A control system and control method of intelligent shield machine

Abstract

The present invention discloses a control system for an intelligent shield machine, including a PLC control system, an edge computing terminal device and a cloud service platform. The PLC control system is electrically connected to the sensing elements of a cutterhead system, a propulsion system, a slag discharge system, a pressure maintaining system and a shield auxiliary system respectively; the edge computing terminal device is electrically connected to the PLC control system, the edge computing terminal device collects data through the PLC control system and transmits it to the cloud service platform, the edge computing terminal calculates the parameters collected from the PLC control system and outputs instructions to the PLC control system, so that the cutterhead system, the propulsion system, the slag discharge system, the pressure maintaining system and the shield auxiliary system perform actions.

Description

Technical Field

[0001] The present invention relates to a control system and a control method of an intelligent shield, in particular to a large-diameter slurry shield. Background Art

[0002] Shield machines are widely used in the construction of roads, railways and subways due to their significant advantages of fast construction speed and good safety. Recently, large-diameter shield machines have been frequently used in engineering projects. The excavation surface of large-diameter shield machines is complex, the posture control is difficult, and the selection of tunneling parameters is difficult. During shield tunneling construction, tunneling parameters need to be frequently adjusted to ensure a better posture. Manual operation is prone to fatigue, and the adjustment of shield parameters based solely on experience is arbitrary, which affects the rationality of shield operation and construction quality. In addition, due to the lack of corresponding sensing elements during shield operation, the main driver of the shield machine mainly relies on experience. The scientific nature of shield operation and the timeliness of early warning need to be improved. The intelligence level of the shield machine is not high, which restricts the improvement of shield construction efficiency, quality and safety.

[0003] In order to solve the problems of insufficient sensing elements and insufficient intelligence level of existing shield machines, how to configure sensing elements and edge computing terminals on the basis of existing shield machines, improve the shield machine's ability to perceive stratum information, and improve the shield machine's intelligence level is of great significance to improving the quality and efficiency of shield construction, and is an urgent problem to be solved by technical personnel in this field. Summary of the Invention

[0004] In order to solve the above technical problems, the purpose of the present invention is to provide a control system and a control method of an intelligent shield machine to solve the problems of poor perception of information such as strata, insufficient intelligence level, and untimely early warning during construction of existing shield machines.

[0005] A control system for an intelligent shield machine according to the present invention includes a PLC control system, an edge computing terminal device and a cloud service platform. The PLC control system is electrically connected to the sensing elements of a cutterhead system, a propulsion system, a slag discharge system, a pressure maintaining system and a shield auxiliary system, respectively; the edge computing terminal device is electrically connected to the PLC control system, and the edge computing terminal device collects data through the PLC control system and transmits it to the cloud service platform. The edge computing terminal calculates the parameters collected from the PLC control system and outputs instructions to the PLC control system, so that the cutterhead system, the propulsion system, the slag discharge system, the pressure maintaining system and the shield auxiliary system perform actions.

[0006] Furthermore, the cutterhead system includes a cutterhead wear sensing element installed on the cutterhead panel and a tool load sensing element configured on the roller cutter or soft soil cutter; the cutterhead wear sensing element includes a roller cutter wear eddy current sensor for monitoring the tool wear amount and a roller cutter rotation monitoring device for monitoring the tool rotation state; the tool load sensing element is installed on the tool outside the cutterhead for monitoring the cutting load.

[0007] Furthermore, the propulsion system includes a plurality of partitioned oil cylinders, the partitioned pressure of each oil cylinder is independently adjusted, and at least one set of stroke sensors is installed in each partitioned oil cylinder.

[0008] Furthermore, when an earth pressure balance shield is used, slag is discharged by a screw conveyor, and the slag discharge system includes a slag weighing device, a slag volume measuring device, and a video monitoring device installed at the slag discharge port; when a slurry balance shield is used, the slag discharge system includes a flow meter, a density meter, and a weighing device and a video monitoring device installed at the slurry treatment station.

