CN116105664A - Method and related equipment for judging formation degree of mud cake of cutterhead - Google Patents

Method and related equipment for judging formation degree of mud cake of cutterhead Download PDF

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CN116105664A
CN116105664A CN202310392712.1A CN202310392712A CN116105664A CN 116105664 A CN116105664 A CN 116105664A CN 202310392712 A CN202310392712 A CN 202310392712A CN 116105664 A CN116105664 A CN 116105664A
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temperature
cutterhead
mud cake
coordinate system
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CN116105664B (en
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兰浩
李玉梅
杨云
吴遁
李波
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Hunan Normal University
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    • 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
    • G01B21/28—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 areas
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
    • E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
    • G01K13/00—Thermometers specially adapted for specific purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
    • G01K3/00—Thermometers giving results other than momentary value of temperature
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N25/00—Investigating or analyzing materials by the use of thermal means
    • 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
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    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract

The utility model provides a method and related equipment for judging the formation degree of a cutterhead mud cake, wherein the method comprises the following steps: temperature measurement is carried out by utilizing a plurality of sensors arranged on the cutterhead, and a first temperature data set is obtained; constructing a plurality of virtual temperature points in a region where a sensor cannot be arranged on the cutterhead, and calculating the temperature to obtain a second temperature data set; calculating the temperature of the whole cutterhead by taking the second temperature data set and the first temperature data set as interpolation samples to obtain a cutterhead temperature field under a cylindrical coordinate system; calculating the temperature change rate and the change direction of all temperature points under a cylindrical coordinate system, and judging the temperature abnormal points and the time for starting to form the cutterhead mud cakes according to the temperature change rate; converting the temperature field of the cutterhead under the cylindrical coordinate system to obtain the temperature field of the cutterhead under the spherical coordinate system; approximating the cutterhead mud cake to a part of a sphere, and calculating the area of the cutterhead mud cake to judge the formation degree of the cutterhead mud cake; the accuracy of distinguishing the formation degree of the mud cake is improved.

Description

Method and related equipment for judging formation degree of mud cake of cutterhead
Technical Field
The utility model relates to the technical field of construction of shield tunnel boring machines, in particular to a method for judging the formation degree of a cutterhead mud cake and related equipment.
Background
The shield machine is used as large tunneling equipment for tunnel construction, the cutter cuts the rock stratum under the rotation action of the cutter head, and the cutter head is used as a key component of the cutter head, so that the tunneling efficiency is directly affected. During actual tunneling of the TBM (Tunnel Boring Machine ), formation viscosity increases and the muck will adhere to the cutterhead to form a mud cake. The cutter disc is used for forming mud cakes, the problems of reduced driving acquisitions, abnormal cutter abrasion, reduced driving efficiency and the like are caused by light weight, the soil bin of the shield machine is blocked, driving is difficult, and safety accidents such as gushing and even collapse are induced in a water-rich stratum. Because the mud cake can be solidified and hardened in the later stage, the cleaning is time-consuming and labor-consuming, if the mud cake is not cleaned timely, project delay can be caused, and construction accidents are caused, and therefore the judgment of the mud cake of the cutterhead is one of the important points of the research of shield construction.
Currently, a plurality of researches on a mud cake distinguishing method mainly aim at the abrasion in a cutter, the temperature detected by a temperature sensor and the change rule of the abrasion, a cutter disc mud cake distinguishing method is established, and a mud cake distinguishing method in the central area of a cutter disc is established through the temperature change slope of the temperature sensor at the back of the central cone of a normal pressure cutter disc; or by empirical diagrammatical methods of predicting the risk of mud cake formation and clogging of the cutter disc. However, in these researches, the influence of the structural integrity of the cutterhead on the development of the mud cake is not fully considered, if a given temperature value is exceeded as a mud cake judging method on the premise that the cutterhead is large in size, the overall structure is complex and the temperatures among all areas are mutually influenced, the error judgment to a certain extent exists, and the influence of the dominant factors of the judging personnel on the method of the experience chart is great, so that the deviation is unavoidable. In addition, the hob is used as a main tunneling cutter on the cutterhead, and is basically installed on the back surface of the central cone or the cutter at present, so that a temperature sensor is farther away from a tunneling surface, and the temperature data of the temperature sensor cannot reflect the mud cake forming condition of the cutterhead more accurately. Finally, a plurality of engineering examples show that besides the positions of the cutters, the positions of the cutter beam and the cutter head openings are easy to form mud cakes, and the positions of the cutter beam, the cutter head openings, the center bracket and the like are inconvenient to install sensors, so that temperature data of corresponding positions are difficult to obtain.
