An intelligent control for shield settlement and a distributed control network

Abstract

The present invention relates to an intelligent control for shield settlement and a distributed control network, belonging to the technical field of shield settlement control. The present invention breaks through the traditional shield settlement control theory. In the shield construction settlement control method, a "3 + 1" model of [muck discharge balance ratio + shield body filling rate + shield tail filling rate + formation loss control coefficient] is adopted to characterize formation loss, so as to realize an automatic shield settlement control system. The present invention can achieve intelligent and highly secure shield construction and tunneling, and perform safe operations without affecting the ground and surrounding structures and buildings.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control of shield settlement. Background Art

[0002] Traditional Shield Settlement Control Theory and Its Limitations

[0003] The mechanism of the influence of shield construction on ground settlement is very complex. Generally, it is considered that the ground loss caused by shield construction and the re - consolidation of the surrounding soil strata caused by shield disturbance are the fundamental reasons for ground settlement; for soft soil strata with a relatively deep burial depth, the ground loss caused by shield construction is the main factor leading to ground settlement. Ground loss is the difference between the volume of the excavated soil by the shield and the volume of the built tunnel. The volume of the built tunnel includes the volume of filling materials such as synchronous grouting wrapped around the tunnel periphery. The ground loss rate is the percentage of the ground loss to the theoretical soil discharge volume of the shield.

[0004] In the current mainstream shield settlement control theory in the industry, Peck's theory believes that under ideal assumptions, the volume of surface settlement caused by shield construction should be equal to the volume of ground loss, and it is assumed that the ground loss is evenly distributed along the tunnel length, and the lateral distribution of the ground settlement trough presents the form of a normal distribution curve. Then the ground loss rate is:

[0005]

[0006] In this empirical formula, R is the ground loss rate, i is the width of the surface settlement trough, S max is the maximum surface settlement value, and V is the cross - sectional area of the shield.

[0007] Peck's theory based on the concept of ground loss rate has three major limitations in the actual application process:

[0008] 1) It cannot be directly measured. It can only be calculated by manually measuring i and S max and cannot be automatically measured through technical means such as sensors.

[0009] 2) Its calculation cannot be accurate. In actual projects, the surface of the area where the shield passes through is often roads, waterweeds, rivers, mud, buildings, etc., resulting in the inability to accurately identify the ground settlement trough, or even the inability to measure it at all.

[0010] 3) Its calculation is seriously lagged. The shield surface settlement has hysteresis. Generally, it takes 1 week to 1 month after the shield passes through for the influence of ground loss to be gradually and completely transmitted to the surface. Calculating the shield ground loss rate through the ground settlement trough at this time has no foresight and has no practical risk control significance for shield construction and passing through.

[0011] Industry Development and Its Safety Requirements

[0012] The Shanghai urban rail transit mainly consists of underground shield tunnel projects, with complex working conditions and high safety requirements. For example, the tunnel-bridge ratio of the Airport Link is 96.6%, and all of the Jiading-Minhang Line are underground shield tunnel projects. The shield of the Airport Line passes through as many as 137 sensitive structures in the urban center area, and the shield of the Jiading-Minhang Line passes through as many as 186. Among them, the shield of the Airport Line runs parallel to the Shanghai-Hangzhou High-Speed Railway for up to 5.8 km, with a control accuracy of up to 2 mm. The risk is high and the difficulty is great. It is clearly stated in the feasibility study, preliminary design and construction plan documents that the ground loss rate should be strictly controlled during shield construction. For example, the ground loss rate of some shield tunneling is less than 3‰. At present, the ground loss rate is a core theoretical index to measure the level of shield construction and whether it can safely pass through sensitive structures, and it is also a clear control index put forward by the design documents for shield construction. Summary of the Invention

[0013] In view of the above deficiencies of the current mainstream shield settlement control theory, this application discloses a brand-new shield settlement control theory and method. The feature is that the present invention breaks through the traditional shield settlement control theory and adopts the "3 + 1" model of

slag discharge balance ratio + shield body filling rate + shield tail filling rate + ground loss control coefficient

[0014] Technical Solution 1

[0015] A shield settlement control model, characterized in that:

[0016] The first part, if the shield machine is a slurry balance shield machine, the model includes

[0017] Among them, i0 is the ground loss control coefficient, ρ1 is the density of the incoming slurry, ρ2 is the density of the discharged slurry, ρ is the formation density, Q1 is the incoming slurry flow rate, Q2 is the discharged slurry flow rate, S0 is the overexcavation area, S1 is the excavation area, S2 is the axial projection area of the shield body gap, S3 is the axial projection area of the shield tail gap, and v is the shield propulsion speed;