[0009] Furthermore, when an earth pressure balance shield is used, the pressure maintaining system includes an earth pressure sensor; when a slurry balance shield is used, the pressure maintaining system includes a pressure controller, and the PLC control system can directly write the pressure target value to the pressure controller.

[0010] Furthermore, the shield auxiliary system includes a guiding system and a grouting system.

[0011] Furthermore, the edge computing terminal device includes a GPU, a CPU, a storage, a display, a communication module and a computing program; the edge computing terminal device communicates with the PLC control system to obtain equipment operation status information, and sends it to the cloud service platform through the communication module. The computing program includes a shield trajectory control module, a pressure control module, and a tunneling control module. The edge computing terminal device recommends tunneling control parameters through edge computing and writes them into the PLC control system, and then the specific system executes the corresponding actions.

[0012] Furthermore, the cloud service platform is used to store, count and analyze the operating data of the shield equipment, set warning values ​​for the total thrust, torque, excavation speed and support pressure of the shield, and after the warning is triggered, a warning can be sent to the edge computing terminal device and displayed, or a warning message can be pushed through information, email, etc.

[0013] A control method of an intelligent shield machine according to the present invention, based on the above-mentioned intelligent shield machine control system, specifically comprises the following steps:

[0014] a. Input the proposed tunnel route according to the tunnel design route;

[0015] b. Input the geological survey data of each position along the tunnel line according to the geological survey data of the tunnel;

[0016] c. Check the wear of the cutterhead panel, tool wear and rotation, and confirm that there are no abnormalities in the cutterhead and tool before starting excavation;

[0017] d. Based on the geological survey data of the shield's current route position, the stratum in which the shield is located is determined, and the tunneling control program is used to recommend the initial rotation speed and propulsion speed of the cutterhead. Subsequently, based on the load data obtained by the load sensing element, the slag mouth position video monitoring device or the slurry treatment station video monitoring, the edge computing terminal device uses the CNN image recognition algorithm to further identify the stratum, adjust the recommended values ​​of the cutterhead rotation speed and cylinder propulsion speed, and write the recommended values ​​into the PLC to adjust the cutterhead system and propulsion system.

[0018] e. The shield guidance system data is transmitted to the edge computing terminal device via the PLC control system. The current position is compared with the planned route position. The shield trajectory control algorithm is used to calculate and the edge computing terminal gives the recommended pressure value for each cylinder zone. After the recommended value is written to the PLC, the propulsion system executes the corresponding action.

[0019] f. The edge computing terminal device calculates the support pressure at the current position based on the current position information and the recorded geological survey data. After the recommended value is written into the PLC, the PLC control system modifies the target pressure value of the pressure maintaining system to adjust the pressure;

[0020] Pressure target value = p w +p s =γ w ×H w +K0×[(γ-γ w )×H w +(HH w )×γ];

[0021] The target pressure value is the water and soil pressure at a certain depth in front of the excavation face, unit is kPa; P w is the groundwater pressure, kPa; P s is the static lateral pressure of soil, kPa; γ w is the density of water; H w is the height of groundwater; K0 is the static earth pressure coefficient; γ is the density of soil; H is the height of the calculation point;

[0022] g. The equipment operation status information in the PLC control system is transmitted to the cloud service platform through the communication module of the edge computing terminal device. The cloud service platform performs big data analysis on the equipment operation status information and outputs the project progress information, project reports, and statistics of related parameters. At the same time, shield engineering personnel set early warnings for shield operation parameters, and information can be pushed when the relevant parameters meet the trigger conditions.

