A shield tunneling automatic control method and system

Abstract

The present invention proposes an automatic control method and system for shield tunneling, which is used to solve the problem that the existing tunneling is overly dependent on the experience and work attitude of the main driver, resulting in the difficulty in controlling the quality of tunnel forming. The control system of the present invention includes an expert system, which is connected to the PLC controller. The expert system includes: a knowledge base, an inference machine, an interpretation machine and a human-computer interaction device. The knowledge base and the human-computer interaction device are both connected to the inference machine, and the knowledge base and the inference machine are both connected to the interpretation machine. The interpretation machine is connected to the human-computer interaction device. The inference machine is connected to the PLC controller through a host computer, and the knowledge base is connected to the host computer. The present invention provides an automatic control solution for the entire shield construction process by making full use of the expert knowledge and rules of the shield tunneling process. The present invention has a high degree of automation and intelligence and is easy to implement, which improves the intelligence of the existing tunneling control and posture control, ensures the safety of equipment and personnel, and greatly improves the efficiency of shield construction.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent shield control, and in particular to an automatic shield tunneling control method and system. Background Art

[0002] The large-scale application of modern high-tech in shield construction has made shield tunneling automation and intelligence a future development trend. However, the entire shield tunneling operation process relies on manual labor. During the construction process, the main driver controls the tunneling according to the various parameter feedback values ​​of the upper computer interface, making the construction quality almost completely dependent on the main driver's experience. Due to the uneven technical levels of the main drivers, it is difficult to ensure the quality of the tunnel.

[0003] In terms of shield tunneling control, the invention patent with publication number CN113446022A discloses a shield tunneling control system and method, which feeds back relevant characteristic information to the control logic unit in real time through the slag improvement control unit, grouting quality control unit, soil bin and other main parameter monitoring units, and ground settlement monitoring units, and completes the adjustment value and adjustment step of the tunneling control parameters, and realizes intelligent shield driving through closed-loop feedback of the entire tunneling environment. The invention patent with publication number CN104653190A discloses an earth pressure balance shield tunneling control method, which automatically manages the amount of tunneling soil and the amount of soil discharge, has good construction safety, and can work at great depth and high water pressure. Although the above-mentioned shield tunneling control methods can realize intelligent control of tunneling to a certain extent, they only consider the prediction accuracy of certain parameters and have not formed a complete tunneling control process. In actual applications, manual participation is still required throughout the process, and true unmanned or less-manned tunneling has not been achieved. Summary of the invention

[0004] In view of the technical problem that the existing intelligent control of shield tunneling still requires full human participation, the present invention proposes a shield tunneling automatic control method and system, which realizes the automation and reduction of manpower in the shield tunneling process, and solves the technical problem that the existing tunneling relies on the experience and work attitude of the main driver, resulting in the difficulty in controlling the tunnel forming quality.

[0005] In order to achieve the above object, the technical solution of the present invention is implemented as follows: a shield tunneling automatic control system, including an expert system, the expert system is connected to a PLC controller, the expert system includes: a knowledge base, an inference machine, an interpretation machine and a human-computer interaction device, the knowledge base and the human-computer interaction device are both connected to the inference machine, the knowledge base and the inference machine are both connected to the interpretation machine, the interpretation machine is connected to the human-computer interaction device, the inference machine is connected to the PLC controller through a host computer, and the knowledge base is connected to the host computer;

[0006] The knowledge base is used to store the control rules of the entire shield tunneling process;

[0007] The inference engine calls the corresponding control rules according to the current excavation state and sends the control results to the PLC controller;

[0008] The explanation machine is used to write the explanation content of the reasoning result into text and save it, and optimize the rules after the reasoning process is completed;

[0009] The human-computer interaction device outputs the inference results and related explanation contents, and sets the required parameters.

[0010] The knowledge base includes an earth pressure control module, an excavation control module, a posture control module and a coordination and organization module, and the earth pressure control module, the excavation control module and the posture control module are all connected to the coordination and organization module;

[0011] The tunneling control module is used to control the tunneling speed of the shield tunneling process to be within the target value allowable range;

[0012] The soil pressure control module is mainly used to ensure the stability of soil bin pressure during excavation and to achieve soil pressure balance by controlling the screw machine speed;

[0013] The posture control module is used to ensure that the shield tunneling axis is consistent with the tunnel design axis, and to achieve precise control of the tunneling posture by adjusting the pressure difference of the grouped oil cylinders;

[0014] The organization and coordination module resolves conflicts among control rules and determines the priority of different control rules when they are executed.

