Shield tunneling posture control method and device, and computer storage medium

Abstract

The present disclosure relates to a shield tunneling posture control method and device. The shield tunneling posture control method comprises: acquiring a current parameter value of a parameter related to a shield tunneling posture in real time, the current parameter value comprising a current posture deviation value, a current trend value, and a current shield tail gap value; determining whether the current shield posture is within an allowable range according to the current posture deviation value and the current trend value; in the case that the current shield posture is within the allowable range, determining a target pressure difference of a grouped oil cylinder according to the current posture deviation value and the current trend value; in the case that the current shield posture is not within the allowable range, constructing an optimal correction curve according to the current shield tail gap value and the current posture deviation value; determining a reference posture deviation value and a reference trend value of a current shield position relative to the optimal correction curve; determining a target pressure difference of the grouped oil cylinder according to the reference posture deviation value and the reference trend value; and performing shield posture control according to the target pressure difference of the grouped oil cylinder.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of shield tunneling, and particularly relates to a shield tunneling posture control method and device and a computer storage medium. BACKGROUND

[0002] In the process of shield tunnel construction, there is a high requirement for the posture control of a shield machine. However, due to complex geological conditions, poor measurement environment and other factors, it is difficult for the tunneling direction of the shield machine to keep consistent with the tunnel design axis, and horizontal or vertical deviation is often too large, thereby causing a significant impact on the project schedule, cost and safety.

[0003] In the related art, the shield tunneling process still relies on manual pushing control, and a main driver adjusts the cylinder pressure according to the feedback value of a guide measurement system. SUMMARY

[0004] In the related art, the operation method depending on manual experience to adjust the cylinder pressure has great limitations, and it is difficult to guarantee the forming quality of the tunnel.

[0005] In view of the above technical problems, the present disclosure provides a solution, which can realize complete automatic tunneling control.

[0006] According to a first aspect of the present disclosure, a shield tunneling posture control method is provided, comprising: acquiring a current parameter value of a parameter related to a shield tunneling posture in real time, the current parameter value comprising a current posture deviation value, a current trend value and a current shield tail gap value; judging whether the current shield posture is within an allowable range according to the current posture deviation value and the current trend value; in the case that the current shield posture is within the allowable range, determining a target pressure difference of grouped cylinders according to the current posture deviation value and the current trend value; in the case that the current shield posture is not within the allowable range, constructing a best correction curve based on a continuous reverse curve according to the current shield tail gap value and the current posture deviation value, wherein the best correction curve enables the shield to safely approach the tunnel design axis from the current position in the shortest time; determining a posture deviation value and a trend value of a current shield position relative to the best correction curve as a reference posture deviation value and a reference trend value respectively; determining a target pressure difference of the grouped cylinders according to the reference posture deviation value and the reference trend value; and performing shield posture control according to the determined target pressure difference of the grouped cylinders.

[0007] In some embodiments, the constructing the optimal correction curve comprises: determining a first correction radius according to the current tail gap value; determining a second correction radius according to the shield geometry; determining a third correction radius according to the tunnel design turning radius; determining a maximum value among the first correction radius, the second correction radius and the third correction radius as a minimum correction radius; and constructing the optimal correction curve according to the minimum correction radius, a horizontal cut deviation of the current attitude deviation value, and an angle degree between the shield and the tunnel design axis.

[0008] In some embodiments, the determining the first correction radius comprises: determining the first correction radius as wherein R represents a segment radius, δ represents a tail gap close to a turning center, and l represents a segment width.

[0009] In some embodiments, the optimal correction curve comprises a first segment correction circle curve l1 and a second segment correction circle curve l2, a central angle of the first segment correction circle curve l1 is α, a central angle of the second segment correction circle curve l2 is β, and α and β are calculated by the following formula: h represents a horizontal cut deviation of the current attitude deviation value; and the first segment correction circle curve l1 is represented as the second segment correction circle curve l2 is represented as wherein R min is the minimum correction radius, and θ represents an angle degree between the shield and the tunnel design axis.

