CN114075986B

CN114075986B - Segment assembly point position selection system and method

Info

Publication number: CN114075986B
Application number: CN202110322098.2A
Authority: CN
Inventors: 吴秉键; 胡珉; 张昊澜; 刘龙潇; 余星; 喻钢
Original assignee: University of Shanghai for Science and Technology
Current assignee: University of Shanghai for Science and Technology
Priority date: 2021-03-25
Filing date: 2021-03-25
Publication date: 2024-01-30
Anticipated expiration: 2041-03-25
Also published as: CN114075986A

Abstract

The invention discloses a duct piece assembly point position selection system and a method, wherein the duct piece assembly point position selection system comprises the following components: the device comprises a duct piece point position selection initialization module, a duct piece point position selection optimization module and a duct piece gesture ideal control target setting module; the segment point position searching and optimizing module is used for screening out candidate point position sequence sets meeting the requirements of staggered joint assembly, shield tail clearance and jack travel difference; and verifying the resultant force born by the current shield according to the candidate point sequence set, the shield planning track, the current shield gesture and the resultant force boundary calculation, determining whether the resultant force born by the current shield meets the control requirement of the shield gesture, and determining the ideal control candidate fields of the excessive quantity and the right excessive quantity on the current segment. The duct piece splicing point position selection system and the duct piece splicing point position selection method can improve the rationality of duct piece splicing point position selection.

Description

Segment assembly point position selection system and method

Technical Field

The invention belongs to the technical field of duct piece assembly, relates to a duct piece assembly system, and particularly relates to a duct piece assembly point position selection system and a duct piece assembly point position selection method.

Background

The current selection method for the general segment assembly points has the following defects: in the existing method, at most, four influencing factors including the current shield machine posture, the shield machine jack travel difference, the shield tail clearance and the design axis line type are considered, and the influencing weight of each factor is set according to construction experience.

The existing method is constrained by the richness of the artificial experience; in addition, the existing method only considers the current tunnel design axis, and does not consider the influence of the floating quantity of the segment and the resultant force boundary of the shield. The selection thinking of the segment points is relatively independent, and is not complementary with the shield attitude control process and the current shield construction condition. Therefore, the rationality of the results obtained by the existing methods needs to be improved.

In view of this, there is an urgent need to design a new segment assembly point selection manner so as to overcome at least some of the above-mentioned drawbacks of the existing segment assembly point selection manner.

Disclosure of Invention

The invention provides a duct piece assembly point position selection system and a duct piece assembly point position selection method, which can improve the rationality of duct piece assembly point position selection.

In order to solve the technical problems, according to one aspect of the present invention, the following technical scheme is adopted:

a segment assembly point location selection system, the segment assembly point location selection system comprising: the device comprises a duct piece point position selection initialization module, a duct piece point position searching optimization module and a duct piece gesture ideal control target setting module;

the duct piece point position searching and optimizing module is respectively connected with a duct piece point position selection initialization module and a duct piece gesture ideal control target setting module;

The duct piece point position selection initialization module is used for reading point position information and duct piece posture information of the latest spliced duct piece and setting a duct piece point position pre-arrangement length N;

the segment attitude ideal control target setting module is used for obtaining a segment assembly attitude control target setter by using a data driving method or a rule-based method based on construction condition data of a segment with excellent segment of the formed tunnel segment attitude control in the history engineering; in the shield tunneling process, the segment assembly attitude control target setter reads the working condition information acquired by the current working condition acquirer and outputs a target domain controlled by the center point of the segment end face;

the segment point position searching and optimizing module is used for screening out candidate point position sequence sets meeting the requirements of staggered joint assembly, shield tail clearance and jack travel difference; checking the resultant force born by the current shield according to the candidate point sequence set, the shield planning track, the current shield gesture and the resultant force boundary calculation, determining whether the resultant force born by the current shield accords with the control requirement of the shield gesture, determining the ideal control candidate fields of the excessive quantity and the excessive right quantity on the current segment, and further screening the candidate point sequence to output a feasible point sequence set; and (3) based on the feasible point position sequence set, taking the object domain of the N-th ring pipe position falling on the center point of the end face as an optimization target of the pipe position sequence, and outputting an optimal pipe position sequence.

As an implementation mode of the invention, the segment point position searching and optimizing module considers the resultant force boundary checking process born by the shield; and outputting a segment end face center point control target domain by combining the current construction working condition based on the construction rule of excavation in the historical engineering in the segment attitude ideal control target setting module.

As an implementation mode of the invention, the duct piece point position selection initialization module comprises a last ring assembly point position, a duct piece attitude information acquirer and a duct piece point pre-arrangement length N setter;

the last ring assembly point position and segment attitude information acquirer is used for acquiring point position information corresponding to a top sealing block of a last ring and space attitude information of a last ring segment after the current ring is pushed; the segment space attitude information comprises the space coordinates of the central point of the segment end face and the excessive right on the segment, which are respectively expressed asAnd->c _x ,c _y ，c _z Respectively the space three-dimensional coordinate values of the center points of the end faces of the segments, e _u ,e _r The upper excess and the right excess of the duct piece are respectively;

the segment point position pre-arrangement length N setter is used for setting the length N of the segment pre-arrangement sheet planned to be carried out, and transmitting the value to the segment point position searching and optimizing module and the segment attitude ideal control target setting module.

As one implementation mode of the invention, the duct piece gesture ideal control target setting module comprises a duct piece gesture control target setter and a current working condition acquirer;

the current working condition acquirer is used for acquiring and storing relevant working condition parameters of the current section affecting the attitude control target when the duct piece is assembled; the relevant operating condition parameters at least comprise: the geological condition of the current section, grouting slurry parameters, the floating quantity of the assembled duct piece and the tunnel design axis form at the current position;

the current zone geological conditions are expressed as The subscript i of the element has one-to-one correspondence with the specific soil type, and is ++>The specific related parameters including the soil body of the type are expressed asThe parameters are sequentially expressed as the initial burial depth, the final burial depth, the proportion of the cutting surface of the cutter disc, the soil weight, the pore ratio, the natural water content, the UU internal friction angle and the UU cohesive force of the soil body of the type. In the actual application process, a user can expand soil parameters according to requirements, but the quantity of parameters contained in each type of soil is ensured to be consistent;

grouting slurry parameters are expressed asWherein g _n Representing the concrete parameters of the current related slurry, and sequentially representing the grouting proportion, the total amount of ring grouting, the solidification time of the slurry and the slump of the slurry of each grouting hole of the current segment; in the actual application process, a user can expand slurry parameters according to requirements;