[0015] The control rules of the soil pressure control module, the excavation control module, the posture control module and the coordination and organization module all adopt the production expression method.

[0016] The excavation control module includes starting section rules, rising section rules, stable section rules, temporary stop section rules and stop section rules; the starting section rules are mainly used to realize the normal startup of each pump station and belt conveyor system, the rising section rules are used to realize the propulsion speed quickly reaching the target value, the stable section rules are used to realize the propulsion speed to be stable within the allowable range of the target value, the temporary stop section rules are used to realize temporary work shutdown, and the stop section rules are mainly used to stop each system in sequence after the excavation is completed; the soil pressure control module is activated from the rising section, and the posture control module is activated from the stable section.

[0017] During the excavation process, the pressure of each cylinder is adjusted according to the corresponding stage rules to achieve the increase or decrease of the propulsion speed. When the propulsion speed exceeds the target value, the cylinder pressure is reduced according to the stable section rules. When the propulsion speed is less than the target allowable value, the cylinder pressure is increased according to the stable section rules.

[0018] When the excavation speed exceeds the allowable range, an alarm is triggered, the shield automatic control system operation authority is stopped, and the excavation is controlled manually;

[0019] When the soil bin pressure exceeds the set value range, an alarm is triggered, the shield automatic control system operation authority is stopped, and excavation control is performed manually;

[0020] When a control rule conflict occurs, the knowledge base is searched to see whether there is a conflict resolution rule. If so, the conflict resolution rule is extracted to resolve the conflict. If not, the automatic excavation mode is exited.

[0021] The specific implementation method of the posture control module to achieve precise control of the tunneling posture is:

[0022] (1) Establish a fuzzy controller between the shield posture and the cylinder pressure difference. The input variables are the shield tail gap, the horizontal deviation value H of the cutout, the vertical deviation value V, the horizontal trend value, and the vertical trend value. The output variables are the horizontal group cylinder pressure difference and the vertical group cylinder pressure difference. Each deviation value corresponds to a corresponding output pressure difference.

[0023] (2) Obtain the current shield posture position parameters according to the guidance system, including the shield cutting horizontal deviation value H, vertical deviation value V, horizontal trend value, and vertical trend value;

[0024] (3) After the shield tunneling enters the stable stage, the horizontal and vertical cylinder pressure differences are output according to the current shield posture position. If the current cylinder pressure difference is the same as the output value, the current parameters are maintained for tunneling. If they are different, the cylinder pressure difference is adjusted according to the fuzzy controller.

[0025] The human-computer interaction device is provided with a one-button start-stop button, a temporary stop button, an automatic excavation mode button and a manual mode button. When excavation starts, the one-button start button is clicked, and the excavation control module of the knowledge base executes the control rules of each stage in sequence; when an emergency occurs, the temporary stop button is clicked, and the cutter head, belt conveyor, screw conveyor and propulsion system stop in sequence.

[0026] The knowledge base also includes a grouting control module and a soil improvement control module, and both the grouting control module and the soil improvement control module are connected to the coordination organization module to realize automatic control of grouting and soil improvement.

[0027] The shield body of the shield machine is equipped with an intelligent sensing terminal, which includes a behind-the-wall grouting evaluation device and a slag quality evaluation device. The knowledge base of the expert system is provided with a grouting control module and a slag improvement control module; the behind-the-wall grouting evaluation device is connected to the grouting control module of the expert system to provide recommended parameters for the grouting system; the slag quality evaluation device is connected to the slag improvement control module of the expert system to provide recommended parameters for the foam system, and excavation parameters are recommended and optimized for the automatic control system through sensing the status of the equipment and soil.

