Tunneling control system and method of slurry balance shield tunneling machine

Abstract

According to the tunneling control system and method of the slurry balance shield tunneling machine, the tunneling instruction is imported through the parameter setting unit, the equipment parameter threshold range of the slurry balance shield tunneling machine is generated, and the monitoring unit collects the equipment parameters of the slurry balance shield tunneling machine in the running state and sends the equipment parameters to the control unit; the management unit calculates a theoretical excavation volume and an actual excavation volume according to equipment parameters, the data analysis unit judges whether the actual excavation volume exceeds a preset threshold value range or not according to the theoretical excavation volume and the actual excavation volume, and when the actual excavation volume exceeds the preset threshold value range, the data analysis unit is started; the parameter regulation and control unit timely regulates at least one parameter of the theoretical excavation volume and the actual excavation volume at the next moment, equipment parameters are controlled to be within the safety threshold range so as to control tunneling of the slurry balance shield tunneling machine, compared with the prior art, manual parameter regulation is not needed, and the safety in the tunneling process is improved.

Description

Technical Field

[0001] This application relates to the technical field of tunnel construction, and particularly to a tunnel boring control system and method for a slurry shield machine. Background Art

[0002] A slurry shield machine is a device that uses slurry pressure to balance the earth pressure and water pressure on the excavation face. During the tunnel boring process of a slurry shield machine, it is necessary to ensure the stability of the excavation face. When the slag-carrying capacity of the slurry circulation system does not match the amount of muck discharged, there may be over-excavation or under-excavation, resulting in surface heave or settlement.

[0003] In the prior art, in order to avoid over-excavation or under-excavation, the tunneling parameters are usually adjusted by the shield machine driver according to experience or by means of ground deformation monitoring.

[0004] However, in the solutions of the prior art, the methods of manually adjusting tunneling parameters and ground deformation monitoring have hysteresis, resulting in a reduction in safety during the tunneling process. Summary of the Invention

[0005] The embodiments of this application provide a tunnel boring control system and method for a slurry shield machine to solve the problem of reduced safety during the tunneling process existing in the prior art.

[0006] In a first aspect, the embodiments of this application provide a tunnel boring control system for a slurry shield machine, including: a parameter setting unit, a monitoring unit, a management unit, a data analysis unit, and a parameter regulation unit;

[0007] The parameter setting unit imports a tunneling instruction and sets a threshold range of equipment parameters for the slurry shield machine according to the tunneling instruction;

[0008] The monitoring unit collects equipment parameters of the slurry shield machine in the operating state, where the equipment parameters in the operating state include the slurry inflow rate, the slurry outflow rate, the slurry inflow density, and the slurry outflow density;

[0009] The management unit calculates and generates the theoretical excavation volume and the actual excavation volume of the slurry shield machine according to the slurry inflow rate, the slurry outflow rate, the slurry inflow density, and the slurry outflow density;

[0010] The data analysis unit determines whether the actual excavation volume exceeds a preset threshold range according to the theoretical excavation volume to generate a determination result;

[0011] If the determination result is that the preset threshold range is exceeded, the parameter regulation unit adjusts at least one parameter of the theoretical excavation volume and the actual excavation volume at the next moment according to the determination result to control the tunnel boring of the slurry shield machine.

[0012] In a possible implementation, the tunnel boring control system further includes a stability response unit: The stability response unit obtains the monitoring data of the excavation face; analyzes the stability of the excavation face according to the monitoring data and the equipment parameters during the operation of the slurry balance shield machine, and generates an evaluation result; if the evaluation result exceeds a preset safety threshold, adjusts the equipment parameters of the slurry balance shield machine according to the evaluation result to control the tunnel boring of the slurry balance shield machine.

[0013] In a possible implementation, the parameter regulation unit adjusts the parameters of the actual excavation volume at the next moment according to the determination result to control the tunnel boring of the slurry balance shield machine, including: The parameter regulation unit sequentially adjusts the inlet and outlet slurry pump speeds, inlet and outlet slurry flows, cutting pressure, and air cushion chamber liquid level of the slurry circulation system according to the determination result to obtain the adjusted slurry circulation system parameters; determines whether the adjusted slurry circulation system parameters are within a preset threshold range; if the adjusted slurry circulation system parameters do not exceed the preset threshold range, calculates the pressure difference between the excavation chamber and the air cushion chamber; determines whether the pressure difference between the excavation chamber and the air cushion chamber exceeds the pressure difference threshold; if the pressure difference between the excavation chamber and the air cushion chamber does not exceed the pressure difference threshold, controls the tunnel boring of the slurry balance shield machine.

[0014] In a possible implementation, the parameter regulation unit adjusts the parameters of the theoretical excavation volume at the next moment according to the determination result to control the tunnel boring of the slurry balance shield machine, including: The parameter regulation unit sequentially adjusts the propulsion parameters, shield attitude, thrust parameters, and cutter head torque of the propulsion system according to the determination result to obtain the adjusted propulsion system parameters; determines whether the propulsion system parameters are within a preset threshold range; if the adjusted propulsion system parameters do not exceed the preset threshold range, calculates the pressure difference between the excavation chamber and the air cushion chamber; determines whether the pressure difference between the excavation chamber and the air cushion chamber exceeds the pressure difference threshold; if the pressure difference between the excavation chamber and the air cushion chamber does not exceed the pressure difference threshold, controls the tunnel boring of the slurry balance shield machine.