The floating quantity of the assembled duct piece is expressed according to the accumulated floating quantity average value of the ring pieces with the single floating quantity of 0mm in the latest assembled duct piece and the n ring pieces before the ring pieces; in order to more accurately represent the floating quantity of the spliced duct piece, the value range of n is recommended to be 5-10;

the characterization range of the shape information of the tunnel design axis at the current position is the distance between the current ring and the N rings behind the current ring, whereinN represents the pre-arrangement length of the segment point positions, and is determined by a segment point position pre-arrangement length N setter; taking the current ring as a starting position and the Nth ring as a termination position, and designing the representation form of the axis form information to beWherein->The meaning of each element is the distance between the tunnel design axis at the initial position and the center point of the end face of the duct piece, the distance between the tunnel design axis at the final position and the center point of the end face of the duct piece, the distance between the tunnel design axis at the initial position and the center point of the shield incision, the distance between the tunnel design axis at the final position and the center point of the shield tail, the included angle between the straight line connected with the initial position and the final position of the tunnel design axis and the normal line of the end face of the duct piece in the horizontal direction, the included angle between the straight line connected with the initial position and the final position of the tunnel design axis and the normal line of the end face of the duct piece in the vertical direction, the curvature of the projected line segment of the tunnel design axis at the initial position and the final position in the horizontal direction, and the curvature of the projected line segment of the tunnel design axis at the final position in the elevation direction;

The segment attitude control target setting device is used for determining the three-dimensional space coordinates of the center point of the segment end face according to the pre-arranged segment length NThe nth ring from the current position should fall in the target domain; the segment attitude control target setter builds based on construction data of a segment with excellent final attitude control in historical engineering, and factors considered in the building process are consistent with information in the current working condition acquirer, wherein the building method is a data driving-based method or a rule-based method; in the running process of the system, acquiring the current working condition parameter and transmitting the current working condition parameter into a segment attitude control target setter, and outputting an ideal control target from the center point of the end face of the current N-th annular tube segmentA label field;

the point position selection constraint device comprises a candidate point position generator and a force boundary checker; the point position selection constraint device generates a candidate point position sequence according to the conditions in the candidate point position generator, and the length of the sequence is N; the force boundary checker combines the candidate point sequence set to calculate the resultant force boundary, determines the control candidate fields of the excessive and the excessive right on the pipe sheet under the current working condition, further screens the candidate point sequence based on the control candidate fields, and outputs a feasible point sequence set; the feasible point sequence set enters a point sequence search optimizer, and an optimal point sequence is searched and output by taking the coordinates of the central point of the end face of the N-th ring pipe sheet falling into a control target domain of the end face of the pipe sheet as an optimization target; the specific construction mode of the point location selection constraint device comprises the following steps:

(1) And (3) selecting a staggered joint assembly point position rule: in order to improve the stability and the firmness of the integral posture of the duct piece, the duct piece assembly needs to meet the assembly requirement of staggered joint, and a formula for rapidly calculating the staggered joint point positions is provided:

M _i+1 ＝M _i +2n+2

wherein M is _i Is the splicing point position of the ith ring; n is a non-negative integer of 0,1,2,3 and … …; in addition, in the point positions conforming to the above formula, in order to ensure that the stress of the formed tunnel is uniform and the duct piece is not damaged, the two point positions, namely the upper point position and the lower point position, are avoided to assemble the top sealing block;

(2) Calculating the variation of the shield tail clearance: determining the size of a shield tail gap at any position of the duct piece, calculating the variation of the shield tail gap when pre-selecting the point positions of the capping blocks, comparing the size of the current shield tail gap, and judging whether the point positions of the capping blocks are selected reasonably or not;

(3) Jack travel difference allowable range: the wedge-shaped quantity of the universal duct piece at the duct piece jacking block reaches the maximum value, the position of the jacking block influences the size of the stroke difference of the jack initial position, and the excessive stroke difference of the jack can cause excessive reaction force generated on the overlong side of the jack; when the shield is propelled, in order to avoid that the reactive force of the jack is excessively large to damage the integrity of the spliced segment, when the point position of the segment jacking block is determined, the initial travel difference of the spliced jack is ensured to be controlled within a certain range (< delta); delta value is determined according to shield specification and specific engineering;

And outputting the candidate point sequence set through the steps of the point selection constraint device, and inputting the candidate point sequence set into the force boundary checker.

As one implementation mode of the invention, the segment point position searching and optimizing module comprises a point position selecting constraint device and a point position sequence searching and optimizing device, wherein the point position selecting constraint device comprises a candidate point position generator and a force boundary checker;

the force boundary checker is used for judging whether the external resultant force born by the shield under the condition of preselected top sealing block point positions can drive the shield to tunnel along a planned track or not, namely calculating the resultant force boundary born by the shield, and determining the control candidate domains of the excessive quantity and the right excessive quantity on the segment; the resultant force applied by the shield in the tunneling process mainly comprises five parts, wherein F1 is the front earth pressure, F2: resistance of soil around the shield to shield shell, F3: reaction force of segment to jack, F4: the pressure of the covering soil to the shield machine shell or the extrusion force of the left soil to the shield shell, F5: supporting force of the lower lying soil on the shield machine or extrusion force of the right soil on the shield shell; wherein the size and the direction of F3 are influenced by the attitude of a segment, the maximum value of oil pressure difference of a jack partition and the initial length of the jack, F3 is the only power for shield tunneling, and F is ensured to ensure that the attitude of the current shield tunneling machine can tunnel according to a planned track _{Boundary of close} The component force of the shield steering planning track can be provided;

F _{boundary of close} ＝F ₁ +F ₂ +F _{3 boundary} +F ₄ +F ₅

F _{Boundary of close} Is mainly of the size and direction of F _{3 boundary} In calculating F _{3 boundary} When the method is used, the attitude of the end face of the pipe piece, the initial stroke difference of the jack and the maximum value of the oil pressure difference of the jack partition are required to be considered;

F _{3 boundary} ＝f(g(x ₁ )，h(x ₁ )，x ₂ )

Wherein x is ₁ The point position, g (x ₁ ) Segment end face posture under the determination of capping block point position, h (x ₁ ) Jack initial travel difference, x, for block point location determination ₂ The maximum oil pressure difference of the partition jack is; f (F) _{Boundary of close} The calculation process of (2) can be calculated by a numerical simulation or data driving method;

and calculating the boundary of resultant force through the pre-selected capping block assembly points, judging whether the current boundary force can drive the shield tunneling machine to tunnel along the planned track, and determining the ideal control candidate fields of excessive quantity and excessive right quantity on the segment. Finally, outputting a feasible point sequence set by the point position selection constraint device, and inputting the feasible point sequence set into the point position sequence search optimizer;

the point location sequence searching optimizer is used for searching and optimizing a feasible point location sequence set by taking a segment end face center point target domain output by the segment attitude control target setter as an optimization target.

A segment splicing point position selection method comprises the following steps:

a segment point position initializing step, namely reading point position information and segment posture information of the latest spliced segment, and setting a segment point position pre-arrangement length N;

a segment attitude ideal control target setting step, namely obtaining a segment assembly attitude control target setter by using a data driving method or a rule-based method based on construction working condition data of a segment attitude control excellent segment of a formed tunnel in a historical engineering, wherein the construction working condition data comprises corresponding geological conditions, grouting slurry parameters, segment floating quantity and design axis form; in the shield tunneling process, the segment assembly attitude control target setter reads the working condition information acquired by the current working condition acquirer and outputs a target domain controlled by the center point of the segment end face;

a segment point position searching and optimizing step, namely screening out a candidate point position sequence set meeting the requirements of staggered joint assembly, shield tail clearance and jack travel difference; checking the resultant force born by the current shield according to the candidate point sequence set, the shield planning track, the current shield gesture and the resultant force boundary calculation, determining whether the resultant force born by the current shield accords with the control requirement of the shield gesture, determining the ideal control candidate fields of the excessive quantity and the excessive right quantity on the current segment, and further screening the candidate point sequence to output a feasible point sequence set; the point sequence searching optimizer is used for outputting an optimal segment point sequence by taking an object domain of the N-th ring channel segment gesture falling on the center point of the end face as an optimization target of the segment point sequence based on the feasible point sequence set.

