A risk warning method and system for TBM jamming based on tunneling resistance

Abstract

The present invention relates to a method and system for early warning of TBM jamming risk based on tunneling resistance, comprising the following steps: S1, collecting tunneling state parameters and corresponding surrounding rock state parameters in the historical tunneling data of the TBM; S2, calculating the tunneling resistance and effective rock-breaking force of the TBM from each TBM tunneling cycle; S3, based on the data in steps S1 and S2, establishing the relationship among the TBM tunneling state, surrounding rock state and TBM tunneling resistance, and establishing a TBM jamming risk assessment criterion based on the TBM tunneling resistance; S4, collecting the TBM tunneling state parameters and corresponding surrounding rock state parameters in real time, and evaluating the TBM jamming risk in real time and giving an early warning according to the TBM jamming risk assessment criterion in step S3. The present invention can timely and effectively master the TBM tunneling state and surrounding rock state, realize the rapid and accurate calculation of the TBM tunneling resistance, and obtain in advance the jamming risk that the TBM may encounter.

Description

Technical Field

[0001] The invention relates to the technical field of TBM (Tunnel boring machine) construction, and in particular to a TBM stuck risk early warning method and system based on tunneling resistance. Background Art

[0002] Full-face tunnel boring machines (TBMs) are widely used in the construction of deep and long tunnels because of their safety, high efficiency, and environmental protection. However, when a TBM passes through deep soft strata, if the surrounding rock is deformed too much and causes compression on the shield, it is easy to cause the TBM to get stuck. Especially when encountering adverse geological conditions such as fault fracture zones, compressive strata, high ground stress, and sudden water, the risk of TBM getting stuck is greatly increased. Once a machine jam occurs, it is difficult to successfully get out of trouble by relying on the TBM's own propulsion system. The treatment is difficult and time-consuming, which brings serious safety hazards and huge economic losses. Therefore, in the process of TBM excavation, it is of great significance to evaluate the risk of TBM jams in real time and issue early warnings.

[0003] According to the different locations of the jam, TBM jams are divided into shield jams and cutterhead jams. The cause of shield jams is that the surrounding rock quickly converges and squeezes the shield, causing the TBM's propulsion resistance to increase. When the sum of the propulsion resistance and the thrust required for rock breaking is greater than the TBM's rated thrust, a shield jam occurs. The cause of cutterhead jams is that after the surrounding rock becomes unstable, a large amount of broken rock and soil accumulates near the cutterhead, causing the cutterhead's rotation resistance to increase. When the sum of the rotation resistance and the torque required for rock breaking is greater than the TBM's escape torque, a cutterhead jam occurs. Regardless of whether it is a shield jam or a cutterhead jam, the TBM's excavation resistance will show an abnormal increase before the jam occurs. Therefore, excavation resistance is an important indicator for assessing the risk of TBM jams.

[0004] However, due to the current lack of a calculation method or measurement technology that can quickly and accurately obtain the tunneling resistance of a TBM, the total tunneling force of the TBM is often used to predict the TBM jamming risk instead of the tunneling resistance. However, the magnitude of the total tunneling force of the TBM is affected by a variety of factors. In actual construction, the increase in the total tunneling force of the TBM is often due to the increase in the rock-breaking difficulty or the increase in the tunneling speed, which does not necessarily mean an increase in the TBM jamming risk. When the TBM passes through high-risk jamming strata such as fault fracture zones and squeezing soft strata, although the tunneling resistance of the TBM increases, due to the decrease in the surrounding rock strength, the force required for the TBM to break rock decreases, and the growth trend of the total tunneling force of the TBM may be very slow, unable to timely reflect the TBM jamming risk. Therefore, there are certain errors in predicting the TBM jamming risk using the total tunneling force of the TBM. To address this issue, there is an urgent need to propose a fast and accurate calculation method for the tunneling resistance of the TBM applicable to actual projects, establish the relationship between the tunneling resistance of the TBM and the TBM jamming risk, and ultimately realize the assessment and early warning of the TBM jamming risk based on the tunneling resistance of the TBM. Summary of the Invention

[0005] To solve the above problems, the present invention proposes a TBM jamming risk early warning method based on tunneling resistance, which is of great significance for the safe and efficient construction of the TBM.

