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CN110847914A - Shield tunneling machine excavation axis deviation alarm mechanism optimization method based on data analysis - Google Patents

Shield tunneling machine excavation axis deviation alarm mechanism optimization method based on data analysis Download PDF

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CN110847914A
CN110847914A CN201911145845.9A CN201911145845A CN110847914A CN 110847914 A CN110847914 A CN 110847914A CN 201911145845 A CN201911145845 A CN 201911145845A CN 110847914 A CN110847914 A CN 110847914A
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shield
axis
data
deviation
tunneling
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CN110847914B (en
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刘丹
安欢
董静怡
李勇
仇峰涛
王浩
王蓉
王凯
陈和
杜雷
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China Railway First Engineering Group Co Ltd
Intelligent Technology Branch of China Railway First Engineering Group Co Ltd
Urban Rail Transit Engineering Co Ltd of China Railway First Engineering Group Co Ltd
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China Railway First Engineering Group Co Ltd
Intelligent Technology Branch of China Railway First Engineering Group Co Ltd
Urban Rail Transit Engineering Co Ltd of China Railway First Engineering Group Co Ltd
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/003—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
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
    • E21F17/18—Special adaptations of signalling or alarm devices

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Environmental & Geological Engineering (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)

Abstract

The invention discloses a shield tunneling machine excavation axis deviation alarm mechanism optimization method based on data analysis, which comprises the following steps: firstly, acquiring tunneling data of a shield tunneling machine; denoising tunneling data of the shield tunneling machine; identifying whether the deviation trend of the tunneling axis of the shield tunneling machine is a centrifugal trend; fourthly, calculating the average deviation rate of the tunneling axis of the shield tunneling machine in the time window T; fifthly, judging whether the deviation rate of the excavation axis of the shield tunneling machine exceeds the standard or not; sixthly, alarming the deviation of the tunneling axis of the shield tunneling machine. According to the deviation trend of the tunneling axis of the shield tunneling machine and the deviation rate of the tunneling axis of the shield tunneling machine, the effective alarm is screened by utilizing data characteristic analysis, the alarm efficiency is improved, the accuracy and the effectiveness of the deviation alarm of the tunneling axis of the shield tunneling machine are improved, the manpower loss caused by invalid alarm is reduced, the interference is eliminated, the continuous alarm in a deviated state is avoided, and the construction efficiency is improved.

Description

基于数据分析的盾构机掘进轴线偏差报警机制优化方法Optimization method of shield tunneling axis deviation alarm mechanism based on data analysis

技术领域technical field

本发明属于盾构机掘进轴线偏差报警技术领域，具体涉及一种基于数据分析的盾构机掘进轴线偏差报警机制优化方法。The invention belongs to the technical field of shield tunneling axis deviation alarm technology, and in particular relates to a method for optimizing a shield tunneling axis deviation alarm mechanism based on data analysis.

背景技术Background technique

盾构施工中，为保证盾构机的正常稳定前行，在盾构施工之前会对盾构机行进路线进行设计，但是由于盾构机在行进过程中受到开挖面土压力和盾壳外围土压力的不均衡性、地下土层变化等其他方面的影响，盾构机掘进过程中会出现偏离原始设计轴线的问题，从而造成管片损失、盾尾损坏和地层损失过大等危害。为保证盾构施工隧道高质量的完成，需在盾构施工过程中对盾构机的轴线偏差进行精确的监控。传统的盾构机轴线偏差报警方法是人工记录相关的轴线坐标数据及偏差量，当发现偏差量超过一定范围后，报告上级主管部门进行处理，该方法具有主观性及时延性，不能及时高效的对轴线偏差状态进行妥善的处理。In the shield construction, in order to ensure the normal and stable progress of the shield, the travel route of the shield will be designed before the shield construction. Unbalanced earth pressure, changes in the underground soil layer and other influences will cause the shield machine to deviate from the original design axis during the tunneling process, resulting in segment loss, shield tail damage and excessive stratum loss. In order to ensure the high-quality completion of the shield tunnel construction, it is necessary to accurately monitor the axis deviation of the shield machine during the shield construction process. The traditional axis deviation alarm method of shield machine is to manually record the relevant axis coordinate data and deviation. When the deviation is found to exceed a certain range, it will be reported to the superior competent department for processing. This method is subjective and timely, and cannot be timely and efficient. The axis deviation state should be properly handled.

针对这些缺点，现阶段工程上主要是利用信息化的风险管控系统实时监控轴线偏差量，并根据所设定的警戒值进行报警。例如，专利申请号为201710568191.5的中国发明专利，就是利用设置位置传感器，对数据进行采集设置，并通过采集距离差监测数据，根据其距离增加值确定是否出现轴线偏差现象。但是在实际工程施工的过程中，虽然可根据国家规定或者各类规范制定相应的警戒线实现报警，但是在偏离量超范围后，会持续性的进行报警，这就造成盾构机处于纠偏过程中时，轴线偏差量仍在报警阈值范围内，会造成多次无效报警，干扰施工人员判断，造成施工效率低。In view of these shortcomings, the current stage of the project mainly uses the information-based risk management and control system to monitor the axis deviation in real time, and alarm according to the set warning value. For example, the Chinese invention patent with the patent application number of 201710568191.5 is to use the position sensor to collect and set the data, and to collect the distance difference monitoring data to determine whether there is an axis deviation phenomenon according to the distance increase value. However, in the process of actual engineering construction, although the corresponding warning line can be formulated according to national regulations or various specifications to realize the alarm, but after the deviation exceeds the range, the alarm will be continuously issued, which causes the shield machine to be in the process of deviation correction. When the axis deviation is still within the alarm threshold range, it will cause multiple invalid alarms, interfere with the judgment of construction personnel, and cause low construction efficiency.

发明内容SUMMARY OF THE INVENTION

本发明所要解决的技术问题在于针对上述现有技术中的不足，提供一种基于数据分析的盾构机掘进轴线偏差报警机制优化方法，根据盾构机掘进轴线偏差趋势和盾构机掘进轴线偏差速率，利用数据特征分析筛选有效报警，提高报警效率，提高盾构机掘进轴线偏差报警的准确性及有效性，降低因无效报警造成的人力损失，便于推广使用。The technical problem to be solved by the present invention is to provide a method for optimizing an alarm mechanism for shield tunneling axis deviation based on data analysis, aiming at the deficiencies in the above-mentioned prior art. Speed, use data feature analysis to screen effective alarms, improve alarm efficiency, improve the accuracy and effectiveness of shield tunneling axis deviation alarms, reduce manpower losses caused by invalid alarms, and facilitate popularization and use.

为解决上述技术问题，本发明采用的技术方案是：基于数据分析的盾构机掘进轴线偏差报警机制优化方法，其特征在于，该方法包括以下步骤：In order to solve the above-mentioned technical problems, the technical solution adopted in the present invention is: an optimization method for the deviation alarm mechanism of the shield tunneling axis based on data analysis, characterized in that the method comprises the following steps:

步骤一、盾构机掘进数据采集：在盾构机外壁上设置四个位置传感器，四个位置传感器分别为用于采集盾体导向水平前点数据的第一位置传感器、用于采集盾体导向水平后点数据的第二位置传感器、用于采集盾体导向垂直前点数据的第三位置传感器和用于采集盾体导向垂直后点数据的第四位置传感器，第一位置传感器和第二位置传感器均位于盾体的左侧外壁上或右侧外壁上且等高，第三位置传感器和第四位置传感器均位于盾体顶部或盾体底部，第一位置传感器和第三位置传感器均位于盾体的一个断面上，第二位置传感器和第四位置传感器均位于盾体的另一个断面上；Step 1. Data collection of shield machine tunneling: Four position sensors are arranged on the outer wall of the shield machine. The four position sensors are respectively the first position sensor used to collect the data of the horizontal front point of the shield guide, and the first position sensor used to collect the shield guide. The second position sensor for horizontal rear point data, the third position sensor for collecting shield guide vertical front point data, and the fourth position sensor for collecting shield guide vertical rear point data, the first position sensor and the second position The sensors are located on the left outer wall or the right outer wall of the shield body at the same height, the third position sensor and the fourth position sensor are located on the top or bottom of the shield body, and the first position sensor and the third position sensor are located on the shield body. On one section of the shield body, the second position sensor and the fourth position sensor are both located on the other section of the shield body;