In the segment search optimization step, the resultant force boundary verification process born by the shield is considered;

in the segment attitude ideal control target setting step, a segment end face center point control target domain is output by combining the current construction working condition based on the construction rule of excavation in the historical engineering.

As one embodiment of the present invention, the segment point selection initialization step includes:

the last ring assembly point position and segment attitude information acquirer acquires point position information corresponding to a capping block of the last ring and space attitude information of the last ring segment after the current ring is pushed; the segment space attitude information comprises the space coordinates of the central point of the segment end face and the excessive right on the segment, which are respectively expressed asAnd->c _x ,c _y ，c _z Respectively the space three-dimensional coordinate values of the center points of the end faces of the segments, e _u ,e _r The upper excess and the right excess of the duct piece are respectively;

the segment point position pre-arrangement length N setter sets the length N of the segment pre-arrangement sheet planned to be carried out, and transmits the value to the segment point position searching and optimizing module and the segment attitude ideal control target setting module.

As one embodiment of the present invention, the segment attitude ideal control target setting step includes:

The current working condition acquirer acquires and stores relevant working condition parameters of the attitude control target when the current section affects segment assembly; the relevant operating condition parameters at least comprise: the geological condition of the current section, grouting slurry parameters, the floating quantity of the assembled duct piece and the tunnel design axis form at the current position;

the current zone geological conditions are expressed as The subscript i of the element has one-to-one correspondence with the specific soil type, and is ++>The specific related parameters including the soil body of the type are expressed asThe parameters are sequentially expressed as initial burial depth, final burial depth, proportion of the cutting surface of the cutterhead, soil weight, pore ratio, natural water content, UU internal friction angle and UU cohesive force of the soil body of the type;

the floating quantity of the assembled duct piece is expressed according to the accumulated floating quantity average value of the ring pieces with the single floating quantity of 0mm in the latest assembled duct piece and the n ring pieces before the ring pieces;

The representation range of the shape information of the tunnel design axis at the current position is the distance between the current ring and the N rings behind the current ring, wherein N represents the pre-arrangement length of the segment point, and is determined by a segment point pre-arrangement length N setter; taking the current ring as a starting position and the Nth ring as a termination position, and designing the representation form of the axis form information to beWherein->The meaning of each element is the distance between the tunnel design axis at the initial position and the center point of the end face of the duct piece, the distance between the tunnel design axis at the final position and the center point of the end face of the duct piece, the distance between the tunnel design axis at the initial position and the center point of the shield incision, the distance between the tunnel design axis at the final position and the center point of the shield tail, the included angle between the straight line connected with the initial position and the final position of the tunnel design axis and the normal line of the end face of the duct piece in the horizontal direction, the included angle between the straight line connected with the initial position and the final position of the tunnel design axis and the normal line of the end face of the duct piece in the vertical direction, the curvature of the projected line segment of the tunnel design axis at the initial position and the final position in the horizontal direction, and the curvature of the projected line segment of the tunnel design axis at the final position in the elevation direction;

The segment attitude control target setter determines three-dimensional space coordinates of a segment end face center point according to the pre-arranged segment length NThe nth ring from the current position should fall in the target domain; the segment attitude control target setter builds based on construction data of a segment with excellent final attitude control in historical engineering, and factors considered in the building process are consistent with information in the current working condition acquirer, wherein the building method is a data driving-based method or a rule-based method; in the running process of the system, acquiring a current working condition parameter, transmitting the current working condition parameter into a segment attitude control target setter, and outputting an ideal control target domain from the center point of the end surface of the current N-th annular tube segment;

M _i+1 ＝M _i +2n+2

(2) Calculating the variation of the shield tail clearance: projecting the duct piece from any direction, and calculating the variation of the shield tail gap at two sides; determining the size of a shield tail gap at any position of the duct piece, calculating the variation of the shield tail gap when pre-selecting the point positions of the capping blocks, comparing the size of the current shield tail gap, and judging whether the point positions of the capping blocks are selected reasonably or not;

(3) Jack travel difference allowable range: the wedge-shaped quantity of the universal duct piece at the duct piece jacking block reaches the maximum value, the position of the jacking block influences the stroke difference of the jack initial position, and the excessive stroke difference of the jack can cause excessive reaction force generated on the overlong side of the jack; when the shield is propelled, in order to avoid that the reactive force of the jack is excessively large to damage the integrity of the spliced segment, when the point position of the segment jacking block is determined, the initial travel difference of the spliced jack is ensured to be controlled within a certain range (< delta); delta value is determined according to shield specification and specific engineering;

As an embodiment of the present invention, the segment point location search optimization step includes:

the force boundary checker judges whether the external resultant force born by the shield can drive the shield to tunnel along a planned track under the condition of preselecting the point position of the top sealing block, namely, calculates the resultant force boundary born by the shield, and determines the control candidate domains of the excessive and the right excessive on the segment; the resultant force applied by the shield in the tunneling process mainly comprises five parts, wherein F1 is the front earth pressure, F2: resistance of soil around the shield to shield shell, F3: reaction force of segment to jack, F4: the pressure of the covering soil to the shield machine shell or the extrusion force of the left soil to the shield shell, F5: supporting force of the lower lying soil on the shield machine or extrusion force of the right soil on the shield shell; wherein the size and the direction of F3 are influenced by the attitude of a segment, the maximum value of oil pressure difference of a jack partition and the initial length of the jack, F3 is the only power for shield tunneling, and F is ensured to ensure that the attitude of the current shield tunneling machine can tunnel according to a planned track _{Boundary of close} The component force of the shield steering planning track can be provided;

F _{Boundary of close} ＝F ₁ +F ₂ +F _{3 boundary} +F ₄ +F ₅

F _{3 boundary} ＝f(g(x ₁ )，h(x ₁ )，x ₂ )

the point position sequence searching optimizer uses the segment end face center point target domain output by the segment attitude control target setter as an optimization target to search and optimize the feasible point position sequence set.

The invention has the beneficial effects that: the segment assembly point position selection system and method provided by the invention consider the influences of the factors such as the current geological conditions, grouting slurry parameters, segment floating quantity, current design axis shape, shield tunneling planning track, shield current posture, shield tail clearance, jack stroke difference, staggered joint assembly, tunnel design axis shape, resultant force boundary of the shield and the like, and consider the correction capability of the shield posture and the axis shape to select and optimize the segment assembly point position. And the duct piece posture is quickly converged to the duct piece ideal posture to serve as an optimization target of duct piece assembly points, and the duct piece assembly points are subjected to multi-ring planning. The invention can improve the rationality of selecting the segment splicing point positions.

Drawings

Fig. 1 is a schematic diagram of a segment assembly point selection system according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of distribution of segment assembly point numbers in an embodiment of the present invention.

FIG. 3 is a diagram illustrating the variation of the tail gap according to an embodiment of the present invention.