[0010] In some embodiments, the current parameter value further comprises a current pressure value of the grouped cylinders, and the performing the shield attitude control according to the determined target pressure difference of the grouped cylinders comprises: determining a current pressure difference of the grouped cylinders according to the current pressure value of the grouped cylinders; in a case that the current pressure difference is same as the target pressure difference, maintaining the current parameter value for tunneling; in a case that the current pressure difference is different from the target pressure difference, determining a pressure adjustment value of the grouped cylinders according to the current pressure difference and the target pressure difference of the grouped cylinders, wherein the pressure adjustment value of the grouped cylinders comprises a pressure adjustment value of a horizontal direction cylinder and a pressure adjustment value of a vertical direction cylinder; and performing the shield attitude control according to the determined pressure adjustment value of the grouped cylinders.

[0011] In some embodiments, the current pressure difference of the grouped cylinders includes a current horizontal pressure difference and a current vertical pressure difference, the target pressure difference of the grouped cylinders includes a target horizontal pressure difference and a target vertical pressure difference, the horizontal direction cylinders include a first group of cylinders and a second group of cylinders, the vertical direction cylinders include a third group of cylinders and a fourth group of cylinders, determining the pressure adjustment value of the grouped cylinders includes: determining the pressure adjustment value of the first group of cylinders as half of a value of the current horizontal pressure difference of the first group of cylinders minus the target horizontal pressure difference; determining the pressure adjustment value of the second group of cylinders as half of a value of the current vertical pressure difference of the second group of cylinders minus the target vertical pressure difference; determining the pressure adjustment value of the third group of cylinders as half of a value of the target horizontal pressure difference of the third group of cylinders minus the current horizontal pressure difference; and determining the pressure adjustment value of the fourth group of cylinders as half of a value of the target vertical pressure value of the fourth group of cylinders minus the current vertical pressure difference.

[0012] In some embodiments, determining the target pressure difference of the grouped cylinders includes: determining the target pressure difference of the grouped cylinders by using a fuzzy controller or an artificial intelligence algorithm model, wherein the fuzzy controller includes a horizontal attitude fuzzy controller and a vertical attitude fuzzy controller.

[0013] In some embodiments, the allowable range of the current attitude deviation value is (-50mm, 50mm), and the allowable range of the current trend value is (-5mm / m, 5mm / m).

[0014] According to a second aspect of the present disclosure, a shield tunneling attitude control device is provided, including: an acquisition module configured to acquire current parameter values of parameters related to a shield tunneling attitude in real time, the current parameter values including a current attitude deviation value, a current trend value, and a current shield tail gap value; a judgment module configured to judge whether a current shield attitude is within an allowable range according to the current attitude deviation value and the current trend value; a first determination module configured to, in a case where the current shield attitude is within the allowable range, determine a target pressure difference of grouped cylinders according to the current attitude deviation value and the current trend value; a construction module configured to, in a case where the current shield attitude is not within the allowable range, construct an optimal correction curve based on a continuous reverse curve according to the current shield tail gap value and the current attitude deviation value, wherein the optimal correction curve enables the shield to safely approach a tunnel design axis from a current position in the shortest time; a second determination module configured to determine an attitude deviation value and a trend value of a current shield position relative to the optimal correction curve as a reference attitude deviation value and a reference trend value, respectively; a third determination module configured to determine the target pressure difference of the grouped cylinders according to the reference attitude deviation value and the reference trend value; and a control module configured to perform shield attitude control according to the determined target pressure difference of the grouped cylinders.

[0015] According to a third aspect of the present disclosure, there is provided a shield tunneling posture control device, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute a shield tunneling posture control method according to any one of the above-mentioned embodiments based on instructions stored in the memory.

[0016] According to a fourth aspect of the present disclosure, there is provided a computer storage medium having computer program instructions stored thereon, the instructions being executed by a processor to implement a shield tunneling posture control method according to any one of the above-mentioned embodiments.