The utility model patent with the publication number of CN216553924U provides a detection device of a shield cutter head and a shield machine, and solves the problem that whether the shield cutter head is in mud cake or not cannot be accurately judged only according to the increase of the thrust and the torque of the cutter head. However, the degree of mud cake in each area of the cutterhead is not judged.
According to the mud cake position detection device for the shield machine cutterhead with the bulletin number of CN216385534U, by arranging the plugs, if mud cake is formed on the cutterhead, the plugs are blocked, and although the position of the mud cake can be detected through the water pressure detector, the mud cake forming condition of the cutterhead in the area where the plugs are inconvenient to arrange cannot be detected, and the mud cake forming degree of each area of the cutterhead cannot be judged.
According to the risk evaluation method for the mud cake of the earth pressure balance shield disclosed by the publication No. CN113255042A, influence factors are determined only by using shield construction history data, and the risk grade of the current mud cake is judged by establishing a mud cake risk analysis model, but the mud cake degree of each region of the cutterhead cannot be judged.
According to the mud cake judging and mud cake position detecting method for the shield tunneling machine cutterhead with the publication number of CN111622766A, whether mud cake is formed or not is judged only by judging whether shield tunneling parameters are abnormal, wherein temperature data of a cutterhead panel are obtained, and temperature data of a temperature sensor area inconvenient to install of the cutterhead are not included, so that accuracy of mud cake judging is not high enough.
The real-time monitoring method for the mud cake of the shield cutter disc based on the infrared thermal imaging has the publication number of CN108548604A, an infrared thermal imaging device is arranged in the shield machine, only the position of the cutter disc where the mud cake is formed can be judged, the mud cake forming process of the cutter disc is not judged, and the mud cake degree of each area of the cutter disc cannot be judged.
In the patent of the utility model with publication number CN114382542A, CN107355227A, CN106885642a, by presetting a maximum temperature threshold of the cutterhead, only by setting a fixed temperature threshold of the cutterhead, when the temperature of the cutterhead exceeds the threshold, mud cake formation occurs in the cutterhead, the influence of the structural integrity of the cutterhead on mud cake development is not fully considered, and a mud cake judging method is adopted by exceeding the set temperature value, so that a certain degree of misjudgment exists, and the degree of mud cake in each region of the cutterhead cannot be judged.
Disclosure of Invention
The utility model provides a method and related equipment for judging the formation degree of a mud cake of a cutterhead, and aims to improve the accuracy of judging the formation degree of the mud cake.
In order to achieve the above purpose, the present utility model provides a method for determining the formation degree of a cutterhead mud cake, comprising:
step 1, according to the structure form of a cutterhead of a shield tunneling machine, measuring the temperature by utilizing a plurality of sensors arranged on the cutterhead to obtain a first temperature data set;
step 2, constructing a plurality of virtual temperature points in a region where the sensor cannot be arranged on the cutterhead, and calculating the temperature of the virtual temperature points to obtain a second temperature data set;
step 3, calculating the temperature of the whole cutterhead by taking the second temperature data set and the first temperature data set as interpolation samples to obtain a cutterhead temperature field under a cylindrical coordinate system;
step 4, calculating the temperature change rate and the change direction of all the temperature points under a cylindrical coordinate system according to the temperature field of the cutter head, and judging the abnormal temperature points according to the plurality of temperature change rates;
step 5, judging the time for starting to form the cutterhead mud cake according to the temperature change rate curve of the temperature abnormal point;
step 6, converting the temperature field of the cutterhead in the cylindrical coordinate system to obtain the temperature field of the cutterhead in the spherical coordinate system;
and 7, approximating the cutterhead mud cake to be a part of a sphere, calculating the area of the cutterhead mud cake, and judging the formation degree of the cutterhead mud cake based on the area.
Further, at least one sensor is mounted in each barrel of the hob at the edge and center of the cutterhead.
Further, step 2 specifically includes:
the virtual temperature point is constructed in the area where the sensor cannot be arranged on the cutter head by using the linear interpolation method, and the temperature calculation formula for the virtual temperature point is as follows:
Figure SMS_1
wherein ,
Figure SMS_3
is->
Figure SMS_7
Temperature of the individual virtual temperature points, +.>
Figure SMS_10
Is->
Figure SMS_5
Radius of the individual virtual temperature points, +.>
Figure SMS_9
Is->
Figure SMS_12
Angle of the virtual temperature point, +.>
Figure SMS_14
Numbering of virtual temperature points, +.>
Figure SMS_2
，/>
Figure SMS_6
For the number of virtual temperature points, +.>
Figure SMS_11
Temperature of two reference points, +.>
Figure SMS_13
Respectively the radius of two reference points +.>
Figure SMS_4
、/>
Figure SMS_8
The angles of the two reference points are respectively, the reference points are the mounting positions of the sensors on the cutterhead, and the mounting position of one sensor corresponds to one reference point.