FIG. 4 is a schematic view showing the angles between the projected side lines near the top of the jack and the center point of the capping block according to an embodiment of the present invention.

FIG. 5 is a diagram illustrating the resultant force applied by the shield in accordance with an embodiment of the present invention.

FIG. 6 is a flowchart of a bit sequence search optimization in accordance with one embodiment of the present invention.

Detailed Description

Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

For a further understanding of the present invention, preferred embodiments of the invention are described below in conjunction with the examples, but it should be understood that these descriptions are merely intended to illustrate further features and advantages of the invention, and are not limiting of the claims of the invention.

The description of this section is intended to be illustrative of only a few exemplary embodiments and the invention is not to be limited in scope by the description of the embodiments. It is also within the scope of the description and claims of the invention to interchange some of the technical features of the embodiments with other technical features of the same or similar prior art.

The description of the steps in the various embodiments in the specification is merely for convenience of description, and the implementation of the present application is not limited by the order in which the steps are implemented. "connected" in the specification includes both direct and indirect connections.

The invention discloses a duct piece assembly point position selection system, and fig. 1 is a schematic diagram of the composition of the duct piece assembly point position selection system in an embodiment of the invention; referring to fig. 1, the segment assembly point location selection system includes: a duct piece point position selection initialization module 1, a duct piece gesture ideal control target setting module 2 and a duct piece point position searching optimization module 3; and the duct piece point position searching and optimizing module 3 is respectively connected with the duct piece point position selection initializing module 1 and the duct piece gesture ideal control target setting module 2.

The duct piece point position selection initialization module 1 is used for reading point position information and duct piece posture information of the latest spliced duct piece and setting a duct piece point position pre-arrangement length N.

The segment attitude ideal control target setting module 2 is used for obtaining a segment assembly attitude control target setter by using a data driving method or a rule-based method based on construction condition data of a segment with excellent segment of the formed tunnel segment attitude control in the history engineering. In one embodiment, the construction condition data includes corresponding geological conditions, grouting slurry parameters, floating amount of the pipe piece and design axis shape. In the shield tunneling process, the segment assembly attitude control target setter reads the working condition information acquired by the current working condition acquirer and outputs a target domain controlled by the center point of the segment end face;

The segment point position searching and optimizing module 3 is used for screening out a candidate point position sequence set meeting the requirements of staggered joint assembly, shield tail clearance and jack travel difference through a candidate point position generator in a point position selection constraint device; checking the resultant force born by the current shield according to the candidate point sequence set, the shield planning track, the current shield gesture and the resultant force boundary calculation, determining whether the resultant force born by the current shield accords with the control requirement of the shield gesture, determining the ideal control candidate fields of the excessive quantity and the excessive right quantity on the current segment, and further screening the candidate point sequence to output a feasible point sequence set; the point sequence searching optimizer is used for outputting an optimal segment point sequence by taking an object domain of the N-th ring channel segment gesture falling on the center point of the end face as an optimization target of the segment point sequence based on the feasible point sequence set.

In an embodiment of the present invention, the segment point location searching optimization module 3 considers the resultant force boundary verification process of the shield; and outputting a segment end face center point control target domain by combining the current construction working condition based on the construction rule of excavation in the history engineering in the segment attitude ideal control target setting module 2.

In an embodiment of the present invention, the segment point selection initialization module 1 includes a last ring assembly point and segment posture information acquirer 11 and a segment point pre-arrangement segment length N setter 12.

The last ring assembly point position and segment attitude information acquirer 11 is used for acquiring point position information corresponding to a top sealing block of a last ring and space attitude information of a last ring segment after the current ring is pushed; the segment space attitude information comprises the space coordinates of the central point of the segment end face and the excessive right on the segment, which are respectively expressed asAnd->c _x ,c _y ，c _z Respectively the space three-dimensional coordinate values of the center points of the end faces of the segments, e _u ,e _r The upper excess and the right excess of the duct piece are respectively;

the segment point position pre-arranging length N setter 12 is used for setting the length N of the segment pre-arranging sheet planned to be carried out, and transmitting the value to the segment point position searching and optimizing module and the segment attitude ideal control target setting module; the value of N can be set according to the requirements of the construction site, but the pre-arrangement length is too short or too long, so that the guiding significance of the pre-arrangement sheet of the segment point position on the actual segment attitude control is lost, and in one embodiment, the recommended range of the value of N is 5-10.

In an embodiment of the present invention, the segment attitude ideal control target setting module 2 includes a segment attitude control target setter 21 and a current condition acquirer 22.

The current working condition acquirer 22 is used for acquiring and storing relevant working condition parameters of the current section affecting the attitude control target when the segments are assembled; the relevant operating condition parameters at least comprise: the geological condition of the current section, grouting slurry parameters, the floating quantity of the assembled pipe piece and the tunnel design axis form at the current position.

The current zone geological conditions are expressed as The subscript i of the element has one-to-one correspondence with the specific soil type, and is ++>The specific related parameters including the soil body of the type are expressed asThe parameters are sequentially expressed as the initial burial depth, the final burial depth, the proportion of the cutting surface of the cutter disc, the soil weight, the pore ratio, the natural water content, the UU internal friction angle and the UU cohesive force of the soil body of the type. In the practical application process, a user can expand soil parameters according to requirements, but the quantity of parameters contained in each type of soil is ensured to be consistent.

Grouting slurry parameters are expressed asWherein g _n Representing the concrete parameters of the current related slurry, and sequentially representing the grouting proportion, the total amount of ring grouting, the solidification time of the slurry and the slump of the slurry of each grouting hole of the current segment; in the practical application process, a user can expand the slurry parameters according to the requirements.

the representation range of the shape information of the tunnel design axis at the current position is the distance between the current ring and the N rings behind the current ring, wherein N represents the pre-arrangement length of the segment point, and is determined by a segment point pre-arrangement length N setter; taking the current ring as a starting position and the Nth ring as a termination position, and designing the representation form of the axis form information to be Wherein->The meaning of each element in the system is that the distance between the tunnel design axis at the initial position and the center point of the end face of the pipe piece, the distance between the tunnel design axis at the final position and the center point of the end face of the pipe piece, the distance between the tunnel design axis at the initial position and the center point of the shield incision, the distance between the tunnel design axis at the final position and the center point of the shield tail, the included angle between the straight line connected with the initial position and the final position of the tunnel design axis and the normal line of the end face of the pipe piece in the horizontal direction, the included angle between the straight line connected with the initial position and the final position of the tunnel design axis and the normal line of the end face of the pipe piece in the vertical direction, the curvature of the projected line of the tunnel design axis at the initial position and the final position in the horizontal direction, and the curvature of the projected line of the tunnel design axis at the final position in the elevation direction. In the practical application process, the user can trace according to the requirementsAnd expanding parameters of the tunnel design axis form.

In one embodiment of the present invention, the segment attitude control target setter 21 is configured to determine three-dimensional coordinates of a center point of the segment end face according to the pre-segment length N The nth ring from the current position should fall in the target domain; the segment attitude control target setter builds based on construction data of a segment with excellent final attitude control in historical engineering, and factors considered in the building process are consistent with information in the current working condition acquirer, wherein the building method is a data driving-based method or a rule-based method; in the running process of the system, acquiring the current working condition parameter, transmitting the current working condition parameter into a segment attitude control target setter, and outputting an ideal control target domain from the center point of the end face of the current N-th annular tube segment.