[0028] An automatic control method for a shield tunneling automatic control system, the steps of which are:

[0029] S1, shield tunneling starts, select automatic tunneling mode, and click the one-button start and stop button;

[0030] S2, the shield machine starts to excavate and enters the start-up phase. The inference engine completes the shield machine excavation preparation according to the current equipment status and the start-up phase rules of the excavation control module in the knowledge base;

[0031] S3, after the start-up phase is completed, the ascending phase is entered, and the ascending phase rule of the excavation control module is called to increase the excavation speed until the excavation speed reaches the target value; at the same time, the control rule of the earth pressure control module is called to ensure that the soil bin pressure fluctuates within the allowable range of the target value;

[0032] S4, after the ascending stage is completed, the stable stage is entered, and the knowledge base simultaneously activates the excavation control module, the earth pressure control module and the attitude control module for control; the stable stage rule of the excavation control module ensures that the excavation speed fluctuates within the allowable range of the target value, the earth pressure control module ensures that the soil bin pressure fluctuates within the allowable range of the target value, and the attitude control module ensures that the shield excavates along the designed axis of the tunnel;

[0033] S5, if other temporary work needs to be stopped during the excavation process, the temporary stop section rules of the excavation control module in the knowledge base can realize the safe shutdown of the shield machine;

[0034] S6, after excavation is completed, the shutdown section rules are called to stop each system in sequence.

[0035] The posture control method of the posture control module is as follows: (1) reading the shield posture data in the guidance system to obtain the current shield posture and group cylinder pressure value;

[0036] (2) Read the current posture data and determine whether the current posture data deviates from the DTA data. If so, proceed to step (3); otherwise, proceed to step (4);

[0037] (3) Start the fuzzy controller, calculate the pressure difference of the shield cylinder partitions, and output the pressure value of each partition cylinder; adjust the group cylinder pressure based on the posture control module so that the cylinder pressure difference reaches the output corresponding partition cylinder pressure value to realize shield excavation; (4) Continue excavation according to the current posture, otherwise return to step (2).

[0038] The current shield posture and grouped cylinder pressure values ​​include the shield cutout horizontal deviation value H, vertical deviation value V, horizontal trend value, vertical trend value and each group of cylinder pressures.

[0039] The beneficial effects of the present invention are as follows: by making full use of the expert knowledge and rules of the shield tunneling process, comprehensively considering factors such as soil bin pressure control, posture control, and tunneling speed control, an automatic control solution is provided for the entire shield construction process. The present invention can realize the entire tunneling process of the shield's starting section, rising section, stable section, temporary shutdown section, and shutdown section. During the tunneling process, the soil pressure control module, tunneling control module, and posture control module are enabled to ensure safe and efficient shield construction and reduce the workload of the main driver. The present invention has a high degree of automation and intelligence and is easy to implement. On the premise of ensuring tunneling speed and accuracy, it improves the intelligence of existing tunneling control and posture control, ensures the safety of equipment and personnel, and greatly improves the efficiency of shield construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 It is a structural schematic diagram of the present invention.

[0042] Figure 2 This is the knowledge base structure diagram of the present invention.

[0043] Figure 3 The present invention is a flow chart of shield tunneling.

[0044] Figure 4 It is a flow chart of the posture control of the present invention.

[0045] Figure 5 It is the principle diagram of the fuzzy controller of the present invention. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] like Figure 1As shown, a shield tunneling automatic control system includes an expert system, which is connected to a host computer. The expert system includes: a knowledge base, an inference machine, an interpretation machine and a human-computer interaction device. The knowledge base and the human-computer interaction device are both connected to the inference machine, the knowledge base and the inference machine are both connected to the interpretation machine, the interpretation machine is connected to the human-computer interaction device, the inference machine is connected to a PLC controller via the host computer, and the knowledge base is connected to the host computer.

[0048] The knowledge base is used to store the control rules of the entire shield tunneling process, mainly including earth pressure control module, tunneling control module, posture control module and coordination and organization module. The earth pressure control module, tunneling control module and posture control module are all connected to the coordination and organization module. The earth pressure control module, tunneling control module and posture control module are in parallel relationship. The three modules of earth pressure control module, tunneling control module and posture control module are independent of each other and are all connected to and constrained by the coordination and organization module. The control rules of each module are expressed in production expression.