Further, the step 3 specifically includes:
calculating the temperature of the whole cutterhead by taking the second temperature data set and the first temperature data set as interpolation samples through a Kriging interpolation method to obtain a cutterhead temperature field under a cylindrical coordinate system, wherein the expression of the cutterhead temperature field is as follows:
Figure SMS_15
wherein ,
Figure SMS_17
for the temperature field of the cutterhead, ">
Figure SMS_20
For the radius of the cutterhead under the cylindrical coordinate system, < > for>
Figure SMS_23
，/>
Figure SMS_18
，
Figure SMS_21
For maximum radius of cutterhead, < >>
Figure SMS_24
For the counterclockwise angle of the cutterhead in the cylindrical coordinate system,
Figure SMS_25
，/>
Figure SMS_16
is of ring number->
Figure SMS_19
，/>
Figure SMS_22
。
Further, the step 4 specifically includes:
based on the expression of the temperature field of the cutterhead, by
Figure SMS_26
The operator symbol calculates the temperature edges R and the +.>
Figure SMS_27
The temperature change rate and the change direction in the P direction are calculated as follows:
Figure SMS_28
wherein ,
Figure SMS_29
r and +.>
Figure SMS_30
Unit vector in the P direction, and following the right-hand spiral rule, +>
Figure SMS_31
R and +>
Figure SMS_32
Temperature change rate in the P direction;
Figure SMS_33
when the temperature of the temperature point on the cutter disc is regarded as normal, < + >>
Figure SMS_34
When in use, the cutterheadThe temperature at the upper temperature point is regarded as abnormal as a temperature abnormal point.
Further, converting the temperature field of the cutterhead in the cylindrical coordinate system to obtain a calculation formula of the temperature field of the cutterhead in the spherical coordinate system, wherein the calculation formula is as follows:
Figure SMS_35
wherein ,
Figure SMS_38
is a unit vector in each direction under the corresponding cylindrical coordinate system under the spherical coordinate system,
Figure SMS_39
r and +.>
Figure SMS_41
Temperature change rate in the P direction, +.>
Figure SMS_37
For the rate of change of temperature>
Figure SMS_40
Indicates the temperature field of the cutterhead under the spherical coordinate system, < + >>
Figure SMS_42
The distance between the position of the abnormal temperature point and the origin point in the spherical coordinate system is approximately represented as the angle of the cutter disc mud cake,/or%>
Figure SMS_43
Is the included angle between the abnormal temperature point and the z axis in the spherical coordinate system, < >>
Figure SMS_36
The included angle between the abnormal temperature point and the x-axis in the spherical coordinate system is approximately expressed as the thickness of the cutterhead mud cake.
Further, approximating the cutterhead mudcake as a portion of a sphere, calculating an area of the cutterhead mudcake, comprising:
cutting a closed curved surface area surrounded by a cutterhead mud cake into n blocksSmall area, where the ith block is small area
Figure SMS_44
The method is characterized by comprising the following steps:
Figure SMS_45
the calculation formula for calculating the area of the cutterhead mud cake is as follows:
Figure SMS_46
；
wherein ,
Figure SMS_47
is the area of a cutterhead mud cake, dv is the volume infinitesimal of sphere integration, ds is the area infinitesimal of sphere integration, and +.>
Figure SMS_48
And v is the volume of the mud cake, and s is the enclosed curved surface area of the mud cake.
The utility model also provides a device for judging the formation degree of the cutterhead mud cake, which comprises the following steps:
the temperature measurement module is used for measuring the temperature by utilizing a plurality of sensors arranged on the cutterhead according to the structure form of the cutterhead of the shield tunneling machine to obtain a first temperature data set;
the first calculation module is used for constructing a plurality of virtual temperature points in the area where the sensor cannot be arranged on the cutterhead, and calculating the temperature of the virtual temperature points to obtain a second temperature data set;
the second calculation module is used for calculating the temperature of the whole cutterhead by taking the second temperature data set and the first temperature data set as interpolation samples to obtain a cutterhead temperature field under a cylindrical coordinate system;
the third calculation module is used for calculating the temperature change rate and the change direction of all the temperature points under the cylindrical coordinate system according to the temperature field of the cutterhead, and judging the temperature abnormal points according to the plurality of temperature change rates;
the judging module is used for judging the time for starting to form the cutterhead mud cake according to the temperature change rate curve of the temperature abnormal point;
the conversion module is used for converting the temperature field of the cutterhead under the cylindrical coordinate system to obtain the temperature field of the cutterhead under the spherical coordinate system;
and the judging module approximates the cutterhead mud cake to a part of a sphere, calculates the area of the cutterhead mud cake, and judges the formation degree of the cutterhead mud cake based on the area.