[0023] The technical solution of the present invention has the following advantages compared with the prior art:

[0024] The present invention addresses the industry problems of existing shield machines, such as poor stratum perception, low intelligence level, and reliance on experience in operation. The present invention proposes a control system for an intelligent shield machine. By improving the existing shield machine, adding sensing elements, measuring devices, and edge computing terminals, and using a cloud service platform for engineering management and early warning, the intelligence, scientific nature, and construction safety of the shield machine operation are improved. The control system of the intelligent shield machine of the present invention can perceive rock and soil changes to a certain extent, and is configured with edge terminal computing equipment. On the one hand, it can locally calculate key shield tunneling parameters with low latency and control the key shield systems through a PLC control system. At the same time, it can use the edge computing terminal to realize the transmission of shield equipment operating parameters in the PLC to the cloud platform, and rely on the cloud platform for engineering management and early warning and other functions. It requires little modification to existing shield equipment, is low in cost, can achieve a certain degree of intelligence, and has positive significance for the future intelligent tunneling and unmanned tunneling of shield machines. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation of the present invention.

[0026] Figure 1 It is the control principle diagram of the present invention;

[0027] Figure 2 is a control flow chart of the present invention; DETAILED DESCRIPTION

[0028] The following is combined with Figure 1-2 The specific embodiments of the present invention are described in detail. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0029] A control system for an intelligent shield machine according to the present invention includes a PLC control system, an edge computing terminal device and a cloud service platform. The PLC control system is electrically connected to the sensing elements of a cutterhead system, a propulsion system, a slag discharge system, a pressure maintaining system and a shield auxiliary system, respectively; the edge computing terminal device is electrically connected to the PLC control system, and the edge computing terminal device collects data through the PLC control system and transmits it to the cloud service platform. The edge computing terminal calculates the parameters collected from the PLC control system and outputs instructions to the PLC control system, so that the cutterhead system, the propulsion system, the slag discharge system, the pressure maintaining system and the shield auxiliary system perform actions.

[0030] The cutterhead system includes a cutterhead wear sensing element installed on the cutterhead panel and a tool load sensing element configured on the roller cutter or soft soil cutter; the cutterhead wear sensing element includes a roller cutter wear eddy current sensor for monitoring the tool wear amount and a roller cutter rotation monitoring device for monitoring the tool rotation state; the tool load sensing element is installed on the tool outside the cutterhead and is used to monitor the cutting load.

[0031] The propulsion system includes multiple partitioned oil cylinders, the partitioned pressure of each oil cylinder is independently adjusted, and at least one set of stroke sensors is installed in each partitioned oil cylinder.

[0032] When an earth pressure balance shield is used, slag is discharged by a screw conveyor. The slag discharge system includes a slag weighing device, a slag volume measuring device, and a video monitoring device installed at the slag discharge port. When a slurry balance shield is used, the slag discharge system includes a flow meter, a density meter, and a weighing device and a video monitoring device installed at the slurry treatment station.

[0033] When an earth pressure balance shield is used, the pressure maintaining system includes an earth pressure sensor; when a slurry balance shield is used, the pressure maintaining system includes a pressure controller, and the PLC control system can directly write the pressure target value to the pressure controller.

[0034] The shield auxiliary system includes other shield systems such as the guide system and the grouting system. This type of system is a system on the existing shield.

[0035] The edge computing terminal device includes a GPU, a CPU, a storage, a display, a communication module (including a 5G communication module) and a computing program; the edge computing terminal device communicates with the PLC control system to obtain equipment operation status information, and sends it to the cloud service platform through the communication module. The computing program includes a shield trajectory control module, a pressure control module, and a tunneling control module. The edge computing terminal device recommends tunneling control parameters through edge computing and writes them into the PLC control system, and then the specific system executes the corresponding actions.

[0036] The cloud service platform is used to store, count and analyze the operating data of shield equipment, set warning values ​​for the total thrust, torque, tunneling speed and support pressure of the shield, and after the warning is triggered, a warning can be sent to the edge computing terminal device and displayed, or a warning message can be pushed via text message, email, etc.

[0037] A control method for an intelligent shield machine, based on the aforementioned intelligent shield control system, adds corresponding sensing elements and weighing devices to the cutterhead system, propulsion system, slag discharge system, and pressure-maintaining system in accordance with the control system of the aforementioned intelligent shield machine. A PLC control system is electrically connected to the additional sensing elements, and the pressure-maintaining system's target pressure value is modified from being manually adjusted to being directly written into the PLC control system.