(1) And (3) selecting a staggered joint assembly point position rule: in order to improve the stability and the firmness of the integral posture of the duct piece, the duct piece assembly needs to meet the staggered joint assembly requirement, and under the condition of the distribution of the point numbers of fig. 2, a formula for rapidly calculating the staggered joint point positions is provided:

M _i+1 ＝M _i +2n+2

wherein M is _i Is the splicing point position of the ith ring; n is a non-negative integer of 0,1,2,3 and … …; in addition, in the point position conforming to the above formula, in order to ensure the stress of the formed tunnelEven, the section of jurisdiction is not damaged, should avoid two point positions to assemble the sealing top piece directly over, directly under. The point location distribution situation shown in fig. 2 is an embodiment, so as to better illustrate a fast calculation formula of the staggered joint assembly, and in another embodiment, the point location distribution situation may be other point location distribution situations.

(2) Calculating the variation of the shield tail clearance: fig. 3 shows a side projection view from a certain angle, and the projection shape of the segment is isosceles trapezoid or rectangle, as known from the characteristics of the general segment. The schematic diagram of the variation of the shield tail gap and the auxiliary lines required for calculating the variation of the gap are shown in figure 3; wherein CGHF is the segment assembled by the previous ring, BCFE is the segment assembled by the current ring, and DE and AB are easily known as the variation of the tail gaps of the two sides; the auxiliary lines L and M are respectively parallel to projection side lines of shield walls at two sides, and the L and M respectively pass through a point F and a point C near the top end of a jack of the former ring segment; the auxiliary line FI is perpendicular to projection side lines of the shield walls at two sides, and the auxiliary line M is intersected at a point J, and the CJ is perpendicular to the FI; the auxiliary line O is an extension line of a midpoint connecting line of two waists of the segment assembled by the previous ring, the auxiliary line P is an extension line of a midpoint connecting line of two waists of the current ring, alpha is an included angle between the two auxiliary lines O and P, the direction of the defined included angle is the rotation direction from the auxiliary line O to P, and the positive direction of the defined angle is clockwise; the auxiliary line FQ is perpendicular to BC; because the points C and F are near jack tops of the current pipe piece, CJ is the stroke difference of the jacks at two sides after the current ring tunneling is completed;

As known, the segment radius is R, and the included angles between the connection lines of the points B and E and the end face center point and the connection lines of the top sealing block center point and the end face center point are β and θ, respectively, as shown in fig. 4; assuming that the ring width of the top sealing block is a, the ring width of the bottom falling block is b, and the wedge-shaped quantity of the duct piece is c=b-a; it can be seen that:

because of the fact that,

so that the number of the parts to be processed,

∠ACB＝180°-∠FCJ-∠QCF

and because of the fact that,

AC DF, and DE AB, and EF BC,

so that the number of the parts to be processed,

ΔACB～ΔDFE

so that the number of the parts to be processed,

∠ACB＝∠DFE＝180°-∠FCJ-∠QCF

it can be seen from the above reasoning that,

AB＝BC×sin(∠ACB) DE＝EF×sin(∠ACB)

according to the method, the duct piece can be projected from any direction, and the variation of the shield tail gap at two sides is calculated; therefore, the method can determine the size of the shield tail gap at any position of the duct piece, calculate the variation of the shield tail gap when the point position of the capping block is preselected, compare the current size of the shield tail gap, and judge whether the point position selection of the capping block is reasonable or not.

(3) Jack travel difference allowable range: the wedge-shaped quantity of the universal duct piece at the duct piece jacking block reaches the maximum value, the position of the jacking block influences the size of the stroke difference of the jack initial position, and the excessive stroke difference of the jack can cause excessive reaction force generated on the overlong side of the jack; when the shield is propelled, in order to avoid that the reactive force of the jack is excessively large to damage the integrity of the spliced segment, when the point position of the segment jacking block is determined, the initial travel difference of the spliced jack is ensured to be controlled within a certain range (< delta); the delta value is determined according to the shield specification and the specific engineering, and in one embodiment, the delta value ranges from 70mm to 90mm.

In an embodiment of the present invention, the segment-and-bit search optimization module 3 includes a bit selection constraint device 31 and a bit sequence search optimizer 32, where the bit selection constraint device 31 includes a candidate bit generator 311 and a force boundary checker 312.

In one embodimentThe force boundary checker 312 is configured to determine whether the external resultant force applied to the shield under the condition of the pre-selected top-sealing block point position can drive the shield to tunnel along the planned track, that is, calculate the resultant force boundary applied to the shield, and determine the control candidate fields of excessive and excessive right on the segment; as shown in fig. 5, the resultant force applied by the shield in the tunneling process mainly comprises five parts, F1: front earth pressure, F2: resistance of soil around the shield to shield shell, F3: reaction force of segment to jack, F4: the pressure of the covering soil to the shield machine shell or the extrusion force of the left soil to the shield shell, F5: supporting force of the lower lying soil on the shield machine or extrusion force of the right soil on the shield shell; wherein the size and the direction of F3 are influenced by the attitude of a segment, the maximum value of oil pressure difference of a jack partition and the initial length of the jack, F3 is the only power for shield tunneling, and F is ensured to ensure that the attitude of the current shield tunneling machine can tunnel according to a planned track _{Boundary of close} The component force of the shield steering planning track can be provided;

F _{boundary of close} ＝F ₁ +F ₂ +F _{3 boundary} +F ₄ +F ₅

F _{3 boundary} ＝f(g(x ₁ )，h(x ₁ )，x ₂ )

Wherein x is ₁ The point position, g (x ₁ ) Segment end face posture under the determination of capping block point position, h (x ₁ ) Jack initial travel difference, x, for block point location determination ₂ Is the maximum oil pressure difference of the zone jack. F (F) _{Boundary of close} The calculation process of (2) can be calculated by a numerical simulation or data driving method;

and calculating the boundary of resultant force through the pre-selected capping block assembly points, judging whether the current boundary force can drive the shield tunneling machine to tunnel along the planned track, and determining the ideal control candidate fields of excessive quantity and excessive right quantity on the segment. Finally, the point location selection constraint device outputs a feasible point location sequence set and inputs the feasible point location sequence set into the point location sequence search optimizer.

In an embodiment, the point sequence search optimizer 31 is configured to search and optimize a feasible point sequence set by using a target domain of a segment end face center point output by the segment attitude control target setter as an optimization target; a user can select a certain optimization method according to own preference, and in one embodiment, a PSO method-based search optimization method is adopted to explain the search optimization process.

Constraint conditions:

x＝f(X)

wherein X is an initial point sequence set, f () represents the filtering process of the point sequence constrainer, and X is a feasible point sequence set output by the point sequence constrainer;

evaluation function:

and->

Wherein, (x) _c ,y _c ,z _c ) The coordinates of the central point of the target domain of the central point of the end surface of the nth ring pipe sheet are set; (x) _c ′,y _c ′,z _c ') is the center point coordinate of the end face of the nth ring pipe slice in the currently selected point sequence; delta is the range of the control target field, the value can be determined according to the actual construction condition of the site, and the proposal can be set as a circular range of r=5mm; setting the minimum allowable value of score as in the optimization processCan be determined according to the actual engineering requirement>For fast and reasonable implementation of search optimization of the optimal point sequence, propose +.>The value range is 0.1-1.