The utility model also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the method for judging the formation degree of the cutterhead mud cake when being executed by a processor.
The utility model also provides a terminal device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the method for judging the formation degree of the cutterhead mud cake.
The scheme of the utility model has the following beneficial effects:
compared with the prior art, the method has the advantages that the sensor is arranged in the area where the sensor can be arranged on the cutterhead, and the virtual temperature point is constructed in the area where the sensor cannot be arranged, so that the temperature of the whole cutterhead is calculated, the temperature field of the cutterhead under a cylindrical coordinate system is obtained, and the range of the distinguishing area is enlarged; calculating the temperature change rate and the change direction of all temperature points under a cylindrical coordinate system according to the temperature field of the cutterhead, and judging temperature abnormal points according to a plurality of temperature change rates; judging the time for starting to form the cutterhead mud cake according to the temperature change rate curve of the temperature abnormal point; converting the temperature field of the cutterhead under the cylindrical coordinate system to obtain the temperature field of the cutterhead under the spherical coordinate system; and finally, approximating the mud cake of the cutterhead to be a part of a sphere, calculating the area of the mud cake of the cutterhead, and judging the formation degree of the mud cake of the cutterhead based on the area, so that the judgment of the mud cake formation degree of each area of the cutterhead is realized, and the accuracy of judging the formation degree of the mud cake is improved.
Other advantageous effects of the present utility model will be described in detail in the detailed description section which follows.
Drawings
FIG. 1 is a schematic flow chart of an embodiment of the present utility model;
fig. 2 is a schematic diagram of a cutterhead structure according to an embodiment of the present utility model;
FIG. 3 is a schematic view of a cutterhead mud cake according to an embodiment of the present utility model;
the reference numerals are:
1-a knife box 2-a knife cylinder 3-a sensor.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved more apparent, the following detailed description will be given with reference to the accompanying drawings and specific embodiments. It will be apparent that the described embodiments are some, but not all, embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present utility model, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, a locked connection, a removable connection, or an integral connection; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
In addition, the technical features of the different embodiments of the present utility model described below may be combined with each other as long as they do not collide with each other.
The utility model provides a method for judging the formation degree of a cutterhead mud cake and related equipment aiming at the existing problems
As shown in fig. 1, an embodiment of the present utility model provides a method for determining a formation degree of a mud cake of a cutterhead, including:
step 1, according to the structure form of a cutterhead of a shield tunneling machine, measuring the temperature by utilizing a plurality of sensors arranged on the cutterhead to obtain a first temperature data set;
step 2, constructing a plurality of virtual temperature points in a region where the sensor cannot be arranged on the cutterhead, and calculating the temperature of the virtual temperature points to obtain a second temperature data set;
step 3, calculating the temperature of the whole cutterhead by taking the second temperature data set and the first temperature data set as interpolation samples to obtain a cutterhead temperature field under a cylindrical coordinate system;
step 4, calculating the temperature change rate and the change direction of all the temperature points under a cylindrical coordinate system according to the temperature field of the cutter head, and judging the abnormal temperature points according to the plurality of temperature change rates;
step 5, judging the time for starting to form the cutterhead mud cake according to the temperature change rate curve of the temperature abnormal point;
step 6, converting the temperature field of the cutterhead in the cylindrical coordinate system to obtain the temperature field of the cutterhead in the spherical coordinate system;
and 7, approximating the cutterhead mud cake to be a part of a sphere, calculating the area of the cutterhead mud cake, and judging the formation degree of the cutterhead mud cake based on the area.
Specifically, a cutter box 1 is arranged on a cutter head, and at least one sensor 3 is arranged in each cutter cylinder 2 positioned at the edge and the center of the cutter box 1, and the embodiment of the utility model comprises 6 cutter boxes 1, wherein the numbers of the cutter boxes 1 are respectively a No. 1 cutter box, a No. 2 cutter box, a No. 3 cutter box, a No. 4 cutter box, a No. 5 cutter box and a No. 6 cutter box.