将同一采样时刻下盾体导向水平前点数据、盾体导向水平后点数据、盾体导向垂直前点数据和盾体导向垂直后点数据视为一组盾体导向数据；The shield-oriented horizontal front point data, the shield-oriented horizontal rear-point data, the shield-oriented vertical front-point data, and the shield-oriented vertical rear point data at the same sampling time are regarded as a set of shield-oriented data;

步骤二、盾构机掘进数据去噪：控制台对盾体导向水平前点数据、盾体导向水平后点数据、盾体导向垂直前点数据和盾体导向垂直后点数据进行去噪，剔除盾体导向数据中的突变值；Step 2: De-noising of shield tunneling data: The console denoises the shield-oriented horizontal front point data, the shield-oriented horizontal rear-point data, the shield-oriented vertical front-point data and the shield-oriented vertical rear point data, and removes them. Mutation value in shield guide data;

同时剔除同一采样时刻下盾体导向数据中存在数据缺失的盾体导向数据；At the same time, the shield body guidance data with missing data in the shield body guidance data at the same sampling time is eliminated;

步骤三、识别盾构机掘进轴线偏差趋势是否为离心趋势：根据公式

Figure BDA0002282164670000021
计算当前盾构机掘进轴线水平偏差趋势值sx和当前盾构机掘进轴线垂直偏差趋势值sy，当sx>0或sy>0时，当前盾构机掘进轴线偏差趋势为离心趋势，执行步骤四；当sx≤0且sy≤0时，当前盾构机掘进轴线偏差趋势为向心趋势，此时，剔除当前盾体导向数据，不进行盾构机掘进轴线偏差报警，其中，
Figure BDA0002282164670000031
为当前采样时刻d下的盾体导向水平前点数据与预设的设计轴线之间的偏移量，
Figure BDA0002282164670000032
为当前采样时刻d的前一采样时刻d-1下的盾体导向水平前点数据与预设的设计轴线之间的偏移量，
Figure BDA0002282164670000033
为当前采样时刻d下的盾体导向垂直前点数据与预设的设计轴线之间的偏移量，
Figure BDA0002282164670000034
为当前采样时刻d的前一采样时刻d-1下的盾体导向垂直前点数据与预设的设计轴线之间的偏移量；Step 3. Identify whether the deviation trend of the shield tunneling axis is a centrifugal trend: according to the formula
Figure BDA0002282164670000021
Calculate the horizontal deviation trend value s x of the current shield tunneling axis and the current vertical deviation trend value s y of the shield tunneling axis. When s x > 0 or s y > 0, the current shield tunneling axis deviation trend is the centrifugal trend , and perform step 4; when s x ≤ 0 and s y ≤ 0, the current shield tunneling axis deviation trend is a centripetal trend, at this time, the current shield guidance data is excluded, and the shield tunneling axis deviation alarm is not performed. in,
Figure BDA0002282164670000031
is the offset between the shield guide horizontal front point data at the current sampling time d and the preset design axis,
Figure BDA0002282164670000032
is the offset between the shield guide horizontal front point data at the previous sampling time d-1 of the current sampling time d and the preset design axis,
Figure BDA0002282164670000033
is the offset between the shield guide vertical front point data and the preset design axis at the current sampling time d,
Figure BDA0002282164670000034
is the offset between the shield guide vertical front point data at the previous sampling time d-1 of the current sampling time d and the preset design axis;

步骤四、计算时间窗口T内盾构机掘进轴线平均偏离速率：预先设定时间窗口T，在时间窗口T内进行盾体导向数据采样，一个时间窗口T内采样j个盾体导向数据采样点，根据公式

Figure BDA0002282164670000035
计算一个时间窗口T内盾构机掘进轴线水平前平均偏离速率
Figure BDA0002282164670000036
盾构机掘进轴线水平后平均偏离速率
Figure BDA0002282164670000037
盾构机掘进轴线垂直前平均偏离速率
Figure BDA0002282164670000038
和盾构机掘进轴线垂直后平均偏离速率
Figure BDA0002282164670000039
其中，为一个时间窗口T内第i-1个采样时刻ti-1和第i个采样时刻ti之间盾构机掘进轴线水平前偏差速率，i＝1,2，…，j，且
Figure BDA00022821646700000311
Figure BDA00022821646700000312
为第i-1个采样时刻ti-1下盾体导向水平前点数据与预设的设计轴线之间的偏移量，
Figure BDA00022821646700000313
为第i个采样时刻ti下盾体导向水平前点数据与预设的设计轴线之间的偏移量，i取0时，t0为一个时间窗口T内的初始采样时刻；
Figure BDA00022821646700000314
为一个时间窗口T内第i-1个采样时刻ti-1和第i个采样时刻ti之间盾构机掘进轴线水平后偏差速率，且
Figure BDA00022821646700000315
Figure BDA00022821646700000316
为第i-1个采样时刻ti-1下盾体导向水平后点数据与预设的设计轴线之间的偏移量，
Figure BDA0002282164670000041
为第i个采样时刻ti下盾体导向水平后点数据与预设的设计轴线之间的偏移量；为一个时间窗口T内第i-1个采样时刻ti-1和第i个采样时刻ti之间盾构机掘进轴线垂直前偏差速率，且
Figure BDA0002282164670000043
Figure BDA0002282164670000044
为第i-1个采样时刻ti-1下盾体导向垂直前点数据与预设的设计轴线之间的偏移量，
Figure BDA0002282164670000045
为第i个采样时刻ti下盾体导向垂直前点数据与预设的设计轴线之间的偏移量；为一个时间窗口T内第i-1个采样时刻ti-1和第i个采样时刻ti之间盾构机掘进轴线垂直后偏差速率，且
Figure BDA0002282164670000047
Figure BDA0002282164670000048
为第i-1个采样时刻ti-1下盾体导向垂直后点数据与预设的设计轴线之间的偏移量，
Figure BDA0002282164670000049
为第i个采样时刻ti下盾体导向垂直后点数据与预设的设计轴线之间的偏移量；Step 4: Calculate the average deviation rate of the shield tunneling axis in the time window T: pre-set the time window T, perform shield guidance data sampling within the time window T, and sample j shield guidance data sampling points within a time window T , according to the formula
Figure BDA0002282164670000035
Calculate the average deviation rate of the shield machine before the level of the tunneling axis in a time window T
Figure BDA0002282164670000036
The average deviation rate of the shield machine after the tunneling axis is horizontal
Figure BDA0002282164670000037
Average deviation rate of shield tunneling axis before vertical
Figure BDA0002282164670000038
The average deviation rate after being perpendicular to the tunneling axis of the shield machine
Figure BDA0002282164670000039
in, is the horizontal front deviation rate of the shield tunneling axis between the i-1 th sampling time t i-1 and the ith sampling time t i in a time window T, i=1,2,...,j, and
Figure BDA00022821646700000311
Figure BDA00022821646700000312
is the offset between the shield guide horizontal front point data and the preset design axis at the i-1th sampling time t i-1 ,
Figure BDA00022821646700000313
is the offset between the shield guide horizontal front point data and the preset design axis at the ith sampling time t i , and when i is 0, t 0 is the initial sampling time in a time window T;
Figure BDA00022821646700000314
is the horizontal back deviation rate of the shield tunneling axis between the i-1th sampling time t i-1 and the i-th sampling time t i in a time window T, and
Figure BDA00022821646700000315
Figure BDA00022821646700000316
is the offset between the point data after the shield body is guided horizontally at the i-1th sampling time t i-1 and the preset design axis,
Figure BDA0002282164670000041
is the offset between the shield body guidance horizontal rear point data and the preset design axis at the ith sampling time t i ; is the vertical front deviation rate of the shield tunneling axis between the i-1th sampling time t i-1 and the i-th sampling time t i in a time window T, and
Figure BDA0002282164670000043
Figure BDA0002282164670000044
is the offset between the shield guide vertical front point data and the preset design axis at the i-1th sampling time t i-1 ,
Figure BDA0002282164670000045
is the offset between the shield guide vertical front point data and the preset design axis at the ith sampling time t i ; is the vertical back deviation rate of the shield tunneling axis between the i-1th sampling time t i-1 and the i-th sampling time t i in a time window T, and
Figure BDA0002282164670000047
Figure BDA0002282164670000048
is the offset between the shield guide vertical rear point data and the preset design axis at the i-1th sampling time t i-1 ,
Figure BDA0002282164670000049
is the offset between the shield guide vertical rear point data and the preset design axis at the ith sampling time t i ;

