller than the minimum turning radius of the TBM, the offset method must be used, and changes and misalignment will also occur on the cave wall. Variations and misalignment of the cave walls during steering can severely damage the portion of the TBM that is in contact with the cave walls. Then, when the laser target in the TBM navigation system exceeds the set range, according to the deviation data (position and direction) of the TBM, it is necessary to plan a correction trajectory with better steering effect, and try to avoid or reduce the changes caused by the tunnel wall steering Or wrong station, so that TBM can return to the design route as soon as possible to improve the project quality and achieve the effect of efficient and precise construction operation of TBM.
发明内容Contents of the invention
针对现有技术，本发明提供了一种TBM水平纠偏轨迹规划方法，避免或减少了洞壁调向而形成的变化或错台。Aiming at the prior art, the present invention provides a TBM horizontal deviation correction trajectory planning method, which avoids or reduces the change or wrong platform caused by the direction adjustment of the cave wall.
为了解决上述技术问题，本发明提出的一种TBM水平纠偏轨迹规划方法，从而实现TBM快速回到预定轨迹，具体方法是，全断面硬岩掘进机包括水平支撑油缸和TBM导航系统；TBM水平纠偏轨迹由相互外切的圆弧BC和圆弧CD构成，其中，B点为纠偏轨迹的起始点，即在TBM刀盘中心与预定轨迹偏离的水平距离为e且刀盘掘进方向与预定轨迹夹角为时TBM刀盘中心的位置，C点为圆弧BC和圆弧CD的切点，D点为纠偏轨迹的终点；圆弧BC在B点与TBM刀盘前面垂直，圆弧CD在D点与预定轨迹相切；In order to solve the above-mentioned technical problems, the present invention proposes a TBM horizontal deviation correction track planning method, so as to realize the rapid return of the TBM to the predetermined track. The specific method is that the full-face hard rock roadheader includes a horizontal support cylinder and a TBM navigation system; The trajectory is composed of circular arcs BC and CD that are circumscribed to each other. Point B is the starting point of the correction trajectory, that is, the horizontal distance between the center of the TBM cutterhead and the predetermined trajectory is e, and the cutting direction of the cutterhead is within the predetermined trajectory. Angle is Point C is the tangent point of arc BC and arc CD, point D is the end point of the correction track; arc BC is perpendicular to the front of TBM cutter at point B, and arc CD is at point D and Predetermined trajectory tangency;
并包括以下步骤：and include the following steps:
步骤一、当TBM导航系统中的激光靶靶点超出设定范围时，通过TBM导航系统获得TBM刀盘中心与预定轨迹偏离的水平距离e和刀盘掘进方向与预定轨迹的夹角 Step 1. When the laser target in the TBM navigation system exceeds the set range, obtain the horizontal distance e between the center of the TBM cutterhead and the predetermined trajectory and the angle between the cutting direction of the cutterhead and the predetermined trajectory through the TBM navigation system
步骤二、确定TBM掘进作业中最小转弯半径Rmin：Step 2. Determine the minimum turning radius R min in TBM tunneling operation:
在TBM掘进距离s内，边刀移动量≤边刀移动限制值△a，即Within the TBM excavation distance s, the side knife movement ≤ side knife movement limit value △a, that is
化简为：Simplifies to:
式(1)是式(2)中：是边刀移动量，R为TBM转弯半径，从而确定TBM最小转弯半径Rmin，Formula (1) is in formula (2): is the moving amount of the side knife, R is the turning radius of the TBM, so as to determine the minimum turning radius R min of the TBM,
步骤三、根据TBM刀盘中心与预定轨迹偏离的水平距离e、刀盘掘进方向与预定轨迹的夹角以及TBM最小转弯半径Rmin，规划出TBM水平纠偏轨迹，Step 3: According to the horizontal distance e deviated from the TBM cutterhead center and the predetermined trajectory, the angle between the cutterhead driving direction and the predetermined trajectory and the TBM minimum turning radius R min , plan the TBM horizontal correction trajectory,
式(3)和式(4)，R1为纠偏轨迹中圆弧BC的半径，R2为纠偏轨迹中圆弧CD的半径，θ1为纠偏轨迹中圆弧BC的圆心角，θ2为纠偏轨迹中圆弧CD的圆心角，Formula (3) and formula (4), R 1 is the radius of the arc BC in the deviation correction track, R 2 is the radius of the arc CD in the deviation correction track, θ 1 is the central angle of the arc BC in the deviation correction track, θ 2 is The central angle of the arc CD in the deviation correction track,
且满足and satisfied
Ri≥Rmin i＝1,2 (5)。R i ≥ R min i = 1,2 (5).