TABLE 1
Figure SMS_49
In the embodiment of the utility model, as shown in fig. 2 and table 1, 12 sensors 3 are uniformly arranged on the edge part of the cutterhead, 15 sensors 3 are uniformly arranged on the front surface of the cutterhead, 5 sensors 3 are uniformly arranged in the central area of the cutterhead, the installation positions of 32 sensors 3 on the cutterhead are used as reference points, and the angle difference between two adjacent tool boxes 1 is 60 degrees for the selection of the reference points; the radius difference between two adjacent front hob on the same hob case 1 is 960mm, and the temperature of the reference point is measured to obtain a first temperature data set.
Specifically, in the embodiment of the utility model, 8 virtual temperature points are constructed on the cutter beam of the cutter head in the area where the sensor cannot be arranged by using the linear interpolation method, and the formula for calculating the temperature of the cutter beam through the 8 virtual temperature points is as follows:
Figure SMS_50
wherein ,
Figure SMS_52
is->
Figure SMS_55
Temperature of the individual virtual temperature points, +.>
Figure SMS_59
Is->
Figure SMS_53
Radius of the individual virtual temperature points, +.>
Figure SMS_56
Is->
Figure SMS_60
Angle of the virtual temperature point, +.>
Figure SMS_62
Numbering of virtual temperature points, +.>
Figure SMS_51
，/>
Figure SMS_57
For the number of virtual temperature points, +.>
Figure SMS_61
Temperature of two reference points, +.>
Figure SMS_63
Respectively the radius of two reference points +.>
Figure SMS_54
、/>
Figure SMS_58
The angles of the two reference points are respectively the installation positions of the sensors 3 on the cutterhead, and the installation position of one sensor 3 corresponds to one reference point.
Specifically, the linear interpolation method refers to a method of determining a value of an unknown amount between two known amounts using a straight line connecting the two known amounts.
Specifically, in the embodiment of the utility model, by using the kriging interpolation method, the second temperature data set and the first temperature data set are used as interpolation samples to calculate the temperature of the whole cutterhead, so as to obtain a cutterhead temperature field under a cylindrical coordinate system, wherein the expression of the cutterhead temperature field is as follows:
Figure SMS_64
wherein ,
Figure SMS_66
for the temperature field of the cutterhead, ">
Figure SMS_69
For the radius of the cutterhead under the cylindrical coordinate system, < > for>
Figure SMS_71
，
Figure SMS_67
，/>
Figure SMS_70
For maximum radius of cutterhead, < >>
Figure SMS_72
For the counterclockwise angle of the cutterhead in the cylindrical coordinate system,
Figure SMS_73
，/>
Figure SMS_65
is of ring number->
Figure SMS_68
。
The Kriging interpolation method, also called space auto-covariance best interpolation method, firstly considers the variation distribution of the space attribute in the space position, determines the distance range influencing the value of a point to be inserted, and then uses the sampling point in the range to estimate the attribute value of the point to be inserted. When the data points are more, the reliability of the interpolation result is higher.
Specifically, step 4 of the embodiment of the present utility model specifically includes:
based on the expression of the temperature field of the cutterhead, by
Figure SMS_74
The operator symbol calculates the temperature edges R and the +.>
Figure SMS_75
The temperature change rate and the change direction in the P direction, the temperatures of all the temperature points comprise the temperature of the reference point and the temperature of the virtual temperature point, and the calculation formula is as follows: />
Figure SMS_76
wherein ,
Figure SMS_77
r and +.>
Figure SMS_78
Unit vector in the P direction, and following the right-hand spiral rule, +>
Figure SMS_79
Respectively expressed in R, (-)>
Figure SMS_80
Temperature change rate in the P direction.
