A large-dip-angle shield continuous small-curve-radius tunneling construction posture control method

Abstract

The application discloses a large-inclination shield continuous small-curve-radius tunneling construction posture control method, which comprises the following steps: step 1, designing a tunnel construction theoretical axis according to engineering requirements; step 2, dynamically monitoring the shield posture while excavating; step 3, when the shield posture is inconsistent with the tunnel construction theoretical axis, performing first-round deviation correction on the shield posture based on a primary adjustment algorithm; step 4, re-fitting the shield posture based on the first-round deviation correction, and when the shield posture is inconsistent with the tunnel construction theoretical axis, continuing next-round deviation correction based on a deviation improvement degree; and step 5, repeating step 4 until the shield posture is consistent with the tunnel construction theoretical axis, and ending the deviation correction of the shield posture. The shield posture is automatically adjusted through the control method, the deviation of the shield posture is found in time, the deviation is corrected frequently and slightly, and the deviation correction efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of tunnel boring machine (TBM) construction technology, specifically to a method for controlling the posture of a large-angle TBM during continuous small-curve-radius tunneling. Background Technology

[0002] Large-angle, small-radius shield tunnels refer to curved tunnels with a radius of 250 to 400 meters. The construction of small-radius curved shield tunnels is carried out under the premise of earth pressure balance. The VMT guidance system controls the tunneling direction, the cutterhead over-excavation cutter expands the tunnel face, the pressure difference of the propulsion cylinder makes the shield machine move along the curve, the stroke difference of the shield articulation cylinder makes the shield body and shield tail effectively fit the curve, and finally the small-radius curved tunnel is formed by assembling segments with a large wedge shape to fit the curve excavated by the shield machine.

[0003] Attitude control of shield tunnels with steep inclination and small curves has always been a challenge in shield tunneling quality control. Shield attitude control itself is a very complex process, involving almost all geological parameters and shield tunneling parameters. It is difficult to accurately establish a mathematical model of the shield during the advancement process, and traditional control methods are difficult to apply. Summary of the Invention

[0004] The technical problem to be solved by this invention is to provide a method for controlling the posture of shield tunneling with a large inclination angle and a small curve radius during continuous tunneling, which automatically adjusts the posture of the shield and enables timely detection of posture deviations through control methods, frequent and fine corrections, thereby improving the efficiency of correction.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] A method for controlling the attitude during continuous small curve radius tunneling construction of a large-angle shield tunnel includes the following steps:

[0007] Step 1: Design the theoretical axis for tunnel construction according to project requirements;

[0008] Step 2: Dynamically monitor the shield tunneling attitude during excavation;

[0009] Step 3: When the shield attitude is inconsistent with the theoretical axis of tunnel construction, the shield attitude is corrected for the first time based on the initial adjustment algorithm;

[0010] Step 4: Refit the shield attitude based on the first round of deviation correction. When the shield attitude is inconsistent with the theoretical axis of tunnel construction, continue the next round of deviation correction based on the degree of deviation improvement.

[0011] Step 5: Repeat step 4 until the shield posture is consistent with the theoretical axis of tunnel construction, and then end the shield posture deviation correction.

[0012] Furthermore, the initial adjustment algorithm includes the following steps:

[0013] Step 3.1: Determine the stage of the tunnel boring machine's excavation;

[0014] Step 3.2: Using the tunnel boring machine's forward direction as a reference line, determine the direction of the tunnel boring machine's attitude deviation. The direction of deviation includes: horizontal deviation to the left or right, and vertical deviation to the up or down.

[0015] Step 3.3: Determine the deviation of the tunnel boring machine's posture in the horizontal and vertical directions respectively;

[0016] Step 3.4: When the deviation in the horizontal direction is greater than the deviation in the vertical direction, the horizontal direction correction is performed first; conversely, when the deviation in the vertical direction is greater than the deviation in the horizontal direction, the vertical direction correction is performed first.

[0017] Step 3.5: Based on the deviation discrimination method, perform reverse adjustment of the tunnel boring machine's attitude and adjustment of the tunnel boring machine's travel speed.

[0018] Furthermore, the stages of tunnel boring machine excavation include straight sections, curved sections, transition sections from curved to straight sections, and transition sections from straight to curved sections.

[0019] The criteria for determining the straight segment are: the tunnel boring machine is currently in a straight-line motion state, and the tunnel boring machine maintains a straight-line motion state within the standard response time t.