[0049] The tunneling control module mainly includes the starting section rules, the rising section rules, the stable section rules, the temporary stop section rules and the stop section rules, which are used to control the tunneling speed of the shield tunneling process within the target value range. The starting section rules are mainly used to realize the normal startup of each pump station and belt conveyor system, the rising section rules are mainly used to realize the advancement speed quickly reaching the target value, the stable section rules are mainly used to realize the advancement speed to be stable within the target value range, the temporary stop section rules are mainly used to realize temporary work shutdown, and the stop section rules are mainly used to stop each system in sequence after the tunneling is completed. Figure 3 As shown, the target value of the advancement speed is determined by the project briefing document. During the excavation process, the pressure of each cylinder is adjusted according to the corresponding stage rules to achieve the increase or decrease of the advancement speed. When the advancement speed exceeds the target allowable value, the group potentiometer value is adjusted according to the corresponding stage rules to reduce the cylinder pressure. When the advancement speed is less than the target allowable value, the group cylinder potentiometer value is adjusted according to the corresponding stage rules to increase the cylinder pressure. Among them, the cylinder pressure is in direct proportion to its potentiometer value. When the cylinder potentiometer value is increased, the cylinder pressure increases, and the advancement speed increases accordingly, and vice versa. When the excavation speed exceeds the allowable range, an alarm is triggered, and the autonomous excavation mode is switched to the manual control mode. During the excavation process, it is necessary to ensure that the excavation speed is neither too large nor too small, so a speed range will be set. When the excavation speed exceeds this speed range, the system alarm will be triggered and switched to manual mode for manual excavation control.

[0050] The above control rules use production expression to express the expert experience described in natural language into computer language. The form of production rules is "IF (condition) THEN (conclusion)", where the condition is one or more. When there are multiple conditions, they are connected by logic "and" and "or". For example, if the pressure of the top soil bin is greater than the lower limit of the soil pressure and less than the upper limit of the soil pressure for 5 consecutive seconds, the speed of the screw conveyor is kept unchanged. The production rule is expressed as follows:

[0051] IF P>0.9*P1, and P<1.1*P1, THEN R 螺机 constant.

[0052] Among them, P is the soil pressure, P1 is the soil pressure setting value, R 螺机 is the speed of the screw conveyor.

[0053] The earth pressure control module is activated from the ascent phase, and the attitude control module is activated from the stabilization phase.

[0054] The soil pressure control module is mainly used to ensure the stability of the soil bin pressure during the excavation process, and to achieve soil pressure balance by controlling the screw machine speed. When the soil bin pressure value is greater than the target value, the screw machine speed is increased; when the soil bin pressure is less than the target value, the screw machine speed is reduced. The above target value is calculated based on the project briefing and stratum conditions. When the soil bin pressure exceeds the allowable range of the set value, an alarm is triggered and the autonomous excavation mode is switched to the manual control mode.

[0055] The posture control module is mainly used to ensure that the shield tunneling axis is consistent with the tunnel design axis, and to achieve precise control of the tunneling posture by adjusting the pressure difference of the grouped cylinders.

[0056] The specific implementation method of the posture control module to achieve precise control of tunneling posture is:

[0057] (1) Establish a fuzzy controller between the shield posture and the cylinder pressure difference. The input variables are the shield tail gap, the horizontal deviation value H of the cut, the vertical deviation value V, the horizontal trend value t1, and the vertical trend value t2. The output variable is the horizontal group cylinder pressure difference ΔF h , vertical grouping cylinder pressure difference ΔF v , each deviation value can correspond to the output of a pressure difference value.

[0058] (2) Obtain the current shield posture position according to the guidance system, mainly including the shield cutting horizontal deviation value H, vertical deviation value V, horizontal trend value t1, and vertical trend value t2;

[0059] (3) After the shield tunneling enters the stable stage, the horizontal and vertical cylinder pressure differences are output according to the current shield posture position. If the current cylinder pressure difference is the same as the output value in (1), the current parameters are maintained for tunneling. If they are different, adjustments are made according to the posture control rules.

[0060] like Figure 5 As shown in the figure, the fuzzy controller is composed of a series of fuzzy control rules. In general, the principle it should follow is: when the attitude deviation value is large, the deviation should be eliminated; when the attitude deviation value is small and the single trend value is large, the attitude stability should be maintained to prevent overshoot. The outputs of the shield posture and attitude control module, including the deviation value and the trend value, are transmitted to the fuzzy controller. According to the fuzzy rules, fuzzification is first performed, then fuzzy reasoning is performed, and finally defuzzification is performed to adjust the group cylinder pressure difference and realize attitude control. The horizontal fuzzy control rules are shown in the following table.

[0061] Table 1 Horizontal fuzzy control rules

[0062]

[0063] like Figure 2 As shown in the figure, the organization and coordination module is enabled after the shield enters the stable section. The organization and coordination module is connected to the excavation control module, the earth pressure control module and the attitude control module respectively. It is mainly used to resolve the rule conflicts that occur during the operation of the excavation control, earth pressure control and attitude control, and determine the priority of the execution rules. During the operation of the system, when a rule conflict occurs, first determine whether there is an instantiated conflict resolution rule in the knowledge base; if so, extract the instantiated conflict resolution rule to resolve the conflict. If the conflict cannot be resolved, switch to the manual excavation mode and add a new rule to resolve the conflict in the knowledge base.

