An automatic shield settlement control system

Abstract

The present invention relates to an automatic shield settlement control system, 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 the formation loss, so as to realize the automatic shield settlement control system. The present invention can achieve intelligent and highly reliable shield construction and crossing, and carry out safe operations without affecting the ground and surrounding structures and buildings.

Description

Technical Field

[0001] The present invention relates to the technical field of shield settlement control. 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 deep - buried soft soil strata, the ground loss caused by shield construction is the main factor leading to ground settlement. Ground loss is the difference between the volume of soil excavated by the shield and the volume of the completed tunnel. The volume of the completed tunnel includes the volume of filling materials such as synchronous grouting wrapped around the tunnel periphery. The ground loss rate is the percentage of 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 ground 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 ground settlement trough, S max is the maximum ground 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 measured manually by measuring i and S max to calculate inversely, 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 ground settlement trough being unable to be accurately identified or even measured at all.

[0010] 3) Its calculation is seriously lagging. The ground settlement of the shield 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 leading nature 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 ratio of tunnel to bridge of the Airport Link is 96.6%, and all of the Jiaxing-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 Jiaxing-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, high risks and great difficulties. The feasibility study, preliminary design and construction plan documents all clearly put forward that the formation loss rate should be strictly controlled during shield construction. For example, the formation loss rate of some shield tunneling is less than 3‰. At present, the formation 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 characteristics of the present invention are that it subverts the traditional shield settlement control theory, adopts 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, so as to realize a method for effectively controlling shield construction settlement and discloses an automatic shield settlement control system. The present invention has achieved a revolutionary breakthrough in the automatic shield settlement control technology in the industry.

[0014] Technical Solution 1

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

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

[0017] Among them, i0 is the formation 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 over-excavation 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 muck 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 over-excavation 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 is the injection flow rate of a single hole (the i-th hole) of the shield body injection, S2 is the axial projection area of the shield body gap, and v is the shield propulsion speed;

[0020] $i_3$ is the tail shield filling rate, where is the single-hole injection flow rate of synchronous grouting (the $i$-th synchronous grouting hole); $S_3$ is the axial projection area of the tail shield gap; $v$ 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 projection area of the shield body gap, $S_3$ is the axial projection area of the tail shield gap;

[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, $\rho$ 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 + tail shield filling rate + formation loss control coefficient], which is used to characterize the formation loss generated by shield tunneling (slurry shield and earth pressure balance shield), so as to control the influence of shield tunneling on soil layer settlement, and is the first in the field.

[0026] Technical solution two

[0027] A method for automatic early warning of shield settlement, characterized in that: based on the algorithm models $i_0 / i_1 / i_2 / i_3$ and its safety index database [a i , b i described in Technical solution one, embed it into the shield construction information system to form an automatic shield settlement early 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[a i , b i , the shield safety early 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 super intelligent shield machine, including the existing PLC control system and data acquisition system in the shield machine control room, is provided with various sensors at the bottom layer for monitoring the operating states of the propulsion system, mud water circulation system, Knifield injection system, and synchronous grouting system respectively, as well as actuators corresponding to regulating the operating states of each system; characterized in that, the shield machine control room is also provided with a shield settlement automatic control system and a configuration file; the shield settlement automatic control system includes a calculation system and a safety index database; the calculation system includes an algorithm model; the safety index database stores and accumulates index thresholds [a i , b i applicable to different geological conditions and shield machine models; the shield settlement automatic control system is respectively connected to the PLC control system and the data acquisition system, and the PLC control system is controlled by the shield settlement automatic control system;

[0030] 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 incoming mud density ρ1, the discharged mud density ρ2, the incoming mud flow rate Q1, the discharged mud flow rate Q2, the single-hole injection flow rate of the shield body injection The single-hole injection flow rate of the synchronous grouting

[0031] Among them:

[0032] The staff consult the engineering geological exploration data and write the formation density ρ into the configuration file in advance through the mobile client or the PC operation client; the configuration file is also prefabricated with parameters such as the front shield diameter d1, the tail shield diameter d2, the overexcavation angle θ, the cutter head excavation diameter r, the overexcavation cutter extension amount l, and the target value k of the regulation index i and other parameter information, and the target value k of the regulation index i is within the index threshold [a i , b i ;

[0033] The calculation system retrieves the configuration file information, 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 represents the current construction operation state of the shield machine:

[0034] 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;

[0035] Cyclic closed-loop feedback, continuously approaching through negative feedback and finally stabilizing at i i = k i , enabling the shield settlement automatic control system to adaptively adjust and enter the optimal safe operation state.

[0036] Preferably, k i = 1 / 2(a i + b i ).

