CN114217088A - Automatic cooperative detection method for external grouting of shield machine pipe sheet - Google Patents

Automatic cooperative detection method for external grouting of shield machine pipe sheet Download PDF

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CN114217088A
CN114217088A CN202111603323.6A CN202111603323A CN114217088A CN 114217088 A CN114217088 A CN 114217088A CN 202111603323 A CN202111603323 A CN 202111603323A CN 114217088 A CN114217088 A CN 114217088A
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shield
detection device
grouting
measuring
tunneling
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CN114217088B (en
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郑康泰
贺开伟
林福龙
路亚缇
魏晓龙
华翔
王双旺
谷光伟
董科
赵志成
陈建飞
孙振亚
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China Railway Engineering Equipment Group Co Ltd CREG
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/16—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring distance of clearance between spaced objects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/24—Earth materials
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/20—Hydro energy

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  • Excavating Of Shafts Or Tunnels (AREA)
  • Lining And Supports For Tunnels (AREA)

Abstract

The invention provides an automatic cooperative detection method for external grouting of a shield machine duct piece, which comprises the following steps: if the shield machine is in a tunneling state, judging whether the distance between the current position of the external grouting detection device and the previous measuring line is smaller than the distance between different measuring lines of the segment external grouting detection device, if so, setting the axial movement speed of the external grouting detection device, and starting the current measuring line grouting detection when the distance between the current position and the previous measuring line is equal to the distance; whether the movement time of the grouting detection device outside the duct piece reaching the current measuring line is calculated, and the grouting detection of the measuring line is determined to be started; and the axial moving speed for triggering the external grouting detection device is equal to the tunneling speed of the shield tunneling machine. The invention carries out full-automatic grouting detection in an assembling link without influencing tunneling, duct piece grouting measurement is not influenced by tunneling and assembling processes of the shield tunneling machine, the real-time adjustment of the operation state of the detection device under different processes is realized, and the construction purpose of automatic cooperation of duct piece external grouting detection and shield tunneling machine tunneling is achieved.

Description

Automatic cooperative detection method for external grouting of shield machine pipe sheet
Technical Field
The invention relates to the technical field of segment external grouting detection, in particular to an automatic cooperative detection method for segment external grouting of a shield tunneling machine.
Background
The shield tunnel construction in China is continuously increased, and the construction process is mature day by day. The method brings convenience to urban civilians and simultaneously exposes a plurality of problems, wherein the most important problem is how to ensure grouting quality in the shield tunnel construction process and avoid risks such as settlement and collapse of later-stage ground surrounding structures and municipal pipe networks. In order to solve the problems, the grouting quality outside the duct piece needs to be monitored in the construction process of the shield tunneling machine. Therefore, a set of automatic real-time monitoring, measuring and detecting system is established for the shield tunnel in construction, the shield grouting condition can be accurately mastered in real time, the diagnosis and early warning of cavities, rich water and unsaturated positions in the grouting outside the duct piece are realized, and constructors are guided to carry out secondary grouting on the grouting unsaturated positions.
In the shield constructs quick-witted work progress, the erector is assembled the in-process and is in the machine halt state, and other processes are all in the state of tunnelling, under the prerequisite that does not influence the tunnelling, in order to guarantee the full coverage that section of jurisdiction outside slip casting rate detected, the outside slip casting detection device of section of jurisdiction that integrative carried need cooperate the shield to construct the tunnelling, realizes systematic steady detection in coordination.
The patent with application number ZL202010939509.8 discloses a splicing machine background speed providing method and system based on a synchronous push splicing mode, synchronous splicing is achieved, splicing of pipe pieces is achieved in the tunneling process, the core of the method is that the distance difference between the stroke of a push oil cylinder and backward movement of the splicing machine is collected in real time, when the distance difference is not met, the splicing machine continues to move backward, and the push oil cylinder stroke is collected when the condition is met and is triggered to stop. The backward moving speed of the erector is equal to the propelling speed calculated in real time, and the moving speed of the erector is mainly adjusted by the propelling speed. The premise of the realization of the method is that the timeliness of data acquisition firstly causes the situation of partial data lag in the process of calculating the distance difference in real time, thereby causing certain errors; secondly, the backward moving speed of the erector is limited by the real-time propelling speed in real time, the moving speed of the erector is poor in flexibility, and the precision adjustment and control difficulty is large.