Embodiments of the utility model
Figure SMS_81
When the temperature of the temperature point on the cutter disc is regarded as normal, < + >>
Figure SMS_82
And regarding the temperature of the temperature point on the cutter disc as an abnormal point. For example: in terms of the radius of the area where the knife beam is located
Figure SMS_83
Screening out +.>
Figure SMS_84
Temperature outliers between greater than zero and less than zero, combined with +.>
Figure SMS_85
The change rule of (2) determining the mass center M of a cutter beam mud cake of a cutter head in the shield tunneling process (/ -)>
Figure SMS_86
）。
Specifically, in the embodiment of the utility model, the cutter head temperature field under the cylindrical coordinate system is converted, and the calculation formula of the cutter head temperature field under the spherical coordinate system is obtained as follows:
Figure SMS_87
wherein ,
Figure SMS_89
is a unit vector in each direction under the corresponding cylindrical coordinate system under the spherical coordinate system,
Figure SMS_91
r and +.>
Figure SMS_93
Temperature change rate in the P direction, +.>
Figure SMS_90
For the rate of change of temperature>
Figure SMS_92
Indicates the temperature field of the cutterhead under the spherical coordinate system, < + >>
Figure SMS_94
The distance between the position of the abnormal temperature point and the origin point in the spherical coordinate system is approximately represented as the angle of the cutter disc mud cake,/or%>
Figure SMS_95
Is the included angle between the abnormal temperature point and the z axis in the spherical coordinate system, < >>
Figure SMS_88
The included angle between the abnormal temperature point and the x-axis in the spherical coordinate system is approximately expressed as the thickness of the cutterhead mud cake. />
Specifically, in the embodiment of the utility model, the cutterhead mud cake is approximated to be a part of a sphere, and the area of the cutterhead mud cake is calculated, which comprises the following steps:
cutting a closed curved surface area surrounded by a cutterhead mud cake into n pieces of small areas by combining with Stokes theorem, wherein the i-th piece of small area
Figure SMS_96
The method is characterized by comprising the following steps:
Figure SMS_97
the calculation formula for calculating the area of the cutterhead mud cake is as follows:
Figure SMS_98
wherein ,
Figure SMS_99
is the area of a cutterhead mud cake, dv is the volume infinitesimal of sphere integration, ds is the area infinitesimal of sphere integration, and +.>
Figure SMS_100
And v is the volume of the mud cake, and s is the enclosed curved surface area of the mud cake.
Compared with the prior art, the sensor is arranged in the area where the sensor can be arranged on the cutterhead, and virtual temperature points are constructed in the area where the sensor cannot be arranged, so that the temperature of the whole cutterhead is calculated, a cutterhead temperature field under a cylindrical coordinate system is obtained, and the range of a discrimination area is enlarged; calculating the temperature change rate and the change direction of all temperature points under a cylindrical coordinate system according to the temperature field of the cutterhead, and judging temperature abnormal points according to a plurality of temperature change rates; judging the time for starting to form the cutterhead mud cake according to the temperature change rate curve of the temperature abnormal point; converting the temperature field of the cutterhead under the cylindrical coordinate system to obtain the temperature field of the cutterhead under the spherical coordinate system; and finally, approximating the mud cake of the cutterhead to be a part of a sphere, calculating the area of the mud cake of the cutterhead, and judging the formation degree of the mud cake of the cutterhead based on the area, so that the judgment of the mud cake formation degree of each area of the cutterhead is realized, and the accuracy of judging the formation degree of the mud cake is improved.
The embodiment of the utility model also provides a device for judging the formation degree of the cutterhead mud cake, which comprises the following steps:
the temperature measurement module is used for measuring the temperature by utilizing a plurality of sensors arranged on the cutterhead according to the structure form of the cutterhead of the shield tunneling machine to obtain a first temperature data set;
the first calculation module is used for constructing a plurality of virtual temperature points in the area where the sensor cannot be arranged on the cutterhead, and calculating the temperature of the virtual temperature points to obtain a second temperature data set;
the second calculation module is used for calculating the temperature of the whole cutterhead by taking the second temperature data set and the first temperature data set as interpolation samples to obtain a cutterhead temperature field under a cylindrical coordinate system;
the third calculation module is used for calculating the temperature change rate and the change direction of all the temperature points under the cylindrical coordinate system according to the temperature field of the cutterhead, and judging the temperature abnormal points according to the plurality of temperature change rates;
the judging module is used for judging the time for starting to form the cutterhead mud cake according to the temperature change rate curve of the temperature abnormal point;
the conversion module is used for converting the temperature field of the cutterhead under the cylindrical coordinate system to obtain the temperature field of the cutterhead under the spherical coordinate system;
and the judging module approximates the cutterhead mud cake to a part of a sphere, calculates the area of the cutterhead mud cake, and judges the formation degree of the cutterhead mud cake based on the area.
It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
The embodiment of the utility model also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to realize the method for judging the formation degree of the cutterhead mud cake.
Embodiments of the present utility model provide a computer program product which, when run on a mobile terminal, causes the mobile terminal to perform steps that enable the implementation of the method embodiments described above.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to construct an apparatus/terminal equipment, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (RAM, random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The embodiment of the utility model also provides a terminal device which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the method for judging the formation degree of the cutterhead mud cake when executing the computer program.
The terminal equipment can be a desktop computer, a notebook computer, a palm computer, a server cluster, a cloud server and other computing equipment. The terminal device may include, but is not limited to, a processor, a memory.