[0018] i1 is the slag discharge balance ratio, where ρ1 is the density of the incoming slurry, ρ2 is the density of the discharged slurry, Q1 is the incoming slurry flow rate, Q2 is the discharged slurry flow rate, S0 is the overexcavation area, S1 is the excavation area, v is the shield propulsion speed, and ρ is the formation density;

[0019] i2 is the shield body filling rate, where $Q_1$ is the injection flow rate of a single hole (the $i$-th hole) into the shield body, $S_2$ is the axial projected area of the shield body void, and $v$ is the shield tunneling speed;

[0020] $i_3$ is the shield tail filling rate, where $Q_2$ is the injection flow rate of a single synchronous grouting hole (the $i$-th synchronous grouting hole); $S_3$ is the axial projected area of the shield tail void; $v$ is the shield tunneling speed;

[0021] Second part, if the shield machine is an earth pressure balance shield machine, the model includes

[0022] where $i_0$ is the formation loss control coefficient, $\omega$ is the screw conveyor rotation speed, $m$ is the mass discharged per single rotation of the screw conveyor, $\rho$ is the formation density, $S_0$ is the overexcavation area, $S_1$ is the excavation area, $v$ is the shield tunneling speed, $S_0$ is the overexcavation area, $S_1$ is the excavation area, $S_2$ is the axial projected area of the shield body void, and $S_3$ is the axial projected area of the shield tail void;

[0023] $i_1$ is the slag discharge balance ratio, where $\omega$ is the screw conveyor rotation speed, $m$ is the mass discharged per single rotation of the screw conveyor, $S_0$ is the overexcavation area, $S_1$ is the excavation area, $v$ is the shield tunneling speed, and $\rho$ is the formation density;

[0024] $i_2$ and $i_3$ are the same as those of the slurry shield;

[0025] The above algorithm formulas of $i_0 / i_1 / i_2 / i_3$ constitute the "3 + 1" algorithm model of the present invention [slag discharge balance ratio + shield body filling rate + shield tail filling rate + formation loss control coefficient], which is used to characterize the formation loss generated during the construction of the shield (slurry shield and earth pressure balance shield), so as to control the influence of the shield construction on the soil layer settlement, and is the first in this field.

[0026] Technical solution two

[0027] A shield settlement automatic warning method, characterized in that: based on the algorithm model $i_0 / i_1 / i_2 / i_3$ and its safety index database [a i , b i described in Technical solution one, embed it into the shield construction information system to form a shield settlement automatic warning system, calculate the current values of $i_1 / i_2 / i_3 / i_0$ in real time, and compare them with the indicators in its safety interval in real time. Once it exceeds the warning interval then the shield information system automatically sends a warning message to relevant personnel for shield construction intervention and disposal. The on-site professional personnel check the relevant shield construction parameters in the model and adjust them step by step until $i_1 / i_2 / i_3 / i_0$ returns to the safety interval [a i , b i , when $i_1 / i_2 / i_3 / i_0\in [ai ,b i , the shield safety warning disposal is completed, thereby realizing the safety control of the shield construction and crossing on the settlement of the ground and surrounding structures.

[0028] Technical Solution Three

[0029] A shield settlement intelligent control and distributed control network, characterized in that it consists of a shield information management platform and an intelligent shield machine group. Each shield construction intelligent body of the intelligent shield machine group is distributed at engineering sites across the country; each shield construction intelligent body uses a "3+1" model of [muck discharge balance ratio + shield body filling rate + shield tail filling rate + formation loss control coefficient] to characterize formation loss in shield construction settlement control, and thus designs a shield automatic settlement control system and a shield settlement automatic warning system for risk monitoring and warning running on the shield information management platform.

[0030] Each intelligent shield machine can not only independently control and safely cross the construction ground to ensure the safety of the surrounding building ground; at the same time, the distributed intelligent shield machine group collects operation data from engineering sites across the country, accumulates to form a construction operation database (safety index database), forms a valuable and rich construction data sample, and provides the possibility for further "intelligent" evolution.