Disclosure of Invention
Aiming at the technical problems that the existing grouting detection method influences the tunneling progress and the detection precision is insufficient, the invention provides an automatic cooperative detection method for external grouting of a duct piece of a shield machine, on the premise that the construction process of the shield machine is not influenced, the external grouting of the duct piece realizes traversal of external detection of the duct piece according to a design measuring line, and the external grouting quality of full coverage of the duct piece is guaranteed.
In order to achieve the purpose, the technical scheme of the invention is realized as follows: an automatic cooperative detection method for external grouting of a shield machine duct piece comprises the following steps:
step S1: judging whether the shield machine is in a tunneling state, if so, entering the step S2, otherwise, entering the step A2;
step A2: axially moving the external grouting detection device to enable the distance between the current position of the external grouting detection device of the duct piece and the previous measuring line to be equal to the distance D between different measuring lines of the external grouting detection device of the duct piece; set external grouting testAxial moving speed V of measuring deviceMeasuring=0, the external grouting detection device starts grouting detection of the current survey line;
step S2: judging whether the distance between the current position of the external grouting detection device and the previous measuring line is smaller than the distance D between different measuring lines of the segment external grouting detection device, if so, entering step S3, and if not, entering step B3;
step B3: according to the advancing speed V of the shield tunneling machineShieldAnd an axial moving speed V 'of the detection device'MeasuringCalculating the moving time T of the segment external grouting detection device to the current measuring line at (T)When in use+ T), the grouting detection of the current survey line is started, and the process proceeds to step S4; wherein, tWhen in useIs the current time;
step S3: axial moving speed V of external grouting detection deviceMeasuringWhen the distance between the current position of the grouting detection device outside the duct piece and the previous measuring line is equal to the distance D, starting the current measuring line grouting detection, and entering the step S4;
step S4: axial moving speed V for triggering external grouting detection deviceMeasuringAnd the shield machine propulsion speed VShieldThe consistency is achieved;
step S5: the measurement is finished, the judgment is carried out according to the tunneling state, and if the tunneling state is in a shutdown state, the axial moving speed V of the external grouting detection deviceMeasuring= 0; if the driving state is achieved, the axial moving speed V of the external grouting detection deviceMeasuring=VShield。
Preferably, the distance between the current position of the pipe sheet external grouting detection device and the previous measuring line in the step S2 is VShield（tWhen in use-tOn the upper part) Wherein, tOn the upper partTo complete the detection time of the previous measuring line.
Preferably, the method for calculating the moving time T in step B3 is as follows: vShield（tWhen in use-tOn the upper part）-D=（VMeasuring-VShield）T。
Preferably, the method for calculating the time t when the line grouting detection is started in step S3 includes: vMeasuring（t-tWhen in use）+VShield（t-tOn the upper part）=D。
PreferablyThe advancing speed V of the shield tunneling machineShieldThe calculation method comprises the following steps: a displacement sensor arranged on the propulsion oil cylinder detects the displacement S of the oil cylinder in real time, and then the propulsion speed V of the shield tunneling machineShield=S/tShieldWherein, tShieldAnd the corresponding time of the oil cylinder moving for a certain distance is shown.
Preferably, the method for performing grouting detection in the tunneling process of the shield tunneling machine in step S3 includes:
(1) when the distance between the detection device and the previous measuring line is less than the distance D, the axial moving speed V of the external grouting detection deviceMeasuringEqual to the tunneling speed V of the shield tunneling machineShieldThe detection device and the shield tunneling machine are relatively static in tunneling and pass through VShieldtOperation of= D calculation time tOperation ofThen at time (t)On the upper part+tOperation of) Starting grouting detection of a current measuring line; wherein, tOn the upper partThe detection time of the previous measuring line is completed;
(2) when the distance between the detection device and the previous measuring line is less than the distance D, the current moment tWhen in useAxial moving speed V provided with external grouting detection deviceMeasuringIs not equal to VShieldThrough VShield（tWhen in use-tOn the upper part）+VMeasuringtCombination of Chinese herbs+VShieldtCombination of Chinese herbs= D calculation time tCombination of Chinese herbsThen at time (t)When in use+tCombination of Chinese herbs) And starting grouting detection of the current measuring line.