[0006] To achieve the above object, the present invention adopts the following technical means:

[0007] A TBM jamming risk early warning method based on tunneling resistance includes the following steps:

[0008] S1, collecting the tunneling state parameters and the corresponding surrounding rock state parameters in the historical tunneling data of the TBM;

[0009] S2, regarding a complete working process of the TBM from startup to shutdown as a tunneling cycle, and respectively calculating the tunneling resistance and the effective rock-breaking force of the TBM for each tunneling cycle;

[0010] The tunneling resistance of the TBM includes the TBM propulsion resistance F f and the cutterhead rotation resistance T f , and the effective rock-breaking force includes the effective rock-breaking thrust F b and the effective rock-breaking torque T b ;

[0011] S3, based on the data in the above steps S1 and S2, establishing the relationship between the TBM tunneling state, the surrounding rock state and the TBM tunneling resistance through data mining and machine learning, and establishing a TBM jamming risk assessment criterion based on the TBM tunneling resistance;

[0012] S4. Collect the TBM tunneling state parameters and the corresponding surrounding rock state parameters in real time. According to the TBM jamming risk assessment criteria in step S3, evaluate the TBM jamming risk in real time and issue an early warning.

[0013] Further, in step S1, the tunneling states include three situations: normal tunneling, shield jamming, and cutterhead jamming. The collected tunneling state parameters include, but are not limited to, the thrust and cutterhead torque. The collected surrounding rock state parameters include, but are not limited to, the surrounding rock grade, the location and occurrence of unfavorable geological bodies.

[0014] Further, in step S2, the method for calculating the TBM tunneling resistance and the effective rock-breaking force for each tunneling cycle is as follows: Divide the tunneling cycle into an idling section, a jacking section, and a stable section. Calculate the cutterhead rotation resistance T f from the idling section, calculate the TBM jacking resistance F f from the jacking section, and calculate the effective rock-breaking thrust F b and the effective rock-breaking torque T b .

[0015] Further, in the idling section, the cutterhead torque is positive and the thrust is zero. After a short fluctuation, the cutterhead torque stabilizes near a certain value, which is called the first stable torque section. If there is an obvious first stable torque section in the idling section, then take the average torque value of the first stable torque section as the cutterhead rotation resistance T f ; if there is no obvious first stable torque section in the idling section, then take the average torque value of the idling section as the cutterhead rotation resistance T f .

[0016] Further, in the jacking section, both the cutterhead torque and the thrust are positive. After a short fluctuation, the thrust stabilizes near a certain value, which is called the first stable thrust section. If there is an obvious first stable thrust section in the jacking section, then take the average thrust value of the first stable thrust section as the TBM jacking resistance F f ; if there is no obvious first stable thrust section in the jacking section, then take the average thrust value of the jacking section as the TBM jacking resistance F f .

[0017] Further, in step S3, the establishment of the TBM jamming risk assessment criteria based on the tunneling resistance includes the following steps:

[0018] S3-1. Based on the data in the normal tunneling section, respectively count the jacking resistance F f , the cutterhead rotation resistance T f , the effective rock-breaking thrust F b , the effective rock-breaking torque T b , F f / Fb and T f / T b range;

[0019] S3-2, based on the data of the shield jamming section, count the surrounding rock state when the shield jams, and count F in the previous several tunneling cycles when the shield jams f and F f / F b trend of change, and determine the advance resistance warning value W1 and the advance resistance ratio warning value W2 of shield jamming;

[0020] S3-3, based on the data of the cutterhead jamming section, count the surrounding rock state when the cutterhead jams, and count T in the previous several tunneling cycles when the cutterhead jams f and T f / T b trend of change, and determine the rotation resistance warning value W3 and the rotation resistance ratio warning value W4 of cutterhead jamming.

[0021] Furthermore, in step S4, the real-time assessment and early warning of TBM jamming risk include the following steps:

[0022] S4-1, based on the real-time collected TBM tunneling state parameters, calculate the advance resistance F of the current tunneling cycle according to the step S2 f , cutterhead rotation resistance T f , effective rock-breaking thrust F b , effective rock-breaking torque T b , F f / F b and T f / T b ;

[0023] S4-2, based on the real-time collected surrounding rock state parameters, obtain the range of advance resistance F, cutterhead rotation resistance T, effective rock-breaking thrust F, effective rock-breaking torque T, F f , cutterhead rotation resistance T f , effective rock-breaking thrust F b , effective rock-breaking torque T b , F f / F b and T f / T b range under the current surrounding rock state during normal TBM tunneling;

[0024] S4-3, compare the real-time tunneling parameters calculated in step S4-1 with the range of tunneling parameters during normal TBM tunneling obtained in step S4-2, and evaluate the TBM jamming risk in real time and issue a warning.