进一步讲，本发明TBM水平纠偏轨迹规划方法中，所述水平纠偏的掘进距离为lFurther speaking, in the TBM horizontal deviation correction trajectory planning method of the present invention, the driving distance of the horizontal deviation correction is 1
l＝R1θ1+R2θ2 (6)。l=R 1 θ 1 +R 2 θ 2 (6).
根据步骤三规划出的TBM水平纠偏轨迹，通过控制所述水平支撑油缸的位移进而控制TBM调向完成水平纠偏。According to the TBM horizontal deviation correction trajectory planned in step 3, the horizontal deviation correction is completed by controlling the displacement of the horizontal support cylinder and then controlling the TBM adjustment.
控制TBM调向是采用相切法进行，即掘进过程中控制TBM刀盘中心线与预定轨迹中心线相切。The control of TBM direction adjustment is carried out by using the tangent method, that is, the centerline of the TBM cutter head is controlled to be tangent to the centerline of the predetermined trajectory during the excavation process.
与现有技术相比，本发明的有益效果是：Compared with prior art, the beneficial effect of the present invention is:
由于本发明方法中设计的纠偏轨迹由相互外切的两段圆弧构成，且纠偏轨迹圆弧的半径大于TBM最小转弯半径Rmin，可以采用相切法而避免了偏移法所产生的缺陷；本发明规划轨迹圆滑，避免或减少了洞壁调向而形成的变化或错台。本发明纠偏轨迹中可以通过选定合适的纠偏轨迹圆弧半径，使TBM尽快回到设计路线上来以提高工程质量，达到TBM高效、精准施工作业的效果。Since the deviation correction trajectory designed in the method of the present invention is composed of two circular arcs that are circumscribed to each other, and the radius of the deviation correction trajectory arc is greater than the minimum turning radius R min of the TBM, the tangent method can be used to avoid the defects produced by the offset method ; The planning trajectory of the present invention is smooth, avoiding or reducing the change or wrong platform caused by the adjustment of the cave wall. In the deviation correction track of the present invention, by selecting a suitable arc radius of the deviation correction track, the TBM can return to the design route as soon as possible to improve the engineering quality and achieve the effect of high-efficiency and precise construction operations of the TBM.
附图说明Description of drawings
图1是本发明TBM水平纠偏轨迹规划示意图；Fig. 1 is a schematic diagram of TBM horizontal correction track planning of the present invention;
图2是本发明实施例中TBM水平纠偏轨迹。Fig. 2 is the horizontal correction track of the TBM in the embodiment of the present invention.
具体实施方式Detailed ways
下面结合附图和具体实施例对本发明技术方案作进一步详细描述，所描述的具体实施例仅对本发明进行解释说明，并不用以限制本发明。The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, and the described specific embodiments are only for explaining the present invention, and are not intended to limit the present invention.
本发明提出的一种TBM水平纠偏轨迹规划方法，全断面硬岩掘进机包括刀盘、水平支撑油缸和TBM导航系统。The invention proposes a TBM horizontal deviation correction trajectory planning method. The full-face hard rock roadheader includes a cutter head, a horizontal support oil cylinder and a TBM navigation system.