Preferably, if segment splicing is performed in step S4, the axial moving speed V is triggered when splicing is startedMeasuringAnd =0, stopping the segment grouting detection.
Preferably, the distance D is equal to the width of a radar single survey line of the external grouting detection device.
Preferably, when the measurement is completed in step S5, the external grouting detection device transmits a detection completion signal to the PLC controller, and the PLC controller triggers the axial movement speed V of the external grouting detection device according to the judgment of the tunneling state and the stop stateMeasuring= 0; in the tunneling state, the PLC triggers the axial movement speed V of the external grouting detection deviceMeasuring=VShield；
In the step S4, if the shield tunneling machine is not tunneling during the measurement process of the external grouting detection device, the PLC controller triggers the axial movement speed V of the external grouting detection deviceMeasuring=0。
The invention has the beneficial effects that: the full-automatic grouting detection is carried out in an assembling link without influencing tunneling, duct piece grouting measurement is not influenced by tunneling and assembling processes of a shield tunneling machine, the running state of the detection device is adjusted in real time in different processes, and the construction purpose of automatic cooperation of duct piece external grouting detection and shield tunneling machine tunneling is achieved. The implementation of the invention satisfies the segment external grouting detection of the design survey line, realizes the full coverage measurement of a single tube ring, and the automatic cooperative detection of segment external grouting ensures the external grouting detection traversal of the tube ring in the tunneling process.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1, an automatic cooperative detection method for external grouting of a shield machine duct piece comprises the following steps:
step S1: and judging whether the shield machine is in a tunneling state, if so, entering the step S2, otherwise, entering the step A2. The invention mainly realizes the cooperative operation of tunneling and grouting detection, namely, the tunneling of the shield machine is not influenced during the grouting detection, and the comprehensive coverage detection of an external grouting detection device is realized during the tunneling process.
Step A2: carry out axial displacement with outside slip casting detection device, make section of jurisdiction outside slip casting detection device's current position and preceding survey line distance equal section of jurisdiction outside slip casting detection device different survey line interval D, carry out slip casting detection under current survey line promptly. Axial moving speed V of external grouting detection deviceMeasuringAnd =0, the external grouting detection device starts grouting detection of the current measuring line. Axial moving speed VMeasuring=0, the detection device can realize the operation in axial and circumferential two-dimensional space, and the circumferential segment external grouting detection is carried out at the axial position of the design survey line.
Step S2: and judging whether the distance between the current position of the external grouting detection device and the previous measuring line is smaller than the distance D between different measuring lines of the segment external grouting detection device, if so, entering step S3, and if not, entering step B3.
Preferably, the distance between the current position of the pipe sheet external grouting detection device and the previous measuring line in the step S2 is VShield（tWhen in use-tOn the upper part) Wherein, tOn the upper partTo complete the detection time of the previous measuring line. VShieldNot at constant speed, real-time data, VShieldIs calculated according to the distance of the stroke of the propulsion oil cylinder in a certain time, and is a real-time quantity VMeasuringAccording to real-time propulsion speed VShield go onAnd (5) adjusting in real time.
And if the distance between the current position of the external grouting detection device and the previous measuring line is less than the distance D, controlling the external grouting detection device to move forwards, otherwise, controlling the external grouting detection device to move backwards.
Propelling speed V of shield tunneling machineShieldThe calculation method comprises the following steps: the displacement S of the oil cylinder is detected in real time through a displacement sensor arranged on the propulsion oil cylinder, so that the propulsion speed V of the shield tunneling machineShield=S/tShieldWherein, tShieldIndicating the corresponding time of the oil cylinder moving a certain distance。
If the shield machine is not tunneled in the measuring process of the external grouting detection device, the PLC triggers the axial movement speed V of the external grouting detection deviceMeasuring=0。
Step B3: according to the advancing speed V of the shield tunneling machineShieldAnd axial moving speed VMeasuringCalculating the moving time T of the segment external grouting detection device to the current measuring line at (T)When in use+ T) time point, starting the grouting detection of the survey line, and proceeding to step S4; wherein, tWhen in useIs the current time.