[0025] Furthermore, there are the following three situations in step S4-3:

[0026] ① If all real-time tunneling parameters are within the normal range, it is considered that there is no risk of cutterhead jamming, and no cutterhead jamming warning is issued;

[0027] ② If F f or F f / F b is greater than the normal range and shows an abnormal increasing trend with the tunneling of the TBM, it is considered that there is a risk of shield jamming; in particular, if the current surrounding rock state is a high-incidence section of shield jamming, it is considered that there is a great risk of shield jamming; when F f >W1 or F f / F b >W2, a shield jamming warning is issued;

[0028] ③ If T f or T f / T b is greater than the normal range and shows an abnormal increasing trend with the tunneling of the TBM, it is considered that there is a risk of cutterhead jamming; in particular, if the current surrounding rock state is a high-incidence section of cutterhead jamming, it is considered that there is a great risk of cutterhead jamming; when T f >W3 or T f / T b >W4, a cutterhead jamming warning is issued.

[0029] The present invention also provides a TBM cutterhead jamming risk warning system based on tunneling resistance, including

[0030] a collection module that collects tunneling state parameters and corresponding surrounding rock state parameters in the TBM historical tunneling data;

[0031] a calculation module that calculates the TBM tunneling resistance and effective rock-breaking force for each tunneling cycle respectively;

[0032] a risk assessment module that establishes the relationship between the TBM tunneling state, surrounding rock state and TBM tunneling resistance through data mining and machine learning, and establishes a TBM cutterhead jamming risk assessment standard based on the TBM tunneling resistance;

[0033] a warning module that collects TBM tunneling state parameters and corresponding surrounding rock state parameters in real time, and evaluates the TBM cutterhead jamming risk in real time and issues a warning in advance according to the TBM cutterhead jamming risk assessment standard in the step risk assessment module.

[0034] Further, in the calculation module, the cutterhead torque in the idling section is positive and the thrust is zero. After a short fluctuation, the cutterhead torque stabilizes near a certain value, which is called the first stable section of the torque. If there is an obvious first stable section of the torque in the idling section, the average value of the torque in the first stable section of the torque is used as the cutterhead rotation resistance T f; If there is no obvious first torque stable section in the idling section, the average torque of the idling section is taken as the cutterhead rotation resistance T f ;

[0035] In the empty pushing section, both the cutterhead torque and the thrust are positive. After a short fluctuation, the thrust stabilizes near a certain value, which is called the first thrust stable section. If there is an obvious first thrust stable section in the empty pushing section, the average thrust of the first thrust stable section is taken as the TBM propulsion resistance F f ; If there is no obvious first thrust stable section in the empty pushing section, the average thrust of the empty pushing section is taken as the TBM propulsion resistance F f 。

[0036] Compared with the prior art, the beneficial effects brought by the present invention are as follows: The present invention provides a TBM jamming risk early warning method and system based on tunneling resistance. Firstly, a practical method for quickly and accurately calculating the TBM tunneling resistance from each tunneling cycle is provided, and the cutterhead rotation resistance and the TBM propulsion resistance are calculated respectively from the idling section and the empty pushing section; secondly, through data mining and machine learning, the historical tunneling data of the TBM is analyzed, the relationship between the TBM tunneling state, the surrounding rock state and the TBM tunneling resistance is established, the range of the tunneling resistance during normal tunneling of the TBM under different surrounding rock states is obtained, the early warning values of the tunneling resistance under different jamming modes are given, and a TBM jamming risk assessment standard based on the TBM tunneling resistance is established; finally, the TBM tunneling state parameters and the corresponding surrounding rock state parameters are collected in real time, and the real-time tunneling resistance of the TBM is compared with this standard to realize the real-time assessment and early warning of the TBM jamming risk during the tunneling process

[0037] The present invention can timely and effectively master the TBM tunneling state and the surrounding rock state, realize the rapid and accurate calculation of the TBM tunneling resistance, obtain in advance the possible jamming risk that the TBM may encounter by evaluating the TBM tunneling resistance, and timely send out an early warning to the on-site construction personnel, which is beneficial for the construction personnel to take measures in advance and effectively avoid the occurrence of jamming accidents. The present invention is applicable to the TBM jamming risk early warning under different surrounding rock conditions, especially under poor geological conditions, and has important significance for improving the adaptability of the TBM to different surrounding rock conditions BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a flowchart of a TBM jamming risk early warning method based on tunneling resistance according to the present invention