步骤五、判断盾构机掘进轴线偏差速率是否超标：当

Figure BDA00022821646700000410
或
Figure BDA00022821646700000411
或
Figure BDA00022821646700000412
或时，盾构机掘进轴线偏差速率超标，将当前采样时刻下的一组盾体导向数据归为报警数据集合，执行步骤六；当
Figure BDA00022821646700000414
且
Figure BDA00022821646700000415
且
Figure BDA00022821646700000416
且
Figure BDA00022821646700000417
时，盾构机掘进轴线偏差速率未超标，此时，剔除当前盾体导向数据，不进行盾构机掘进轴线偏差报警，其中，
Figure BDA00022821646700000418
为当前时刻盾构机掘进轴线水平前偏差速率，为当前时刻盾构机掘进轴线水平后偏差速率，
Figure BDA00022821646700000420
为当前时刻盾构机掘进轴线垂直前偏差速率，为当前时刻盾构机掘进轴线垂直后偏差速率；Step 5. Determine whether the deviation rate of the tunneling axis of the shield machine exceeds the standard: when
Figure BDA00022821646700000410
or
Figure BDA00022821646700000411
or
Figure BDA00022821646700000412
or When the deviation rate of the tunneling axis of the shield machine exceeds the standard, a group of shield guidance data at the current sampling time is classified as an alarm data set, and step 6 is executed;
Figure BDA00022821646700000414
and
Figure BDA00022821646700000415
and
Figure BDA00022821646700000416
and
Figure BDA00022821646700000417
At this time, the deviation rate of the shield tunneling axis does not exceed the standard. At this time, the current shield guidance data is excluded, and the shield tunneling axis deviation alarm is not performed. Among them,
Figure BDA00022821646700000418
is the horizontal front deviation rate of the tunneling axis of the shield machine at the current moment, is the deviation rate after the horizontal axis of the shield tunneling axis at the current moment,
Figure BDA00022821646700000420
is the vertical front deviation rate of the tunneling axis of the shield machine at the current moment, is the vertical back deviation rate of the shield tunneling axis at the current moment;

步骤六、盾构机掘进轴线偏差报警：预先设置盾构机掘进轴线偏差警戒值及盾构机掘进轴线偏差报警机制，当M≤sN<1.2M时，盾构机掘进轴线偏差报警机制为I级报警；当1.2M<sN≤1.4M时，盾构机掘进轴线偏差报警机制为II级报警；当时，盾构机掘进轴线偏差报警机制为III级报警；其中，sN为步骤五中当前采样时刻下一组盾体导向数据中任一盾体导向点数据与预设的设计轴线之间的偏移量，M为预先设置的盾构机掘进轴线偏差警戒值；Step 6. Shield tunneling axis deviation alarm: preset the shield tunneling axis deviation warning value and shield tunneling axis deviation alarm mechanism. When M≤s N <1.2M, the shield tunneling axis deviation alarm mechanism is: Level I alarm; when 1.2M<s N ≤1.4M, the shield tunneling axis deviation alarm mechanism is a level II alarm; at that time, the shield tunneling axis deviation alarm mechanism is a level III alarm; among them, s N is step 5 The offset between any shield guidance point data in the next set of shield guidance data at the current sampling time and the preset design axis, M is the preset shield tunneling axis deviation warning value;

根据当前采样时刻下盾构机掘进轴线水平前、水平后、垂直前和垂直后的偏移量数据，自动启动相应的盾构机掘进轴线偏差报警机制进行盾构机掘进轴线偏差报警。According to the offset data of the horizontal front, horizontal rear, vertical front and vertical rear of the shield tunneling axis at the current sampling time, the corresponding shield tunneling axis deviation alarm mechanism is automatically activated to alarm the shield tunneling axis deviation.

上述的基于数据分析的盾构机掘进轴线偏差报警机制优化方法，其特征在于：步骤一中，四个位置传感器均将采集的数据传输至盾构机PLC控制器中，利用SCADA系统与盾构机PLC控制器通信将盾构机掘进数据采集至控制台。The above-mentioned optimization method of shield tunneling axis deviation alarm mechanism based on data analysis is characterized in that: in step 1, the four position sensors all transmit the collected data to the shield machine PLC controller, and use the SCADA system to communicate with the shield machine. The machine PLC controller communication collects the tunneling data of the shield machine to the console.

上述的基于数据分析的盾构机掘进轴线偏差报警机制优化方法，其特征在于：步骤二中，控制台利用数据挖掘中的聚类算法分别对盾体导向水平前点数据、盾体导向水平后点数据、盾体导向垂直前点数据和盾体导向垂直后点数据进行去噪，剔除盾体导向数据中的突变值。The above-mentioned optimization method for the deviation alarm mechanism of the shield tunneling axis based on data analysis is characterized in that: in step 2, the console uses the clustering algorithm in data mining to respectively analyze the front point data of the shield body guidance level and the back point data of the shield body guidance level. The point data, the shield-oriented vertical front point data and the shield-oriented vertical rear point data are denoised, and the mutation values in the shield-oriented data are removed.

本发明与现有技术相比具有以下优点：Compared with the prior art, the present invention has the following advantages:

1、本发明通过在盾构机外壁上设置四个位置传感器，其中，两个传感器设置在盾构机前端，分别用于采集盾体导向水平前点数据和盾体导向垂直前点数据；另两个传感器设置在盾构机后端，分别用于采集盾体导向水平后点数据和盾体导向垂直后点数据，由于盾构机是利用盾头移动带动盾尾移动，因此两个盾体导向前点数据具有主导作用，利用两个盾体导向前点数据判断盾构机掘进轴线偏差趋势，剔除盾构机回归设计隧道线路时的报警信号，提高报警的有效性及可靠性，便于推广使用。1. In the present invention, four position sensors are arranged on the outer wall of the shield machine, wherein two sensors are arranged at the front end of the shield machine, and are respectively used to collect the data of the horizontal front point of the shield body guidance and the vertical front point data of the shield body guidance; The two sensors are arranged at the back end of the shield machine, and are used to collect the data of the horizontal back point of the shield body and the data of the vertical back point of the shield body. The guidance front point data plays a leading role. The two shield guidance front point data are used to judge the deviation trend of the shield tunneling axis, and the alarm signal when the shield machine returns to the design of the tunnel line is eliminated, so as to improve the effectiveness and reliability of the alarm and facilitate promotion. use.

2、本发明通过盾构机掘进数据去噪，剔除盾体导向数据中的突变值，该部分数据可能是由于采集系统的异常造成的，识别并剔除异常数据，保证数据的有效性，可靠稳定，使用效果好；同时剔除同一采样时刻下盾体导向数据中存在数据缺失的盾体导向数据，当盾体导向数据中四个数据缺失任一数据时，则该条盾体导向数据无实用意义，剔除缺失数据的数据样本，保证数据的有效性，便于后期数据分析，避免造成数据异常处理带来的误报警。2. The present invention denoises the tunneling data of the shield machine, and removes the sudden change in the shield guide data, which may be caused by the abnormality of the acquisition system, identifies and removes the abnormal data to ensure the validity of the data, reliability and stability , the use effect is good; at the same time, the shield body guidance data with missing data in the shield body guidance data at the same sampling time is eliminated. When any of the four data in the shield body guidance data is missing, the shield body guidance data is of no practical significance. , remove data samples with missing data, ensure the validity of the data, facilitate later data analysis, and avoid false alarms caused by abnormal data processing.