Starting step B3, when the distance between the detection device and the previous measuring line is larger than D in the tunneling state, V of the processMeasuringNot necessarily equal to VShield，VMeasuringThe set constant speed value, the backward speed and the elapsed time T meet the measurement condition of the distance D.
Current time tWhen in useAxial backward movement speed V provided with external grouting detection deviceMeasuringThe method for calculating the moving time T comprises the following steps: vShield（tWhen in use-tOn the upper part）-D=（VMeasuring-VShield）T。tWhen in useAt the moment, the distance is larger than D, when the condition that the distance = D needs to be met, the shield tunneling machine is pushed forward, and the detection device moves backwards while (V) is carried outMeasuring-VShield) T is required to satisfy VShield（tWhen in use-tOn the upper part) -the distance of movement of D.
Step S3: axial moving speed V of external grouting detection deviceMeasuringWhen the distance between the current position of the grouting detection device outside the duct piece and the previous measuring line is equal to the distance D, the current measuring line grouting detection is started, and the step S4 is executed.
And S2 and S3 are that the external grouting detection device does not perform grouting detection in the tunneling process of the shield machine. In the beginning of step S3, the distance is measured in the boring state<Case D, V of this procedureMeasuringNot necessarily equal to VShieldThe value is a set constant speed value, i.e., a forward speed.
The calculation method of the time t for starting the current survey line grouting detection in the step S3 is as follows: vMeasuring（t-tWhen in use）+VShield（t-tOn the upper part）=D。
The distance D is equal to the width of a radar single measuring line of the external grouting detection device, and the detection requirement of external full coverage is met. Detection device radar single survey line width is about 500mm, and in order to satisfy the outside slip casting that covers entirely of section of jurisdiction and detect, survey line and survey line interval set for D =500 mm. Recording time t when the previous measuring line finishes measuringOn the upper partThe current time is set to tWhen in useAnd the distance between the current distance and the previous measuring line = VShield（tWhen in use-tOn the upper part）<D, that is, step S3, the axial moving speed V of the external grouting detection device is setMeasuringAnd V isMeasuring（t-tWhen in use）+VShield（t-tOn the upper part) = D, therefore the grouting detection of the current survey line is started at time t; the axis hardware is configured into a motor and a frequency converter, the stroke of the oil cylinder is collected through a PLC controller, and the tunneling speed V of the shield tunneling machine is calculatedShield，VMeasuringThe PLC controller is used for controlling the frequency converter to control the rotating speed of the motor, so that the axial moving speed of the detection device is adjusted.
In the detection process, the moving speed V of the axial motor is triggered in real timeMeasuring=VShield. If the shield machine tunnels in the measuring process, the consistency of the measuring line and the designed measuring line is ensured by adopting the method for carrying out grouting detection in the tunneling process of the shield machine in the step S4; and if the shield machine is not tunneled in the measuring process, stopping the movement of the detection device. Assuming that a segment assembling process is carried out in the detection process, and the axial moving speed V is triggered at the assembling starting momentMeasuring= 0; if the shield machine is always in the tunneling state in the whole process, the axial speed V of the detection device is continuously detectedMeasuring=VShieldThe grouting detection of the duct piece is completed, the detection signal is output to the PLC controller, and the PLC controller triggers the axial movement speed V of the detection deviceMeasuring=0。
In the automatic cooperative detection method, the axial moving speed of the detection device is determined and set according to the comparison result of the distance D between the detection device and the previous measuring line.