[0064] The inference engine is connected to the knowledge base and is used to call the corresponding control rules according to the current excavation status. When automatic excavation starts, the excavation control module is enabled and the corresponding control rules are called at each stage; after entering the rising stage, the earth pressure control module is enabled; after entering the stable stage, the attitude control module is enabled and the control results are sent to the PLC controller, which executes the commands.

[0065] The interpretation engine is connected to the inference engine to write the interpretation of the inference results into text and save it, and can optimize the rules after the inference process is completed. After the inference is completed, unreasonable rules can be selected and optimized.

[0066] The human-computer interaction device is connected to the interpretation machine and the reasoning machine respectively. The human-computer interaction device can output the reasoning results and related explanations. The parameters required to be set by the expert system are operated in the human-computer interaction device.

[0067] The human-computer interaction device is equipped with four virtual buttons: one-button start and stop, temporary stop, and manual / automatic mode switching. When excavation starts, click the one-button start virtual button, and the excavation control module of the expert system knowledge base will execute the rules of each stage in sequence; in case of emergency, click the temporary stop virtual button, and the cutter head, belt conveyor, screw conveyor, and propulsion system will stop in sequence.

[0068] The invention discloses an automatic shield tunneling system, which is used to achieve the goal of less-manpowered or unmanned shield operation.

[0069] Example 2

[0070] An automatic control system based on shield tunneling can also be equipped with an intelligent sensing terminal on the shield machine. The intelligent sensing terminal includes a behind-the-wall grouting evaluation device, a slag quality evaluation device, etc., and a grouting control module and a slag improvement control module are added to the expert system knowledge base. The behind-the-wall grouting evaluation device is connected to the expert system to provide recommended parameters for the grouting system; the slag quality evaluation device is connected to the expert system to provide recommended parameters for the slag improvement system. Through the perception of the status of equipment and soil, the automatic control system is given excavation parameter recommendations and optimization.

[0071] The back wall grouting control module is used to control the synchronous grouting speed, pressure, time and other parameters to ensure the grouting quality. The specific implementation method is as follows:

[0072] (1) Use the back-wall grouting detection device to test the grouting quality and obtain the grouting quality evaluation;

[0073] (2) Sending the grouting quality evaluation results to the expert system, the grouting control module of the expert system determines whether and how to adjust the grouting parameters according to the evaluation results, and sends the execution command to the PLC controller;

[0074] The implementation method of the slag quality evaluation module is the same as that of the back-wall grouting control module.

[0075] The other structures and principles are the same as those in Example 1.

[0076] Example 3

[0077] An automatic control method for a shield tunneling automatic control system, the specific implementation steps are:

[0078] S1, shield tunneling starts, select automatic tunneling mode, and click the one-key start button;

[0079] S2, after one-button start, the shield machine starts to excavate and enters the start-up phase. The inference engine calls the start-up phase rules of the excavation control module according to the current equipment status to complete the shield machine excavation preparation;

[0080] S3, after the start-up phase is completed, the ascending phase is entered, and the ascending phase rule of the excavation control module is called to increase the excavation speed until the excavation speed reaches the target value; at the same time, the control rule of the earth pressure control module is called to ensure that the soil bin pressure fluctuates within the allowable range of the target value;

[0081] S4, after the ascending stage is completed, it enters the stable stage, and three modules need to be enabled at the same time for control; the stable stage rule of the excavation control module ensures that the excavation speed fluctuates within the allowable range of the target value, the earth pressure control module is used to ensure that the soil bin pressure fluctuates within the allowable range of the target value, and the attitude control module is used to ensure that the shield excavates along the designed axis of the tunnel;

[0082] like Figure 4 As shown in FIG. 1 , the posture control process of the posture control module is as follows: (1) Read in the DTA (tunnel design axis) data to obtain the current shield posture and group cylinder pressure values, including the shield cutout horizontal deviation value H, vertical deviation value V, horizontal trend value t1, vertical trend value t2 and each group cylinder pressure; (2) Read in the current posture data to determine whether the current posture data deviates from DTA, that is, determine whether correction is required based on the shield posture deviation value. If correction is required, start the fuzzy controller, calculate the shield partition cylinder pressure difference, and output the pressure value of each partition cylinder; (3) Based on the posture control module, adjust the group cylinder pressure so that the cylinder pressure difference reaches the above value to realize shield excavation; (4) If correction is not required, continue excavation according to the current posture, otherwise return to step (2).