The processor may be a central processing unit (CPU, central Processing Unit), but may also be other general purpose processors, digital signal processors (DSP, digital Signal Processor), application specific integrated circuits (ASIC, application Specific Integrated Circuit), off-the-shelf programmable gate arrays (FPGA, field-Programmable Gate Array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may in some embodiments be an internal storage unit of the terminal device, such as a hard disk or a memory of the terminal device. The memory may in other embodiments also be an external storage device of the terminal device, such as a plug-in hard disk provided on the terminal device, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. Further, the memory may also include both an internal storage unit and an external storage device of the terminal device. The memory is used to store an operating system, application programs, boot loader (BootLoader), data, and other programs, etc., such as program code for the computer program, etc. The memory may also be used to temporarily store data that has been output or is to be output.
It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
While the foregoing is directed to the preferred embodiments of the present utility model, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present utility model, and such modifications and adaptations are intended to be comprehended within the scope of the present utility model.

Claims (10)

1. A method for determining the formation degree of a mud cake of a cutterhead, comprising the following steps:
step 1, according to the structure form of a cutterhead of a shield tunneling machine, measuring the temperature by utilizing a plurality of sensors arranged on the cutterhead to obtain a first temperature data set;
step 2, constructing a plurality of virtual temperature points in a region where a sensor cannot be arranged on the cutterhead, and performing temperature calculation on the virtual temperature points to obtain a second temperature data set;
step 3, calculating the temperature of the whole cutterhead by taking the second temperature data set and the first temperature data set as interpolation samples to obtain a cutterhead temperature field under a cylindrical coordinate system;
step 4, calculating the temperature change rate and the change direction of all the temperature points under a cylindrical coordinate system according to the cutter head temperature field, and judging the temperature abnormal points according to a plurality of the temperature change rates;
step 5, judging the time for starting to form the cutterhead mud cake according to the temperature change rate curve of the temperature abnormal point;
step 6, converting the temperature field of the cutterhead in the cylindrical coordinate system to obtain the temperature field of the cutterhead in the spherical coordinate system;
and 7, approximating the cutterhead mud cake to be a part of a sphere, calculating the area of the cutterhead mud cake, and judging the formation degree of the cutterhead mud cake based on the area.
2. The method for determining a degree of formation of a mudcake of a cutterhead according to claim 1, wherein,
at least one sensor is arranged in each hob barrel at the edge and the center of the cutterhead.
3. The method for determining the formation degree of the cutterhead mud cake according to claim 1, wherein the step 2 specifically comprises:
constructing a virtual temperature point in a region where a sensor cannot be arranged on the cutterhead by using a linear interpolation method, and calculating the temperature of the virtual temperature point according to the following formula:
Figure QLYQS_1
wherein ,
Figure QLYQS_4
is->
Figure QLYQS_9
Temperature of the individual virtual temperature points, +.>
Figure QLYQS_11
Is->
Figure QLYQS_5
Deficiency of the individualRadius of pseudo-temperature point +.>
Figure QLYQS_8
Is->
Figure QLYQS_12
Angle of the virtual temperature point, +.>
Figure QLYQS_14
Numbering of virtual temperature points, +.>
Figure QLYQS_2
，/>
Figure QLYQS_6
For the number of virtual temperature points, +.>
Figure QLYQS_10
Temperature of two reference points, +.>
Figure QLYQS_13
Respectively the radius of two reference points +.>
Figure QLYQS_3
、/>
Figure QLYQS_7
The angles of the two reference points are respectively, the reference points are the mounting positions of the sensors on the cutterhead, and the mounting position of one sensor corresponds to one reference point.
4. The method for determining the formation degree of a cutterhead mud cake according to claim 3, wherein the step 3 specifically comprises:
calculating the temperature of the whole cutterhead by taking the second temperature data set and the first temperature data set as interpolation samples through a Kriging interpolation method to obtain a cutterhead temperature field under a cylindrical coordinate system, wherein the expression of the cutterhead temperature field is as follows:
Figure QLYQS_15
wherein ,
Figure QLYQS_18
for the temperature field of the cutterhead, ">
Figure QLYQS_21
For the radius of the cutterhead under the cylindrical coordinate system, < > for>
Figure QLYQS_22
，/>
Figure QLYQS_17
，/>
Figure QLYQS_20
For maximum radius of cutterhead, < >>
Figure QLYQS_23
For the angle of the cutter head anticlockwise in the cylindrical coordinate system, < >>
Figure QLYQS_25
，/>
Figure QLYQS_16
，/>
Figure QLYQS_19
Is of ring number->
Figure QLYQS_24
，/>
Figure QLYQS_26
。
5. The method for determining the formation degree of the cutterhead mud cake according to claim 4, wherein the step 4 specifically comprises:
based on the expression of the temperature field of the cutterhead, by
Figure QLYQS_27
The operator symbol calculates all temperature point edges R and/or on the cutterhead under a cylindrical coordinate system>
Figure QLYQS_28
The temperature change rate and the change direction in the P direction are calculated as follows:
Figure QLYQS_29
wherein ,
Figure QLYQS_30
r and +.>
Figure QLYQS_31
Unit vector in the P direction, and following the right-hand spiral rule, +>
Figure QLYQS_32
Respectively expressed in R, (-)>
Figure QLYQS_33
Temperature change rate in the P direction;
Figure QLYQS_34
when the temperature of the temperature point on the cutter disc is regarded as normal, < + >>
Figure QLYQS_35
And regarding the temperature of the temperature point on the cutter disc as an abnormal point.