3、本发明方法步骤简单，对盾构机掘进轴线水平前、水平后、垂直前和垂直后偏差速率分别进行计算，根据数据落入的报警机制范围区间自动启动报警机制，评估盾构机运行状态的风险，指导并提高施工人员处理效率，节省人力成本，便于推广使用。3. The method of the present invention is simple in steps. The deviation rates of the shield tunneling axis horizontal front, horizontal rear, vertical front and vertical rear are respectively calculated, and the alarm mechanism is automatically activated according to the range of the alarm mechanism in which the data falls to evaluate the operation of the shield machine. It can guide and improve the processing efficiency of construction personnel, save labor costs, and facilitate the promotion and use.

综上所述，本发明根据盾构机掘进轴线偏差趋势和盾构机掘进轴线偏差速率，利用数据特征分析筛选有效报警，提高报警效率，提高盾构机掘进轴线偏差报警的准确性及有效性，降低因无效报警造成的人力损失，排除干扰，避免在偏离状态下的持续性报警，提高施工效率，便于推广使用。To sum up, according to the deviation trend of the tunneling axis of the shield machine and the deviation rate of the tunneling axis of the shield machine, the present invention uses data feature analysis to screen out effective alarms, improves the alarm efficiency, and improves the accuracy and effectiveness of the shield machine's tunneling axis deviation alarm. , reduce manpower loss caused by invalid alarm, eliminate interference, avoid continuous alarm in deviation state, improve construction efficiency, and facilitate popularization and use.

下面通过附图和实施例，对本发明的技术方案做进一步的详细描述。The technical solutions of the present invention will be further described in detail below through the accompanying drawings and embodiments.

附图说明Description of drawings

图1为本发明方法的方法流程框图。FIG. 1 is a method flow block diagram of the method of the present invention.

具体实施方式Detailed ways

如图1所示，本发明的基于数据分析的盾构机掘进轴线偏差报警机制优化方法，包括以下步骤：As shown in Figure 1, the data analysis-based method for optimizing the shield tunneling axis deviation alarm mechanism of the present invention includes the following steps:

步骤一、盾构机掘进数据采集：在盾构机外壁上设置四个位置传感器，四个位置传感器分别为用于采集盾体导向水平前点数据的第一位置传感器、用于采集盾体导向水平后点数据的第二位置传感器、用于采集盾体导向垂直前点数据的第三位置传感器和用于采集盾体导向垂直后点数据的第四位置传感器，第一位置传感器和第二位置传感器均位于盾体的左侧外壁上或右侧外壁上且等高，第三位置传感器和第四位置传感器均位于盾体顶部或盾体底部，第一位置传感器和第三位置传感器均位于盾体的一个断面上，第二位置传感器和第四位置传感器均位于盾体的另一个断面上；Step 1. Data collection of shield machine tunneling: Four position sensors are arranged on the outer wall of the shield machine. The four position sensors are respectively the first position sensor used to collect the data of the horizontal front point of the shield guide, and the first position sensor used to collect the shield guide. The second position sensor for horizontal rear point data, the third position sensor for collecting shield guide vertical front point data, and the fourth position sensor for collecting shield guide vertical rear point data, the first position sensor and the second position The sensors are located on the left outer wall or the right outer wall of the shield body at the same height, the third position sensor and the fourth position sensor are located on the top or bottom of the shield body, and the first position sensor and the third position sensor are located on the shield body. On one section of the shield body, the second position sensor and the fourth position sensor are both located on the other section of the shield body;

四个位置传感器均将采集的数据传输至盾构机PLC控制器中，利用SCADA系统与盾构机PLC控制器通信将盾构机掘进数据采集至控制台；The four position sensors all transmit the collected data to the shield machine PLC controller, and use the SCADA system to communicate with the shield machine PLC controller to collect the shield machine tunneling data to the console;

将同一采样时刻下盾体导向水平前点数据、盾体导向水平后点数据、盾体导向垂直前点数据和盾体导向垂直后点数据视为一组盾体导向数据；The shield-oriented horizontal front point data, the shield-oriented horizontal rear-point data, the shield-oriented vertical front-point data, and the shield-oriented vertical rear point data at the same sampling time are regarded as a set of shield-oriented data;

需要说明的是，通过在盾构机外壁上设置四个位置传感器，其中，两个传感器设置在盾构机前端，分别用于采集盾体导向水平前点数据和盾体导向垂直前点数据；另两个传感器设置在盾构机后端，分别用于采集盾体导向水平后点数据和盾体导向垂直后点数据，由于盾构机是利用盾头移动带动盾尾移动，因此两个盾体导向前点数据具有主导作用，利用两个盾体导向前点数据判断盾构机掘进轴线偏差趋势，剔除盾构机回归设计隧道线路时的报警信号，提高报警的有效性及可靠性。It should be noted that by setting four position sensors on the outer wall of the shield machine, two sensors are arranged at the front end of the shield machine, and are respectively used to collect the data of the horizontal front point of the shield body guidance and the vertical front point data of the shield body guidance; The other two sensors are arranged at the rear end of the shield machine, and are used to collect the data of the horizontal back point of the shield body and the data of the vertical back point of the shield body. The body-oriented front point data plays a leading role. The two shield body-oriented front point data are used to judge the deviation trend of the shield tunneling axis, and the alarm signal when the shield machine returns to the design of the tunnel line is eliminated, so as to improve the effectiveness and reliability of the alarm.

步骤二、盾构机掘进数据去噪：控制台对盾体导向水平前点数据、盾体导向水平后点数据、盾体导向垂直前点数据和盾体导向垂直后点数据进行去噪，剔除盾体导向数据中的突变值；Step 2: De-noising of shield tunneling data: The console denoises the shield-oriented horizontal front point data, the shield-oriented horizontal rear-point data, the shield-oriented vertical front-point data and the shield-oriented vertical rear point data, and removes them. Mutation value in shield guide data;

同时剔除同一采样时刻下盾体导向数据中存在数据缺失的盾体导向数据；At the same time, the shield body guidance data with missing data in the shield body guidance data at the same sampling time is eliminated;

本实施例中，步骤二中，预先设置盾体导向水平前点差异阈值、盾体导向水平后点差异阈值、盾体导向垂直前点差异阈值和盾体导向垂直后点差异阈值，差异阈值均为正数；In this embodiment, in step 2, the difference threshold of the horizontal front point of the shield guide, the difference threshold of the horizontal rear point of the shield guide, the difference threshold of the vertical front point of the shield guide, and the difference threshold of the vertical rear point of the shield guide are preset, and the difference thresholds are all is a positive number;

当盾体导向水平前点数据序列中存在一采集数据与其前后采集数据差异的绝对值超过盾体导向水平前点差异阈值时，该采集数据为突变值；When the absolute value of the difference between the collected data and the collected data before and after the shield body guidance level front point data sequence exceeds the shield body guidance level front point difference threshold, the collected data is a mutation value;

当盾体导向水平后点数据序列中存在一采集数据与其前后采集数据差异的绝对值超过盾体导向水平后点差异阈值时，该采集数据为突变值；When the absolute value of the difference between the collected data and the collected data before and after the shield body guidance level rear point data sequence exceeds the shield body guidance level rear point difference threshold, the collected data is a mutation value;

当盾体导向垂直前点数据序列中存在一采集数据与其前后采集数据差异的绝对值超过盾体导向垂直前点差异阈值时，该采集数据为突变值；When the absolute value of the difference between the collected data and the collected data before and after the shield body guidance vertical front point data sequence exceeds the shield body guidance vertical front point difference threshold, the collected data is a mutation value;

当盾体导向垂直后点数据序列中存在一采集数据与其前后采集数据差异的绝对值超过盾体导向垂直后点差异阈值时，该采集数据为突变值。When the absolute value of the difference between the collected data and the collected data before and after the shield guide vertical back point data sequence exceeds the shield guide vertical back point difference threshold, the collected data is a mutation value.