[0017] In the above-mentioned embodiments, complete automatic tunneling posture control can be achieved. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings, which form a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0019] The present disclosure can be more clearly understood and appreciated from the following detailed description, taken in conjunction with the following drawings of which:

[0020] Figure 1 is a flowchart illustrating a shield tunneling posture control method according to some embodiments of the present disclosure;

[0021] Figure 2 is a schematic diagram illustrating an optimal correction curve according to some embodiments of the present disclosure;

[0022] Figure 3 is a distribution diagram illustrating a shield cylinder according to some embodiments of the present disclosure;

[0023] Figure 4 is a schematic diagram illustrating determination of a target pressure difference of a grouped cylinder according to some embodiments of the present disclosure;

[0024] Figure 5 is a flowchart illustrating a shield tunneling posture control method according to some embodiments of the present disclosure;

[0025] Figure 6 is a block diagram illustrating a shield tunneling posture control device according to some embodiments of the present disclosure;

[0026] Figure 7 is a block diagram illustrating a shield tunneling posture control device according to some other embodiments of the present disclosure;

[0027] Figure 8 is a block diagram illustrating a computer system for implementing some embodiments of the present disclosure. DETAILED DESCRIPTION

[0028] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. Note that the relative arrangement, numerical expressions, and numerical values of components and steps set forth in these embodiments are not limiting to the scope of the present disclosure unless otherwise specifically stated.

[0029] It should be understood, however, that the sizes of the various portions shown in the drawings are chosen primarily for convenience and clarity of presentation, and are not intended to limit the scope of the present disclosure.

[0030] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the scope of the present disclosure, its application, or uses.

[0031] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered as part of the specification, where appropriate.

[0032] In all of the examples shown and discussed herein, any specific values should be interpreted as merely exemplary, and not as a limitation. Other examples of the exemplary embodiments can have different values.

[0033] It should be noted that like reference numerals and letters in the various figures indicate similar items, and thus, once any component is defined in one figure, it should not have to be discussed further in subsequent figures.

[0034] Figure 1 is a flowchart showing a shield tunneling attitude control method according to some embodiments of the present disclosure.

[0035] As shown in Figure 1 , the shield tunneling attitude control method includes steps S110-S170.

[0036] In step S110, current parameter values of parameters related to the shield tunneling attitude are acquired in real time. The current parameter values include a current attitude deviation value, a current trend value, and a current shield tail gap value.

[0037] In step S120, it is determined whether the current shield attitude is within an allowable range according to the current attitude deviation value and the current trend value. In some embodiments, the allowable range of the current attitude deviation value is (-50 mm, 50 mm), and the allowable range of the current trend value is (-5 mm / m, 5 mm / m).

[0038] In step S130, in the case where the current shield attitude is within the allowable range, a target pressure difference of the grouped oil cylinders is determined according to the current attitude deviation value and the current trend value.

[0039] In step S140, in the case that the current shield attitude is not in the allowable range, a best correction curve is constructed based on the current shield tail gap value and the current attitude deviation value, wherein the best correction curve makes the shield safely approach the tunnel design axis from the current position in the shortest time. The construction of the best correction curve can also be referred to as the construction of a best correction curve model.

[0040] In some embodiments, the best correction curve is constructed in the following manner.

[0041] Firstly, a first correction radius is determined according to the current shield tail gap value.

[0042] For example, the first correction radius is determined as wherein R represents the segment radius, δ is the shield tail gap on the side close to the turning center, and l is the segment width.

[0043] Secondly, a second correction radius is determined according to the shield geometric size. For example, the second correction radius is represented as R2.

[0044] Thirdly, a third correction radius is determined according to the tunnel design turning radius. For example, the third correction radius is represented as R3.

[0045] Then, the maximum value among the first correction radius, the second correction radius and the third correction radius is determined as the minimum correction radius. The correction radius adopted in the attitude control process of shield tunneling to make the correction trajectory shortest is referred to as the minimum correction radius.

[0046] Finally, the best correction curve is constructed according to the minimum correction radius, the horizontal cut deviation of the current attitude deviation value, and the angle degree between the shield machine and the tunnel design axis.

[0047] In some embodiments, the best correction curve includes a first segment correction circular curve l1 and a second segment correction circular curve l2, the central angle of the first segment correction circular curve l1 is α, and the central angle of the second segment correction circular curve l2 is β. α and β are calculated by the following formula:

[0048] h is the horizontal cut deviation of the current attitude deviation value.