6. The method of determining a degree of formation of a cutterhead mud cake as set forth in claim 5, further comprising, after step 4:
converting the temperature field of the cutterhead in the cylindrical coordinate system to obtain a calculation formula of the temperature field of the cutterhead in the spherical coordinate system, wherein the calculation formula comprises the following steps:
Figure QLYQS_36
/>
wherein ,
Figure QLYQS_39
is the unit vector in each direction under the corresponding cylindrical coordinate system under the spherical coordinate system, +.>
Figure QLYQS_41
R and +.>
Figure QLYQS_42
Temperature change rate in the P direction, +.>
Figure QLYQS_38
For the rate of change of temperature>
Figure QLYQS_40
Indicates the temperature field of the cutterhead under the spherical coordinate system, < + >>
Figure QLYQS_43
The distance between the position of the abnormal temperature point and the origin point in the spherical coordinate system is approximately represented as the angle of the cutter disc mud cake,/or%>
Figure QLYQS_44
Is the included angle between the abnormal temperature point and the z axis in the spherical coordinate system, < >>
Figure QLYQS_37
The included angle between the abnormal temperature point and the x-axis in the spherical coordinate system is approximately expressed as the thickness of the cutterhead mud cake.
7. The method for determining a degree of formation of a mudcake of a cutterhead as claimed in claim 6, wherein,
approximating the cutterhead mud cake to be part of a sphere, calculating the area of the cutterhead mud cake, comprising:
cutting a closed curved surface area enclosed by the cutterhead mud cake into n pieces of small areas, wherein the first piece of the closed curved surface area is
Figure QLYQS_45
Small area of block->
Figure QLYQS_46
The method is characterized by comprising the following steps:
Figure QLYQS_47
the calculation formula for calculating the area of the cutterhead mud cake is as follows:
Figure QLYQS_48
；
wherein ,
Figure QLYQS_49
is the area of the cutterhead mud cake, dv is the volume infinitesimal of the sphere integration, ds is the area infinitesimal of the sphere integration,
Figure QLYQS_50
and v is the volume of the mud cake, and s is the enclosed curved surface area of the mud cake.
8. A device for determining the formation degree of a mud cake of a cutterhead, comprising:
the temperature measurement module is used for measuring the temperature by utilizing a plurality of sensors arranged on the cutterhead according to the structure form of the cutterhead of the shield tunneling machine to obtain a first temperature data set;
the first calculation module is used for constructing a plurality of virtual temperature points in the area where the sensor cannot be arranged on the cutterhead, and carrying out temperature calculation on the virtual temperature points to obtain a second temperature data set;
the second calculation module is used for calculating the temperature of the whole cutterhead by taking the second temperature data set and the first temperature data set as interpolation samples to obtain a cutterhead temperature field under a cylindrical coordinate system;
the third calculation module is used for calculating the temperature change rate and the change direction of all the temperature points under the cylindrical coordinate system according to the cutter head temperature field, and judging the temperature abnormal points according to a plurality of the temperature change rates;
the judging module is used for judging the time for starting to form the cutterhead mud cake according to the temperature change rate curve of the temperature abnormal point;
the conversion module is used for converting the temperature field of the cutterhead under the cylindrical coordinate system to obtain the temperature field of the cutterhead under the spherical coordinate system;
and the judging module approximates the cutterhead mud cake to a part of a sphere, calculates the area of the cutterhead mud cake, and judges the formation degree of the cutterhead mud cake based on the area.
9. A computer-readable storage medium storing a computer program, wherein the computer program when executed by a processor implements the method of determining a degree of formation of a cutterhead mud cake according to any one of claims 1 to 7.
10. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method of discriminating the degree of formation of a cutterhead mud cake according to any one of claims 1 to 7 when executing the computer program.
CN202310392712.1A 2023-04-13 2023-04-13 Method and related equipment for judging formation degree of mud cake of cutterhead Active CN116105664B (en)

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