Recording time t when the previous measuring line finishes measuringOn the upper partThe current time is set to tWhen in useAnd the distance between the current position and the previous measuring line = VShield（tWhen in use-tOn the upper part）>D is the step B3, VShield（tWhen in use-tOn the upper part）-D=（VMeasuring-VShield）T，VMeasuringFor the set backward movement speed of the detection device (realized by the speed of a PLC controller controlling a motor), T is the movement time reaching the designed axis. Thus, is at (t)When in use+ T) time guarantees a distance D from the previous measuring line and at (T)When in use+ T) the grouting test of the line starts. In the detection process, the heading machine is in a heading state, and the axial motor moving speed V of the external grouting detection device is setMeasuring=VShieldThis procedure VMeasuringThe speed of the shield machine is detected in real time, and the current measuring line is ensured to be consistent with the designed measuring line. Assuming that a segment assembling process is carried out in the detection process, and the axial moving speed V is triggered at the assembling starting momentMeasuring= 0; if the whole process is in the tunneling state all the time, the axial moving speed V of the detection device is continuously detectedMeasuring=VShieldThe grouting detection of the duct piece is completed, the detection signal is output to the PLC, and the PLC triggers the axial movement speed V of the detection deviceMeasuring=0。
Step S4: axial moving speed V for triggering external grouting detection deviceMeasuring=VShield。VMeasuringThe advancing speed of the shield machine is detected in real time, and the current measuring line is ensured to be consistent with the designed measuring line.
VShieldIs calculated according to the distance of the stroke of the propulsion oil cylinder in a certain time, and is a real-time quantity VMeasuringAccording to real-time propulsion speed VShieldAnd performing real-time adjustment. If the shield machine is not tunneled in the measuring process of the external grouting detection device, the PLC triggers the axial movement speed V of the external grouting detection deviceMeasuring=0。
The method for performing grouting detection in the tunneling process of the shield tunneling machine comprises the following steps:
(1) when the distance between the detection device and the previous measuring line is less than D, the axial moving speed V of the external grouting detection deviceMeasuringEqual to the tunneling speed V of the shield tunneling machineShieldThe detection device and the shield tunneling machine are relatively static in tunneling and pass through VShieldtOperation ofWhen = D is calculatedTime tOperation ofThen at time (t)On the upper part+tOperation of) Starting grouting detection of a current measuring line; wherein, tOn the upper partTo complete the detection time of the previous measuring line.
(2) When the distance between the detection device and the previous measuring line is less than D, the current time tWhen in useAxial moving speed V provided with external grouting detection deviceMeasuringIs not equal to VShieldThrough VShield（tWhen in use-tOn the upper part）+VMeasuringtCombination of Chinese herbs+VShieldtCombination of Chinese herbs= D calculation time tCombination of Chinese herbsThen at time (t)On the upper part+tCombination of Chinese herbs) And starting grouting detection of the current measuring line.
Step S5: completing the measurement and triggering the axial moving speed VMeasuring=0。
When the measurement is completed in the step S5, the external grouting detection device transmits a detection completion signal to the PLC controller, and according to the judgment of the tunneling state, if the external grouting detection device is in the shutdown state, the PLC controller triggers the axial movement speed V of the external grouting detection deviceMeasuring= 0; if the tunneling state is detected, the PLC triggers the axial moving speed V of the external grouting detection deviceMeasuring=VShield. And when the detection and scanning of the grouting device outside the annular duct piece are completed, the measurement of the current survey line is completed.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (9)

1. The automatic cooperative detection method for external grouting of the shield machine pipe sheet is characterized by comprising the following steps:
step S1: judging whether the shield machine is in a tunneling state, if so, entering the step S2, otherwise, entering the step A2;
step A2: axially moving the external grouting detection device to enable the distance between the current position of the external grouting detection device of the duct piece and the previous measuring line to be equal to the distance D between different measuring lines of the external grouting detection device of the duct piece; outside of the settingAxial moving speed V of partial grouting detection deviceMeasuring=0, the external grouting detection device starts grouting detection of the current survey line;
step S2: judging whether the distance between the current position of the external grouting detection device and the previous measuring line is smaller than the distance D between different measuring lines of the segment external grouting detection device, if so, entering step S3, and if not, entering step B3;
step B3: according to the advancing speed V of the shield tunneling machineShieldAnd axial moving speed V of the detecting deviceMeasuringCalculating the moving time T of the segment external grouting detection device to the current measuring line at (T)When in use+ T), the grouting detection of the current survey line is started, and the process proceeds to step S4; wherein, tWhen in useIs the current time;
step S3: axial moving speed V of external grouting detection deviceMeasuringWhen the distance between the current position of the grouting detection device outside the duct piece and the previous measuring line is equal to the distance D, starting the current measuring line grouting detection, and entering the step S4;
step S4: axial moving speed V for triggering external grouting detection deviceMeasuringAnd the shield machine propulsion speed VShieldThe consistency is achieved;
step S5: the measurement is finished, the judgment is carried out according to the tunneling state, and if the tunneling state is in a shutdown state, the axial moving speed V of the external grouting detection deviceMeasuring= 0; if the driving state is achieved, the axial moving speed V of the external grouting detection deviceMeasuring=VShield。
2. The automatic cooperative detection method for segment external grouting of the shield tunneling machine according to claim 1, wherein a distance between a current position of the segment external grouting detection device in the step S2 and a previous measurement line is VShield（tWhen in use-tOn the upper part) Wherein, tOn the upper partTo complete the detection time of the previous measuring line.