[0049] The first segment correction circular curve l1 is represented as

[0050] The second segment correction circular curve l2 is represented as

[0051] R minFor the minimum correction radius, θ is the angle in degrees between the shield machine and the designed axis of the tunnel. x and y in the optimal correction curve represent the coordinates of the shield position in the coordinate system, where the x-axis is the designed axis of the tunnel and the y-axis is perpendicular to the designed axis of the tunnel.

[0052] Figure 2 is a schematic diagram showing the optimal correction curve according to some embodiments of the present disclosure.

[0053] As shown in Figure 2 , the angle between the shield machine AB and the designed tunnel axis (DTA) OD is denoted as θ. The horizontal deviation of the cut is h, i.e., the perpendicular distance from point B to the straight line OD is h. Figure 2 The first segment of the correction circle curve and the second segment of the correction circle curve are shown, as well as the center point and the center angle of the two segments of the correction circle curve.

[0054] Returning to Figure 1 , in step S150, the attitude deviation value and the trend value of the current shield pose relative to the optimal correction curve are determined as the reference attitude deviation value and the reference trend value, respectively.

[0055] In step S160, the target pressure difference of the grouped cylinders is determined according to the reference attitude deviation value and the reference trend value.

[0056] In step S170, the shield attitude control is performed according to the determined target pressure difference of the grouped cylinders.

[0057] In some embodiments, the current parameter values further include the current pressure values of the grouped cylinders. In this case, the above step S170 can be implemented in the following manner.

[0058] First, the current pressure difference of the grouped cylinders is determined according to the current pressure values of the grouped cylinders.

[0059] Then, in the case where the current pressure difference is the same as the target pressure difference, the current parameter values are maintained for tunneling.

[0060] Finally, in the case where the current pressure difference is different from the target pressure difference, the pressure adjustment values of the grouped cylinders are determined according to the current pressure difference and the target pressure difference of the grouped cylinders, and the shield attitude control is performed according to the determined pressure adjustment values of the grouped cylinders. The pressure adjustment values of the grouped cylinders include the pressure adjustment values of the horizontal direction cylinders and the pressure adjustment values of the vertical direction cylinders.

[0061] In some embodiments, the current pressure difference of the grouped cylinders includes the current horizontal pressure difference and the current vertical pressure difference, and the target pressure difference of the grouped cylinders includes the target horizontal pressure difference and the target vertical pressure difference. The horizontal cylinders include a first group of cylinders and a second group of cylinders, and the vertical cylinders include a third group of cylinders and a fourth group of cylinders. Determining the pressure adjustment value of the grouped cylinders includes: determining that the pressure adjustment value of the first group of cylinders is half of the current horizontal pressure difference of the first group of cylinders minus the target horizontal pressure difference; determining that the pressure adjustment value of the second group of cylinders is half of the current vertical pressure difference of the second group of cylinders minus the target vertical pressure difference; determining that the pressure adjustment value of the third group of cylinders is half of the target horizontal pressure difference of the third group of cylinders minus the current horizontal pressure difference; and determining that the pressure adjustment value of the fourth group of cylinders is half of the target vertical pressure difference of the fourth group of cylinders minus the current vertical pressure difference.

[0062] by Figure 3 For example, the horizontal hydraulic cylinders include group A and group C, and the vertical hydraulic cylinders include group B and group D. Determining the pressure adjustment values ​​for each group of cylinders involves: determining the pressure adjustment value for group A as the current horizontal pressure difference minus the target horizontal pressure difference; determining the pressure adjustment value for group B as the current vertical pressure difference minus the target vertical pressure difference; determining the pressure adjustment value for group C as the target horizontal pressure difference minus the current horizontal pressure difference; and determining the pressure adjustment value for group D as the target vertical pressure difference minus the current vertical pressure difference. Figure 3 As shown, group A includes cylinders 2, 3, 4, and 5; group B includes cylinders 6, 7, 8, 9, and 10; group C includes cylinders 11, 12, 13, and 14; and group D includes cylinders 1, 15, and 16.