[0037] Specifically, the shield machine control room is provided with a WIFI AP hotspot and / or a communication module for connecting to external mobile phones, PADs, and PC Internet terminals. Inside the shield 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 shield settlement automatic control system, external Internet terminals can receive, view, and display the current i1 / i2 / i3 / i0 values.

[0038] Thus, the above technical solutions can achieve intelligent and highly secure shield construction and tunneling operations for the ground and surrounding structures. Brief Description of the Drawings

[0039] Figure 1 It is a schematic diagram showing the three regions of the cutter head area, shield body area, and shield tail area of the shield equipment

[0040] Figure 2 It is the implementation scheme of the shield settlement automatic control system (Example 2 Composition and Application Principle of the Super Intelligent Shield Machine System) Detailed Embodiments

[0041] The technical solutions of the present invention will be further introduced below in conjunction with the drawings, general knowledge of shield machines, and implementation application examples.

[0042] Introduction to the working principle and construction of the industry-standard shield machine:

[0043] There are usually two basic types of shield machines: 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 discharging system, a synchronous grouting system, a Claysol injection system, a control system, a data acquisition system, a guidance system, etc. Among them, the muck discharging system of the slurry shield machine consists of a slurry circulation system and a slurry separation station, etc., and the muck discharging 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 control panel in the operation room.

[0044] 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 discharging system transfers the soil mass cut by the cutter head outside the shield machine. If it is 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 and then carry out external transportation and treatment. If it is 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 the transport trolley for treatment.

[0045] 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 frictional force 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 section needs to be filled in time to reduce soil and ground settlement. Generally, the Claysol system injects fillers from the shield body outward. The Claysol system consists of instruments such as a power motor, a Claysol injection pump, a mixing tank, a flow meter, a pressure gauge, and a control panel, etc.; Another example is that the diameter of the tail shield of the shield machine on the airport line connection line is 370 - 410 mm larger than the outer diameter of the segment. 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 injected by the synchronous grouting system in real time. The synchronous grouting system consists of a hydraulic power unit, a synchronous grouting pump, a counting sensor, a pressure sensor, a control panel, etc.

[0046] The theoretical basis and application direction of the algorithm model of the present invention:

[0047] During the normal construction process of the shield machine, controlling ground loss essentially means controlling the construction gaps formed by shield construction in real time. According to the characteristics of the shield machine, the gaps formed by shield construction can be divided into three areas: the cutter head area, the shield body area, and the tail shield area. As Figure 1。In the cutter head area, the matching of the shield mud water circulation (or the soil discharge by the screw conveyor in the earth pressure balance shield machine) and the shield propulsion speed shall be ensured to make the amount of soil at the cutting face in the cutter head area equal to the amount of slag discharged by the mud water circulation system, so as to ensure that the voids excavated by the cutter head are filled in time by the forward movement of the machine head; in the shield body area, the matching of the injection amount of shield fillers such as Knifiteffect and the shield propulsion speed (taking Knifiteffect as an example) shall be ensured to ensure that the formed voids in the shield body are filled in time; in the shield tail area, the matching of the synchronous grouting injection and the shield propulsion speed shall be ensured to ensure that the formed voids in the shield tail are filled in time. By directly associating with the shield construction parameters, the present invention controls the timely filling of the voids in the above three areas in real time, realizes the real-time control of the ground loss in shield construction, and essentially controls the settlement of the soil body or the ground surface in shield construction in real time.

[0048] The shield settlement control model first disclosed by the present invention:

[0049] For the slurry shield machine, the model is:

[0050]

[0051] For the earth pressure balance shield machine, the model is:

[0052]

[0053] The specific descriptions and acquisition channels of the parameters involved in the formulas in the above models are as follows (Table 1):

[0054]

[0055]

[0056] Note: 1, r is the excavation diameter of the cutter head, l is the extension of the over-excavation cutter, and θ is the over-excavation angle;

[0057] 2, S1 = π×r 2 , S2 = S1 - π×d1 2 , S3 = S1 - π×d2 2 , where r is the excavation radius of the cutter head, d1 is the shield diameter, and d2 is the outer diameter of the segment;

[0058] 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 pitch of the screw conveyor

[0059] The derivation process of the algorithm model of the present invention (i.e., theoretical verification):

[0060] (taking Knifiteffect as an example)

[0061] 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 slurry circulation system. For a slurry shield, it is determined by Formula 1, and for an earth pressure balance shield, it is determined by Formula 2:

[0062] Formula 1: (S0×v + S1×v)×ρ = ρ2×Q2 - ρ1×Q1

[0063] Formula 2: (S0×v + S1×v)×ρ = ω×m

[0064] Step 2: In the shield body area, there should be a matching between the injection volume of cutterhead efficiency and other shield body fillers and the shield tunneling speed, which is determined by Formula 3:

[0065] Formula 3:

[0066] Step 3: In the shield tail area, there should be a matching between the synchronous grouting injection and the shield tunneling speed, which is determined by Formula 4:

[0067] Formula 4:

[0068] Step 4: Based on the overall accumulation in the three areas and the above formulas, Formulas 5 and 6 are obtained respectively:

[0069] Formula 5: ——Slurry shield

[0070] Formula 6 ——Earth pressure balance shield

[0071] Step 5: Convert Formulas 1, 2, 3, 4, 5, and 6 as follows:

[0072] Formula 7: i1 is the slag discharge balance ratio, applicable to slurry shields

[0073] Formula 8: i1 is the slag discharge balance ratio, applicable to earth pressure balance shields

[0074] Formula 9: i2 is the shield body filling rate

[0075] Formula 10: i3 is the shield tail filling rate

[0076] Formula 11: i0 is the formation loss control coefficient, applicable to slurry shields

[0077] Formula 12: i0 is the formation loss control coefficient, applicable to earth pressure balance shields

[0078] Step 6. The "3 + 1" model of [muck discharge balance ratio + shield filling rate + tail shield filling rate + formation loss control coefficient] is composed of the above i1 / i2 / i3 / i0 algorithm formulas to replace the formation loss rate to control the formation loss generated during shield tunneling.

[0079] Based on the algorithm model of the present invention, after being embedded in the shield machine PLC system or implanted into the hardware and interacting with the shield machine control system, the shield machine can calculate the i1 / i2 / i3 / i0 values in real time through real-time acquisition of relevant parameters. (See: Embodiment 2)

[0080] Step 7. Ideally, the indexes of i1 / i2 / i3 / i0 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 indexes. According to different geological conditions, the safety control index ranges of different geological conditions and working conditions are summarized as i1 / i2 / i3 / i0 = 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 different burial depths of soft soil can be established through data accumulation of multiple projects. Generally, based on preliminary construction experience and economic considerations, the initial recommended values of i i can be i1 ∈ [0.9, 1.1], i2 ∈ [0, 1.1], i3 ∈ [1.1, 1.3], i0 ∈ [1, 1.2]. With the progress of shield tunneling and the increase in the accumulation of relevant data in the present invention, the safety index database can be further corrected and enriched to more accurately guide shield tunneling and risk control under different geological conditions and working conditions.

[0081] Application Example Embodiment 2 Super Intelligent Shield Machine Equipped with Shield Settlement Automatic Control System

[0082] A super intelligent shield machine of the present application includes the existing PLC control system and data acquisition system in the shield machine control room, and is provided with various sensors at the bottom layer for monitoring the operating states of the propulsion system, mud water circulation system, Claysol injection system, and synchronous grouting system, as well as actuators corresponding to regulating the operating states of each system; it is characterized in that the shield machine control room is also provided with a shield settlement automatic control system and a configuration file; the shield settlement automatic control system includes a calculation system and a safety index database; the calculation system includes an algorithm model; the safety index database stores and accumulates index thresholds [a i , b i; The shield settlement automatic control system is respectively connected to the PLC control system and the data acquisition system, and the PLC control system is controlled by the shield settlement automatic control system;

[0083] 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 mud inlet density ρ1, the mud discharge density ρ2, the mud inlet flow rate Q1, the mud discharge flow rate Q2, and the single-hole injection flow rate of the shield body injection The single-hole injection flow rate of synchronous grouting

[0084] Where:

[0085] The staff consults the engineering geological exploration data and pre-writes the formation density ρ into the configuration file through the mobile client or the PC operation client; The configuration file also pre-sets parameters such as the front shield diameter d1, the tail shield diameter d2, the overexcavation angle θ, the cutter head excavation diameter r, the overexcavation cutter extension amount l, and the control index target value k i and other parameter information, and the control index target value k i is within the index threshold range of [a i , b i ; (As an example, it is recommended that k i =1 / 2(a i +b i ))

[0086] The calculation system retrieves the configuration file information, 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 represents the construction operation state of the current shield machine:

[0087] 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;

[0088] Cyclic closed-loop feedback, continuously negatively feedback approaching and finally stabilizing at i i =k i , so that the shield settlement automatic control system adaptively adjusts to enter the optimal safe operation state.

[0089] As an embodiment, the WIFI AP hotspot, communication module, etc. in the shield machine control room are used to connect to external Internet terminals such as mobile phones, PADs, and PCs.