Updating the function:

v _i+1 ＝ω×v _i +c ₁ ×rand()×(pbest _i -x _i )+c ₂ ×rand()×(gbest _i -x _i ) (1)

x _i+1 ＝x _i +v _i+1 (2)

the method comprises the following steps that (1) and (2) are particle swarm updating processes when a point location sequence is searched and optimized each time, wherein i represents an ith point location sequence attempt; rand () represents a random number between (0, 1); c ₁ And c ₂ Is a learning factor; v _i Representing the adjustment direction of the current point position sequence; x is x _i Representing the setting condition of the current point position sequence;

in one embodiment of the present invention, the process of optimizing the search for a sequence of points is shown in FIG. 6. In order to better explain how the system described by the invention is applied, other specific calculation methods and formulas such as specific segment assembly point position distribution, a staggered joint assembly point position selection formula, shield tail gap variation calculation and the like are introduced in the description process, and the constraint range of the invention comprises other calculation methods or formulas with the same concept.

The invention also discloses a segment assembly point position selection method, which comprises the following steps:

and (S1) a segment point position initializing step, namely reading point position information and segment posture information of the latest spliced segment, and setting a segment point position pre-arrangement length N.

In an embodiment of the present invention, the segment point selection initialization step includes:

the segment point position pre-arrangement length N setter sets the length N of the segment pre-arrangement sheet planned to be carried out, and transmits the value to the segment point position searching and optimizing module and the segment attitude ideal control target setting module. The value of N can be set according to the requirements of the construction site, but the pre-arrangement length is too short or too long, so that the guiding significance of the pre-arrangement sheet of the segment point position on the actual segment attitude control is lost, and in one embodiment, the recommended range of the value of N is 5-10.

Step S2, setting an ideal control target of duct piece posture, namely obtaining a duct piece assembling posture control target setter by using a data driving method or a rule-based method based on construction working condition data of a section with excellent posture control of a formed tunnel in historical engineering, wherein the construction working condition data comprises corresponding geological conditions, grouting slurry parameters, duct piece floating quantity and design axis shape; in the shield tunneling process, the segment assembly attitude control target setter reads the working condition information acquired by the current working condition acquirer and outputs a target domain of segment end face center point control.

In an embodiment of the present invention, the segment attitude ideal control target setting step includes:

the current zone geological conditions are expressed as The subscript i of the element has one-to-one correspondence with the specific soil type, and is ++>The specific related parameters including the soil body of the type are expressed as The parameters are sequentially expressed as the initial burial depth, the final burial depth, the proportion of the cutting surface of the cutter disc, the soil weight, the pore ratio, the natural water content, the UU internal friction angle and the UU cohesive force of the soil body of the type. In the actual application process, a user can expand soil parameters according to requirements, but the quantity of parameters contained in each type of soil is ensured to be consistent;

the representation range of the shape information of the tunnel design axis at the current position is the distance between the current ring and the N rings behind the current ring, wherein N represents the pre-arrangement length of the segment point, and is determined by a segment point pre-arrangement length N setter; taking the current ring as a starting position and the Nth ring as a termination position, and designing the representation form of the axis form information to be Wherein->Each element of (a)The method is characterized in that the method sequentially comprises the steps of distance of a tunnel design axis at a starting position relative to a center point of a segment end surface, distance of a tunnel design axis at a terminating position relative to a center point of a segment end surface, distance of the tunnel design axis at the starting position relative to a center point of a shield cut, distance of the tunnel design axis at the terminating position relative to a center point of a shield tail, distance of the tunnel design axis at the terminating position relative to the center point of the shield tail, an included angle between a straight line connecting the tunnel design axis with the terminating position and a normal line of the segment end surface in the horizontal direction, an included angle between a straight line connecting the tunnel design axis at the starting position with the terminating position and the normal line of the segment end surface in the vertical direction, curvature of a projection line segment of the tunnel design axis at the starting position and the terminating position in the horizontal direction, and curvature of a projection line segment of the tunnel design axis at the initiating position and the terminating position in the elevation direction. In the practical application process, a user can expand parameters describing the tunnel design axis form according to requirements.

The segment attitude control target setter determines three-dimensional space coordinates of a segment end face center point according to the pre-arranged segment length N The nth ring from the current position should fall in the target domain; the segment attitude control target setter builds based on construction data of a segment with excellent final attitude control in historical engineering, and factors considered in the building process are consistent with information in the current working condition acquirer, wherein the building method is a data driving-based method or a rule-based method; in the running process of the system, acquiring a current working condition parameter, transmitting the current working condition parameter into a segment attitude control target setter, and outputting an ideal control target domain from the center point of the end surface of the current N-th annular tube segment;

M _i+1 ＝M _i +2n+2

wherein M is _i Is the splicing point position of the ith ring; n is a non-negative integer of 0,1,2,3 and … …; in addition, in the point positions conforming to the above formula, in order to ensure that the stress of the formed tunnel is uniform and the duct piece is not damaged, the two point positions directly above and directly below are avoided to assemble the top sealing block. And (3) injection: the point location distribution condition shown in fig. 2 is a sample, and is used for better explaining a quick calculation formula of staggered joint assembly, and the protection scope of the patent includes the condition of other point location distribution;

because of the fact that,

∠FCJ＝arcsin(CJ/2R)，

so that the number of the parts to be processed,

∠ACB＝180°-∠FCJ-∠QCF

and because of the fact that,

AC DF, and DE AB, and EF BC,

so that the number of the parts to be processed,

ΔACB～ΔDFE

so that the number of the parts to be processed,

∠ACB＝∠DFE＝180°-∠FCJ-∠QCF

it can be seen from the above reasoning that,

AB＝BC×sin(∠ACB) DE＝EF×sin(∠ACB)

according to the method, the duct piece can be projected from any direction, and the variation of the shield tail gap at two sides is calculated; therefore, the method can determine the size of the shield tail gap at any position of the duct piece, calculate the variation of the shield tail gap when the point position of the capping block is pre-selected, compare the current size of the shield tail gap, and judge whether the point position selection of the capping block is reasonable;

(3) Jack travel difference allowable range: the wedge-shaped quantity of the universal duct piece at the duct piece jacking block reaches the maximum value, the position of the jacking block influences the stroke difference of the jack initial position, and the excessive stroke difference of the jack can cause excessive reaction force generated on the overlong side of the jack; when the shield is propelled, in order to avoid that the reactive force of the jack is excessively large to damage the integrity of the spliced segment, when the point position of the segment jacking block is determined, the initial travel difference of the spliced jack is ensured to be controlled within a certain range (< delta); the delta value is determined according to the shield specification and the specific engineering, and the proposed value range is 70 mm-90 mm.