[0038] The control method of the intelligent shield in this embodiment specifically includes the following steps:

[0039] a. Input the proposed tunnel route according to the tunnel design route;

[0040] b. Input the geological survey data of each position along the tunnel line according to the geological survey data of the tunnel;

[0041] c. Check the wear of the cutterhead panel, tool wear and rotation, and confirm that there are no abnormalities in the cutterhead and tool before starting excavation;

[0042] d. Based on the geological survey data of the shield's current route position, the stratum in which the shield is located is determined, and the tunneling control program is used to recommend the initial rotation speed and propulsion speed of the cutterhead. Subsequently, based on the load data obtained by the load sensing element, the slag mouth position video monitoring device or the slurry treatment station video monitoring, the edge computing terminal device uses the CNN image recognition algorithm to further identify the stratum, adjust the recommended values ​​of the cutterhead rotation speed and cylinder propulsion speed, and write the recommended values ​​into the PLC to adjust the cutterhead system and propulsion system.

[0043] e. The shield guidance system data is transmitted to the edge computing terminal device via the PLC control system. The current position is compared with the planned route position. The shield trajectory control algorithm is used to calculate and the edge computing terminal gives the recommended pressure value for each cylinder zone. After the recommended value is written to the PLC, the propulsion system executes the corresponding action.

[0044] f. The edge computing terminal device calculates the support pressure at the current position based on the current position information and the recorded geological survey data. After the recommended value is written into the PLC, the PLC control system modifies the target pressure value of the pressure maintaining system to adjust the pressure;

[0045] Pressure target value = p w +p s =γ w ×H w +K0×[(γ-γ w )×H w +(HH w )×γ];

[0046] The target pressure value is the water and soil pressure at a certain depth in front of the excavation face, unit is kPa; P w is the groundwater pressure, kPa; Ps is the static lateral pressure of soil, kPa; γ w is the density of water; H w is the height of groundwater; K0 is the static earth pressure coefficient; γ is the density of soil; H is the height of the calculation point;

[0047] g. The equipment operation status information in the PLC control system is transmitted to the cloud service platform through the communication module of the edge computing terminal device. The cloud service platform performs big data analysis on the equipment operation status information and outputs the project progress information, project reports, and statistics of related parameters. At the same time, shield engineering personnel set early warnings for shield operation parameters. When the relevant parameters meet the trigger conditions, information can be pushed to improve the safety of construction.