[0015] In a possible implementation, the formula for the management unit to calculate and generate the theoretical excavation volume and the actual excavation volume of the slurry balance shield machine is:

[0016]

[0017]

[0018] In the formula, represents the theoretical value of the excavation volume in the propulsion state; represents the area of the cutter head face; Indicates the propulsion amount of the propulsion cylinder; Indicates the actual value of the excavation volume in the propulsion state; Indicates the slurry discharge flow rate; Indicates the slurry supply flow rate; Indicates the slurry discharge density; Indicates the slurry supply density; Indicates the particle density of the formation physical properties; Indicates the density of water; Indicates the time from the start of propulsion to the end of propulsion; Indicates the correction value of the flow sensor; Indicates the correction value of the density sensor; Indicates the geological deviation correction coefficient.

[0019] In a second aspect, an embodiment of the present application provides a tunnel boring control method for a slurry shield machine, which is applied to a tunnel boring control system. The tunnel boring control system includes: a parameter setting unit, a monitoring unit, a management unit, a data analysis unit, and a parameter regulation unit; the method includes: the parameter setting unit imports a boring instruction and sets a threshold range of the equipment parameters of the slurry shield machine according to the boring instruction;

[0020] The monitoring unit collects the equipment parameters of the slurry shield machine in the operating state, where the equipment parameters in the operating state include the slurry supply flow rate, the slurry discharge flow rate, the slurry supply density, and the slurry discharge density;

[0021] The management unit calculates and generates the theoretical excavation volume and the actual excavation volume of the slurry shield machine according to the slurry supply flow rate, the slurry discharge flow rate, the slurry supply density, and the slurry discharge density;

[0022] The data analysis unit determines whether the actual excavation volume exceeds a preset threshold range according to the theoretical excavation volume to generate a determination result;

[0023] If the determination result is that it exceeds the preset threshold range, the parameter regulation unit adjusts at least one parameter of the theoretical excavation volume and the actual excavation volume at the next moment according to the determination result to control the tunnel boring of the slurry shield machine.

[0024] In a possible implementation manner, the tunnel boring control system further includes a stability response unit: the stability response unit obtains the monitoring data of the excavation face; analyzes the stability of the excavation face according to the monitoring data and the equipment parameters of the slurry shield machine in the operating state to generate an evaluation result; if the evaluation result exceeds a preset safety threshold, adjusts the equipment parameters of the slurry shield machine according to the evaluation result to control the tunnel boring of the slurry shield machine.

[0025] In a possible implementation, the parameter regulation unit adjusts the parameters of the actual excavation volume at the next moment according to the determination result to control the tunnel excavation of the slurry shield machine, including: the parameter regulation unit sequentially adjusts the inlet and outlet slurry pump speeds, inlet and outlet slurry flows, cutting head pressure and air cushion chamber liquid level of the slurry circulation system according to the determination result to obtain the adjusted parameters of the slurry circulation system; determines whether the adjusted parameters of the slurry circulation system are within a preset threshold range; if the adjusted parameters of the slurry circulation system do not exceed the preset threshold range, calculates the pressure difference between the excavation chamber and the air cushion chamber; determines whether the pressure difference between the excavation chamber and the air cushion chamber exceeds the pressure difference threshold; if the pressure difference between the excavation chamber and the air cushion chamber does not exceed the pressure difference threshold, controls the tunnel excavation of the slurry shield machine.

[0026] In a possible implementation, the parameter regulation unit adjusts the parameters of the theoretical excavation volume at the next moment according to the determination result to control the tunnel excavation of the slurry shield machine, including: the parameter regulation unit sequentially adjusts the propulsion parameters, shield attitude, thrust parameters and cutter head torque of the propulsion system according to the determination result to obtain the adjusted parameters of the propulsion system; determines whether the propulsion system parameters are within a preset threshold range; if the adjusted propulsion system parameters do not exceed the preset threshold range, calculates the pressure difference between the excavation chamber and the air cushion chamber; determines whether the pressure difference between the excavation chamber and the air cushion chamber exceeds the pressure difference threshold; if the pressure difference between the excavation chamber and the air cushion chamber does not exceed the pressure difference threshold, controls the tunnel excavation of the slurry shield machine.

[0027] In a possible implementation, the formulas for the management unit to calculate and generate the theoretical excavation volume and the actual excavation volume of the slurry shield machine are:

[0028]

[0029]

[0030] In the formula, represents the theoretical value of the excavation volume in the propulsion state; represents the area of the cutter head face; represents the propulsion amount of the propulsion cylinder; represents the actual value of the excavation volume in the propulsion state; represents the discharge slurry flow; represents the inlet slurry flow; represents the discharge slurry density; represents the inlet slurry density; represents the density of formation physical property particles; represents the density of water; represents the time from the start to the end of propulsion; represents the flow sensor correction value; Indicates the correction value of the density sensor; Indicates the geological deviation correction coefficient.

[0031] The tunnel boring control system and method for a slurry shield machine provided by the embodiments of the present application import boring instructions through a parameter setting unit to generate a threshold range of equipment parameters for the slurry shield machine. The monitoring unit collects the equipment parameters during the operation of the slurry shield machine. The management unit calculates the theoretical excavation volume and the actual excavation volume based on the equipment parameters. The data analysis unit determines whether the actual excavation volume exceeds the preset threshold range according to the theoretical excavation volume and the actual excavation volume. When the actual excavation volume exceeds the preset threshold range, the parameter regulation unit timely adjusts at least one of the theoretical excavation volume and the actual excavation volume at the next moment to control the equipment parameters within the safe threshold range, so as to control the tunnel boring of the slurry shield machine. Compared with the prior art, it does not require manual parameter adjustment, improving the safety during the boring process. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0033] Figure 1 It is a schematic structural diagram of the tunnel boring control system for the slurry shield machine provided by the embodiments of the present application;

[0034] Figure 2 It is a schematic diagram of the working principle of the tunnel boring control system provided by the embodiments of the present application;

[0035] Figure 3 It is a schematic flowchart of adjusting the parameters of the slurry circulation system and the propulsion system provided by the embodiments of the present application;

[0036] Figure 4 It is a schematic flowchart of the tunnel boring control method for the slurry shield machine provided by the embodiments of the present application.