[0063] To ensure that the total thrust remains constant or changes minimally, thereby reducing the impact on the propulsion speed and soil chamber pressure, the hydraulic cylinder pressure difference is adjusted by increasing one set of cylinders (A / C, B / D) and decreasing the other. If the current pressure difference of the cylinders is the same as the determined target pressure difference, the current parameters are maintained for tunneling. If they are different, the pressure difference is allocated according to the following formula:

[0064] ΔF A ΔF B ΔF C ΔF D The pressure adjustment values ​​for the four groups of hydraulic cylinders (A, B, C, and D) are ΔF. h Let ΔF′ be the target pressure difference of the hydraulic cylinder in the horizontal direction. h ΔF represents the current pressure difference in the horizontal direction of the hydraulic cylinder. v The target pressure difference of the hydraulic cylinder in the vertical direction is ΔF′. vis the current pressure difference of the vertical direction oil cylinder.

[0065] In some embodiments, determining the target pressure difference of the grouping oil cylinder comprises: determining the target pressure difference of the grouping oil cylinder by using a fuzzy controller or an artificial intelligence algorithm model, wherein the fuzzy controller comprises a horizontal attitude fuzzy controller and a vertical attitude fuzzy controller.

[0066] Figure 4 is a schematic diagram illustrating the determination of the target pressure difference of the grouping oil cylinder according to some embodiments of the present disclosure.

[0067] As shown in Figure 4 , the fuzzy controller M H (horizontal fuzzy controller) of the fuzzy control unit processes the current horizontal cut deviation H and the current horizontal trend value T1 to obtain the target pressure difference ΔF h of the horizontal direction oil cylinder. V The fuzzy controller M v (vertical fuzzy controller) of the fuzzy control unit processes the current vertical cut deviation V and the current vertical trend value T2 to obtain the target pressure difference ΔF

[0068] Figure 4 The fuzzy controller in the above embodiment can be replaced by an artificial intelligence algorithm model, which also considers whether the current shield attitude exceeds the allowed range, so as to output different values for different working conditions by using different output parameters, and finally adjust the oil cylinder pressure to control the shield attitude.

[0069] The above embodiments realize the process of automatically determining the target pressure difference of the grouping oil cylinder in the shield construction process, and control the shield attitude according to the determined target pressure difference, thereby realizing truly unmanned and less manned tunneling, and realizing complete automatic tunneling control. The shield tunneling attitude automatic control technology in the above embodiments is easy to implement, improves the intelligent level of tunneling attitude control under the premise of ensuring tunneling efficiency and construction quality, ensures the balance and harmony of equipment, personnel and environment, and greatly improves the shield construction efficiency.

[0070] Figure 5 is a flowchart illustrating a shield tunneling attitude control method according to some embodiments of the present disclosure.

[0071] As shown in Figure 5As shown, input the correction constraint parameters (current parameter values) and read in the current attitude data (e.g., current attitude deviation value, current trend value). Based on the current attitude deviation value and current trend value, determine whether there is a deviation from the tunnel design axis DTA. If there is no deviation from the tunnel design axis, determine whether the correction has ended. If the correction has ended, end the correction. If the correction has not ended, determine whether there is a deviation from the correction curve. If there is no deviation from the correction curve, perform shield tunneling attitude control. If there is a deviation from the correction curve, continue reading in the current attitude data.

[0072] If the tunnel deviates from the tunnel design axis, the current shield attitude is assessed to determine if it is within the allowable range, thus determining whether a correction curve should be constructed. If a correction curve is constructed, a correction curve model is built, and the fuzzy controller is activated, outputting the pressure difference of the propulsion cylinders. Based on the output propulsion cylinder pressure difference, the pressure adjustment values ​​for each group of cylinders can be calculated. Shield tunneling attitude control is then performed based on the cylinder pressure adjustment values. During shield tunneling, it is determined whether the correction has ended. If the correction has not ended, it is determined whether the shield has deviated from the correction curve. If the shield has not deviated from the correction curve, shield tunneling attitude control is performed. If the shield has deviated from the correction curve, the current attitude data continues to be read.

[0073] If it is determined that there is no need to construct a correction curve, the fuzzy controller is started directly, and subsequent operations are similar to the process described above.

[0074] For specific implementation details, please refer to the aforementioned embodiments, which will not be repeated here.

[0075] Figure 6 This is a block diagram illustrating a shield tunneling attitude control device according to some embodiments of the present disclosure.