[0031] When the "brain" of the intelligent body fails due to a fault, the shield information platform is started to perform the algorithm function of the "shield settlement automatic warning system" of the intelligent body, winning operation time and avoiding delaying the construction period. At the same time, replace the intelligent body hardware, and quickly download and "copy" from the shield information platform to this intelligent body at the same time, so that the intelligent shield machine can be quickly recreated. Brief Description of the Drawings

[0032] Figure 1 It is a schematic diagram of the three regions of the cutter head area, shield body area and shield tail area of the shield equipment

[0033] Figure 2 It is a schematic diagram of the composition and business relationship of the shield settlement intelligent control and distributed control network

[0034] Figure 3 : Figure 2 The shield information management platform in monitors the settlement and gives warnings for each intelligent shield machine

[0035] Figure 4 : Figure 2 The shield intelligent body and its shield settlement automatic control system in Specific Embodiments

[0036] The technical solution of the present invention will be further introduced below in combination with the drawings, general knowledge of shield machines and implementation application examples.

[0037] Introduction to the Working Principle and Construction of Shield Machines in the Industry:

[0038] Shield machines generally have two basic types: slurry shield machines and earth pressure balance shield machines. The main components include a cutter head system, a shield body system (front shield, middle shield, and tail shield), a segment erection system, a propulsion system, a muck removal system, a synchronous grouting system, a Clayshield injection system, a control system, a data acquisition system, a guidance system, etc. Among them, the muck removal system of the slurry shield machine consists of a slurry circulation system and a slurry separation station, and the muck removal system of the earth pressure shield machine consists of a screw conveyor and a belt conveyor system. Communication systems, PLC control systems, data acquisition systems, and human-machine operation interfaces are configured on the shield machine to centralize various data and instructions of the instruments, sensors, and actuators on the shield machine in the driver's cab. Generally, various actuators can be operated through the local machine control panel or the cab control panel.

[0039] The cutter head system rotates to excavate and cut the soil mass. The shield body system protects the space inside the shield machine and supports the equipment and instruments inside the shield machine. The segment erection system is used to install tunnel segments to form an underground tunnel. The propulsion system mainly consists of propulsion cylinders to push the shield machine forward. The muck removal system transfers the soil mass cut by the cutter head outside the shield machine. For a slurry shield machine, the slurry circulation system is used to carry the muck in the form of slurry through the slurry pipeline to the ground slurry separation station for external transportation and treatment. For an earth pressure shield machine, the screw conveyor is used to transport the muck in the cutter head area to the belt conveyor system and then transported out of the tunnel by a transport trolley for treatment.

[0040] With the development of the industry, for example, in the Shanghai Urban Rail Transit project, the excavation diameter of the cutter head of the super-large diameter shield machine is 50 - 60 mm larger than the shield body diameter, which is beneficial to reducing the friction during the forward movement of the shield body. As a result, a construction gap is formed in the shield body area. This gap in this sensitive area needs to be filled in time to reduce soil and ground settlement. Generally, the Clayshield system injects fillers from the shield body outward. The Clayshield system consists of instruments such as a power motor, a Clayshield injection pump, a mixing tank, a flow meter, a pressure gauge, and a control panel. Another example is that the tail shield diameter of the shield machine on the Airport Line Link is 370 - 410 mm larger than the segment outer diameter, and as a result, a construction gap is formed in the tail shield area. This gap must be filled in real time to control soil and ground settlement. This gap is filled with mortar in real time by the synchronous grouting system. The synchronous grouting system consists of a hydraulic power unit, a synchronous grouting pump, a counting sensor, a pressure sensor, a control panel, etc.

[0041] The Theoretical Basis and Application Direction of the Algorithm Model of the Present Invention:

[0042] During the normal construction of the shield machine, controlling ground loss essentially means controlling the construction gaps formed during shield construction in real time. According to the characteristics of the shield machine, the gaps formed during shield construction can be divided into three regions: the cutter head area, the shield body area, and the tail shield area, asFigure 1 In the cutter head area, there should be a matching between the shield mud water circulation (or the screw conveyor soil discharge for earth pressure balance shield machines) and the shield propulsion speed to ensure that the amount of soil on the cutting face in the cutter head area is equal to the amount of slag discharged by the mud water circulation system, so as to ensure that the void excavated by the cutter head is filled in time by the forward movement of the machine head; in the shield body area, there should be a matching between the injection amount of shield fillers such as ClayEfficiency and the shield propulsion speed (taking ClayEfficiency as an example) to ensure that the formed shield voids are filled in time; in the tail shield area, there should be a matching between the synchronous grouting injection and the shield propulsion speed to ensure that the formed tail shield voids are filled in time. The present invention controls the real-time filling of the voids in the above three areas by directly associating with shield construction parameters, realizes the real-time control of formation loss in shield construction, and thus essentially controls the soil or ground settlement during shield construction in real time.