如图1所示，通过本发明方法设计出的TBM水平纠偏轨迹由相互外切的圆弧BC和圆弧CD构成，其中，B点为纠偏轨迹的起始点，即在TBM刀盘中心与预定轨迹偏离的水平距离为e且刀盘掘进方向与预定轨迹夹角为时TBM刀盘中心的位置，C点为圆弧BC和圆弧CD的切点，D点为纠偏轨迹的终点；圆弧BC在B点与TBM刀盘前面垂直，圆弧CD在D点与预定轨迹相切。包括以下步骤：As shown in Figure 1, the TBM horizontal deviation correction trajectory designed by the method of the present invention is composed of mutually circumscribed circular arcs BC and circular arcs CD, wherein, point B is the starting point of the deviation correction trajectory, that is, between the center of the TBM cutterhead and the predetermined The horizontal distance of the trajectory deviation is e and the angle between the cutterhead driving direction and the predetermined trajectory is Point C is the tangent point of arc BC and arc CD, point D is the end point of the correction track; arc BC is perpendicular to the front of TBM cutter at point B, and arc CD is at point D and Scheduled trajectories are tangent. Include the following steps:
步骤一、当TBM导航系统中的激光靶靶点超出设定范围时，通过TBM导航系统获得TBM刀盘中心与预定轨迹偏离的水平距离e和刀盘掘进方向与预定轨迹的夹角 Step 1. When the laser target in the TBM navigation system exceeds the set range, obtain the horizontal distance e between the center of the TBM cutterhead and the predetermined trajectory and the angle between the cutting direction of the cutterhead and the predetermined trajectory through the TBM navigation system
步骤二、确定TBM掘进作业中最小转弯半径Rmin：Step 2. Determine the minimum turning radius R min in TBM tunneling operation:
在TBM掘进作业中进行调向时，为了降低刀具损伤、避免刀座或刀体接触岩壁而造成损坏以及保护铲斗唇口过快磨损等限制调向的条件，因此，在TBM掘进距离s内，边刀移动量≤边刀移动限制值△a，即When adjusting the direction during TBM excavation, in order to reduce the damage of the cutter, avoid the damage caused by the contact of the tool seat or the cutter body with the rock wall, and protect the bucket lip from excessive wear and tear, etc., the TBM excavation distance s Inside, side knife movement ≤ side knife movement limit value △a, that is
化简为：Simplifies to:
式(1)是式(2)中：是边刀移动量，R为TBM转弯半径，从而确定TBM最小转弯半径Rmin，需指出的是，随边刀磨损增大，边刀移动量限制值△a也相应减小。Formula (1) is in formula (2): is the moving amount of the side knife, and R is the turning radius of the TBM, so as to determine the minimum turning radius R min of the TBM. It should be pointed out that as the wear of the side knife increases, the limit value of the side knife moving amount △a also decreases accordingly.
步骤三、根据TBM刀盘中心与预定轨迹偏离的水平距离e、刀盘掘进方向与预定轨迹的夹角以及TBM最小转弯半径Rmin，规划出TBM水平纠偏轨迹，实现TBM轨迹纠偏。Step 3: According to the horizontal distance e deviated from the TBM cutterhead center and the predetermined trajectory, the angle between the cutterhead driving direction and the predetermined trajectory As well as the TBM minimum turning radius R min , the TBM horizontal deviation correction trajectory is planned to realize the TBM trajectory correction.
TBM在直线推进作业时，某一时刻偏离预定轨迹(见图1中位置1)，此时根据偏差数据(TBM刀盘与预定轨迹偏离的水平距离e、刀盘掘进方向与预定轨迹的夹角)和最小转弯半径Rmin，根据实际情况选定R1、R2，规划出水平纠偏轨迹，使TBM在该纠偏轨迹上通过连续水平调向，实现轨迹纠偏，如图1所示。When the TBM is advancing in a straight line, it deviates from the predetermined trajectory at a certain moment (see position 1 in Figure 1). At this time, according to the deviation data (the horizontal distance e between the TBM cutterhead and the predetermined trajectory, the angle between the cutterhead’s driving direction and the predetermined trajectory ) and the minimum turning radius R min , select R 1 and R 2 according to the actual situation, and plan the horizontal deviation correction trajectory, so that the TBM can achieve trajectory correction through continuous horizontal adjustment on the deviation correction trajectory, as shown in Figure 1.