[0020] The criteria for determining the curve segment are: the tunnel boring machine is currently in a curved motion state, and the tunnel boring machine maintains the curved motion state within the standard response time t;

[0021] The criteria for determining the transition from curve to straight line are: the tunnel boring machine is currently in a curved motion state, and within the standard response time t, the tunnel boring machine transitions to a straight motion state;

[0022] The criteria for determining the transition from straight line to curve are: the tunnel boring machine is currently in a straight line motion state, and within the standard response time t, the tunnel boring machine transitions to a curve motion state.

[0023] Furthermore, the formula for calculating the deviation is:

[0024] D = C1 / C0

[0025] Where D represents the degree of deviation, C1 represents the angle of deviation, when there is a vertical deviation, the angle of deviation is the angle between the deviation and the horizontal plane, when there is a horizontal deviation, the angle of deviation is the angle between the deviation and the vertical plane, and C0 represents the expected adjustment angle for rapid deviation.

[0026] Furthermore, step 3.3 includes:

[0027] ① When D≤1, the shield attitude is corrected in the opposite direction according to the minimum adjustment angle A0;

[0028] ② When 1 < D < k, k is the deviation allowable factor. While the shield machine's attitude is corrected in the reverse direction according to the minimum adjustment angle A0, the forward speed of the shield machine is adjusted simultaneously.

[0029]

[0030] Where V1 represents the forward speed of the tunnel boring machine after adjustment, and V0 represents the forward speed of the tunnel boring machine before adjustment;

[0031] ③ When D > k, the formula for adjusting the tunnel boring machine's forward speed is:

[0032] V1=V0×δ

[0033] Wherein, δ represents the maximum speed adjustment factor, which is an empirical value for the maximum speed adjustment range while ensuring continuous operation of the tunnel boring machine.

[0034] The shield attitude adjustment angle of the tunnel boring machine is:

[0035] A1 = min(A0 × D, Am)

[0036] Where A1 represents the shield attitude adjustment angle of the tunnel boring machine, min(,) represents the minimum value function, which means taking the minimum of two numbers, and Am represents the preset maximum adjustment angle of the shield attitude of the tunnel boring machine.

[0037] Furthermore, the formula for calculating the deviation from improvement in step 4 is as follows:

[0038]

[0039] Where l represents the degree of deviation improvement, D1 represents the degree of deviation after deviation correction, and D0 represents the degree of deviation before deviation correction.

[0040] Furthermore, when l≤0, manual intervention is performed; when l>0, deviation correction is performed again based on step 3.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] The technical problem to be solved by this invention is to provide a method for controlling the posture of shield tunneling with a large inclination angle and a small curve radius during continuous tunneling, which automatically adjusts the posture of the shield and achieves frequent and fine correction through the control method, thereby improving the correction efficiency.

[0043] 1. This invention corrects the shield's attitude through an initial adjustment algorithm. The magnitude of the attitude adjustment is determined based on the degree of deviation, and the speed of the shield is adjusted accordingly. This ensures that the shield is not interrupted and the impact is minimized while efficiently correcting the attitude.

[0044] 2. This invention fully considers the possible deviations in the horizontal and vertical directions of the shield's attitude. It corrects the direction with the larger deviation first, because in reality, deviations in both the horizontal and vertical directions often occur simultaneously. Practice has shown that simultaneous correction is not effective and may result in insufficient pressure differential or even roof detachment. If roof detachment is severe on one side, it may pull the segments apart, which will have an adverse effect on waterproofing and the assembly of the next ring.

[0045] 3. The formula for adjusting the tunnel boring machine's forward speed designed in this invention minimizes the impact while ensuring the adjustment of the shield's attitude. If necessary, the tunneling speed can be reduced to ensure the continuity of tunneling and also prevent the cutterhead from jamming.

[0046] 4. This invention judges the effect of adjustment by the degree of deviation from improvement. When the degree of deviation from improvement does not meet expectations, timely manual intervention and adjustment are carried out. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the overall structure of a method for controlling the posture of continuous small curve radius tunneling of a shield tunnel with a large inclination angle according to the present invention.

[0048] Figure 2 This is a schematic diagram of a model for continuous small curve radius tunneling using a large-angle shield tunneling method according to the present invention.

[0049] Figure 3 This is a schematic diagram of the coordinate system for continuous small curve radius tunneling using a large-angle shield tunneling method according to the present invention.

[0050] Figure 4 This is a schematic diagram of the hinge angle for continuous small curve radius tunneling using a large-angle shield tunneling method according to the present invention. Detailed Implementation

[0051] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] Example 1

[0053] A method for controlling the attitude during continuous small curve radius tunneling construction using a large-angle shield tunnel, such as... Figure 1 As shown, it includes the following steps:

[0054] Step 1: Design the theoretical axis for tunnel construction according to project requirements;

[0055] Step 2: Dynamically monitor the shield tunneling attitude during excavation;

[0056] Step 3: When the shield attitude is inconsistent with the theoretical axis of tunnel construction, the shield attitude is corrected for the first time based on the initial adjustment algorithm;

[0057] Step 4: Refit the shield attitude based on the first round of deviation correction. When the shield attitude is inconsistent with the theoretical axis of tunnel construction, continue the next round of deviation correction based on the degree of deviation improvement.