本实施例中，步骤二中，控制台利用数据挖掘中的聚类算法分别对盾体导向水平前点数据、盾体导向水平后点数据、盾体导向垂直前点数据和盾体导向垂直后点数据进行去噪，剔除盾体导向数据中的突变值。In this embodiment, in step 2, the console uses the clustering algorithm in data mining to respectively analyze the shield-oriented horizontal front point data, the shield-oriented horizontal rear point data, the shield-oriented vertical front point data, and the shield-oriented vertical rear point data. The point data is denoised and the mutation value in the shield guide data is removed.

需要说明的是，通过盾构机掘进数据去噪，剔除盾体导向数据中的突变值，该部分数据可能是由于采集系统的异常造成的，识别并剔除异常数据，保证数据的有效性，可靠稳定，使用效果好；同时剔除同一采样时刻下盾体导向数据中存在数据缺失的盾体导向数据，当盾体导向数据中四个数据缺失任一数据时，则该条盾体导向数据无实用意义，剔除缺失数据的数据样本，保证数据的有效性，便于后期数据分析，避免造成数据异常处理带来的误报警。It should be noted that by denoising the excavation data of the shield machine, the mutation value in the shield guidance data is eliminated. This part of the data may be caused by the abnormality of the acquisition system. Identify and eliminate abnormal data to ensure the validity and reliability of the data. It is stable and has good use effect; at the same time, the shield body guidance data with missing data in the shield body guidance data at the same sampling time is eliminated. When any of the four data in the shield body guidance data is missing, the shield body guidance data is useless. Meaning, remove data samples with missing data, ensure the validity of the data, facilitate later data analysis, and avoid false alarms caused by abnormal data processing.

步骤三、识别盾构机掘进轴线偏差趋势是否为离心趋势：根据公式

Figure BDA0002282164670000081
计算当前盾构机掘进轴线水平偏差趋势值sx和当前盾构机掘进轴线垂直偏差趋势值sy，当sx>0或sy>0时，当前盾构机掘进轴线偏差趋势为离心趋势，执行步骤四；当sx≤0且sy≤0时，当前盾构机掘进轴线偏差趋势为向心趋势，此时，剔除当前盾体导向数据，不进行盾构机掘进轴线偏差报警，其中，
Figure BDA0002282164670000082
为当前采样时刻d下的盾体导向水平前点数据与预设的设计轴线之间的偏移量，
Figure BDA0002282164670000083
为当前采样时刻d的前一采样时刻d-1下的盾体导向水平前点数据与预设的设计轴线之间的偏移量，
Figure BDA0002282164670000084
为当前采样时刻d下的盾体导向垂直前点数据与预设的设计轴线之间的偏移量，
Figure BDA0002282164670000085
为当前采样时刻d的前一采样时刻d-1下的盾体导向垂直前点数据与预设的设计轴线之间的偏移量；Step 3. Identify whether the deviation trend of the shield tunneling axis is a centrifugal trend: according to the formula
Figure BDA0002282164670000081
Calculate the horizontal deviation trend value s x of the current shield tunneling axis and the current vertical deviation trend value s y of the shield tunneling axis. When s x > 0 or s y > 0, the current shield tunneling axis deviation trend is the centrifugal trend , and perform step 4; when s x ≤ 0 and s y ≤ 0, the current shield tunneling axis deviation trend is a centripetal trend, at this time, the current shield guidance data is excluded, and the shield tunneling axis deviation alarm is not performed. in,
Figure BDA0002282164670000082
is the offset between the shield guide horizontal front point data at the current sampling time d and the preset design axis,
Figure BDA0002282164670000083
is the offset between the shield guide horizontal front point data at the previous sampling time d-1 of the current sampling time d and the preset design axis,
Figure BDA0002282164670000084
is the offset between the shield guide vertical front point data and the preset design axis at the current sampling time d,
Figure BDA0002282164670000085
is the offset between the shield guide vertical front point data at the previous sampling time d-1 of the current sampling time d and the preset design axis;

需要说明的是，利用第一位置传感器和第三位置传感器采集相邻时刻数据，并计算与设计轴线偏差，将两个偏差值进行比较，识别当前盾构机掘进轴线的偏差趋势，若当前盾构机掘进轴线偏差趋势为向心趋势，表示盾构机正在处于纠偏状态中，此时，剔除当前盾体导向数据，无须进行盾构机掘进轴线偏差报警，保证盾构机在可控范围内进行施工。It should be noted that the first position sensor and the third position sensor are used to collect adjacent time data, calculate the deviation from the design axis, and compare the two deviation values to identify the deviation trend of the current shield tunneling axis. The deviation trend of the tunneling axis of the tunneling machine is a centripetal trend, which means that the shielding machine is in the state of correcting deviation. At this time, the current shield guidance data is excluded, and there is no need to alarm the tunneling axis deviation of the shielding machine to ensure that the shielding machine is within the controllable range. Carry out construction.

步骤四、计算时间窗口T内盾构机掘进轴线平均偏离速率：预先设定时间窗口T，在时间窗口T内进行盾体导向数据采样，一个时间窗口T内采样j个盾体导向数据采样点，根据公式计算一个时间窗口T内盾构机掘进轴线水平前平均偏离速率

Figure BDA0002282164670000092
盾构机掘进轴线水平后平均偏离速率
Figure BDA0002282164670000093
盾构机掘进轴线垂直前平均偏离速率
Figure BDA0002282164670000094
和盾构机掘进轴线垂直后平均偏离速率
Figure BDA0002282164670000095
其中，
Figure BDA0002282164670000096
为一个时间窗口T内第i-1个采样时刻ti-1和第i个采样时刻ti之间盾构机掘进轴线水平前偏差速率，i＝1,2，…，j，且
Figure BDA0002282164670000097
Figure BDA0002282164670000098
为第i-1个采样时刻ti-1下盾体导向水平前点数据与预设的设计轴线之间的偏移量，
Figure BDA0002282164670000099
为第i个采样时刻ti下盾体导向水平前点数据与预设的设计轴线之间的偏移量，i取0时，t0为一个时间窗口T内的初始采样时刻；
Figure BDA00022821646700000910
为一个时间窗口T内第i-1个采样时刻ti-1和第i个采样时刻ti之间盾构机掘进轴线水平后偏差速率，且
Figure BDA00022821646700000911
Figure BDA00022821646700000912
为第i-1个采样时刻ti-1下盾体导向水平后点数据与预设的设计轴线之间的偏移量，
Figure BDA00022821646700000913
为第i个采样时刻ti下盾体导向水平后点数据与预设的设计轴线之间的偏移量；
Figure BDA00022821646700000914
为一个时间窗口T内第i-1个采样时刻ti-1和第i个采样时刻ti之间盾构机掘进轴线垂直前偏差速率，且
Figure BDA00022821646700000915
Figure BDA00022821646700000916
为第i-1个采样时刻ti-1下盾体导向垂直前点数据与预设的设计轴线之间的偏移量，为第i个采样时刻ti下盾体导向垂直前点数据与预设的设计轴线之间的偏移量；
Figure BDA00022821646700000918
为一个时间窗口T内第i-1个采样时刻ti-1和第i个采样时刻ti之间盾构机掘进轴线垂直后偏差速率，且
Figure BDA00022821646700000919
Figure BDA00022821646700000920
为第i-1个采样时刻ti-1下盾体导向垂直后点数据与预设的设计轴线之间的偏移量，
Figure BDA0002282164670000101
为第i个采样时刻ti下盾体导向垂直后点数据与预设的设计轴线之间的偏移量；Step 4: Calculate the average deviation rate of the tunneling axis of the shield machine within the time window T: pre-set the time window T, perform shield guidance data sampling within the time window T, and sample j shield guidance data sampling points within a time window T , according to the formula Calculate the average deviation rate of the shield machine before the level of the tunneling axis in a time window T
Figure BDA0002282164670000092
The average deviation rate of the shield machine after the tunneling axis is horizontal
Figure BDA0002282164670000093
Average deviation rate of shield tunneling axis before vertical
Figure BDA0002282164670000094
The average deviation rate after being perpendicular to the tunneling axis of the shield machine
Figure BDA0002282164670000095
in,
Figure BDA0002282164670000096
is the horizontal front deviation rate of the shield tunneling axis between the i-1th sampling time t i-1 and the i-th sampling time t i in a time window T, i=1,2,...,j, and
Figure BDA0002282164670000097
Figure BDA0002282164670000098
is the offset between the shield guide horizontal front point data and the preset design axis at the i-1th sampling time t i-1 ,
Figure BDA0002282164670000099
is the offset between the shield guide horizontal front point data and the preset design axis at the ith sampling time t i , and when i is 0, t 0 is the initial sampling time in a time window T;
Figure BDA00022821646700000910
is the horizontal back deviation rate of the shield tunneling axis between the i-1th sampling time t i-1 and the i-th sampling time t i in a time window T, and
Figure BDA00022821646700000911
Figure BDA00022821646700000912
is the offset between the point data after the shield body is guided horizontally at the i-1th sampling time t i-1 and the preset design axis,
Figure BDA00022821646700000913
is the offset between the shield body guidance horizontal rear point data and the preset design axis at the ith sampling time t i ;
Figure BDA00022821646700000914
is the vertical front deviation rate of the shield tunneling axis between the i-1th sampling time t i-1 and the i-th sampling time t i in a time window T, and
Figure BDA00022821646700000915
Figure BDA00022821646700000916
is the offset between the shield guide vertical front point data and the preset design axis at the i-1th sampling time t i-1 , is the offset between the shield guide vertical front point data and the preset design axis at the ith sampling time t i ;
Figure BDA00022821646700000918
is the vertical back deviation rate of the shield tunneling axis between the i-1th sampling time t i-1 and the i-th sampling time t i in a time window T, and
Figure BDA00022821646700000919
Figure BDA00022821646700000920
is the offset between the shield guide vertical rear point data and the preset design axis at the i-1th sampling time t i-1 ,
Figure BDA0002282164670000101
is the offset between the shield guide vertical rear point data and the preset design axis at the ith sampling time t i ;

