Dynamic Rock-Breaking Process of TBM Disc Cutters and Response Mechanism of Rock Mass Based on Discrete Element

Rock-breaking efficiency of full-face rock tunnel boring machine (TBM) is closely related to the performance of the disc cutter and the characteristics of the rock mass. In the point of view of mesomechanics, the particle flow code (PFC) is used to establish a numerical model of the rock mass and the disc cutter, and the process of TBM disc cutter intrusion into the rock mass is analyzed. The dynamic response mechanism and crack evolution process of the rock mass under the action of the disc cutter are studied on the basis of micromechanics, and the relationship between the rock mass crack, penetration, and cutting force during the intrusion of the disc cutter is revealed. The sensitivity analysis is carried out on the confining pressure conditions and the influence parameters of the disc cutter spacing. The results show that the rock breaking by disc cutter undergoes the transformation characteristics of compaction, shearing, and tension failure modes, and the failure process of the rock mass is the joint action of tension and shear. In the whole process of rock breaking, the disc cutter has the phenomenon of repeated loading-unloading alternation and leaping rock breaking; after the penetration of the disc cutter reached 9.0 mm, penetration creaks begin to appear on the surface of the rock mass; the penetration was obviously reduced with the increase of confining pressure, and it is mainly the penetration cracks on the surface; after the disc cutter spacing reaches 100.0 mm, there is no penetration crack between the two disc cutters. The research conclusion can provide a reference for the disc cutter optimization design.

Pose Determination of the Disc Cutter Holder of Shield Machine Based on Monocular Vision

The visual measurement system plays a vital role in the disc cutter changing robot of the shield machine, and its accuracy directly determines the success rate of the disc cutter grasping. However, the actual industrial environment with strong noise brings a great challenge to the pose measurement methods. The existing methods are difficult to meet the required accuracy of pose measurement based on machine vision under the disc cutter changing conditions. To solve this problem, we propose a monocular visual pose measurement method consisting of the high precision optimal solution to the PnP problem (OPnP) method and the highly robust distance matching (DM) method. First, the OPnP method is used to calculate the rough pose of the shield machine’s cutter holder, and then the DM method is used to measure its pose accurately. Simulation results show that the proposed monocular measurement method has better accuracy and robustness than the several mainstream PnP methods. The experimental results also show that the maximum error of the proposed method is 0.28° in the direction of rotation and 0.32 mm in the direction of translation, which can meet the measurement accuracy requirement of the vision system of the disc cutter changing robot in practical engineering application.