[0076] like Figure 6 As shown, the shield tunneling attitude control device 6 includes an acquisition module 61, a judgment module 62, a first determination module 63, a construction module 64, a second determination module 65, a third determination module 66, and a control module 67.

[0077] The acquisition module 61 is configured to acquire in real time the current parameter values ​​of parameters related to the tunnel boring machine's attitude. These current parameter values ​​include the current attitude deviation value, the current trend value, and the current tail shield gap value. For example, it may perform actions such as... Figure 1 The step S110 is shown.

[0078] The judgment module 62 is configured to determine whether the current shield attitude is within the allowable range based on the current attitude deviation value and the current trend value, for example, by performing the following: Figure 1 The step S120 shown.

[0079] The first determining module 63 is configured to, when the current shield attitude is within the allowable range, determine the target pressure difference of the grouped hydraulic cylinders based on the current attitude deviation value and the current trend value, for example, by performing... Figure 1 The step S130 shown.

[0080] The construction module 64 is configured to, when the current shield attitude is outside the allowable range, construct an optimal correction curve based on a continuous reverse curve, according to the current tail gap value and the current attitude deviation value. This optimal correction curve enables the shield to safely approach the tunnel design axis from its current position in the shortest possible time, for example, by performing actions such as... Figure 1 The step S140 shown.

[0081] The second determining module 65 is configured to determine the attitude deviation value and trend value of the current shield posture relative to the optimal correction curve, and use them as reference attitude deviation value and reference trend value, respectively, for example, by executing... Figure 1 The step S150 shown.

[0082] The third determining module 66 is configured to determine the target pressure difference of the grouped cylinders based on the reference attitude deviation value and the reference trend value, for example, by performing... Figure 1 The step S160 shown.

[0083] Control module 67 is configured to perform shield attitude control based on the determined target pressure difference of the grouped hydraulic cylinders, for example, by executing... Figure 1 The step S170 shown.

[0084] Figure 7 This is a block diagram illustrating a shield tunneling attitude control device according to other embodiments of the present disclosure.

[0085] like Figure 7 As shown, the tunnel boring machine (TBM) attitude control device 7 includes a memory 71 and a processor 72 coupled to the memory 71. The memory 71 is used to store instructions for executing embodiments of the TBM attitude control method. The processor 72 is configured to execute the TBM attitude control method in any of the embodiments of this disclosure based on the instructions stored in the memory 71.

[0086] Figure 8 This is a block diagram illustrating a computer system for implementing some embodiments of the present disclosure.

[0087] like Figure 8 As shown, the computer system 80 can be represented in the form of a general computing device. The computer system 80 includes a memory 810, a processor 820, and a bus 800 connecting different system components.

[0088] The memory 810 may, for example, include system memory, non-volatile memory, and / or the like. The system memory may, for example, store operating systems, application programs, a Boot Loader, and other programs. The system memory may include volatile memory, such as random access memory (RAM) and / or cache memory. The non-volatile memory may, for example, store instructions to perform at least one of the shield tunneling posture control methods. The non-volatile memory includes, but is not limited to, magnetic storage, optical storage, flash memory, and / or the like.

[0089] The processor 820 can be implemented with a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, and / or the like. Accordingly, each module, such as the determining module and the judging module, can be implemented by a central processing unit (CPU) running instructions in the memory to perform the corresponding steps, or by a dedicated circuit performing the corresponding steps.

[0090] The bus 800 can use any of a variety of bus structures. For example, the bus structure includes, but is not limited to, an industry standard architecture (ISA) bus, a micro channel architecture (MCA) bus, a peripheral component interconnect (PCI) bus.

[0091] The computer system 80 can also include an input / output interface 830, a network interface 840, a storage interface 850, and / or the like. These interfaces 830, 840, 850, and the memory 810 and the processor 820 can be connected through the bus 800. The input / output interface 830 can provide a connection interface for display, mouse, keyboard, and / or the like input / output devices. The network interface 840 provides a connection interface for various networking devices. The storage interface 850 provides a connection interface for external storage devices, such as floppy disks, U disks, SD cards, and / or the like.