式(3)和式(4)，R1为纠偏轨迹中圆弧BC的半径，R2为纠偏轨迹中圆弧CD的半径，θ1为纠偏轨迹中圆弧BC的圆心角，θ2为纠偏轨迹中圆弧CD的圆心角，Formula (3) and formula (4), R 1 is the radius of the arc BC in the deviation correction track, R 2 is the radius of the arc CD in the deviation correction track, θ 1 is the central angle of the arc BC in the deviation correction track, θ 2 is The central angle of the arc CD in the deviation correction track,
且满足and satisfied
Ri≥Rmin i＝1,2 (5)R i ≥ R min i = 1,2 (5)
水平纠偏的掘进距离为lThe excavation distance of horizontal deviation correction is l
l＝R1θ1+R2θ2 (6)l＝R 1 θ 1 +R 2 θ 2 (6)
以TBM支撑-推进-换步机构实验台样机结构参数为例，根据上面得到的TBM水平纠偏轨迹规划方法，取TBM偏差参数e＝3mm，在Matlab环境下，仿真TBM在不同偏差下的纠偏轨迹，如图2所示。由图可知，3条纠偏轨迹均为光滑曲线，且纠偏轨迹末端均与预估掘进轨迹相切。该方法能根据不同偏差数据快速规划出所需的纠偏轨迹。Taking the structural parameters of the TBM support-propulsion-step change mechanism test bench prototype as an example, according to the TBM horizontal correction track planning method obtained above, take the TBM deviation parameter e=3mm, In the Matlab environment, simulate the correction trajectory of TBM under different deviations, as shown in Figure 2. It can be seen from the figure that the three deviation correction trajectories are all smooth curves, and the ends of the deviation correction trajectories are all tangent to the estimated excavation trajectory. This method can quickly plan the required deviation correction trajectory according to different deviation data.
根据步骤三规划出的TBM水平纠偏轨迹，通过控制所述水平支撑油缸的位移进而控制TBM调向完成水平纠偏。控制TBM调向是采用相切法进行，即掘进过程中控制TBM刀盘中心线与预定轨迹中心线相切。According to the TBM horizontal deviation correction trajectory planned in step 3, the horizontal deviation correction is completed by controlling the displacement of the horizontal support cylinder and then controlling the TBM adjustment. The control of TBM direction adjustment is carried out by using the tangent method, that is, the centerline of the TBM cutter head is controlled to be tangent to the centerline of the predetermined trajectory during the excavation process.
TBM一般调向是采用相切法，即掘进过程中TBM中心线与预定轨迹中心线相切。掘进过程中当激光靶靶点超出设定范围时，TBM导航系统中会显示步骤三规划出的纠偏轨迹，通过导航系统中的TBM中心线与纠偏轨迹的相对位置，控制水平支撑油缸的位移调节刀盘掘进过程中偏转，实现调向掘进中TBM中心线与纠偏轨迹中心线相切，最终回到原先的预定轨迹。当TBM激光靶靶点再一次超出设定范围时，重复上述步骤进行纠偏。The general direction adjustment of TBM adopts the tangent method, that is, the center line of the TBM is tangent to the center line of the predetermined trajectory during the excavation process. When the laser target point exceeds the set range during the excavation process, the TBM navigation system will display the deviation correction trajectory planned in step 3, and control the displacement adjustment of the horizontal support cylinder through the relative position of the TBM center line and the deviation correction trajectory in the navigation system The cutter head deflects during the excavation process to realize the tangent between the center line of the TBM and the center line of the correction track during the adjustment and excavation, and finally returns to the original predetermined track. When the TBM laser target point exceeds the set range again, repeat the above steps to correct the deviation.
尽管上面结合附图对本发明进行了描述，但是本发明并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本发明的启示下，在不脱离本发明宗旨的情况下，还可以做出很多变形，这些均属于本发明的保护之内。Although the present invention has been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative, rather than restrictive. Under the enlightenment of the present invention, many modifications can be made without departing from the gist of the present invention, and these all belong to the protection of the present invention.
Claims (4)
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| CN113833482A (en) * | 2021-09-29 | 2021-12-24 | 中国铁建重工集团股份有限公司 | Portable automatic cruising man-machine interaction system of heading machine and automatic cruising method |
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