步骤五、判断盾构机掘进轴线偏差速率是否超标：当

Figure BDA0002282164670000102
或
Figure BDA0002282164670000103
或
Figure BDA0002282164670000104
或
Figure BDA0002282164670000105
时，盾构机掘进轴线偏差速率超标，将当前采样时刻下的一组盾体导向数据归为报警数据集合，执行步骤六；当
Figure BDA0002282164670000106
且
Figure BDA0002282164670000107
且
Figure BDA0002282164670000108
且
Figure BDA0002282164670000109
时，盾构机掘进轴线偏差速率未超标，此时，剔除当前盾体导向数据，不进行盾构机掘进轴线偏差报警，其中，
Figure BDA00022821646700001010
为当前时刻盾构机掘进轴线水平前偏差速率，
Figure BDA00022821646700001011
为当前时刻盾构机掘进轴线水平后偏差速率，
Figure BDA00022821646700001012
为当前时刻盾构机掘进轴线垂直前偏差速率，
Figure BDA00022821646700001013
为当前时刻盾构机掘进轴线垂直后偏差速率；Step 5. Determine whether the deviation rate of the tunneling axis of the shield machine exceeds the standard: when
Figure BDA0002282164670000102
or
Figure BDA0002282164670000103
or
Figure BDA0002282164670000104
or
Figure BDA0002282164670000105
When the deviation rate of the tunneling axis of the shield machine exceeds the standard, a group of shield guidance data at the current sampling time is classified as an alarm data set, and step 6 is executed;
Figure BDA0002282164670000106
and
Figure BDA0002282164670000107
and
Figure BDA0002282164670000108
and
Figure BDA0002282164670000109
At this time, the deviation rate of the tunneling axis of the shield machine does not exceed the standard. At this time, the current shield guidance data is excluded, and the deviation alarm of the tunneling axis of the shield machine is not performed. Among them,
Figure BDA00022821646700001010
is the horizontal front deviation rate of the tunneling axis of the shield machine at the current moment,
Figure BDA00022821646700001011
is the deviation rate after the horizontal axis of the shield tunneling axis at the current moment,
Figure BDA00022821646700001012
is the vertical front deviation rate of the tunneling axis of the shield machine at the current moment,
Figure BDA00022821646700001013
is the vertical back deviation rate of the shield tunneling axis at the current moment;

需要说明的是，当盾构机掘进轴线偏差速率超标，认为该时刻的运行状态存在风险，需要进行报警提示；当盾构机掘进轴线偏差速率未超标，认为该时刻的运行状态风险可控，无需报警提示，可剔除该部分数据，保证报警数据的有效性，减少报警干扰。It should be noted that when the deviation rate of the tunneling axis of the shield machine exceeds the standard, it is considered that the operating state at that moment is at risk, and an alarm prompt is required; There is no need for alarm prompts, and this part of the data can be eliminated to ensure the validity of the alarm data and reduce alarm interference.

步骤六、盾构机掘进轴线偏差报警：预先设置盾构机掘进轴线偏差警戒值及盾构机掘进轴线偏差报警机制，当M≤sN<1.2M时，盾构机掘进轴线偏差报警机制为I级报警；当1.2M<sN≤1.4M时，盾构机掘进轴线偏差报警机制为II级报警；当时，盾构机掘进轴线偏差报警机制为III级报警；其中，sN为步骤五中当前采样时刻下一组盾体导向数据中任一盾体导向点数据与预设的设计轴线之间的偏移量，M为预先设置的盾构机掘进轴线偏差警戒值；Step 6. Shield tunneling axis deviation alarm: preset the shield tunneling axis deviation warning value and shield tunneling axis deviation alarm mechanism. When M≤s N <1.2M, the shield tunneling axis deviation alarm mechanism is: Level I alarm; when 1.2M<s N ≤1.4M, the shield tunneling axis deviation alarm mechanism is a level II alarm; at that time, the shield tunneling axis deviation alarm mechanism is a level III alarm; among them, s N is step 5 The offset between any shield guidance point data in the next set of shield guidance data at the current sampling time and the preset design axis, M is the preset shield tunneling axis deviation warning value;

根据当前采样时刻下盾构机掘进轴线水平前、水平后、垂直前和垂直后的偏移量数据，自动启动相应的盾构机掘进轴线偏差报警机制进行盾构机掘进轴线偏差报警。According to the offset data of the horizontal front, horizontal rear, vertical front and vertical rear of the shield tunneling axis at the current sampling time, the corresponding shield tunneling axis deviation alarm mechanism is automatically activated to alarm the shield tunneling axis deviation.

需要说明的是，对盾构机掘进轴线水平前、水平后、垂直前和垂直后偏差速率分别进行计算，根据数据落入的报警机制范围区间自动启动报警机制，评估盾构机运行状态的风险，指导并提高施工人员处理效率，节省人力成本。It should be noted that the deviation rates of the horizontal front, horizontal rear, vertical front and vertical rear of the tunneling axis of the shield machine are calculated respectively, and the alarm mechanism is automatically activated according to the range of the alarm mechanism in which the data falls to assess the risk of the shield machine operating state. , guide and improve the processing efficiency of construction personnel and save labor costs.