[0043] The shield settlement control model first disclosed by the present invention:

[0044] For slurry shield machines, the model is:

[0045]

[0046]

[0047] For earth pressure balance shield machines, the model is:

[0048]

[0049] The specific descriptions and acquisition channels of the parameters involved in the formulas in the above models are as follows (Table 1):

[0050]

[0051]

[0052] Note: 1, r is the cutter head excavation diameter, l is the extension of the over-excavation cutter, and θ is the over-excavation angle;

[0053] 2, S1 = π×r 2 , S2 = S1 - π×d1 2 , S3 = S1 - π×d2 2 , where r is the cutter head excavation radius, d1 is the shield body diameter, and d2 is the segment outer diameter;

[0054] 3, β is the inclination coefficient, is the muck filling coefficient, ρ is the geological density, D is the effective radius of the screw conveyor blade, and H is the screw pitch of the screw conveyor

[0055] The derivation process of the algorithm model of the present invention (i.e., theoretical verification):

[0056] (Taking the Knifing Effect as an Example)

[0057] Step 1: In the cutter head area, the amount of soil on the cutting face is equal to the amount of slag discharged by the mud circulation system. For a slurry shield, it is determined by Formula 1; for an earth pressure balance shield, it is determined by Formula 2:

[0058] Formula 1: (S0×v + S1×v)×ρ = ρ2×Q2 - ρ1×Q1

[0059] Formula 2: (S0×v + S1×v)×ρ = ω×m

[0060] Step 2: In the shield body area, there should be a match between the injection volume of the Knifing Effect and other shield body fillers and the shield tunneling speed, which is determined by Formula 3:

[0061] Formula 3:

[0062] Step 3: In the shield tail area, there should be a match between the synchronous grouting injection and the shield tunneling speed, which is determined by Formula 4:

[0063] Formula 4:

[0064] Step 4: Based on the overall accumulation of the three areas and the above formulas, Formulas 5 and 6 are obtained respectively:

[0065] Formula 5: ——Slurry Shield

[0066] Formula 6: ——Earth Pressure Balance Shield

[0067] Step 5: Convert Formulas 1, 2, 3, 4, 5, and 6 as follows:

[0068] Formula 7: i1 is the slag discharge balance ratio, applicable to slurry shields

[0069] Formula 8: i1 is the slag discharge balance ratio, applicable to earth pressure balance shields

[0070] Formula 9: i2 is the shield body filling rate

[0071] Formula 10: i3 is the shield tail filling rate

[0072] Formula 11: i0 is the formation loss control coefficient, applicable to slurry shields

[0073] Formula 12: $i_0$ is the formation loss control coefficient, applicable to earth pressure balance shield tunneling.

[0074] Step 6: The above $i_1 / i_2 / i_3 / i_0$ algorithm formulas form a "3 + 1" model of [muck discharge balance ratio + shield body filling rate + shield tail filling rate + formation loss control coefficient] to replace the formation loss rate for controlling the formation loss generated during shield tunneling. Based on the algorithm model of the present invention, it is implanted into the shield information management platform or even embedded in the shield machine PLC system or implanted into the hardware and then interacts with the shield machine control system. Through real-time collection of relevant parameters, the information platform or the shield machine can calculate the values of $i_1 / i_2 / i_3 / i_0$ in real time.

[0075] Step 7: Ideally, the indicators of $i_1 / i_2 / i_3 / i_0$ should be equal to 1. However, geological conditions, shield burial depth, shield filling materials and their ratios, etc. also have certain influences on the above indicators. According to different geological conditions, the safety control index ranges of $i_1 / i_2 / i_3 / i_0 = i$ i ∈[a i , b i , where a i , b i are respectively the lower limit value and the upper limit value of the safety interval of $i$, i and a safety index database [a i , b i for different geological conditions and burial depths of soft soil can be established through data accumulation of multiple projects. Generally, based on preliminary construction experience and economic considerations, i $i$ i can be initially taken as, for example, $i_1∈[0.9, 1.1]$, $i_2∈[0, 1.1]$, $i_3∈[1.1, 1.3]$, $i_0∈[1, 1.2]$. As the relevant data in the present invention accumulates during shield tunneling, the safety index database can be further corrected and enriched, which can more accurately guide shield tunneling and risk control under different geological conditions and working conditions.