[0037] Through the above-mentioned drawings, the specific embodiments of the present application have been shown, and there will be more detailed descriptions hereinafter. These drawings and text descriptions are not intended to limit the scope of the concept of the present application in any way, but to explain the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0039] A slurry shield machine is a device that uses slurry pressure to balance the earth pressure and water pressure on the excavation face. During the tunneling process of a slurry shield machine, it is necessary to ensure the stability of the excavation face. When the slag-carrying capacity of the slurry circulation system does not match the amount of slag discharged, overexcavation or under-excavation may occur, resulting in surface heave or settlement. In the prior art, in order to avoid overexcavation or under-excavation, the tunneling parameters are usually adjusted by the shield machine driver based on experience or by means of ground deformation monitoring. However, in the solutions of the prior art, the methods of manually adjusting the tunneling parameters and the method of ground deformation monitoring have hysteresis, resulting in a reduction in safety during the tunneling process.

[0040] To solve the above technical problems, the embodiments of the present application propose the following technical concept: The inventor considered creating a tunneling control system for a slurry shield machine, which includes a parameter setting unit, a monitoring unit, a management unit, a data analysis unit, and a parameter regulation unit. The parameter setting unit imports tunneling instructions to generate the threshold range of the equipment parameters of the slurry shield machine. The monitoring unit collects the equipment parameters during the operation of the slurry shield machine. The management unit calculates the theoretical excavation volume and the actual excavation volume based on the equipment parameters. The data analysis unit determines whether the actual excavation volume exceeds the preset threshold range according to the theoretical excavation volume and the threshold range. When it exceeds the threshold range, the parameter regulation unit automatically adjusts at least one of the theoretical excavation volume or the actual excavation volume to control the equipment parameters within the safe threshold range without manual adjustment. The following uses detailed embodiments for detailed description.

[0041] Figure 1 FIG. is a schematic structural diagram of a tunneling control system for a slurry shield machine provided by an embodiment of the present application, as Figure 1 shown, the tunneling control system includes: a parameter setting unit 101, a monitoring unit 102, a management unit 103, a data analysis unit 104, and a parameter regulation unit 105.

[0042] The parameter setting unit imports tunneling instructions and sets the threshold range of the equipment parameters of the slurry shield machine according to the tunneling instructions.

[0043] In this embodiment, the parameter setting unit is configured with a one-key import interface and a save interface, and can import tunneling instructions with one key.

[0044] In this embodiment, the equipment parameters of the slurry shield machine include, but are not limited to, the ring number, the cutting head pressure, the air cushion chamber pressure, the thrust, the tunneling speed, the cutter head rotation speed, the cutter head torque, the slurry density of the incoming slurry, the slurry density of the discharged slurry, the slurry flow rate of the incoming slurry, the slurry flow rate of the discharged slurry, the density of the formation material particles, the pressure difference between the excavation chamber and the air cushion chamber, and the difference between the incoming and discharged slurry flow rates.

[0045] The monitoring unit collects the equipment parameters of the slurry shield machine under the operating state, and the equipment parameters under the operating state include the slurry flow rate of the incoming slurry, the slurry flow rate of the discharged slurry, the slurry density of the incoming slurry, and the slurry density of the discharged slurry.

[0046] In this embodiment, high-precision sensors are configured in the monitoring unit, and the equipment parameters of the slurry shield machine under the operating state are collected through the high-precision sensors.

[0047] In this embodiment, the equipment parameters under the operating state further include, but are not limited to, the cutting head pressure, the air cushion chamber pressure, the liquid level of the air cushion chamber, and the cutter head speed.

[0048] The management unit calculates and generates the theoretical excavation volume and the actual excavation volume of the slurry shield machine according to the slurry flow rate of the incoming slurry, the slurry flow rate of the discharged slurry, the slurry density of the incoming slurry, and the slurry density of the discharged slurry.

[0049] In this embodiment, the formulas for the management unit to calculate and generate the theoretical excavation volume and the actual excavation volume of the slurry shield machine are as follows:

[0050]

[0051]

[0052] In the formula, represents the theoretical value of the excavation volume in the propulsion state; represents the area of the cutter head face; represents the propulsion amount of the propulsion cylinder; represents the actual value of the excavation volume in the propulsion state; represents the slurry flow rate of the discharged slurry; represents the slurry flow rate of the incoming slurry; represents the slurry density of the discharged slurry; represents the slurry density of the incoming slurry; represents the density of the formation physical property particles; represents the density of water; represents the time from the start of propulsion to the end of propulsion; represents the correction value of the flow rate sensor; represents the correction value of the density sensor; represents the geological deviation correction coefficient.

[0053] The data analysis unit determines whether the actual excavation volume exceeds a preset threshold range based on the theoretical excavation volume to generate a determination result.

[0054] Specifically, the data analysis unit analyzes the stability of the excavation face and generates a determination result by comparing whether the actual excavation volume during the parameter regulation process and the propulsion process exceeds the 15% limit value of the theoretical excavation volume according to the data transmitted by the monitoring unit and the management unit and the parameter range set by the tunneling instruction in the parameter setting unit.