[0083] S5: If other temporary work needs to be stopped during the tunneling process, the temporary stop section rule of the tunneling control module is called to ensure the safe shutdown of the shield machine;

[0084] S6, after excavation is completed, the shutdown section rules are called to stop each system in sequence.

[0085] The present invention divides shield tunneling into a starting section, a rising section, a stable section, a temporary stop section, and a stop section, and each working section executes corresponding rules. The present invention has a one-key start and mode switching function, which can avoid unexpected situations in automatic tunneling. The present invention mainly elaborates on the control execution layer, aiming to realize the automation of shield tunneling.

[0086] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A shield tunneling automatic control system, characterized in that: The expert system is connected to the PLC controller. The expert system includes a knowledge base, an inference machine, an interpretation machine and a human-computer interaction device. The knowledge base and the human-computer interaction device are both connected to the inference machine. The knowledge base and the inference machine are both connected to the interpretation machine. The interpretation machine is connected to the human-computer interaction device. The inference machine is connected to the PLC controller via a host computer. The knowledge base is connected to the host computer. The knowledge base is used to store the control rules of the entire shield tunneling process; The inference engine calls the corresponding control rules according to the current excavation state and sends the control results to the PLC controller; The explanation machine is used to write the explanation content of the reasoning result into text and save it, and optimize the rules after the reasoning process is completed; The human-computer interaction device outputs the inference results and related explanation content, and sets the required parameters; The knowledge base includes an earth pressure control module, an excavation control module, a posture control module and a coordination and organization module, and the earth pressure control module, the excavation control module and the posture control module are all connected to the coordination and organization module; The tunneling control module is used to control the tunneling speed of the shield tunneling process to be within the target value allowable range; The soil pressure control module is mainly used to ensure the stability of soil pressure during excavation and to achieve soil pressure balance by controlling the screw machine speed; The posture control module is used to ensure that the shield tunneling axis is consistent with the tunnel design axis, and to achieve precise control of the tunneling posture by adjusting the pressure difference of the grouped oil cylinders; The organization and coordination module resolves conflicts among control rules and determines the priority of different control rules when they are executed.

2. The shield tunneling automatic control system according to claim 1, characterized in that: The control rules of the soil pressure control module, the excavation control module, the posture control module and the coordination and organization module all adopt the production expression method.

3. The shield tunneling automatic control system according to claim 1 or 2, characterized in that: The excavation control module includes starting section rules, rising section rules, stable section rules, temporary stop section rules and stop section rules; the starting section rules are mainly used to realize the normal startup of each pump station and belt conveyor system, the rising section rules are used to realize the propulsion speed quickly reaching the target value, the stable section rules are used to realize the propulsion speed to be stable within the allowable range of the target value, the temporary stop section rules are used to realize temporary work shutdown, and the stop section rules are mainly used to stop each system in sequence after the excavation is completed; the soil pressure control module is activated from the rising section, and the posture control module is activated from the stable section.

4. The shield tunneling automatic control system according to claim 3, characterized in that: During the excavation process, the pressure of each cylinder is adjusted according to the corresponding stage rules to achieve the increase or decrease of the propulsion speed. When the propulsion speed exceeds the target value, the cylinder pressure is reduced according to the stable section rules. When the propulsion speed is less than the target allowable value, the cylinder pressure is increased according to the stable section rules.

5. The shield tunneling automatic control system according to claim 1, 2 or 4, characterized in that: When the excavation speed exceeds the allowable range, an alarm is triggered, the shield automatic control system operation authority is stopped, and the excavation is controlled manually; When the soil bin pressure exceeds the set value range, an alarm is triggered, the shield automatic control system operation authority is stopped, and excavation control is performed manually; When a control rule conflict occurs, the knowledge base is searched to see whether there is a conflict resolution rule. If so, the conflict resolution rule is extracted to resolve the conflict. If not, the automatic excavation mode is exited.