[0076] Step 8: Embed the above "3 + 1" algorithm model $i_1 / i_2 / i_3 / i_0$ and the safety index database [a i , b i into the shield construction information system to calculate the current values of $i_1 / i_2 / i_3 / i_0$ in real time. When $i$ exceeds the warning interval, i , b i , the shield information system will automatically send a warning message to relevant personnel for shield construction intervention and disposal. The on-site professional personnel will check the relevant shield construction parameters in the model and adjust them step by step until $i_1 / i_2 / i_3 / i_0$ returns to the safety interval [a i , b i , b i, the shield safety warning disposal is completed, thus realizing the safety control of shield construction and tunneling on the ground and surrounding structures.

[0077] Step Nine: Convert the above "3 + 1" algorithm models i1 / i2 / i3 / i0 into computer code language and embed them into the shield machine PLC system or separately implant them into a hardware system for interaction with the shield machine PLC system to form an automatic shield settlement control system, automatically realizing the refined control of i1 / i2 / i3 / i0. When this happens, the automatic control system automatically issues commands to start the relevant actuators of the shield machine through the PLC system for negative feedback adjustment until In this way, a revolutionary breakthrough in the automatic settlement control technology of shield machines is achieved.

[0078] Embodiment 3: An intelligent control and distributed control network for shield settlement

[0079] It consists of a shield information management platform and an intelligent shield machine group. Each shield construction intelligent body of the intelligent shield machine group is distributed at engineering sites across the country;

[0080] For the intelligent settlement control shield machine in service at the construction site, its control room is equipped with a PLC control system, a data acquisition system, and an automatic settlement control system. At the same time, various sensors for monitoring the operating states of the propulsion system, mud circulation system, Claysol injection system, and synchronous grouting system are arranged on the intelligent settlement control shield machine, as well as actuators corresponding to regulating the operating states of each system;

[0081] The shield information platform serving project management is provided with a shield machine database, a geological exploration information database, a geographic information system (GIS system), a construction operation database, and an automatic settlement warning system; the automatic settlement warning system is connected to the shield machine database, the construction operation database, and the geological exploration information database;

[0082] The shield machine database includes registered and in-service shield machines, information on purchased or leased shield machine equipment, configuration files corresponding to each shield machine on record, and geographical location information of the task location; the configuration files are prefabricated with parameter information such as the front shield diameter d1, the tail shield diameter d2, the overexcavation angle θ, the cutterhead excavation diameter r, and the overexcavation cutter extension amount l;

[0083] For the distributed intelligent shield machine, the current working conditions and equipment operation data obtained in real time by its on-board various sensors are stored in the data acquisition system and synchronously uploaded to the construction operation database via the data acquisition system; the current working conditions and equipment operation data uploaded by the data acquisition system include the shield propulsion speed v, the inlet mud density ρ1, the outlet mud density ρ2, the inlet mud flow rate Q1, the outlet mud flow rate Q2, the single-hole injection flow rate of shield body injection The single-hole injection flow rate of synchronous grouting

[0084] Meanwhile, the construction operation database also includes a safety index database; the safety index database stores and accumulates index thresholds [α i ,b i applicable to different geological conditions and shield machine models; the safety index database updates the index thresholds [α i ,b i ; the safety index database also includes recommended target values k of regulation indexes i and other parameter information, and the target value k of the regulation index i is within the range of the index thresholds [a i ,b i .

[0085] The geological exploration information database includes engineering geological exploration data, including formation density ρ;

[0086] The shield settlement automatic early warning system includes a calculation system, a risk determination and early warning system; the calculation system includes an algorithm model; the calculation system retrieves the configuration file information corresponding to each shield machine, and calculates the over-excavation area S0, the excavation area S1, the axial projection area S2 of the shield body gap, and the axial projection area S3 of the tail gap of the shield; the calculation system inputs the calculated over-excavation area S0, excavation area S1, axial projection area S2 of the shield body gap, axial projection area S3 of the tail gap of the shield corresponding to each shield machine, as well as the current working conditions and equipment operation data of each shield machine into the algorithm model, and after running, obtains the current i1 / i2 / i3 / i0 values; the risk determination and early warning system uses the current i1 / i2 / i3 / i0 values to compare with the index thresholds [a i ,b i in the safety index database, and judges the construction operation status of the current on-site shield machine after comparison:

[0087] When i i exceeds the warning interval an early warning prompt and operation prompts for relevant shield construction parameters in the model will be sent through the shield information platform to guide relevant personnel to carry out shield construction intervention and disposal. The on-site professional personnel holding the operation client will check the relevant shield construction parameters in the model and gradually adjust them, and the corresponding actuators will be adjusted through the PLC control system in the control room;

[0088] Cyclic closed-loop feedback;