[0055] In this embodiment, when the parameter regulation unit regulates at least one parameter of the theoretical excavation volume and the actual excavation volume, the equipment parameters of the slurry balance shield machine are monitored in real time to verify whether the equipment parameters are within the set threshold range.

[0056] If the determination result is that the preset threshold range is exceeded, the parameter regulation unit adjusts at least one parameter of the theoretical excavation volume and the actual excavation volume at the next moment according to the determination result to control the tunneling of the slurry balance shield machine.

[0057] Specifically, if the determination result is that the 15% limit value of the theoretical excavation volume is exceeded, the parameter regulation unit adjusts the theoretical excavation volume, the actual excavation volume in real time, or adjusts both the theoretical excavation volume and the actual excavation volume simultaneously to control the tunneling of the slurry balance shield machine.

[0058] In this embodiment, when the parameter regulation unit adjusts the equipment parameters corresponding to the theoretical excavation volume or the actual excavation volume, the equipment parameters can be adjusted to near the maximum threshold value and the muck discharge volume of the current ring of the slurry balance shield machine corresponding to the adjusted parameters is controlled within the normal range.

[0059] As can be seen from the above embodiments, by importing the tunneling instruction through the parameter setting unit, a threshold range of the equipment parameters of the slurry balance shield machine is generated. The monitoring unit collects the equipment parameters during the operation of the slurry balance shield machine. The management unit calculates the theoretical excavation volume and the actual excavation volume according to the equipment parameters. The data analysis unit determines whether the actual excavation volume exceeds the preset threshold range based on the theoretical excavation volume and the actual excavation volume. When the actual excavation volume exceeds the preset threshold range, the parameter regulation unit timely adjusts at least one parameter of the theoretical excavation volume and the actual excavation volume at the next moment, and controls the equipment parameters within the safety threshold range to control the tunneling of the slurry balance shield machine. Compared with the prior art, it does not require manual parameter adjustment, improving the safety during the tunneling process.

[0060] In an embodiment of the present application, the tunnel boring control system further includes a stability response unit:

[0061] Figure 2 This is a schematic diagram of the working principle of the tunnel boring control system provided in the embodiment of the present application.

[0062] As shown Figure 2 in the figure, the stability response unit evaluates the stability of the excavation face and feeds back to the parameter setting unit, management unit, data analysis unit, and parameter regulation unit according to the evaluation results.

[0063] The stability response unit obtains the monitoring data of the excavation face.

[0064] In this embodiment, the monitoring data of the excavation face includes but is not limited to the geological exploration data of the excavation face, the slurry inflow rate, and the slurry outflow rate.

[0065] According to the monitoring data and the equipment parameters during the operation of the slurry shield machine, analyze the stability of the excavation face and generate an evaluation result.

[0066] In this embodiment, the equipment parameters of the slurry shield machine include but are not limited to the ring number, cutting pressure, air cushion chamber pressure, thrust, tunneling speed, cutter head rotation speed, cutter head torque, slurry inflow density, slurry outflow density, slurry inflow rate, slurry outflow rate, density of formation material particles, pressure difference between the excavation chamber and the air cushion chamber, and difference between the slurry inflow and outflow rates.

[0067] If the evaluation result exceeds the preset safety threshold, adjust the equipment parameters of the slurry shield machine according to the evaluation result to control the tunnel tunneling of the slurry shield machine.

[0068] Specifically, if the evaluation result exceeds the preset safety threshold, adjust the equipment parameters that exceed the threshold in the slurry shield machine according to the evaluation result to control the tunnel tunneling of the slurry shield machine.

[0069] As can be seen from the above embodiments, the monitoring data of the excavation face is obtained through the stability response unit, the stability of the excavation face is analyzed according to the monitoring data and the equipment parameters during the operation of the slurry shield machine, and an evaluation result is generated. When an abnormal situation occurs, the equipment parameters that exceed the threshold of the slurry shield machine are adjusted in real time according to the evaluation result, improving the safety and construction efficiency of the tunneling process.

[0070] In an embodiment of the present application, the parameter regulation unit adjusts the parameters of the actual excavation volume at the next moment according to the determination result to control the tunnel tunneling of the slurry shield machine, including:

[0071] The parameter regulation unit sequentially adjusts the slurry inflow and outflow pump speeds, slurry inflow and outflow rates, cutting pressure, and air cushion chamber liquid level of the slurry circulation system according to the determination result to obtain the adjusted parameters of the slurry circulation system.

[0072] Specifically, according to the determination result, compare the actual value and the theoretical calculated value of the excavation volume at the current moment. When the actual slag-carrying value exceeds 15% of the theoretical value, adjust the parameters of the slurry circulation system to obtain the adjusted parameters of the slurry circulation system.

[0073] Determine whether the parameters of the adjusted mud circulation system are within the preset threshold range.

[0074] Specifically, adjust the speed of the slurry inlet pump and the slurry discharge pump. According to the set waiting time, determine whether the speeds of the slurry inlet pump and the slurry discharge pump after the waiting time ends are within the preset threshold range. If the adjusted speeds of the slurry inlet pump and the slurry discharge pump are within the preset threshold range, then adjust the slurry inlet flow rate and the slurry discharge flow rate; if the adjusted speeds of the slurry inlet pump and the slurry discharge pump exceed the preset threshold range, then readjust the speeds of the slurry inlet pump and the slurry discharge pump.