本发明使用时，根据盾构机掘进轴线偏差趋势和盾构机掘进轴线偏差速率，利用数据特征分析筛选有效报警，提高报警效率，提高盾构机掘进轴线偏差报警的准确性及有效性，降低因无效报警造成的人力损失，排除干扰，避免在偏离状态下的持续性报警，提高施工效率。When the present invention is used, according to the deviation trend of the tunneling axis of the shield machine and the deviation rate of the tunneling axis of the shield machine, the data characteristic analysis is used to screen out effective alarms, so as to improve the alarm efficiency, improve the accuracy and effectiveness of the shield machine's tunneling axis deviation alarm, and reduce the Manpower loss caused by invalid alarm, eliminate interference, avoid continuous alarm in deviated state, and improve construction efficiency.

以上所述，仅是本发明的较佳实施例，并非对本发明作任何限制，凡是根据本发明技术实质对以上实施例所作的任何简单修改、变更以及等效结构变化，均仍属于本发明技术方案的保护范围内。The above are only preferred embodiments of the present invention and do not limit the present invention. Any simple modifications, changes and equivalent structural changes made to the above embodiments according to the technical essence of the present invention still belong to the technology of the present invention. within the scope of the program.

Claims (3)

1.基于数据分析的盾构机掘进轴线偏差报警机制优化方法，其特征在于，该方法包括以下步骤：1. the shield tunneling axis deviation alarm mechanism optimization method based on data analysis, is characterized in that, the method comprises the following steps: 步骤一、盾构机掘进数据采集：在盾构机外壁上设置四个位置传感器，四个位置传感器分别为用于采集盾体导向水平前点数据的第一位置传感器、用于采集盾体导向水平后点数据的第二位置传感器、用于采集盾体导向垂直前点数据的第三位置传感器和用于采集盾体导向垂直后点数据的第四位置传感器，第一位置传感器和第二位置传感器均位于盾体的左侧外壁上或右侧外壁上且等高，第三位置传感器和第四位置传感器均位于盾体顶部或盾体底部，第一位置传感器和第三位置传感器均位于盾体的一个断面上，第二位置传感器和第四位置传感器均位于盾体的另一个断面上；Step 1. Data collection of shield machine tunneling: Four position sensors are arranged on the outer wall of the shield machine. The four position sensors are respectively the first position sensor used to collect the data of the horizontal front point of the shield guide, and the first position sensor used to collect the shield guide. The second position sensor for horizontal rear point data, the third position sensor for collecting shield guide vertical front point data, and the fourth position sensor for collecting shield guide vertical rear point data, the first position sensor and the second position The sensors are located on the left outer wall or the right outer wall of the shield body at the same height, the third position sensor and the fourth position sensor are located on the top or bottom of the shield body, and the first position sensor and the third position sensor are located on the shield body. On one section of the shield body, the second position sensor and the fourth position sensor are both located on the other section of the shield body; 将同一采样时刻下盾体导向水平前点数据、盾体导向水平后点数据、盾体导向垂直前点数据和盾体导向垂直后点数据视为一组盾体导向数据；The shield-oriented horizontal front point data, the shield-oriented horizontal rear-point data, the shield-oriented vertical front-point data, and the shield-oriented vertical rear point data at the same sampling time are regarded as a set of shield-oriented data; 步骤二、盾构机掘进数据去噪：控制台对盾体导向水平前点数据、盾体导向水平后点数据、盾体导向垂直前点数据和盾体导向垂直后点数据进行去噪，剔除盾体导向数据中的突变值；Step 2: De-noising of shield tunneling data: The console denoises the shield-oriented horizontal front point data, the shield-oriented horizontal rear-point data, the shield-oriented vertical front-point data and the shield-oriented vertical rear point data, and removes them. Mutation value in shield guide data; 同时剔除同一采样时刻下盾体导向数据中存在数据缺失的盾体导向数据；At the same time, the shield body guidance data with missing data in the shield body guidance data at the same sampling time is eliminated; 步骤三、识别盾构机掘进轴线偏差趋势是否为离心趋势：根据公式
Figure FDA0002282164660000011
计算当前盾构机掘进轴线水平偏差趋势值sx和当前盾构机掘进轴线垂直偏差趋势值sy，当sx>0或sy>0时，当前盾构机掘进轴线偏差趋势为离心趋势，执行步骤四；当sx≤0且sy≤0时，当前盾构机掘进轴线偏差趋势为向心趋势，此时，剔除当前盾体导向数据，不进行盾构机掘进轴线偏差报警，其中，为当前采样时刻d下的盾体导向水平前点数据与预设的设计轴线之间的偏移量，
Figure FDA0002282164660000013
为当前采样时刻d的前一采样时刻d-1下的盾体导向水平前点数据与预设的设计轴线之间的偏移量，
Figure FDA0002282164660000014
为当前采样时刻d下的盾体导向垂直前点数据与预设的设计轴线之间的偏移量，
Figure FDA0002282164660000021
为当前采样时刻d的前一采样时刻d-1下的盾体导向垂直前点数据与预设的设计轴线之间的偏移量；Step 3. Identify whether the deviation trend of the shield tunneling axis is a centrifugal trend: according to the formula
Figure FDA0002282164660000011
Calculate the horizontal deviation trend value s x of the current shield tunneling axis and the current vertical deviation trend value s y of the shield tunneling axis. When s x > 0 or s y > 0, the current shield tunneling axis deviation trend is the centrifugal trend , and perform step 4; when s x ≤ 0 and s y ≤ 0, the current shield tunneling axis deviation trend is a centripetal trend, at this time, the current shield guidance data is excluded, and the shield tunneling axis deviation alarm is not performed. in, is the offset between the shield guide horizontal front point data at the current sampling time d and the preset design axis,
Figure FDA0002282164660000013
is the offset between the shield guide horizontal front point data at the previous sampling time d-1 of the current sampling time d and the preset design axis,
Figure FDA0002282164660000014
is the offset between the shield guide vertical front point data and the preset design axis at the current sampling time d,
Figure FDA0002282164660000021
is the offset between the shield guide vertical front point data at the previous sampling time d-1 of the current sampling time d and the preset design axis; 步骤四、计算时间窗口T内盾构机掘进轴线平均偏离速率：预先设定时间窗口T，在时间窗口T内进行盾体导向数据采样，一个时间窗口T内采样j个盾体导向数据采样点，根据公式
Figure FDA0002282164660000022
计算一个时间窗口T内盾构机掘进轴线水平前平均偏离速率盾构机掘进轴线水平后平均偏离速率
Figure FDA0002282164660000024
盾构机掘进轴线垂直前平均偏离速率
Figure FDA0002282164660000025
和盾构机掘进轴线垂直后平均偏离速率
Figure FDA0002282164660000026
其中，
Figure FDA0002282164660000027
为一个时间窗口T内第i-1个采样时刻ti-1和第i个采样时刻ti之间盾构机掘进轴线水平前偏差速率，i＝1,2，…，j，且
Figure FDA0002282164660000028
Figure FDA0002282164660000029
为第i-1个采样时刻ti-1下盾体导向水平前点数据与预设的设计轴线之间的偏移量，为第i个采样时刻ti下盾体导向水平前点数据与预设的设计轴线之间的偏移量，i取0时，t0为一个时间窗口T内的初始采样时刻；
Figure FDA00022821646600000211
为一个时间窗口T内第i-1个采样时刻ti-1和第i个采样时刻ti之间盾构机掘进轴线水平后偏差速率，且
Figure FDA00022821646600000212
Figure FDA00022821646600000213
为第i-1个采样时刻ti-1下盾体导向水平后点数据与预设的设计轴线之间的偏移量，
Figure FDA00022821646600000214
为第i个采样时刻ti下盾体导向水平后点数据与预设的设计轴线之间的偏移量；
Figure FDA00022821646600000215
为一个时间窗口T内第i-1个采样时刻ti-1和第i个采样时刻ti之间盾构机掘进轴线垂直前偏差速率，且
Figure FDA00022821646600000216
Figure FDA00022821646600000217
为第i-1个采样时刻ti-1下盾体导向垂直前点数据与预设的设计轴线之间的偏移量，为第i个采样时刻ti下盾体导向垂直前点数据与预设的设计轴线之间的偏移量；
Figure FDA0002282164660000032
为一个时间窗口T内第i-1个采样时刻ti-1和第i个采样时刻ti之间盾构机掘进轴线垂直后偏差速率，且
Figure FDA0002282164660000033
Figure FDA0002282164660000034
为第i-1个采样时刻ti-1下盾体导向垂直后点数据与预设的设计轴线之间的偏移量，
Figure FDA0002282164660000035
为第i个采样时刻ti下盾体导向垂直后点数据与预设的设计轴线之间的偏移量；Step 4: Calculate the average deviation rate of the shield tunneling axis in the time window T: pre-set the time window T, perform shield guidance data sampling within the time window T, and sample j shield guidance data sampling points within a time window T , according to the formula