[0058] Step 5: Repeat step 4 until the shield posture is consistent with the theoretical axis of tunnel construction, and then end the shield posture deviation correction.

[0059] This invention corrects the shield tunneling machine's attitude through an initial adjustment algorithm. The algorithm determines the adjustment range based on the degree of deviation and adjusts the shield's speed accordingly. This ensures efficient correction while minimizing disruption to the shield's operation. The initial adjustment algorithm includes the following steps:

[0060] Step 3.1: Determine the stage of the tunnel boring machine's excavation;

[0061] Step 3.2: Using the tunnel boring machine's (TBM) forward direction as a reference line, determine the direction of the TBM's attitude deviation. The deviation direction includes: horizontal deviation to the left or right, and vertical deviation upward or downward. Here, this invention fully considers the potential differences in horizontal and vertical deviations of the TBM's attitude, correcting the direction with the larger deviation first. This is because in reality, horizontal and vertical deviations often occur simultaneously. Practice has shown that simultaneous correction is ineffective and may result in insufficient pressure differential, or even roof detachment. If roof detachment is severe on one side, it may pull the tunnel lining segments apart, which will adversely affect waterproofing and the assembly of the next section.

[0062] Step 3.3: Determine the deviation of the tunnel boring machine's posture in the horizontal and vertical directions respectively;

[0063] Step 3.4: When the deviation in the horizontal direction is greater than the deviation in the vertical direction, the horizontal direction correction is performed first; conversely, when the deviation in the vertical direction is greater than the deviation in the horizontal direction, the vertical direction correction is performed first.

[0064] Step 3.5: Based on the deviation discrimination method, perform reverse adjustment of the tunnel boring machine's attitude and adjustment of the tunnel boring machine's travel speed.

[0065] Furthermore, the stages of tunnel boring machine excavation include straight sections, curved sections, transition sections from curved to straight sections, and transition sections from straight to curved sections, such as... Figure 2 As shown,

[0066] The criteria for determining the straight segment are: the tunnel boring machine is currently in a straight-line motion state, and the tunnel boring machine maintains a straight-line motion state within the standard response time t.

[0067] The criteria for determining the curve segment are: the tunnel boring machine is currently in a curved motion state, and the tunnel boring machine maintains the curved motion state within the standard response time t;

[0068] The criteria for determining the transition from curve to straight line are: the tunnel boring machine is currently in a curved motion state, and within the standard response time t, the tunnel boring machine transitions to a straight motion state;

[0069] The criteria for determining the transition from straight to curved motion are: the tunnel boring machine is currently in a straight-line motion state, and within the standard response time t, the tunnel boring machine transitions to a curved motion state.

[0070] The standard response time t is the average time taken for the tunnel boring machine to correct its attitude.

[0071] Furthermore, the formula for calculating the deviation is:

[0072] D = C1 / C0

[0073] Where D represents the degree of deviation, C1 represents the angle of deviation, when there is a vertical deviation, the angle of deviation is the angle between the deviation and the horizontal plane, when there is a horizontal deviation, the angle of deviation is the angle between the deviation and the vertical plane, and C0 represents the expected adjustment angle for rapid deviation.

[0074] Furthermore, the formula for adjusting the tunnel boring machine's forward speed designed in this invention minimizes the impact while ensuring the adjustment of the shield's attitude. If necessary, the tunneling speed is reduced to ensure the continuity of tunneling and also to prevent the cutterhead from jamming. Specifically, step 3.3 includes:

[0075] ① When D≤1, the shield attitude is corrected in the opposite direction according to the minimum adjustment angle A0;

[0076] ② When 1 < D < k, k is the allowable deviation factor, 1.58 ≤ k ≤ 3. While the shield machine's attitude is corrected in the reverse direction according to the minimum adjustment angle A0, the forward speed of the shield machine is adjusted simultaneously.

[0077]

[0078] Where V1 represents the forward speed of the tunnel boring machine after adjustment, and V0 represents the forward speed of the tunnel boring machine before adjustment;

[0079] ③ When D > k, the formula for adjusting the tunnel boring machine's forward speed is:

[0080] V1=V0×δ

[0081] Wherein, δ represents the maximum speed adjustment factor, which is an empirical value for the maximum speed adjustment range while ensuring continuous operation of the tunnel boring machine.