[0075] Specifically, adjust the slurry inlet flow rate and the slurry discharge flow rate, and determine whether the adjusted slurry inlet flow rate and slurry discharge flow rate are within the preset threshold range and whether the difference between the slurry inlet flow rate and the slurry discharge flow rate is also within the threshold range. If the adjusted slurry inlet flow rate and slurry discharge flow rate are within the preset threshold range and the difference between the slurry inlet flow rate and the slurry discharge flow rate is within the preset threshold range, then adjust the cutting head pressure; if the adjusted slurry inlet flow rate and slurry discharge flow rate are within the preset threshold range and the difference between the slurry inlet flow rate and the slurry discharge flow rate exceeds the preset threshold range, then readjust the speeds of the slurry inlet pump and the slurry discharge pump.

[0076] Specifically, adjust the cutting head pressure and determine whether the adjusted cutting head pressure is within the preset threshold range. If the adjusted cutting head pressure is within the preset threshold range, then adjust the liquid level of the air cushion chamber; if the adjusted cutting head pressure exceeds the preset threshold range, then readjust the speeds of the slurry inlet pump and the slurry discharge pump.

[0077] Specifically, adjust the liquid level of the air cushion chamber and determine whether the adjusted liquid level of the air cushion chamber is within the preset threshold range. If the adjusted liquid level of the air cushion chamber is within the preset threshold range, then calculate the pressure difference between the excavation chamber and the air cushion chamber; if the adjusted liquid level of the air cushion chamber exceeds the preset threshold range, then readjust the speeds of the slurry inlet pump and the slurry discharge pump.

[0078] If the adjusted parameters of the mud circulation system do not exceed the preset threshold range, then calculate the pressure difference between the excavation chamber and the air cushion chamber.

[0079] In this embodiment, if the adjusted speeds of the slurry inlet / discharge pumps, the slurry inlet / discharge flow rates, the cutting head pressure, and the liquid level of the air cushion chamber do not exceed the preset threshold ranges, then calculate the pressure difference between the excavation chamber and the air cushion chamber.

[0080] Determine whether the pressure difference between the excavation chamber and the air cushion chamber exceeds the pressure difference threshold.

[0081] Specifically, the parameter control unit can synchronously adjust the parameters of the mud circulation system and the propulsion system of the slurry shield machine. When the adjusted parameters meet the preset threshold, determine whether the pressure difference between the excavation chamber and the air cushion chamber exceeds the pressure difference threshold.

[0082] If the pressure difference between the excavation chamber and the air-cushion chamber does not exceed the pressure difference threshold, control the tunneling of the slurry shield machine.

[0083] Specifically, if the pressure difference between the excavation chamber and the air-cushion chamber exceeds the pressure difference threshold, readjust the speed of the slurry feeding pump and the speed of the slurry discharging pump.

[0084] As can be seen from the above embodiments, by adjusting the parameters of the slurry circulation system in the slurry shield machine, successively determine whether the speeds of the slurry feeding and discharging pumps, the slurry feeding and discharging flow rates, the cutting pressure, and the liquid level of the air-cushion chamber in the slurry circulation system are all within the preset threshold ranges, and determine whether the pressure difference between the excavation chamber and the air-cushion chamber exceeds the pressure difference threshold, so as to adjust the parameters of the slurry circulation system of the slurry shield machine in real time to control the tunneling of the slurry shield machine, without manual adjustment of parameters.

[0085] In an embodiment of the present application, the parameter regulation unit adjusts the parameters of the theoretical excavation volume at the next moment according to the determination result to control the tunneling of the slurry shield machine, including:

[0086] The parameter regulation unit successively adjusts the propulsion parameters, the shield attitude, the thrust parameters, and the cutter head torque of the propulsion system according to the determination result to obtain the adjusted propulsion system parameters.

[0087] Specifically, according to the determination result, compare the actual value of the excavation volume at the current moment with the theoretically calculated value. When the actual slag-carrying value exceeds 15% of the theoretical value, adjust the propulsion system parameters to obtain the adjusted propulsion system parameters.

[0088] Judge whether the propulsion system parameters are within the preset threshold ranges.

[0089] Specifically, adjust the parameters of the propulsion system and the cutter head system, and judge whether the adjusted parameters of the propulsion system and the cutter head system are within the preset threshold ranges. If the adjusted parameters of the propulsion system and the cutter head system are within the preset threshold ranges, adjust the shield attitude; if the adjusted parameters of the propulsion system and the cutter head system exceed the preset threshold ranges, readjust the parameters of the propulsion system and the cutter head system.

[0090] Specifically, adjust the shield attitude, and judge whether the tunnel design curve corresponding to the adjusted shield attitude is within the preset threshold ranges. If the tunnel design curve corresponding to the adjusted shield attitude is within the preset threshold ranges, adjust the thrust parameters; if the tunnel design curve corresponding to the adjusted shield attitude exceeds the preset threshold ranges, readjust the parameters of the propulsion system and the cutter head system.

[0091] Specifically, adjust the thrust parameter, and determine whether the adjusted thrust parameter is within the preset threshold range. If the adjusted thrust parameter is within the preset threshold range, then adjust the cutter head torque; if the adjusted thrust parameter exceeds the preset threshold range, then readjust the parameters of the propulsion system and the cutter head system.

[0092] Specifically, adjust the cutter head torque, and determine whether the adjusted cutter head torque is within the preset threshold range. If the adjusted cutter head torque is within the preset threshold range, then calculate the pressure difference between the excavation chamber and the air cushion chamber; if the adjusted cutter head torque exceeds the preset threshold range, then readjust the parameters of the propulsion system and the cutter head system.

[0093] If the adjusted parameters of the propulsion system do not exceed the preset threshold range, then calculate the pressure difference between the excavation chamber and the air cushion chamber.