Step S3, segment point position searching and optimizing, wherein candidate point position sequence sets meeting the requirements of staggered joint assembly, shield tail clearance and jack travel difference are screened out through a candidate point position generator in a point position selection constraint device; checking the resultant force born by the current shield according to the candidate point sequence set, the shield planning track, the current shield gesture and the resultant force boundary calculation, determining whether the resultant force born by the current shield accords with the control requirement of the shield gesture, determining an ideal control candidate domain 313 of excessive quantity and excessive right quantity on the current segment, and further screening the candidate point sequence to output a feasible point sequence set; the point sequence search optimizer 31 outputs an optimal segment point sequence based on the feasible point sequence set with the target domain of the end face center point where the N-th loop segment posture falls as the optimization target of the segment point sequence.

In an embodiment of the present invention, in the segment search optimization step, a resultant force boundary verification process suffered by the shield is considered. In the segment attitude ideal control target setting step, a segment end face center point control target domain is output by combining the current construction working condition based on the construction rule of excavation in the historical engineering.

In an embodiment of the present invention, the segment point location search optimization step includes:

the force boundary checker judges whether the external resultant force born by the shield can drive the shield to tunnel along a planned track under the condition of preselecting the point position of the top sealing block, namely, calculates the resultant force boundary born by the shield, and determines the control candidate domains of the excessive and the right excessive on the segment; as shown in fig. 5, the shield is subjected to the following tunneling processThe resultant force of (2) is mainly composed of five parts, F1 is the front soil pressure, F2: resistance of soil around the shield to shield shell, F3: reaction force of segment to jack, F4: the pressure of the covering soil to the shield machine shell or the extrusion force of the left soil to the shield shell, F5: supporting force of the lower lying soil on the shield machine or extrusion force of the right soil on the shield shell; wherein the size and the direction of F3 are influenced by the attitude of a segment, the maximum value of oil pressure difference of a jack partition and the initial length of the jack, F3 is the only power for shield tunneling, and F is ensured to ensure that the attitude of the current shield tunneling machine can tunnel according to a planned track _{Boundary of close} The component force of the shield steering planning track can be provided;

F _{boundary of close} ＝F ₁ +F ₂ +F _{3 boundary} +F ₄ +F ₅

F _{3 boundary} ＝f(g(x ₁ )，h(x ₁ )，x ₂ )

In summary, the segment assembly point selection system and method provided by the invention consider the influences of the factors such as the current geological conditions, grouting slurry parameters, segment floating quantity, current design axis form, shield tunneling planning track, current shield posture, shield tail clearance, jack travel difference, staggered joint assembly, tunnel design axis form, resultant force boundary of the shield and the like, and consider the shield posture correction capability and axis form to select and optimize the segment assembly point. And the duct piece posture is quickly converged to the duct piece ideal posture to serve as an optimization target of duct piece assembly points, and the duct piece assembly points are subjected to multi-ring planning. The invention can improve the rationality of selecting the segment splicing point positions.

It should be noted that the present application may be implemented in software and/or a combination of software and hardware; for example, an Application Specific Integrated Circuit (ASIC), a general purpose computer, or any other similar hardware device may be employed. In some embodiments, the software programs of the present application may be executed by a processor to implement the above steps or functions. Likewise, the software programs of the present application (including related data structures) may be stored in a computer-readable recording medium; such as RAM memory, magnetic or optical drives or diskettes, and the like. In addition, some steps or functions of the present application may be implemented in hardware; for example, as circuitry that cooperates with the processor to perform various steps or functions.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The description and applications of the present invention herein are illustrative and are not intended to limit the scope of the invention to the embodiments described above. Effects or advantages referred to in the embodiments may not be embodied in the embodiments due to interference of various factors, and description of the effects or advantages is not intended to limit the embodiments. Variations and modifications of the embodiments disclosed herein are possible, and alternatives and equivalents of the various components of the embodiments are known to those of ordinary skill in the art. It will be clear to those skilled in the art that the present invention may be embodied in other forms, structures, arrangements, proportions, and with other assemblies, materials, and components, without departing from the spirit or essential characteristics thereof. Other variations and modifications of the embodiments disclosed herein may be made without departing from the scope and spirit of the invention.

Claims

1. The utility model provides a section of jurisdiction is assembled some selection system, its characterized in that, section of jurisdiction is assembled some selection system includes: the device comprises a duct piece point position selection initialization module, a duct piece point position searching optimization module and a duct piece gesture ideal control target setting module;

2. The segment assembly point selection system according to claim 1, wherein:

the segment point position searching and optimizing module considers the resultant force boundary checking process of the shield;

and outputting a segment end face center point control target domain by combining the current construction working condition based on the construction rule of excavation in the historical engineering in the segment attitude ideal control target setting module.

3. The segment assembly point selection system according to claim 1, wherein:

the duct piece point position selection initialization module comprises a last ring assembly point position and duct piece attitude information acquirer and a duct piece point position pre-arrangement length N setter;

4. The segment assembly point selection system according to claim 1, wherein:

the duct piece posture ideal control target setting module comprises a duct piece posture control target setter and a current working condition acquirer;

the current zone geological conditions are expressed as The subscript i of the element has one-to-one correspondence with the specific soil type, and is ++>The specific related parameters including the soil body of the type are expressed as +.>

The parameters are sequentially expressed as initial burial depth, final burial depth, proportion of the cutting surface of the cutterhead, soil weight, pore ratio, natural water content, UU internal friction angle and UU cohesive force of the soil body of the type; in the actual application process, a user can expand soil parameters according to requirements, but the quantity of parameters contained in each type of soil is ensured to be consistent;

grouting slurry parameters are expressed asWherein g _n Representing the concrete parameters of the current related slurry, and sequentially representing the concrete parameters of the current grouting holes of the segment, the total grouting amount of the ring, the solidification time of the slurry, Slump of the slurry; in the actual application process, a user can expand slurry parameters according to requirements;

the floating quantity of the assembled duct piece is expressed according to the accumulated floating quantity average value of the annular piece with the single floating quantity of 0mm in the latest assembled duct piece and the front n annular duct pieces; in order to more accurately represent the floating quantity of the spliced duct piece, the value range of n is recommended to be 5-10;

The segment attitude control target setting device is used for determining the three-dimensional space coordinates of the center point of the segment end face according to the pre-arranged segment length NThe nth ring from the current position should fall in the target domain; the segment attitude control target setter builds based on construction data of a segment with excellent final attitude control in historical engineering, and factors considered in the building process are consistent with information in the current working condition acquirer, wherein the building method is a data driving-based method or a rule-based method; in the running process of the system, acquiring a current working condition parameter, transmitting the current working condition parameter into a segment attitude control target setter, and outputting an ideal control target domain from the center point of the end surface of the current N-th annular tube segment;

the segment point position searching and optimizing module comprises a point position selection constraint device; the point position selection constraint device comprises a candidate point position generator and a force boundary checker; the point position selection constraint device generates a candidate point position sequence according to the conditions in the candidate point position generator, and the length of the sequence is N; the force boundary checker combines the candidate point sequence set to calculate the resultant force boundary, determines the control candidate fields of the excessive and the excessive right on the pipe sheet under the current working condition, further screens the candidate point sequence based on the control candidate fields, and outputs a feasible point sequence set; the feasible point sequence set enters a point sequence search optimizer, and an optimal point sequence is searched and output by taking the coordinates of the central point of the end face of the N-th ring pipe sheet falling into a control target domain of the end face of the pipe sheet as an optimization target; the specific construction mode of the point location selection constraint device comprises the following steps:

M _i+1 ＝M _i +2n+2

(3) Jack travel difference allowable range: the wedge-shaped quantity of the universal duct piece at the duct piece jacking block reaches the maximum value, the position of the jacking block influences the size of the stroke difference of the jack initial position, and the excessive stroke difference of the jack can cause excessive reaction force generated on the overlong side of the jack; when the shield is propelled, in order to avoid that the reactive force of the jack is overlarge on one side to damage the integrity of the spliced segment, when the point position of the segment jacking block is determined, the initial travel difference of the spliced jack is controlled within a certain range;

5. The segment assembly point selection system according to claim 1, wherein:

the segment point position searching and optimizing module comprises a point position selecting constraint device and a point position sequence searching and optimizing device, wherein the point position selecting constraint device comprises a candidate point position generator and a force boundary checker;

the force boundary checker is used for judging whether the external resultant force born by the shield under the condition of preselected top sealing block point positions can drive the shield to tunnel along a planned track or not, namely calculating the resultant force boundary born by the shield, and determining the control candidate domains of the excessive quantity and the right excessive quantity on the segment; the resultant force applied by the shield in the tunneling process mainly comprises five parts, wherein F1 is the front earth pressure, F2: resistance of soil around the shield to shield shell, F3: reaction force of segment to jack, F4: the pressure of the covering soil to the shield machine shell or the extrusion force of the left soil to the shield shell, F5: supporting force of the lower lying soil on the shield machine or extrusion force of the right soil on the shield shell; wherein the size and the direction of F3 are influenced by the attitude of a segment, the maximum value of oil pressure difference of a jack partition and the initial length of the jack, F3 is the only power for shield tunneling, and the current attitude of the shield tunneling machine is ensured to tunnel according to a planned track, so that the current attitude of the shield tunneling machine is ensured to be ensured F _{Boundary of close} The component force of the shield steering planning track can be provided;

F _{boundary of close} ＝F ₁ +F ₂ +F _{3 boundary} +F ₄ +F ₅

F _{3 boundary} ＝f(g(x ₁ )，h(x ₁ )，x ₂ )

Wherein x is ₁ The point position, g (x ₁ ) Segment end face posture under the determination of capping block point position, h (x ₁ ) Jack initial travel difference, x, for block point location determination ₂ The maximum oil pressure difference of the partition jack is; f (F) _{Boundary of close} The calculation process of (1) is carried out by a numerical simulation or data driving method;

calculating the boundary of resultant force through the pre-selected capping block assembly points, judging whether the current boundary force can drive the shield tunneling machine to tunnel along the planned track, and determining ideal control candidate fields of excessive quantity and excessive right quantity on the segment; finally, outputting a feasible point sequence set by the point position selection constraint device, and inputting the feasible point sequence set into the point position sequence search optimizer;

6. The segment splicing point position selection method is characterized by comprising the following steps of:

7. The segment assembly point location selection method according to claim 6, wherein:

in the segment point position searching and optimizing step, the resultant force boundary checking process of the shield is considered;

8. The segment assembly point location selection method according to claim 6, wherein:

the segment point position initializing step comprises the following steps:

the last ring assembly point position and segment attitude information acquirer acquires point position information corresponding to a capping block of the last ring and space attitude information of the last ring segment after the current ring is pushed; the segment space attitude information comprises the space coordinates of the central point of the segment end face and the tubeThe on-chip overtime, respectively expressed asAnd->c _x ,c _y ，c _z Respectively the space three-dimensional coordinate values of the center points of the end faces of the segments, e _u ,e _r The upper excess and the right excess of the duct piece are respectively;

9. The segment assembly point location selection method according to claim 6, wherein:

the segment attitude ideal control target setting step comprises the following steps:

the current zone geological conditions are expressed as The subscript i of the element has one-to-one correspondence with the specific soil type, and is ++>The specific related parameters including the soil body of the type are expressed as +.>The parameters are sequentially expressed as initial burial depth, final burial depth, proportion of the cutting surface of the cutterhead, soil weight, pore ratio, natural water content, UU internal friction angle and UU cohesive force of the soil body of the type; in the actual application process, a user can expand soil parameters according to requirements, but the quantity of parameters contained in each type of soil is ensured to be consistent;

the representation range of the shape information of the tunnel design axis at the current position is the distance between the current ring and the N rings behind the current ring, wherein N represents the pre-arrangement length of the segment point, and is determined by a segment point pre-arrangement length N setter; taking the current ring as a starting position and the Nth ring as a termination position, and designing the representation form of the axis form information to beWherein->The meaning of each element is the distance between the tunnel design axis at the initial position and the central point of the end face of the duct piece, the distance between the tunnel design axis at the final position and the central point of the end face of the duct piece, the distance between the tunnel design axis at the initial position and the central point of the shield incision, the distance between the tunnel design axis at the final position and the central point of the shield tail, and the tunnel arrangement in sequenceAn included angle between a straight line connected with the starting position and the ending position of the meter axis and the normal line of the segment end surface in the horizontal direction, an included angle between a straight line connected with the starting position and the ending position of the tunnel design axis and the normal line of the segment end surface in the vertical direction, the curvature of a projection line segment of the tunnel design axis in the horizontal direction at the starting position and the curvature of a projection line segment of the tunnel design axis in the elevation direction at the ending position;

M _i+1 ＝M _i +2n+2

(3) Jack travel difference allowable range: the wedge-shaped quantity of the universal duct piece at the duct piece jacking block reaches the maximum value, the position of the jacking block influences the stroke difference of the jack initial position, and the excessive stroke difference of the jack can cause excessive reaction force generated on the overlong side of the jack; when the shield is propelled, in order to avoid that the reactive force of the jack is overlarge on one side to damage the integrity of the spliced segment, when the point position of the segment jacking block is determined, the initial travel difference of the spliced jack is controlled within a certain range;

10. The segment assembly point location selection method according to claim 6, wherein:

the segment point location search optimization step comprises the following steps:

the force boundary checker judges whether the external resultant force born by the shield can drive the shield to tunnel along a planned track under the condition of preselecting the point position of the top sealing block, namely, calculates the resultant force boundary born by the shield, and determines the control candidate domains of the excessive and the right excessive on the segment; the resultant force applied by the shield in the tunneling process mainly comprises five parts, wherein F1 is the front earth pressure, F2: resistance of soil around the shield to shield shell, F3: reaction force of segment to jack, F4: earthing shieldThe pressure of the shell or the extrusion force of the left soil body to the shield shell, F5: supporting force of the lower lying soil on the shield machine or extrusion force of the right soil on the shield shell; wherein the size and the direction of F3 are influenced by the attitude of a segment, the maximum value of oil pressure difference of a jack partition and the initial length of the jack, F3 is the only power for shield tunneling, and F is ensured to ensure that the attitude of the current shield tunneling machine can tunnel according to a planned track _{Boundary of close} The component force of the shield steering planning track can be provided;

F _{boundary of close} ＝F ₁ +F ₂ +F _{3 boundary} +F ₄ +F ₅

F _{3 boundary} ＝f(g(x ₁ )，h(x ₁ )，x ₂ )