[0039] Figure 2 is a schematic diagram of the division of the TBM tunneling cycle in the embodiment of the present invention DETAILED DESCRIPTION OF THE INVENTION

[0040] <Example>

[0041] A TBM jamming risk early warning method based on tunneling resistance, as Figure 1 shown, includes the following steps:

[0042] S1. Collect the tunneling state parameters and corresponding surrounding rock state parameters in the historical tunneling data of the TBM.

[0043] In this embodiment, the historical tunneling data in three tunneling states of the TBM, namely normal tunneling, shield jamming, and cutterhead jamming, are collected respectively. The collected tunneling state parameters include but are not limited to the thrust and cutterhead torque, and the collected surrounding rock state parameters include but are not limited to the surrounding rock grade. In particular, the position and occurrence of bad geological bodies (such as fracture zones) need to be collected.

[0044] S2. Regard a complete working process of the TBM from startup to shutdown as a tunneling cycle, and calculate the tunneling resistance and effective rock-breaking force of this group of TBMs for each tunneling cycle respectively;

[0045] The TBM tunneling resistance includes the TBM propulsion resistance F f and the cutterhead rotation resistance T f , and the effective rock-breaking force includes the effective rock-breaking thrust F b and the effective rock-breaking torque T b .

[0046] In this embodiment, the method for calculating the TBM tunneling resistance and effective rock-breaking force includes the following steps:

[0047] S2-1. Calculate the cutterhead rotation resistance T f : Denote the time point when the TBM starts as the first time point, and denote the time point when the thrust suddenly changes from zero to a positive value as the second time point. The tunneling stage between the first time point and the second time point is called the idling section, as Figure 2 shown;

[0048] The machine operation state characteristics of the idling section are that the cutterhead rotates but the TBM does not advance forward, and the cutterhead has not yet contacted the working face;

[0049] The data characteristics of the idling section are that the cutterhead torque is positive and the thrust is zero. After a short fluctuation, the cutterhead torque stabilizes near a certain value, which is called the first torque stable section, as Figure 2 shown;

[0050] If there is an obvious first torque stable section in the idling section, then take the average torque of the first torque stable section as the cutterhead rotation resistance T f ; if there is no obvious first torque stable section in the idling section, then take the average torque of the idling section as the cutterhead rotation resistance T f ;

[0051] S2-2, Calculate the TBM propulsion resistance F f : Denote the time point when the cutterhead starts to contact the working face as the third time point. The tunneling stage between the second time point and the third time point is called the empty push section, as Figure 2 shown;

[0052] The machine operation state characteristics of the empty push section are that the cutterhead rotates while the TBM advances forward, and the cutterhead has not yet contacted the working face;

[0053] The data characteristics of the empty push section are that both the cutterhead torque and the thrust are positive numbers. After a short-term fluctuation, the thrust stabilizes near a certain value, which is called the first stable thrust section, as Figure 2 shown;

[0054] If there is an obvious first stable thrust section in the empty push section, then take the average thrust value of the first stable thrust section as the TBM propulsion resistance F f ; If there is no obvious first stable thrust section in the empty push section, then take the average thrust value of the empty push section as the TBM propulsion resistance F f ;

[0055] S2-3, Calculate the effective rock-breaking thrust F b and the effective rock-breaking torque T b : Denote the time point when the cutterhead torque and the thrust suddenly change from the state of rapid, continuous, and large-scale increase to the state of stabilizing near a certain value with small fluctuations as the fourth time point, and denote the time point when the cutterhead torque and the thrust suddenly change from the state of stabilizing near a certain value with small fluctuations to the state of rapidly dropping to zero as the fifth time point. The tunneling stage between the fourth time point and the fifth time point is called the second stable torque section or the second stable thrust section, simply referred to as the stable section, as Figure 2 shown;

[0056] The machine operation state characteristics of the stable section are that the cutterhead rotates smoothly to cut the rock and soil mass, and at the same time the TBM advances forward smoothly to break the rock;

[0057] The data characteristics of the stable section are that both the cutterhead torque and the thrust are positive numbers, and they are respectively stable near a certain value with small fluctuations;

[0058] Subtract the cutterhead rotation resistance from the average torque value of the stable section to obtain the effective rock-breaking torque T b , and subtract the TBM propulsion resistance from the average thrust value of the stable section to obtain the effective rock-breaking thrust F b .