[0090] Inside the shield 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 shield settlement automatic control system, external Internet terminals can receive, view, and display the current i1 / i2 / i3 / i0 values.

[0091] Thus, the above technical solutions can achieve intelligent and highly secure shield construction and safe operation of tunneling through the ground and surrounding structures.

[0092] The innovation of the present invention

[0093] The core originality lies in that the present invention proposes an algorithm model.

[0094] The core original algorithm of the present invention constitutes a "3 + 1" shield settlement control model of [muck balance ratio + shield body filling rate + shield tail filling rate + formation loss control coefficient], which is a brand-new shield settlement control model. This model can reflect the formation loss control situation of shield construction in real time, accurately, and effectively, fundamentally solving the limitations of the current shield settlement theory, and providing a key technical path for the shield settlement automatic control technology. Therefore, it necessarily has novelty, creativity, and advancement, and has great revolutionary scientific guiding significance for the safety risk control of shield projects.

Claims

1. An automatic shield settlement control system, characterized in that, In the shield tunneling settlement control, 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 the formation loss, and based on this, a shield automatic settlement control system is designed; The said "3 + 1" model includes: If the shield machine is a slurry balance shield machine: If the shield machine is an earth pressure balance shield machine: where ω is the rotational speed of the screw conveyor, m is the mass discharged per revolution of the screw conveyor, v is the shield tunneling speed, ρ 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 overexcavation area, S1 is the excavation area, S2 is the axial projection area of the shield gap, and S3 is the axial projection area of the tail gap. is the flow rate injected into the i-th hole in a single hole of the shield injection. is the flow rate injected into the i-th simultaneous grouting hole in a single hole of the simultaneous grouting. i1 / i2 / i3 are directly and real-time automatically calculated, and the formation loss rate is equivalently transformed into the muck discharge balance ratio + shield body filling rate + shield tail filling rate. These three are directly and real-time directly related to the shield machine parameters, thus generating a new concept of real-time control of shield settlement; In view of the different weight ratios of the three parameters i1 / i2 / i3 on the 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 the formation settlement, making the practical application more guiding.

2. The shield settlement automatic control system according to claim 1, wherein the control room of the shield machine is equipped with a PLC control system and a data acquisition system; Meanwhile, various sensors are provided at the bottom layer of the shield machine for monitoring the operating states of the propulsion system, slurry circulation system, CSM injection system, and synchronous grouting system; And various actuating mechanisms for supporting the operation of the shield machine; Characterized in that, The shield settlement automatic control system and the configuration file are installed in the control room of the shield machine.

3. The automatic shield settlement control system as claimed in claim 1, characterized in that, The shield settlement automatic control system includes a calculation system and a safety index database; The calculation system includes an algorithm model; The safety index database stores and accumulates index thresholds applicable to different geological conditions and shield machine models [[a i , b i .

4. The automatic shield settlement control system according to claim 2, wherein The shield settlement automatic control system is connected to the PLC control system and the data acquisition system, and the PLC control system is controlled by the shield settlement automatic control system.

5. The automatic shield settlement control system according to claim 2 or 4, characterized in that, The 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 6. The automatic shield settlement control system as claimed in claim 2, wherein, Among them: The staff consult the engineering geological exploration data and write the formation density ρ into the configuration file in advance through the mobile client or the PC operation client; The configuration file is also prefabricated with the front shield diameter d1, the tail shield diameter d2, the overexcavation angle θ, the cutterhead excavation diameter r, the overexcavation cutter extension l, and the target value k of the regulation index i Parameter information, and the target value k of the regulation index i is within the index threshold [a i , b i .

7. The automatic shield settlement control system according to claim 3, characterized in that The calculation system retrieves the information of the configuration file 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 shield tail gap; The computing 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 tail gap of the shield, and the current working conditions and equipment operation data provided by the data acquisition system into the algorithm model. After running, the current i i value is obtained. The i i value includes i1 / i2 / i3 / i0 values, which characterize 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; Cyclic closed-loop feedback, continuous negative feedback approximation and finally stabilizing at i i = k i , enabling the shield settlement automatic control system to adaptively adjust and enter the optimal safe operation state.

8. The automatic shield settlement control system according to claim 3, characterized in that, k i = 1 / 2(a i + b i ).

9. The automatic shield settlement control system according to claim 2, wherein In the control room of the shield machine, the current values of i1 / i2 / i3 / i0 can be displayed through the man-machine interface; Meanwhile, through the communication module of the shield settlement automatic control system, the external Internet terminal receives, consults, and displays the current values of i1 / i2 / i3 / i0.

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