[0094] In this embodiment, if the adjusted propulsion parameters, shield attitude, thrust parameter, and cutter head torque do not exceed the preset threshold range, then calculate the pressure difference between the excavation chamber and the air cushion chamber.

[0095] Determine whether the pressure difference between the excavation chamber and the air cushion chamber exceeds the pressure difference threshold.

[0096] Figure 3 It is a schematic flow chart of adjusting the parameters of the slurry circulation system and the propulsion system provided by the embodiment of the present application.

[0097] Specifically, the parameter control unit can synchronously adjust the parameters of the slurry circulation system and the propulsion system of the slurry shield machine. When the adjusted parameters meet the preset threshold, determine whether the pressure difference between the excavation chamber and the air cushion chamber exceeds the pressure difference threshold.

[0098] If the pressure difference between the excavation chamber and the air cushion chamber does not exceed the pressure difference threshold, then control the tunnel excavation of the slurry shield machine.

[0099] Specifically, if the pressure difference between the excavation chamber and the air cushion chamber exceeds the pressure difference threshold, then readjust the propulsion parameters.

[0100] As can be seen from the above embodiments, by adjusting the parameters of the propulsion system in the slurry shield machine, it is sequentially determined whether the propulsion parameters, shield attitude, thrust parameter, and cutter head torque in the propulsion system are all within the preset threshold range, and it is determined whether the pressure difference between the excavation chamber and the air cushion chamber exceeds the pressure difference threshold, so as to adjust the parameters of the propulsion system of the slurry shield machine in real time to control the tunnel excavation of the slurry shield machine, without manual adjustment of the parameters.

[0101] Figure 4It is a schematic flowchart of the tunnel boring control method for the slurry shield machine provided by the embodiments of the present application. The execution subject of the embodiments of the present application is the tunnel boring control system, and the tunnel boring control system includes: a parameter setting unit, a monitoring unit, a management unit, a data analysis unit, and a parameter regulation unit; the method includes:

[0102] S301: The parameter setting unit imports the boring instruction and sets the threshold range of the equipment parameters of the slurry shield machine according to the boring instruction.

[0103] S302: The monitoring unit collects the equipment parameters of the slurry shield machine under the operating state, and the equipment parameters under the operating state include the slurry inflow rate, the slurry outflow rate, the slurry inflow density, and the slurry outflow density.

[0104] S303: The management unit calculates and generates the theoretical excavation volume and the actual excavation volume of the slurry shield machine according to the slurry inflow rate, the slurry outflow rate, the slurry inflow density, and the slurry outflow density.

[0105] S304: The data analysis unit determines whether the actual excavation volume exceeds the preset threshold range according to the theoretical excavation volume to generate a determination result.

[0106] S305: If the determination result is that it exceeds the preset threshold range, the parameter regulation unit adjusts at least one of the theoretical excavation volume and the actual excavation volume at the next moment according to the determination result to control the tunnel boring of the slurry shield machine.

[0107] As can be seen from the above embodiments, by importing the boring instruction through the parameter setting unit to generate the threshold range of the equipment parameters of the slurry shield machine, the monitoring unit collects the equipment parameters of the slurry shield machine under the operating state, the management unit calculates the theoretical excavation volume and the actual excavation volume according to the equipment parameters, the data analysis unit determines whether the actual excavation volume exceeds the preset threshold range according to the theoretical excavation volume and the actual excavation volume. When the actual excavation volume exceeds the preset threshold range, the parameter regulation unit timely adjusts at least one of the theoretical excavation volume and the actual excavation volume at the next moment to control the equipment parameters within the safety threshold range to control the tunnel boring of the slurry shield machine. Compared with the prior art, it does not require manual parameter adjustment, improving the safety during the boring process.

[0108] In an embodiment of the present application, the tunnel boring control system further includes a stability response unit:

[0109] S401: The stability response unit obtains the monitoring data of the excavation face.

[0110] S402: Analyze the stability of the excavation face according to the monitoring data and the equipment parameters of the slurry shield machine under the operating state to generate an evaluation result.

[0111] S403: If the evaluation result exceeds the preset safety threshold, adjust the equipment parameters of the slurry shield machine according to the evaluation result to control the tunneling of the slurry shield machine.

[0112] As can be seen from the above embodiments, the monitoring data of the excavation face is obtained through the stability response unit, and the stability of the excavation face is analyzed based on the monitoring data and the equipment parameters during the operation of the slurry shield machine to generate an evaluation result. When an abnormal situation occurs, the equipment parameters exceeding the threshold of the slurry shield machine are adjusted in real time according to the evaluation result, improving the safety and construction efficiency of the tunneling process.

[0113] In an embodiment of the present application, in step S305, the parameter control unit adjusts the parameters of the actual excavation volume at the next moment according to the determination result to control the tunneling of the slurry shield machine, including:

[0114] S501: The parameter control unit sequentially adjusts the inlet and outlet slurry pump speeds, inlet and outlet slurry flows, cutting pressure, and air cushion chamber liquid level of the slurry circulation system according to the determination result to obtain the adjusted parameters of the slurry circulation system.

[0115] S502: Determine whether the adjusted parameters of the slurry circulation system are within the preset threshold range.

[0116] S503: If the adjusted parameters of the slurry circulation system do not exceed the preset threshold range, calculate the pressure difference between the excavation chamber and the air cushion chamber.

[0117] S504: Determine whether the pressure difference between the excavation chamber and the air cushion chamber exceeds the pressure difference threshold.

