CN-121997720-A - Virtual excavation forward and reverse design and simulation method for sinking type vertical shaft heading machine

CN121997720ACN 121997720 ACN121997720 ACN 121997720ACN-121997720-A

Abstract

The invention discloses a forward and reverse design and simulation method for virtual excavation of a sinking type vertical shaft heading machine, which comprises the following steps of S1, terrain initialization, S2, heading machine kinematics modeling, S3, track surface generation and virtual excavation, S4, forward design, S5, reverse design, S6, data output. The forward and reverse design and simulation method for virtual excavation of the sinking type vertical shaft heading machine can realize virtual excavation simulation of geometric level based on geometric parameters, a kinematic model and stratum data of VSM, can verify excavation effects of preset excavation parameters through forward design, can intelligently reversely solve a feasible excavation parameter set through reverse design from a target excavation morphology, and can derive standardized geometric models and structured data which can be directly used for subsequent engineering numerical analysis and construction guidance, so that parameter determination precision, process controllability and scheme optimization capability before construction are improved.

Inventors

HE LEI
ZHU WEIQIANG
SU YANQI
XU ZHIPENG
ZHAO DECHENG
XIAO HUAIGUANG
LI YUBO
MA ENBAO

Assignees

东南大学
徐工集团凯宫重工南京股份有限公司

Dates

Publication Date: 20260508
Application Date: 20260105

Claims (9)

1. The method for designing and simulating the forward and reverse directions of virtual excavation of the sinking type vertical shaft heading machine is characterized by comprising the following steps of: S1, initializing terrains, namely generating an initial three-dimensional geological model of a vertical shaft region according to geological exploration data, design parameters or field measurement data; s2, modeling the kinematics of the heading machine, namely establishing a kinematic model of the sinking type vertical shaft heading machine, and analyzing and obtaining a space movement track of the heading machine according to geometric parameters and movement sequences of the mechanical arm, the connecting rod and the heading part; s3, generating a track surface and virtually excavating, namely determining an excavating action surface for generating cutting action on the stratum based on the motion track, and constructing a corresponding spline track curved surface by utilizing a geometric modeling library; performing geometric Boolean subtraction operation or voxel removal on the spline track curved surface and the initial three-dimensional geological model to realize virtual stratum sectioning, excavation body removal and terrain reconstruction, and obtaining an excavation process model and corresponding excavation morphology and excavation engineering quantity data; S4, forward design, namely inputting a preset tunneling parameter set, and calculating and outputting corresponding excavation morphology and excavation engineering quantity data by executing the steps S1 to S3; S5, reversely designing, namely inputting a target excavation surface or section morphology, and reversely solving a tunneling parameter set meeting the target excavation surface or section morphology by establishing a geometric mapping relation between the target excavation surface or section morphology and the tunneling parameter set and solving an optimization problem with constraint; S6, outputting data, namely exporting the simulated excavation process model, the excavation morphology, the excavation engineering quantity data and the reversely solved tunneling parameter set into a geometric model file and a structured data file.
2. The method for designing and simulating the forward and reverse directions of the virtual excavation of the sinking type vertical shaft heading machine according to claim 1, wherein in the step of initializing the topography, the geological exploration data, the design parameters or the field measurement data comprise discrete sampling points, point clouds, contour lines or voxel topography data, a continuous initial topography curved surface is generated through interpolation, fitting or a curved surface reconstruction algorithm according to the discrete sampling points, the point cloud data, a discrete contour line set or the voxel topography data, and the initial three-dimensional geological model comprises a plurality of layers of soil bodies, wherein each layer of soil body comprises one or more stratum parameters of density, cohesive force, friction angle and water content.
3. The method for designing and simulating forward and reverse directions of virtual excavation of a sinking type vertical shaft heading machine according to claim 2 is characterized in that in the step of modeling the kinematics of the heading machine, geometric parameters of the heading machine comprise the relative position relation of a connecting rod length and a joint hinge point, the movement sequence comprises joint angles, arm spreading lengths, pushing steps, oil cylinder strokes and pushing depths, and the movement sequence is discrete in units of time steps or pushing sections.
4. The method for designing and simulating forward and backward virtual excavation of a sinking type vertical shaft heading machine according to claim 3, wherein in the step of S3, track surface generation and virtual excavation, an excavation action surface is determined by adopting a ray method, specifically, whether rays pointing to a motion track point from a joint hinge point of a mechanical arm invade a current excavation outline is judged, if yes, the position corresponding to the track point is judged to have an excavation action on a stratum, and the geometric Boolean subtraction operation is used for calculating excavation volume change and excavation surface morphology of each propulsion section and generating a segmented excavation data table.
5. The method for designing and simulating forward and backward directions of virtual excavation of a sinking type vertical shaft boring machine according to claim 4, wherein the step of generating and simulating S3 trajectory surfaces further comprises a geometric correction step of correcting the excavation action surface or the excavation morphology obtained by Boolean operation based on a geometric correction function determined by formation attribute parameters, an empirical model or actual measurement data.
6. The method for designing and simulating the forward and reverse directions of the virtual excavation of the sinking type shaft boring machine according to claim 5, wherein in the step of designing in reverse directions, the geometric mapping relation is established by utilizing a target section geometric constraint function, the optimization problem is solved through an iterative optimization algorithm, the iterative optimization algorithm comprises a gradient method, a genetic algorithm or a mixed strategy of the gradient method and the genetic algorithm, and the method further comprises a closed loop verification step of substituting the reversely solved tunneling parameter set into the forward direction design step for verification.
7. A virtual excavation forward and reverse design and simulation system of a sinking type shaft boring machine for realizing the method of any one of claims 1 to 6, comprising: The terrain modeling module is used for generating an initial three-dimensional geological model of the vertical shaft area according to geological data; the kinematic modeling module is used for building a kinematic model of the sinking type vertical shaft heading machine and analyzing the motion trail of the heading machine according to the geometric parameters and the motion parameters of the mechanical arm; The excavation simulation module is used for determining an excavation acting surface based on the motion trail, constructing a spline surface by utilizing a geometric modeling library and performing geometric Boolean subtraction operation with the initial three-dimensional geological model to realize virtual stratum sectioning and terrain reconstruction; The forward design module is used for calling the terrain modeling module, the kinematic modeling module and the excavation simulation module to calculate according to the input tunneling parameter set, and outputting corresponding excavation morphology and excavation engineering quantity data; The reverse design module is used for reversely solving a tunneling parameter set meeting the target excavation morphology by establishing a geometric mapping relation between the target excavation morphology and the tunneling parameter set and solving an optimization problem according to the input target excavation morphology; and the data export module is used for exporting the model and the data obtained by simulation into a geometric file and a structured data file.
8. The system of claim 7, wherein the excavation simulation module invokes a geometric modeling library to perform spline surface construction and the geometric boolean subtraction operation.
9. A computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements the virtual excavation forward and reverse design and simulation method of a sinking shaft boring machine according to any one of claims 1 to 6.