[0059] S3, Based on the data in the above-mentioned step S1 and step S2, establish the relationship between the TBM tunneling state, the surrounding rock state and the TBM tunneling resistance through data mining and machine learning, and establish the TBM jamming risk assessment criteria based on the TBM tunneling resistance.

[0060] In this embodiment, the method for establishing the risk assessment standard for TBM jamming includes the following steps:

[0061] S3-1. Based on the data of the normal tunneling section, respectively count the ranges of F f , T f , F b , T b , F f / F b and T f / T b under different surrounding rock conditions;

[0062] S3-2. Based on the data of the shield jamming section, count the surrounding rock conditions when the shield jamming occurs, and count the change trends of F f and F f / F b in the previous several tunneling cycles when the shield jamming occurs, and determine the propulsion resistance warning value W1 and the propulsion resistance ratio warning value W2 of the shield jamming;

[0063] S3-3. Based on the data of the cutterhead jamming section, count the surrounding rock conditions when the cutterhead jamming occurs, and count the change trends of T f and T f / T b in the previous several tunneling cycles when the cutterhead jamming occurs, and determine the rotation resistance warning value W3 and the rotation resistance ratio warning value W4 of the cutterhead jamming.

[0064] S4. Real-time collect the TBM tunneling state parameters and the corresponding surrounding rock state parameters, and based on the TBM jamming risk assessment standard in step S3, real-time evaluate the TBM jamming risk and give an early warning.

[0065] In this embodiment, the method for real-time evaluating the TBM jamming risk and giving an early warning includes the following steps:

[0066] S4-1. Based on the real-time collected TBM tunneling state parameters, calculate F f , T f , F b , T b , F f / F b and T f / T b of the current tunneling cycle according to the method in step S2;

[0067] S4-2. Based on the real-time collected surrounding rock state parameters, obtain F f , T f , F b , Tb , F f / F b and T f / T b range;

[0068] S4-3. Compare the real-time tunneling parameters calculated in step S4-1 with the range of tunneling parameters during normal tunneling of the TBM obtained in step S4-2. There are the following three situations:

[0069] ② If the real-time tunneling parameters are all within the normal range, it is considered that there is no risk of machine jamming, and no machine jamming warning is issued;

[0070] ② If F f or F f / F b is greater than the normal range and shows an abnormal increasing trend as the TBM tunnels, it is considered that there is a risk of shield machine jamming; in particular, if the current surrounding rock state is a high-incidence section of shield machine jamming, it is considered that there is a great risk of shield machine jamming; when F f > W1 or F f / F b > W2, issue a shield machine jamming warning;

[0071] ③ If T f or T f / T b is greater than the normal range and shows an abnormal increasing trend as the TBM tunnels, it is considered that there is a risk of cutterhead machine jamming; in particular, if the current surrounding rock state is a high-incidence section of cutterhead machine jamming, it is considered that there is a great risk of cutterhead machine jamming; when T f > W3 or T f / T b > W4, issue a cutterhead machine jamming warning.

[0072] This embodiment also includes a TBM machine jamming risk warning system based on tunneling resistance, specifically including:

[0073] A collection module that collects tunneling state parameters and corresponding surrounding rock state parameters in the TBM historical tunneling data;

[0074] A calculation module that calculates the TBM tunneling resistance and effective rock breaking force for each tunneling cycle respectively;

[0075] A risk assessment module that establishes the relationship between the TBM tunneling state, surrounding rock state and TBM tunneling resistance through data mining and machine learning, and establishes a TBM machine jamming risk assessment standard based on TBM tunneling resistance;

[0076] The early warning module collects the TBM tunneling state parameters and the corresponding surrounding rock state parameters in real time, and according to the TBM jamming risk assessment criteria in the risk assessment module, it evaluates the TBM jamming risk in real time and issues an early warning in advance.

[0077] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Those skilled in the art to which the present invention pertains can make various modifications or supplements to the described specific embodiments or use similar means for substitution, without departing from the spirit of the present invention or exceeding the scope defined by the appended claims.