6. The shield tunneling automatic control system according to claim 1 or 2, characterized in that: The specific implementation method of the posture control module to achieve precise control of the tunneling posture is: (1) Establish a fuzzy controller between the shield posture and the cylinder pressure difference. The input variables are the shield tail gap, the cut horizontal deviation value H, the vertical deviation value V, the horizontal trend value t1, and the vertical trend value t2. The output variable is the horizontal group cylinder pressure difference ΔF H , vertical grouping cylinder pressure difference ΔF V , each deviation value corresponds to the output of a pressure difference value; (2) Obtain the current shield posture position parameters according to the guidance system, including the shield cutting horizontal deviation value H, vertical deviation value V, horizontal trend value t1, and vertical trend value t2; (3) After the shield tunneling enters the stable stage, the horizontal and vertical cylinder pressure differences are output according to the current shield posture position. If the current cylinder pressure difference is the same as the output value, the current parameters are maintained for tunneling. If they are different, the cylinder pressure difference is adjusted according to the fuzzy controller.

7. The shield tunneling automatic control system according to claim 6, characterized in that: The human-computer interaction device is provided with a one-button start-stop button, a temporary stop button, an automatic excavation mode button and a manual mode button. When excavation starts, the one-button start button is clicked, and the excavation control module of the knowledge base executes the control rules of each stage in sequence; when an emergency occurs, the temporary stop button is clicked, and the cutter head, belt conveyor, screw conveyor and propulsion system stop in sequence.

8. The shield tunneling automatic control system according to any one of claims 1-2, 4 and 7, characterized in that: The knowledge base also includes a grouting control module and a soil improvement control module, and both the grouting control module and the soil improvement control module are connected to the coordination organization module to realize automatic control of grouting and soil improvement.

9. The shield tunneling automatic control system according to any one of claims 1-2, 4 and 7, characterized in that: The shield body of the shield machine is equipped with an intelligent sensing terminal, which includes a behind-the-wall grouting evaluation device and a slag quality evaluation device. The knowledge base of the expert system is provided with a grouting control module and a slag improvement control module; the behind-the-wall grouting evaluation device is connected to the grouting control module of the expert system to provide recommended parameters for the grouting system; the slag quality evaluation device is connected to the slag improvement control module of the expert system to provide recommended parameters for the foam system, and excavation parameters are recommended and optimized for the automatic control system through sensing the status of the equipment and soil.

10. An automatic control method using the shield tunneling automatic control system according to any one of claims 1 to 9, characterized in that: The steps are: S1, shield tunneling starts, select automatic tunneling mode, and click the one-button start and stop button; S2, the shield machine starts to excavate and enters the start-up phase. The inference engine completes the shield machine excavation preparation according to the current equipment status and the start-up phase rules of the excavation control module in the knowledge base; S3, after the start-up phase is completed, the ascending phase is entered, and the ascending phase rule of the excavation control module is called to increase the excavation speed until the excavation speed reaches the target value; at the same time, the control rule of the earth pressure control module is called to ensure that the soil bin pressure fluctuates within the allowable range of the target value; S4, after the ascending stage is completed, the stable stage is entered, and the knowledge base simultaneously activates the excavation control module, the earth pressure control module and the attitude control module for control; the stable stage rule of the excavation control module ensures that the excavation speed fluctuates within the allowable range of the target value, the earth pressure control module ensures that the soil bin pressure fluctuates within the allowable range of the target value, and the attitude control module ensures that the shield excavates along the designed axis of the tunnel; S5, if other temporary work needs to be stopped during the excavation process, the temporary stop section rules of the excavation control module in the knowledge base can realize the safe shutdown of the shield machine; S6, after excavation is completed, the shutdown section rules are called to stop each system in sequence.

11. The automatic control method according to claim 10, characterized in that: The posture control method of the posture control module is as follows: (1) reading the shield posture data in the guidance system to obtain the current shield posture and group cylinder pressure value; (2) Read the current posture data and determine whether the current posture data deviates from the DTA data. If so, proceed to step (3); otherwise, proceed to step (4); (3) Start the fuzzy controller, calculate the pressure difference of the shield cylinders, and output the pressure value of each partition cylinder; adjust the group cylinder pressure based on the posture control module so that the cylinder pressure difference reaches the output corresponding partition cylinder pressure value to achieve shield tunneling; (4) Continue tunneling according to the current posture, otherwise return to step (2).

12. The automatic control method according to claim 11, characterized in that: The current shield posture and grouped cylinder pressure values ​​include the shield cutout horizontal deviation value H, vertical deviation value V, horizontal trend value, vertical trend value and each group of cylinder pressures.

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