Description

Virtual excavation forward and reverse design and simulation method for sinking type vertical shaft heading machine Technical Field The invention relates to the technical field of engineering construction simulation, in particular to a forward and reverse design and simulation method for virtual excavation of a sinking type vertical shaft heading machine. . Background The sinking type vertical shaft heading machine (VERTICAL SHAFT SINKING MACHINE, VSM) is key mechanical equipment for vertical shaft, vertical pit and deep foundation pit construction. The tunneling process involves multiple coupling procedures such as complex space geometric motion of tunneling mechanisms such as mechanical arms, cutting interaction with stratum, slag soil discharge, sectional support and the like. The stratum conditions in the actual engineering are complex and changeable, the construction space is limited, and the requirements on the setting of tunneling parameters and the control precision of the construction process are extremely high. However, in current engineering practice, pre-construction solution design and parameter determination face significant challenges, embodied as: 1. Construction parameter settings depend on experience and site sinking. In the prior art, tunneling parameters (such as a pushing rate, an arm spreading angle, a pushing step distance, a cutting sequence and the like) are mainly determined by experience of engineers or by step-by-step experiments and adjustment at a construction site. The method lacks an effective tool capable of accurately verifying and predicting the parameter scheme before construction, so that parameter optimization is delayed from actual working conditions, active control and prospective optimization of the construction process are difficult to realize, the construction cost and the construction period are increased, and potential safety risks are brought. 2. The existing simulation technology is difficult to support accurate virtual excavation of engineering level. At present, simulation systems for shaft construction are mostly focused on three-dimensional animation demonstration of equipment movement, or numerical analysis (finite element analysis) is only performed on mechanical responses of the stratum after excavation. The methods can not take the actual geometric structure and the kinematic model of the VSM as core driving, so that accurate geometric cutting and sectioning process simulation between the VSM and the stratum three-dimensional model is realized. The output result is mostly visual animation or abstract mechanical cloud pictures, and an engineering level geometric model (a solid model) and structural data for engineering drawing checking, manufacturing tolerance analysis or accurate engineering quantity calculation cannot be directly generated, so that the method has limited effect in supporting concrete construction decisions. 3. Forward and reverse engineering functions are incomplete and lack closed loop optimization capabilities. Most of the existing methods only have a forward simulation function, namely, the excavation effect of the existing methods is simulated and evaluated after a group of tunneling parameters are given. However, for the more critical reverse design problem, i.e., the desired excavation face or target section profile given from the engineering design drawing, solving one or more sets of feasible, or even optimal, tunneling parameter sets that enable the target profile in reverse, lacks effective support. The construction scheme design can not realize intelligent parameter optimization from 'target direction', and the initiative control capability of construction precision and target compliance is limited. In summary, in the prior art, it is difficult to perform full-flow and high-precision virtual simulation and closed-loop optimization design on the whole process of shaft tunneling (from mechanical movement to excavation surface formation, volume change, slag discharge balance and the like) before construction. The method can not comprehensively evaluate key indexes such as excavation precision, slag discharge balance, shaft axis deviation accumulation and the like in each stage in advance, and can not individually optimize a tunneling strategy based on specific stratum data and mechanical characteristics. In the engineering of complex stratum or high-precision control requirement, the above-mentioned deficiency is liable to cause the engineering risks of over-undermining, shaft deflection, repetition sinking and even soil body instability. Disclosure of Invention The invention aims to solve the technical problems of the prior art, and provides a forward and backward virtual excavation design and simulation method of a sinking type vertical shaft heading machine, which can realize the virtual excavation simulation of geometric level based on geometric parameters, a kinematic model and stratum data of a VSM, can verify the excavat