[0089] Until the current working conditions and equipment operation data obtained in real time by various sensors are provided to the shield information platform system, and the current i1 / i2 / i3 / i0 returns to the safe interval [a i ,b i , that is, when i i∈[a i ,b i , the shield settlement automatic warning system completes the shield safety warning disposal;

[0090] For the in-service intelligent settlement control shield machines in various places, their settlement automatic control systems download from or request to push the current latest index thresholds in the calculation system and safety index database, the formation density ρ of the location, and the configuration file to the shield information platform; the shield settlement automatic control system is respectively connected to the local PLC control system and data acquisition system of the intelligent settlement control shield machine where it is located, and the PLC control system is controlled by the shield settlement automatic control system;

[0091] The data acquisition system collects and stores the current working conditions and equipment operation data obtained by various sensors at the bottom layer, including the shield propulsion speed v, the inlet mud density ρ1, the discharge mud density ρ2, the inlet mud flow rate Q1, the discharge mud flow rate Q2, the single-hole injection flow rate of shield body injection The single-hole injection flow rate of synchronous grouting

[0092] The calculation system retrieves the configuration file information and calculates the overexcavation area S0, the excavation area S1, the axial projection area S2 of the shield body gap, and the axial projection area S3 of the shield tail gap; the calculation system inputs the calculated overexcavation area S0, excavation area S1, axial projection area S2 of the shield body gap, axial projection area S3 of the shield tail gap, and the current working conditions and equipment operation data provided by the data acquisition system into the algorithm model, and after running, obtains the current i i value (including i1 / i2 / i3 / i0 value), which characterizes the current construction operation state of the shield machine:

[0093] Only when i i ≠k i , the shield settlement automatic control system adjusts the PLC control system according to the relevant shield construction parameters in the algorithm model, and the PLC control system adjusts the corresponding actuators;

[0094] Cyclic closed-loop feedback, continuously approaching through negative feedback and finally stabilizing at i i =k i , so that the shield settlement automatic control system adaptively adjusts and enters the optimal safe operation state.

[0095] Each intelligent shield machine can not only be independently controlled and safely pass through the construction ground, ensuring the safety of the surrounding building ground; at the same time, the distributed intelligent shield machine group collects the operation data of engineering sites across the country, accumulates and forms a construction operation database (safety index database), forming a valuable and rich construction data sample, providing the possibility for further "intelligent" evolution.

[0096] Data communication is formed between the shield tunneling information platform and the distributed intelligent shield tunneling machine group to monitor and control the operation of shield tunneling construction and the crossing of the ground and surrounding structures across the country.

[0097] Another implementation method: The shield tunneling information platform builds a database of global geological exploration data information, and downloads the formation density ρ of the location where the intelligent body of the shield tunneling machine is located through the Internet or communication module for the shield tunneling machine intelligent body that has established a business connection with it; before the task execution starts, each intelligent body to be put into service uploads the shield tunneling machine attribute information and the earth position information to the "shield tunneling machine database" of the shield tunneling information platform and marks the starting position on the geographic information system (GIS system), returns to obtain the number ID in the "shield tunneling machine database", writes it into the acquisition information system of the shield tunneling machine, and at the same time returns the formation density ρ of the location where it is located and writes it into the configuration file.

[0098] When the "brain" of the intelligent body fails due to a malfunction, the shield tunneling information platform is started to execute the algorithm function of the "automatic shield settlement early warning system" of the intelligent body, winning the operation time and avoiding delaying the construction period. At the same time, replace the intelligent body hardware, and quickly "copy" and download it from the shield tunneling information platform to the intelligent body, so that the intelligent shield tunneling machine can be quickly recreated.

[0099] As an embodiment, the technical solution of the present application may further include an operation client; by way of example and not limitation, it may be a mobile client such as a mobile phone or a PAD, or it may also be a PC terminal. The usage page of the shield tunneling information platform can display the current i1 / i2 / i3 / i0 values; the operation client can receive, view, and display the current i1 / i2 / i3 / i0 values.

[0100] As an embodiment, the shield tunneling machine control room WIFI AP hotspot, communication module, etc. are used to connect to external Internet terminals such as mobile phones, PADs, and PCs.

[0101] Inside the shield tunneling machine control room, the human-machine interface can display the current i1 / i2 / i3 / i0 values; at the same time, through the communication module of the automatic shield settlement control system, external Internet terminals can receive, view, and display the current i1 / i2 / i3 / i0 values.

[0102] As an embodiment, it is recommended that k i = 1 / 2(a i , + b i ).