[0092] Here, various aspects of the disclosure are described with reference to flowcharts and / or block diagrams of methods, apparatuses and computer program products according to embodiments of the disclosure. It should be understood that each block of the flowcharts and / or block diagrams can be implemented by computer readable program instructions.

[0093] These computer readable program instructions can be provided to a processor of a general purpose computer, a special purpose computer, or other programmable device to produce a machine, so that the instructions executed by the processor produce the device that implements the functions specified in one or more blocks of the flowcharts and / or block diagrams.

[0094] These computer readable program instructions can also be stored in a computer readable storage medium that can direct a computer, other programmable data processing apparatus, or other devices to function in a particular manner, such that the instructions

[0095] The present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment containing both software and hardware aspects.

[0096] By the shield tunneling posture control method and device, and the computer storage medium in the above embodiments, complete automatic tunneling control can be realized.

[0097] Thus far, the shield tunneling posture control method and device, and the computer storage medium according to the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details well known in the art are not described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein according to the above description.

Claims

1. A shield tunneling posture control method, comprising: obtaining a current parameter value of a parameter related to a shield tunneling posture in real time, the current parameter value comprising a current posture deviation value, a current trend value, and a current tail gap value; determining whether a current shield posture is within an allowable range according to the current posture deviation value and the current trend value; in a case where the current shield posture is within the allowable range, determining a target pressure difference of grouped oil cylinders according to the current posture deviation value and the current trend value; in a case where the current shield posture is not within the allowable range, constructing an optimal correction curve based on a continuous reverse curve according to the current tail gap value and the current posture deviation value, wherein the optimal correction curve enables the shield to safely approach a tunnel design axis from a current position in a shortest time; determining a posture deviation value and a trend value of a current shield position relative to the optimal correction curve as a reference posture deviation value and a reference trend value, respectively; determining a target pressure difference of the grouped oil cylinders according to the reference posture deviation value and the reference trend value; controlling a shield posture according to the determined target pressure difference of the grouped oil cylinders; wherein the current parameter value further comprises a current pressure value of the grouped oil cylinders, and the controlling of the shield posture according to the determined target pressure difference of the grouped oil cylinders comprises: determining a current pressure difference of the grouped oil cylinders according to the current pressure value of the grouped oil cylinders; in a case where the current pressure difference is the same as the target pressure difference, maintaining the current parameter value for tunneling; in a case where the current pressure difference is different from the target pressure difference, determining a pressure adjustment value of the grouped oil cylinders according to the current pressure difference and the target pressure difference of the grouped oil cylinders, wherein the pressure adjustment value of the grouped oil cylinders comprises a pressure adjustment value of a horizontal direction oil cylinder and a pressure adjustment value of a vertical direction oil cylinder, and controlling the shield posture according to the determined pressure adjustment value of the grouped oil cylinders.

2. The shield tunneling posture control method of claim 1, wherein, constructing the optimal correction curve comprises: determining a first correction radius according to the current tail gap value; determining a second correction radius according to a shield geometric size; determining a third correction radius according to a tunnel design turning radius; determining a maximum value among the first correction radius, the second correction radius, and the third correction radius as a minimum correction radius; constructing the optimal correction curve according to the minimum correction radius, a horizontal cut deviation of the current posture deviation value, and an angle degree of the shield machine relative to the tunnel design axis.

3. The shield tunneling posture control method according to claim 2, wherein determining the first correction radius comprises: determining a first correction radius as where R represents the segment radius, δ is the tail gap on the side close to the center of the curve, is the segment width.

4. The shield tunneling posture control method of claim 2, wherein, The optimal deviation correction curve comprises a first segment of a deviation correction circular curve and a second segment of a deviation correction circular curve The central angle of the first segment of the deviation correction circular curve is The central angle of the second segment of the deviation correction circular curve is , and is calculated by the following formula: , is a horizontal cut-off deviation for the current attitude deviation value; The first segment of the deviation-corrected circular curve is represented as , x, y represent the coordinates of the shield position in the coordinate system, the x-axis of the coordinate system is the tunnel design axis, and the y-axis of the coordinate system is perpendicular to the tunnel design axis; The second segment of the offset circular curve is represented as ; wherein, is the minimum correction radius, is the angle in degrees between the shield and the design axis of the tunnel.