Claims

1. A risk early warning method for TBM jamming based on tunneling resistance, characterized in that, Including the following steps: S1. Collect the tunneling state parameters and the corresponding surrounding rock state parameters in the historical tunneling data of the TBM; S2. Regard a complete working process of the TBM from startup to shutdown as a tunneling cycle, and calculate the tunneling resistance and the effective rock-breaking force of the TBM for each tunneling cycle respectively; The TBM tunneling resistance includes the TBM propulsion resistance F f and the cutterhead rotation resistance T f , and the effective rock-breaking force includes the effective rock-breaking thrust F b and the effective rock-breaking torque T b ; S3. Based on the data in the above steps S1 and S2, establish the relationship between the TBM tunneling state, the surrounding rock state and the TBM tunneling resistance through data mining and machine learning, and establish the TBM jamming risk assessment criterion based on the TBM tunneling resistance; The establishment of the TBM jamming risk assessment criterion based on the TBM tunneling resistance includes the following steps: S3-1, based on the data of the normal tunneling section, respectively count the propulsion resistance F f , cutter head rotation resistance T f , effective rock breaking thrust F b , effective rock breaking torque T b , F f / F b and T f / T b range; S3-2, based on the data of the shield jamming section, statistically analyze the surrounding rock state when the shield jamming occurs, and statistically analyze the changes in F f and F f / F b in the previous several tunneling cycles when the shield jamming occurs, and determine the advance resistance warning value W1 and the advance resistance ratio warning value W2 of the shield jamming; S3-3, Based on the data of the cutter head jamming section, statistically analyze the surrounding rock state when the cutter head jamming occurs, and statistically analyze T in the previous several tunneling cycles when the cutter head jamming occurs. f And T f / T b The change trend of is used to determine the rotation resistance warning value W3 and the rotation resistance ratio warning value W4 of the cutter head jamming. S4. Collect the TBM tunneling state parameters and the corresponding surrounding rock state parameters in real time, and evaluate the TBM jamming risk in real time and issue an early warning according to the TBM jamming risk assessment criterion in the above step S3.

2. The risk early warning method for TBM jamming based on tunneling resistance according to claim 1, wherein In step S1, the tunneling state includes three cases: normal tunneling, shield jamming and cutterhead jamming. The collected tunneling state parameters include, but are not limited to, the thrust and the cutterhead torque, and the collected surrounding rock state parameters include, but are not limited to, the surrounding rock grade, the position and occurrence of the bad geological body.

3. The risk warning method for TBM jamming based on tunneling resistance according to claim 1, wherein In step S2, the method for calculating the TBM tunneling resistance and the effective rock-breaking force for each tunneling cycle is to divide the tunneling cycle into an idling section, a jacking section, and a stable section, and calculate the cutterhead rotation resistance T from the idling section f , calculate the TBM jacking resistance F from the jacking section f , calculate the effective rock-breaking thrust F from the stable section b and the effective rock-breaking torque T b .

4. A TBM jamming risk warning method based on tunneling resistance according to claim 3, characterized in that, In the idling section, the cutter head torque is positive and the thrust is zero. After a short fluctuation, the cutter head torque stabilizes near a certain value, which is called the first stable torque section. If there is an obvious first stable torque section in the idling section, the average torque of the first stable torque section is taken as the cutter head rotation resistance T f ; if there is no obvious first stable torque section in the idling section, the average torque of the idling section is taken as the cutter head rotation resistance T f .

5. The risk early warning method for TBM jamming based on tunneling resistance according to claim 3, characterized in that, In the empty pushing section, both the cutter head torque and the thrust are positive. After a short fluctuation, the thrust stabilizes near a certain value, which is called the first stable section of the thrust. If there is an obvious first stable section of the thrust in the empty pushing section, the average value of the thrust in the first stable section of the thrust is taken as the TBM propulsion resistance F f ; if there is no obvious first stable section of the thrust in the empty pushing section, the average value of the thrust in the empty pushing section is taken as the TBM propulsion resistance F f .