[0103] The innovation

[0104] The core originality of the present invention lies in that the present invention proposes an algorithm model.

[0105] The core original algorithm of the present invention constitutes a "3 + 1" shield settlement control model of [slag discharge balance ratio + shield body filling rate + shield tail filling rate + formation loss control coefficient]. It is a brand-new shield settlement control model, which can reflect the formation loss control situation during shield construction in real time, accurately and effectively, and fundamentally solves the limitations of the current shield settlement theory.

Claims

1. An intelligent control for shield settlement and a distributed control network, characterized in that, It consists of a shield tunneling information management platform and an intelligent shield machine group. Each shield construction intelligent agent in the intelligent shield machine group is distributed at engineering sites across the country. In the shield tunneling settlement control, each shield construction intelligent agent adopts a "3 + 1" algorithm model of muck balance ratio + shield body filling rate + shield tail filling rate + formation loss control coefficient to characterize formation loss, and based on this, designs a shield automatic settlement control system and a shield settlement automatic early warning system for risk monitoring and early warning running on the shield tunneling information management platform. The "3 + 1" algorithm model includes: If the shield machine is a slurry balance shield machine: —— Mucking balance ratio If the shield machine is an earth pressure balance shield machine: ——Muck removal balance ratio —— Shield filling rate ——Segment tail filling rate; Among them, ω is the screw conveyor rotation speed, m is the mass discharged per single rotation of the screw conveyor, v is the shield tunneling speed, v is the formation density, ρ1 is the density of the incoming mud, ρ2 is the density of the discharged mud, Q1 is the incoming mud flow rate, Q2 is the discharged mud flow rate, S0 is the over-excavation area, S1 is the excavation area, S2 is the axial projection area of the shield body gap, and S3 is the axial projection area of the tail void. is the single-hole injection flow rate for shield body injection. is the single-hole injection flow rate for simultaneous grouting.

2. The intelligent control for shield settlement and the distributed control network according to claim 1, wherein For the intelligent settlement control shield machine in service at the construction site, its control room is equipped with a PLC control system, a data acquisition system, and a settlement automatic control system. At the same time, various sensors for monitoring the operating states of the propulsion system, slurry circulation system, Claysol injection system, and synchronous grouting system are arranged on the intelligent settlement control shield machine, as well as actuators corresponding to regulating the operating states of each system. Distributed intelligent shield machine, the current working conditions and equipment operation data obtained in real time by various sensors on board are stored in the data acquisition system and synchronously uploaded to the construction operation database via the data acquisition system; the current working conditions and equipment operation data uploaded by the data acquisition system include the shield propulsion speed v, the inlet mud density ρ1, the outlet mud density ρ2, the inlet mud flow rate Q1, the outlet mud flow rate Q2, and the single-hole injection flow rate of the shield body injection Single-hole injection flow rate of synchronous grouting 3. The intelligent control for shield settlement and the distributed control network according to claim 1, characterized in that The shield tunneling information platform serving project management is provided with a shield machine database, a geological exploration information database, a geographic information system, a construction operation database, and a settlement automatic early warning system. The settlement automatic early warning system is connected to the shield machine database, the construction operation database, and the geological exploration information database.

4. The intelligent control of shield settlement and distributed control network according to claim 3, characterized in that, The shield machine database includes registered and in-service shield machines, information on purchased or leased shield machine equipment, configuration files corresponding to each shield machine on record, and geographical location information of the task location. The configuration file is prefabricated with parameter information such as the front shield diameter d1, the tail shield diameter d2, the overexcavation angle θ, the cutterhead excavation diameter r, and the overexcavation cutter extension amount l. Meanwhile, the construction operation database also includes a safety index database; the safety index database stores and accumulates index thresholds applicable to different geological conditions and shield machine models [[a i , b i ; the index thresholds [[a i , b i are updated in the safety index database; the safety index database also includes the target value k i of the recommended control index and parameter information, and the target value k i of the control index is within the range of the index thresholds [[a i , b i .

5. The intelligent control for shield settlement and the distributed control network according to claim 3, characterized in that, The geological exploration information database includes engineering geological exploration data, including formation density ρ.