[0118] S505: If the pressure difference between the excavation chamber and the air cushion chamber does not exceed the pressure difference threshold, control the tunneling of the slurry shield machine.

[0119] As can be seen from the above embodiments, by adjusting the parameters of the slurry circulation system in the slurry shield machine, it is sequentially determined whether the inlet and outlet slurry pump speeds, inlet and outlet slurry flows, cutting pressure, and air cushion chamber liquid level in the slurry circulation system are all within the preset threshold range, and it is determined whether the pressure difference between the excavation chamber and the air cushion chamber exceeds the pressure difference threshold, so as to adjust the parameters of the slurry circulation system of the slurry shield machine in real time to control the tunneling of the slurry shield machine, without manual adjustment of parameters.

[0120] In an embodiment of the present application, in step S305, the parameter control unit adjusts the parameters of the theoretical excavation volume at the next moment according to the determination result to control the tunneling of the slurry shield machine, including:

[0121] S601: The parameter control unit sequentially adjusts the propulsion parameters, shield attitude, thrust parameters, and cutter head torque of the propulsion system according to the determination result to obtain the adjusted parameters of the propulsion system.

[0122] S602: Determine whether the propulsion system parameters are within a preset threshold range.

[0123] S603: If the adjusted propulsion system parameters do not exceed the preset threshold range, calculate the pressure difference between the excavation chamber and the air cushion chamber.

[0124] S604: Determine whether the pressure difference between the excavation chamber and the air cushion chamber exceeds the pressure difference threshold.

[0125] S605: If the pressure difference between the excavation chamber and the air cushion chamber does not exceed the pressure difference threshold, control the tunneling of the slurry shield machine.

[0126] As can be seen from the above embodiments, by adjusting the propulsion system parameters in the slurry shield machine, it is sequentially determined whether the propulsion parameters, shield attitude, thrust parameters, and cutter head torque in the propulsion system are all within the preset threshold range, and it is determined whether the pressure difference between the excavation chamber and the air cushion chamber exceeds the pressure difference threshold, so as to adjust the propulsion system parameters of the slurry shield machine in real time to control the tunneling of the slurry shield machine, without manual parameter adjustment.

[0127] In an embodiment of the present application, the formulas for the management unit to calculate and generate the theoretical excavation volume and the actual excavation volume of the slurry shield machine in step S303 are as follows:

[0128]

[0129]

[0130] In the formula, represents the theoretical value of the excavation volume in the propulsion state; represents the area of the cutter head face; represents the propulsion amount of the propulsion cylinder; represents the actual value of the excavation volume in the propulsion state; represents the slurry discharge flow rate; represents the slurry inlet flow rate; represents the slurry discharge density; represents the slurry inlet density; represents the density of formation physical property particles; represents the density of water; represents the time from the start of propulsion to the end of propulsion; represents the flow sensor correction value; represents the density sensor correction value; represents the geological deviation correction coefficient.

[0131] Finally, it should be noted that: After considering the specification and practicing the invention disclosed herein, those skilled in the art will readily think of other embodiments of the present invention. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common general knowledge or conventional technical means in the technical field not disclosed in the present invention. It is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present invention is only limited by the appended claims.

Claims

1. A tunnel excavation control system for a slurry shield machine, characterized in that: include: Parameter setting unit, monitoring unit, management unit, data analysis unit and parameter control unit; The parameter setting unit imports the excavation instruction and sets the equipment parameter threshold range of the slurry shield machine according to the excavation instruction; The monitoring unit collects equipment parameters of the slurry shield machine in an operating state, wherein the equipment parameters in the operating state include slurry inlet flow rate, slurry discharge flow rate, slurry inlet density and slurry discharge density; The management unit calculates and generates the theoretical excavation volume and the actual excavation volume of the slurry shield machine according to the slurry inlet flow rate, the slurry discharge flow rate, the slurry inlet density and the slurry discharge density; The data analysis unit determines whether the actual excavation volume exceeds a preset threshold range according to the theoretical excavation volume to generate a determination result; If the determination result exceeds a preset threshold range, the parameter control unit adjusts at least one parameter of the theoretical excavation volume and the actual excavation volume at the next moment according to the determination result to control the tunnel excavation of the slurry shield machine.

2. The tunnel excavation control system according to claim 1, characterized in that: The tunnel excavation control system further includes a stability response unit: The stability response unit acquires monitoring data of the excavation surface; Analyze the stability of the excavation face and generate an evaluation result based on the monitoring data and the equipment parameters of the slurry shield machine in operation; If the evaluation result exceeds a preset safety threshold, the equipment parameters of the slurry shield machine are adjusted according to the evaluation result to control the tunneling of the slurry shield machine.

3. The tunnel excavation control system according to claim 1, characterized in that: The parameter control unit adjusts the parameter of the actual excavation volume at the next moment according to the determination result to control the tunnel excavation of the slurry shield machine, including: The parameter control unit sequentially adjusts the mud circulation system's inlet and outlet pump speed, inlet and outlet flow rate, cutout pressure, and air cushion tank liquid level according to the determination result to obtain adjusted mud circulation system parameters; Determining whether the adjusted mud circulation system parameter is within a preset threshold range; If the adjusted mud circulation system parameter does not exceed a preset threshold range, the pressure difference between the excavation chamber and the air cushion chamber is calculated; Determining whether the pressure difference between the excavation chamber and the air cushion chamber exceeds a pressure difference threshold; If the pressure difference between the excavation chamber and the air cushion chamber does not exceed the pressure difference threshold, the tunnel excavation of the slurry shield machine is controlled.