Figure FDA0002282164660000022
Calculate the average deviation rate of the shield machine before the level of the tunneling axis in a time window T The average deviation rate of the shield machine after the tunneling axis is horizontal
Figure FDA0002282164660000024
Average deviation rate of shield tunneling axis before vertical
Figure FDA0002282164660000025
The average deviation rate after being perpendicular to the tunneling axis of the shield machine
Figure FDA0002282164660000026
in,
Figure FDA0002282164660000027
is the horizontal front deviation rate of the shield tunneling axis between the i-1 th sampling time t i-1 and the ith sampling time t i in a time window T, i=1,2,...,j, and
Figure FDA0002282164660000028
Figure FDA0002282164660000029
is the offset between the shield guide horizontal front point data and the preset design axis at the i-1th sampling time t i-1 , is the offset between the shield guide horizontal front point data and the preset design axis at the ith sampling time t i , and when i is 0, t 0 is the initial sampling time in a time window T;
Figure FDA00022821646600000211
is the horizontal back deviation rate of the shield tunneling axis between the i-1th sampling time t i-1 and the i-th sampling time t i in a time window T, and
Figure FDA00022821646600000212
Figure FDA00022821646600000213
is the offset between the point data after the shield body is guided horizontally at the i-1th sampling time t i-1 and the preset design axis,
Figure FDA00022821646600000214
is the offset between the shield body guidance horizontal rear point data and the preset design axis at the ith sampling time t i ;
Figure FDA00022821646600000215
is the vertical front deviation rate of the shield tunneling axis between the i-1th sampling time t i-1 and the i-th sampling time t i in a time window T, and
Figure FDA00022821646600000216
Figure FDA00022821646600000217
is the offset between the shield guide vertical front point data and the preset design axis at the i-1th sampling time t i-1 , is the offset between the shield guide vertical front point data and the preset design axis at the ith sampling time t i ;
Figure FDA0002282164660000032
is the vertical back deviation rate of the shield tunneling axis between the i-1th sampling time t i-1 and the i-th sampling time t i in a time window T, and
Figure FDA0002282164660000033
Figure FDA0002282164660000034
is the offset between the shield guide vertical rear point data and the preset design axis at the i-1th sampling time t i-1 ,
Figure FDA0002282164660000035
is the offset between the shield guide vertical rear point data and the preset design axis at the ith sampling time t i ; 步骤五、判断盾构机掘进轴线偏差速率是否超标：当或
Figure FDA0002282164660000037
或或
Figure FDA0002282164660000039
时，盾构机掘进轴线偏差速率超标，将当前采样时刻下的一组盾体导向数据归为报警数据集合，执行步骤六；当
Figure FDA00022821646600000310
且
Figure FDA00022821646600000311
且
Figure FDA00022821646600000312
且时，盾构机掘进轴线偏差速率未超标，此时，剔除当前盾体导向数据，不进行盾构机掘进轴线偏差报警，其中，为当前时刻盾构机掘进轴线水平前偏差速率，
Figure FDA00022821646600000315
为当前时刻盾构机掘进轴线水平后偏差速率，
Figure FDA00022821646600000316
为当前时刻盾构机掘进轴线垂直前偏差速率，
Figure FDA00022821646600000317
为当前时刻盾构机掘进轴线垂直后偏差速率；Step 5. Determine whether the deviation rate of the tunneling axis of the shield machine exceeds the standard: when or
Figure FDA0002282164660000037
or or
Figure FDA0002282164660000039
When the deviation rate of the tunneling axis of the shield machine exceeds the standard, a group of shield guidance data at the current sampling time is classified as an alarm data set, and step 6 is executed;
Figure FDA00022821646600000310
and
Figure FDA00022821646600000311
and
Figure FDA00022821646600000312
and At this time, the deviation rate of the tunneling axis of the shield machine does not exceed the standard. At this time, the current shield guidance data is excluded, and the deviation alarm of the tunneling axis of the shield machine is not performed. Among them, is the horizontal front deviation rate of the tunneling axis of the shield machine at the current moment,
Figure FDA00022821646600000315
is the deviation rate after the horizontal axis of the shield tunneling axis at the current moment,
Figure FDA00022821646600000316
is the vertical front deviation rate of the tunneling axis of the shield machine at the current moment,
Figure FDA00022821646600000317
is the vertical back deviation rate of the shield tunneling axis at the current moment; 步骤六、盾构机掘进轴线偏差报警：预先设置盾构机掘进轴线偏差警戒值及盾构机掘进轴线偏差报警机制，当M≤sN<1.2M时，盾构机掘进轴线偏差报警机制为I级报警；当1.2M<sN≤1.4M时，盾构机掘进轴线偏差报警机制为II级报警；当时，盾构机掘进轴线偏差报警机制为III级报警；其中，sN为步骤五中当前采样时刻下一组盾体导向数据中任一盾体导向点数据与预设的设计轴线之间的偏移量，M为预先设置的盾构机掘进轴线偏差警戒值；Step 6. Shield tunneling axis deviation alarm: preset the shield tunneling axis deviation warning value and shield tunneling axis deviation alarm mechanism. When M≤s N <1.2M, the shield tunneling axis deviation alarm mechanism is: Level I alarm; when 1.2M<s N ≤1.4M, the shield tunneling axis deviation alarm mechanism is a level II alarm; at that time, the shield tunneling axis deviation alarm mechanism is a level III alarm; among them, s N is step 5 The offset between any shield guidance point data in the next set of shield guidance data at the current sampling time and the preset design axis, M is the preset shield tunneling axis deviation warning value; 根据当前采样时刻下盾构机掘进轴线水平前、水平后、垂直前和垂直后的偏移量数据，自动启动相应的盾构机掘进轴线偏差报警机制进行盾构机掘进轴线偏差报警。According to the offset data of the horizontal front, horizontal rear, vertical front and vertical rear of the shield tunneling axis at the current sampling time, the corresponding shield tunneling axis deviation alarm mechanism is automatically activated to alarm the shield tunneling axis deviation. 2.按照权利要求1所述的基于数据分析的盾构机掘进轴线偏差报警机制优化方法，其特征在于：步骤一中，四个位置传感器均将采集的数据传输至盾构机PLC控制器中，利用SCADA系统与盾构机PLC控制器通信将盾构机掘进数据采集至控制台。2. according to the method for optimizing the shield tunneling axis deviation alarm mechanism based on data analysis according to claim 1, it is characterized in that: in step 1, four position sensors all transmit the collected data to the shield machine PLC controller , use the SCADA system to communicate with the shield machine PLC controller to collect the shield machine excavation data to the console. 3.按照权利要求1所述的基于数据分析的盾构机掘进轴线偏差报警机制优化方法，其特征在于：步骤二中，控制台利用数据挖掘中的聚类算法分别对盾体导向水平前点数据、盾体导向水平后点数据、盾体导向垂直前点数据和盾体导向垂直后点数据进行去噪，剔除盾体导向数据中的突变值。3. according to the method for optimizing the shield tunneling axis deviation alarm mechanism based on data analysis according to claim 1, it is characterized in that: in step 2, the console utilizes the clustering algorithm in data mining to guide the shield body to the horizontal front point respectively The data, the shield-oriented horizontal rear point data, the shield-oriented vertical front-point data, and the shield-oriented vertical rear point data are denoised, and the mutation values in the shield-oriented data are removed.
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