[0048] The above describes in detail the intelligent shield machine and its control system provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only intended to help understand the method and core concept of the present invention. It should be noted that those skilled in the art can make various improvements and modifications to the present invention without departing from the principles of the present invention, and such improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A control method for an intelligent shield machine, which is implemented based on an intelligent shield machine control system. The intelligent shield machine control system includes a PLC control system, an edge computing terminal device, and a cloud service platform, and is characterized by: The PLC control system is electrically connected to the sensing elements of the cutterhead system, the propulsion system, the slag discharge system, the pressure maintaining system, and the shield auxiliary system respectively; the edge computing terminal device is electrically connected to the PLC control system, the edge computing terminal device collects data through the PLC control system and transmits it to the cloud service platform, the edge computing terminal device calculates the parameters collected from the PLC control system and outputs instructions to the PLC control system, so that the cutterhead system, the propulsion system, the slag discharge system, the pressure maintaining system, and the shield auxiliary system perform actions; The specific steps include: a. Input the proposed tunnel route according to the tunnel design route; b. Input the geological survey data of each position along the tunnel line according to the geological survey data of the tunnel; c. Check the wear of the cutterhead panel, tool wear and rotation, and confirm that there are no abnormalities in the cutterhead and tool before starting excavation; d. Based on the geological survey data of the shield machine's current route position, the stratum in which the shield machine is located is determined, and the tunneling control program is used to recommend the initial rotation speed and propulsion speed of the cutterhead. Subsequently, based on the load data obtained by the tool load sensing element, the video monitoring device at the slag outlet position or the video monitoring device at the slurry treatment station uses the CNN image recognition algorithm through the edge computing terminal device to further identify the stratum, adjust the recommended values ​​of the cutterhead rotation speed and cylinder propulsion speed, and write the recommended values ​​into the PLC. e. The guidance system data of the shield auxiliary system is transmitted to the edge computing terminal device via the PLC control system. The current position is compared with the planned route position. After the shield trajectory control algorithm is calculated, the edge computing terminal device gives the recommended pressure value for each cylinder zone of the propulsion system. After the recommended value is written to the PLC, the propulsion system executes the corresponding action; f. The edge computing terminal device calculates the support pressure at the current position based on the current position information and the recorded geological survey data. After the recommended value is written into the PLC, the PLC control system modifies the pressure target value of the pressure maintaining system to adjust the pressure; the pressure target value = P w +P s =γ w ×H w +K0×[(γ-γ w )×H w +(HH w )×γ]; the target pressure value is the water and soil pressure at a certain depth in front of the excavation face, unit is kPa; P w is the groundwater pressure, unit is kPa; P s is the static side pressure of soil, unit is kPa; γ w is the density of water; H w is the height of groundwater; K0 is the static earth pressure coefficient; γ is the density of soil; H is the height of the calculation point; g. The equipment operation status information in the PLC control system is transmitted to the cloud service platform through the communication module of the edge computing terminal device. The cloud service platform performs big data analysis on the equipment operation status information and outputs the project progress information, project reports, and statistics of related parameters. At the same time, shield engineering personnel set early warnings for shield operation parameters, and information can be pushed when the relevant parameters meet the trigger conditions.

2. The control method of the intelligent shield according to claim 1, characterized in that: The cutterhead system includes a cutterhead wear sensing element installed on the cutterhead panel and a tool load sensing element configured on the roller cutter or soft soil cutter; the cutterhead wear sensing element includes a roller cutter wear eddy current sensor for monitoring the tool wear amount and a roller cutter rotation monitoring device for monitoring the tool rotation state; the tool load sensing element is installed on the tool outside the cutterhead and is used to monitor the cutting load.

3. The control method of the intelligent shield according to claim 1, characterized in that: The propulsion system includes multiple partitioned oil cylinders, the partitioned pressure of each oil cylinder is independently adjusted, and at least one set of stroke sensors is installed in each partitioned oil cylinder.

4. The control method of the intelligent shield according to claim 1, characterized in that: When an earth pressure balance shield is used, slag is discharged by a screw conveyor. The slag discharge system includes a slag weighing device, a slag volume measuring device, and a video monitoring device installed at the slag discharge port. When a slurry balance shield is used, the slag discharge system includes a flow meter, a density meter, and a weighing device and a video monitoring device installed at the slurry treatment station.

5. The control method of the intelligent shield according to claim 1, characterized in that: When an earth pressure balance shield is used, the pressure maintaining system includes an earth pressure sensor; when a slurry balance shield is used, the pressure maintaining system includes a pressure controller, and the PLC control system can directly write the pressure target value to the pressure controller.

6. The control method of the intelligent shield according to claim 1, characterized in that: The shield auxiliary system includes a guiding system and a grouting system.

7. The control method of the intelligent shield according to claim 1, characterized in that: The edge computing terminal device includes a GPU, a CPU, a storage, a display, a communication module and a computing program; the edge computing terminal device communicates with the PLC control system to obtain equipment operation status information, and sends it to the cloud service platform through the communication module. The computing program includes a shield trajectory control module, a pressure control module, and a tunneling control module. The edge computing terminal device recommends tunneling control parameters through edge computing and writes them into the PLC control system, and then the specific system executes the corresponding actions.

8. The control method of the intelligent shield according to claim 1, characterized in that: The cloud service platform is used to store, count and analyze the operating data of shield equipment, set warning values ​​for the total thrust, torque, tunneling speed and support pressure of the shield, and after the warning is triggered, a warning can be sent to the edge computing terminal device and displayed, or a warning message can be pushed via text message or email.

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