4. The tunnel excavation control system according to claim 1, characterized in that: The parameter control unit adjusts the parameter of the theoretical excavation volume at the next moment according to the determination result to control the tunnel excavation of the slurry shield machine, including: The parameter control unit sequentially adjusts the propulsion parameters, shield posture, thrust parameters and cutter head torque of the propulsion system according to the determination result to obtain adjusted propulsion system parameters; determining whether the propulsion system parameter is within a preset threshold range; If the adjusted propulsion system parameter does not exceed a preset threshold range, calculating the pressure difference between the excavation chamber and the air cushion chamber; Determining whether the pressure difference between the excavation chamber and the air cushion chamber exceeds a pressure difference threshold; If the pressure difference between the excavation chamber and the air cushion chamber does not exceed the pressure difference threshold, the tunnel excavation of the slurry shield machine is controlled.

5. The tunnel excavation control system according to any one of claims 1 to 4, characterized in that: The management unit calculates and generates the formula for the theoretical excavation volume and the actual excavation volume of the slurry shield machine, which is: In the formula, It represents the theoretical value of excavation volume under advancing state; Indicates the area of ​​the cutterhead face; Indicates the thrust amount of the thrust cylinder; Indicates the actual value of the excavation volume under the advancing state; Indicates the slurry discharge flow rate; Indicates the slurry flow rate; Indicates the density of slurry discharge; Indicates the density of the slurry; Indicates the density of formation physical particles; Indicates the density of water; Indicates the time from the start of advancement to the end of advancement; Indicates the correction value of the flow sensor; Indicates the correction value of the density sensor; Represents the geological deviation correction factor.

6. A tunnel excavation control method for a slurry shield machine, characterized in that: Applied to a tunnel excavation control system, the tunnel excavation control system includes: a parameter setting unit, a monitoring unit, a management unit, a data analysis unit and a parameter control unit; the method includes: The parameter setting unit imports the excavation instruction and sets the equipment parameter threshold range of the slurry shield machine according to the excavation instruction; The monitoring unit collects equipment parameters of the slurry shield machine in an operating state, wherein the equipment parameters in the operating state include slurry inlet flow rate, slurry discharge flow rate, slurry inlet density and slurry discharge density; The management unit calculates and generates the theoretical excavation volume and the actual excavation volume of the slurry shield machine according to the slurry inlet flow rate, the slurry discharge flow rate, the slurry inlet density and the slurry discharge density; The data analysis unit determines whether the actual excavation volume exceeds a preset threshold range according to the theoretical excavation volume to generate a determination result; If the determination result exceeds a preset threshold range, the parameter control unit adjusts at least one parameter of the theoretical excavation volume and the actual excavation volume at the next moment according to the determination result to control the tunnel excavation of the slurry shield machine.

7. The method according to claim 6, characterized in that The tunnel excavation control system further includes a stability response unit: The stability response unit acquires monitoring data of the excavation surface; Analyze the stability of the excavation face and generate an evaluation result based on the monitoring data and the equipment parameters of the slurry shield machine in operation; If the evaluation result exceeds a preset safety threshold, the equipment parameters of the slurry shield machine are adjusted according to the evaluation result to control the tunneling of the slurry shield machine.

8. The method according to claim 6, characterized in that The parameter control unit adjusts the parameter of the actual excavation volume at the next moment according to the determination result to control the tunnel excavation of the slurry shield machine, including: The parameter control unit sequentially adjusts the mud circulation system's inlet and outlet pump speed, inlet and outlet flow rate, cutout pressure, and air cushion tank liquid level according to the determination result to obtain adjusted mud circulation system parameters; Determining whether the adjusted mud circulation system parameter is within a preset threshold range; If the adjusted mud circulation system parameter does not exceed a preset threshold range, the pressure difference between the excavation chamber and the air cushion chamber is calculated; Determining whether the pressure difference between the excavation chamber and the air cushion chamber exceeds a pressure difference threshold; If the pressure difference between the excavation chamber and the air cushion chamber does not exceed the pressure difference threshold, the tunnel excavation of the slurry shield machine is controlled.

9. The method according to claim 6, characterized in that The parameter control unit adjusts the parameter of the theoretical excavation volume at the next moment according to the determination result to control the tunnel excavation of the slurry shield machine, including: The parameter control unit sequentially adjusts the propulsion parameters, shield posture, thrust parameters and cutter head torque of the propulsion system according to the determination result to obtain adjusted propulsion system parameters; determining whether the propulsion system parameter is within a preset threshold range; If the adjusted propulsion system parameter does not exceed a preset threshold range, calculating the pressure difference between the excavation chamber and the air cushion chamber; Determining whether the pressure difference between the excavation chamber and the air cushion chamber exceeds a pressure difference threshold; If the pressure difference between the excavation chamber and the air cushion chamber does not exceed the pressure difference threshold, the tunnel excavation of the slurry shield machine is controlled.

10. The method according to any one of claims 6 to 9, characterized in that: The management unit calculates and generates the formula for the theoretical excavation volume and the actual excavation volume of the slurry shield machine, which is: In the formula, It represents the theoretical value of excavation volume under advancing state; Indicates the area of ​​the cutterhead face; Indicates the thrust amount of the thrust cylinder; Indicates the actual value of the excavation volume under the advancing state; Indicates the slurry discharge flow rate; Indicates the slurry flow rate; Indicates the density of slurry discharge; Indicates the density of the slurry; Indicates the density of formation physical particles; Indicates the density of water; Indicates the time from the start of advancement to the end of advancement; Indicates the correction value of the flow sensor; Indicates the correction value of the density sensor; Represents the geological deviation correction factor.

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