6. The risk warning method for TBM jamming based on tunneling resistance according to claim 1, characterized in that, In step S4, the real-time evaluation and early warning of the TBM jamming risk include the following steps: S4-1. Based on the TBM tunneling state parameters collected in real time, calculate the propulsion resistance F of the current tunneling cycle according to the step S2 f , the cutterhead rotation resistance T f , the effective rock-breaking thrust F b , the effective rock-breaking torque T b , F f / F b and T f / T b ; S4-2. Based on the real-time collected surrounding rock state parameters, obtain the propulsion resistance F, the cutterhead rotation resistance T, the effective rock-breaking thrust F, the effective rock-breaking torque T, the range of F / F and T / T under the current surrounding rock state during normal tunneling of the TBM. f , the cutterhead rotation resistance T f , the effective rock-breaking thrust F b , the effective rock-breaking torque T b , F f / F b and T f / T b range; S4-3. Compare the real-time tunneling parameters calculated in the above step S4-1 with the range of the tunneling parameters when the TBM is tunneling normally obtained in the above step S4-2, evaluate the TBM jamming risk in real time and issue an early warning.

7. A TBM jamming risk early warning method based on tunneling resistance according to claim 6, characterized in that, The above step S4-3 has the following three cases: ① If the real-time tunneling parameters are all within the normal range, it is considered that there is no jamming risk and no jamming warning is issued; ② If F f or F f / F b is greater than the normal range and shows an abnormal growth trend with the tunneling of the TBM, it is considered that there is a risk of shield jamming; if the current surrounding rock state is a high-incidence section of shield jamming, it is considered that there is a great risk of shield jamming; when F f > W1 or F f / F b > W2, a shield jamming warning is issued; ③ If T f or T f / T b is greater than the normal range and shows an abnormal growth trend as the TBM advances, it is considered that there is a risk of cutterhead jamming; if the current surrounding rock state is a high-incidence section of cutterhead jamming, it is considered that there is a great risk of cutterhead jamming; when T f > W3 or T f / T b > W4, a cutterhead jamming warning is issued.

8. A TBM jamming risk early warning system based on tunneling resistance, characterized in that: Including A collection module that collects the tunneling state parameters and the corresponding surrounding rock state parameters in the historical tunneling data of the TBM; A calculation module that calculates the tunneling resistance and the effective rock-breaking force of the TBM for each tunneling cycle respectively; A risk assessment module that establishes the relationship between the TBM tunneling state, the surrounding rock state and the TBM tunneling resistance through data mining and machine learning, and establishes the TBM jamming risk assessment criterion based on the TBM tunneling resistance; The establishment of the TBM jamming risk assessment criterion based on the tunneling resistance includes the following steps: S3-1. Based on the data of the normal tunneling section, respectively count the ranges of the propulsion resistance F f , the cutterhead rotation resistance T f , the effective rock-breaking thrust F b , the effective rock-breaking torque T b , F f / F b and T f / T b ; S3-2. Based on the data of the shield jamming section, statistically analyze the surrounding rock state when the shield jamming occurs, and statistically analyze F in the previous several tunneling cycles before the shield jamming occurs f and F f / F b trend of change, and determine the advance resistance warning value W1 and the advance resistance ratio warning value W2 of the shield jamming; S3-3, based on the data of the cutter head jamming section, statistically analyze the surrounding rock state when the cutter head jams, and statistically analyze T in the previous several tunneling cycles before the cutter head jams f and T f / T b trend of change, and determine the rotation resistance warning value W3 and the rotation resistance ratio warning value W4 of the cutter head jamming; An early warning module that collects the TBM tunneling state parameters and the corresponding surrounding rock state parameters in real time, and evaluates the TBM jamming risk in real time and issues an early warning according to the TBM jamming risk assessment criterion in the risk assessment module.

9. The risk early warning system for TBM jamming based on tunneling resistance according to claim 8, wherein: In the calculation module, the cutter head torque in the idling section is positive and the thrust is zero. After a short-term fluctuation, the cutter head torque stabilizes near a certain value, which is called the first stable torque section. If there is an obvious first stable torque section in the idling section, the average torque of the first stable torque section is taken as the cutter head rotation resistance T f ; if there is no obvious first stable torque section in the idling section, the average torque of the idling section is taken as the cutter head rotation resistance T f ; In the empty pushing section, both the cutterhead torque and the thrust are positive. After a short fluctuation, the thrust stabilizes near a certain value, which is called the first stable section of the thrust. If there is an obvious first stable section of the thrust in the empty pushing section, the average value of the thrust in the first stable section of the thrust is taken as the TBM propulsion resistance F f ; if there is no obvious first stable section of the thrust in the empty pushing section, the average value of the thrust in the empty pushing section is taken as the TBM propulsion resistance F f .

Images