6. The intelligent control and distributed control network for shield settlement according to claim 1 or 4, characterized in that The shield settlement automatic early warning system includes a calculation system and a risk judgment and early warning system; the calculation system includes an algorithm model; the calculation system retrieves the information of the configuration file corresponding to each shield machine, and calculates the over-excavation area S0, the excavation area S1, the axial projection area S2 of the shield body gap, and the axial projection area S3 of the tail gap of the shield; the calculation system inputs the calculated over-excavation area S0, excavation area S1, axial projection area S2 of the shield body gap, axial projection area S3 of the tail gap of the shield corresponding to each shield machine, as well as the current working conditions and equipment operation data of each shield machine into the algorithm model, and obtains the current i1 / i2 / i3 / i0 value after running, where i0 is the formation loss control coefficient; the risk judgment and early warning system uses the current i1 / i2 / i3 / i0 value to compare with the index threshold i , b i in the safety index database, and judges the construction operation status of the current on-site shield machine after comparison: When i i exceeds the warning range a warning prompt will be sent through the shield information platform and operation prompts for relevant shield construction parameters in the model will be given to guide relevant personnel to conduct shield construction intervention and disposal. The on-site professionals with operation clients will check the relevant shield construction parameters in the model and gradually adjust them. In the control room, the corresponding actuators will be adjusted through the PLC control system; Circular closed-loop feedback; Until the current working conditions and equipment operation data obtained in real time by various sensors are provided to the shield informatization platform system, the current i1 / i2 / i3 / i0 returns to the safe range [a i ,b i . That is, when i i ∈[a i ,b i , the shield settlement automatic warning system completes the shield safety warning disposal.

7. The intelligent control for shield settlement and the distributed control network according to claim 1, wherein For the intelligent settlement control shield machines in service in various places, their settlement automatic control systems download or request to push the current latest index thresholds in the calculation system and the safety index database, the formation density ρ of the location, and the configuration file to the shield tunneling information platform. The shield settlement automatic control system is respectively connected to the local PLC control system and the data acquisition system of the intelligent settlement control shield machine where it is located, and the PLC control system is controlled by the shield settlement automatic control system. The described data acquisition system collects and stores the current working conditions and equipment operation data obtained by various underlying sensors, including the shield tunneling speed v, the density of the incoming mud ρ1, the density of the discharged mud ρ2, the flow rate of the incoming mud Q1, the flow rate of the discharged mud Q2, and the single-hole injection flow rate of the shield body injection The single-hole injection flow rate of the synchronous grouting The computing system retrieves the configuration file information and calculates the over-excavation area S0, the excavation area S1, the axial projection area S2 of the shield gap, and the axial projection area S3 of the tail gap of the shield; the computing system inputs the calculated over-excavation area S0, excavation area S1, axial projection area S2 of the shield gap, axial projection area S3 of the tail gap of the shield, and the current working conditions and equipment operation data provided by the data acquisition system into the algorithm model, and after running, obtains the current i i values include i1 / i2 / i3 / i0 values, which represent the construction operation status of the current shield machine: Only when i i ≠k i , the shield settlement automatic control system adjusts the PLC control system according to the relevant shield construction parameters in the algorithm model, and the PLC control system adjusts the corresponding actuators; Loop closing feedback, continuous negative feedback approaches and finally stabilizes at i i = k i , enabling the shield settlement automatic control system to adaptively adjust and enter the optimal safe operation state.

8. The intelligent shield settlement control and distributed control network according to claim 7, characterized in that k i = 1 / 2(a i + b i ).

9. The intelligent control for shield settlement and the distributed control network according to claim 1, wherein Each intelligent shield machine group can not only be independently controlled and safely pass through the construction ground, ensuring the safety of the surrounding building ground. At the same time, the distributed intelligent shield machine group collects operation data from engineering sites across the country, accumulates to form a construction operation database, and forms a construction data sample.

10. The intelligent control for shield settlement and the distributed control network according to claim 1, characterized in that Another alternative implementation method: The shield information platform builds a database of global geological exploration data information, and downloads the formation density ρ of the location where the shield intelligent body with which it has established a business connection through the Internet or communication module; before the execution of the task starts, each to-be-serviced intelligent body uploads the shield machine attribute information and the earth position information to the "shield machine database" of the shield information platform, marks the starting position on the geographic information system, returns to obtain the number ID in the "shield machine database", writes it into the acquisition information system of the shield machine, and at the same time returns the formation density ρ of the location where it is located and writes it into the configuration file.

11. The intelligent shield settlement control and distributed control network according to claim 1, characterized in that, In view of the fact that the three parameters i1 / i2 / i3 have different weight ratios for the influence on formation settlement, the three parameters are fused as follows: If the shield machine is a slurry balance shield machine: If the shield machine is an earth pressure balance shield machine: i0 is named the formation loss control coefficient, which makes up for the problem of different weights of the influence of i1 / i2 / i3 on formation settlement, making the practical application more instructive.

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