5. The shield tunneling posture control method according to any one of claims 1 to 4, wherein, the current pressure difference of the grouped oil cylinders comprises a current horizontal pressure difference and a current vertical pressure difference, the target pressure difference of the grouped oil cylinders comprises a target horizontal pressure difference and a target vertical pressure difference, the horizontal direction oil cylinder comprises a first group of oil cylinders and a second group of oil cylinders, the vertical direction oil cylinder comprises a third group of oil cylinders and a fourth group of oil cylinders, and determining the pressure adjustment value of the grouped oil cylinders comprises: determining a pressure adjustment value of the first group of oil cylinders as half of a value obtained by subtracting the target horizontal pressure difference from the current horizontal pressure difference of the first group of oil cylinders; determining a pressure adjustment value of the second group of oil cylinders as half of a value obtained by subtracting the target vertical pressure difference from the current vertical pressure difference of the second group of oil cylinders; determining the pressure adjustment value of the third group of oil cylinders as half of the value of the target horizontal pressure difference of the third group of oil cylinders minus the current horizontal pressure difference; determining the pressure adjustment value of the fourth group of oil cylinders as half of the value of the target vertical pressure difference of the fourth group of oil cylinders minus the current vertical pressure difference.

6. The shield tunneling posture control method according to any one of claims 1 to 4, wherein determining the target pressure difference of the grouped oil cylinders comprises: determining the target pressure difference of the grouped oil cylinders by using a fuzzy controller or an artificial intelligence algorithm model, wherein the fuzzy controller comprises a horizontal attitude fuzzy controller and a vertical attitude fuzzy controller.

7. The shield tunneling posture control method according to any one of claims 1 to 4, wherein the allowed range of the current attitude deviation value is (-50mm, 50mm), and the allowed range of the current trend value is (-5mm / m, 5mm / m). 8.A shield tunneling attitude control device, comprising: an acquisition module configured to acquire current parameter values of parameters related to a shield tunneling attitude in real time, the current parameter values comprising a current attitude deviation value, a current trend value, and a current shield tail gap value; a judgment module configured to judge whether a current shield attitude is within an allowed range according to the current attitude deviation value and the current trend value; a first determination module configured to, in a case where the current shield attitude is within the allowed range, determine a target pressure difference of grouped oil cylinders according to the current attitude deviation value and the current trend value; a construction module configured to, in a case where the current shield attitude is not within the allowed range, construct a best correction curve based on a continuous reverse curve according to the current shield tail gap value and the current attitude deviation value, wherein the best correction curve enables the shield to safely approach a tunnel design axis from a current position in the shortest time; a second determination module configured to determine an attitude deviation value and a trend value of a current shield position relative to the best correction curve as a reference attitude deviation value and a reference trend value, respectively; a third determination module configured to determine a target pressure difference of the grouped oil cylinders according to the reference attitude deviation value and the reference trend value; a control module configured to perform shield attitude control according to the determined target pressure difference of the grouped oil cylinders, wherein the current parameter values further comprise current pressure values of the grouped oil cylinders, and performing shield attitude control according to the determined target pressure difference of the grouped oil cylinders comprises: determining a current pressure difference of the grouped oil cylinders according to the current pressure values of the grouped oil cylinders, maintaining the current parameter values for tunneling in a case where the current pressure difference is the same as the target pressure difference, and determining a pressure adjustment value of the grouped oil cylinders according to the current pressure difference and the target pressure difference of the grouped oil cylinders in a case where the current pressure difference is different from the target pressure difference, wherein the pressure adjustment value of the grouped oil cylinders comprises a pressure adjustment value of a horizontal direction oil cylinder and a pressure adjustment value of a vertical direction oil cylinder; and performing shield attitude control according to the determined pressure adjustment value of the grouped oil cylinders. 9.A shield tunneling attitude control device, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute a shield tunneling attitude control method according to any one of claims 1 to 7 based on instructions stored in the memory.

10. A computer storage medium having computer program instructions stored therein, which, when executed by a processor, implement the shield tunneling posture control method according to any one of claims 1 to 7.

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