3. The automatic cooperative detection method for external grouting of the shield machine duct pieces according to claim 1 or 2, wherein the method for calculating the moving time T in the step B3 is as follows: vShield（tWhen in use-tOn the upper part）-D=（VMeasuring-VShield）T。
4. The automatic cooperative detection method for segment external grouting of the shield tunneling machine according to claim 3, wherein the calculation method for the time t when the line grouting detection is started in the step S3 is as follows: vMeasuring（t-tWhen in use）+VShield（t-tOn the upper part）=D。
5. The automatic cooperative detection method for external grouting of the shield machine pipe sheet according to claim 1 or 4, characterized in that the propelling speed V of the shield machineShieldThe calculation method comprises the following steps: a displacement sensor arranged on the propulsion oil cylinder detects the displacement S of the oil cylinder in real time, and then the propulsion speed V of the shield tunneling machineShield=S/tShieldWherein, tShieldAnd the corresponding time of the oil cylinder moving for a certain distance is shown.
6. The automatic cooperative detection method for segment external grouting of the shield tunneling machine according to claim 5, wherein the method for performing grouting detection in the tunneling process of the shield tunneling machine in the step S3 comprises the following steps:
(1) when the distance between the detection device and the previous measuring line is less than the distance D, the axial moving speed V of the external grouting detection deviceMeasuringEqual to the tunneling speed V of the shield tunneling machineShieldThe detection device and the shield tunneling machine are relatively static in tunneling and pass through VShieldtOperation of= D calculation time tOperation ofThen at time (t)On the upper part+tOperation of) Starting grouting detection of a current measuring line; wherein, tOn the upper partThe detection time of the previous measuring line is completed;
(2) when the distance between the detection device and the previous measuring line is less than the distance D, the current moment tWhen in useAxial moving speed V provided with external grouting detection deviceMeasuringIs not equal to VShieldThrough VShield（tWhen in use-tOn the upper part）+VMeasuringtCombination of Chinese herbs+VShieldtCombination of Chinese herbs= D calculation time tCombination of Chinese herbsThen at time (t)When in use+tCombination of Chinese herbs) Beginning grouting test of current test lineAnd (6) measuring.
7. The automatic cooperative detection method for segment external grouting of the shield tunneling machine according to claim 1 or 6, wherein in the step S4, if segment assembling is performed, the axial moving speed V is triggered when assembling is startedMeasuringAnd =0, stopping the segment grouting detection.
8. The automatic cooperative detection method for external grouting of the shield machine duct piece according to claim 7, wherein the distance D is equal to the width of a radar single survey line of the external grouting detection device.
9. The automatic cooperative detection method for external grouting of duct piece of shield tunneling machine according to claim 8, wherein the external grouting detection device transmits a detection completion signal to the PLC controller when the measurement is completed in step S5, and the PLC controller triggers the axial movement speed V of the external grouting detection device according to the judgment of the tunneling state and the stop stateMeasuring= 0; in the tunneling state, the PLC triggers the axial movement speed V of the external grouting detection deviceMeasuring=VShield；
In the step S4, if the shield tunneling machine is not tunneling during the measurement process of the external grouting detection device, the PLC controller triggers the axial movement speed V of the external grouting detection deviceMeasuring=0。
CN202111603323.6A 2021-12-25 2021-12-25 Automatic cooperative detection method for grouting outside pipe sheet of shield tunneling machine Active CN114217088B (en)

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