[0082] The shield attitude adjustment angle of the tunnel boring machine is:

[0083] A1 = min(A0 × D, Am)

[0084] Where A1 represents the shield attitude adjustment angle of the tunnel boring machine, min(,) represents the minimum value function, which means taking the minimum of two numbers, and Am represents the preset maximum adjustment angle of the shield attitude of the tunnel boring machine, which is empirical data and is the maximum value of the instantaneous adjustment angle while ensuring that the shield attitude has a controllable impact on the tunnel segments.

[0085] Furthermore, this invention judges the effectiveness of adjustments by the degree of deviation from improvement. When the degree of deviation from improvement fails to meet expectations, timely manual intervention and adjustment are performed. The formula for calculating the degree of deviation from improvement in step 4 is as follows:

[0086]

[0087] Where l represents the degree of deviation improvement, D1 represents the degree of deviation after deviation correction, and D0 represents the degree of deviation before deviation correction.

[0088] Furthermore, when l≤0, manual intervention is performed; when l>0, deviation correction is performed again based on step 3.

[0089] Additionally, it should be noted that the shield attitude here refers to the attitude of the front shield.

[0090] Example 2

[0091] Based on Example 1, the present invention also designs a coordinate system for tracking and display, and provides design suggestions for the initial hinge angle based on the coordinate system.

[0092] Specifically, coordinate systems such as Figure 3 As shown, CT is the global coordinate system; CM1 and CM2 are the local coordinate systems of the front shield and the rear shield, respectively. The starting point of the two coordinate systems is set at the center point of the shield hinge, denoted as r0; in addition, the local coordinate systems after rotating CM1 and CM2 around the r axis are denoted as CMR1 and CMR2, and the corresponding three axes are defined as pRi, qRi and rRi (i=1,2).

[0093] In three-dimensional space, the tunnel design axis is regarded as a general spatial curve. The geometric properties of the spatial curve are determined by the position vector r, the tangential unit vector t, the normal unit vector n, the binormal unit vector b, the curvature κ, and the torsion τ. All of these quantities can be related by the Frenet-Serret formula.

[0094] To facilitate model construction, the continuous tunnel design axis was discretized, and the geometric quantities of the discretized points are shown in Table 1. The detailed discretization steps are as follows:

[0095] 1) First, determine the position vector of the tunnel centerline. and direction vector The first discretization is performed, where T represents the global coordinate system and i represents the i-th discrete point.

[0096] 2) The second discretization is a linear interpolation based on the first discretization points, which yields:

[0097]

[0098]

[0099]

[0100]

[0101] 3) Based on the results and The horizontal deflection angle θ of the first and second discrete points x (0≤θ x <2π) and pitch angle θ y (|θ y |<π / 2) can be represented as:

[0102]

[0103]

[0104] In equation (5) above, the subscript u represents i or j, and the subscript v represents 1 or 2. The subscripts x, y, and z represent the x, y, and z axes in the global coordinate system CT, respectively.

[0105] 4) Under the local coordinate system CM The calculation formula is as follows:

[0106]

[0107] In the local coordinate system CM, the unit vector of the p-axis Equals [1 0 0] MTherefore, the second discrete roll angle θ zj(2) (0≤θ zj(2) <2π) can be expressed as:

[0108]

[0109] 5) Based on the continuity condition of the roll angle in the two discrete processes, the roll angle of the first discrete process can be obtained:

[0110] θ zi(1) =θ zj-1(2) +α(θ zj(2) -θ zj-1(2) )

[0111]

[0112] 6) Based on θ obtained in equations (5) and (8) xi(1) θ yi(1) and θ zi(1) The normal unit vector and the binormal unit vector can be represented as:

[0113]

[0114]

[0115] Table 1 Geometric Quantities of Discrete Points

[0116]

[0117] The articulated joint allows the tunnel boring machine (TBM) to bend forward and backward to a certain extent, adapting to the excavation of curved sections. Based on the principles of vector analysis, the positions of the front and rear shields are uniquely determined in three-dimensional space, while the hinge angle can be represented in different ways. The two sets of hinge angles used in this paper are as follows: Figure 4 As shown. By introducing a reference hinge surface, the hinge angle can be expressed as θ. r and θ q This indicates that the reference hinge surface is jointly determined by the unit axis vectors r1 and r2 of the front and rear shields. The vector product of r1 and r2 is defined as the normal vector b of the hinge surface, and vector n is defined as the vector product of b and r1. θ r (0≤θ r <2π) is defined as the angle between p1 and n, θ q (0≤θ q <π / 2) is defined as the angle between r1 and r2. The hinge angle can also be represented by θ. CH and θ CV It is represented that θ CH (|θ CH |<π / 2) is the angle between q1 and q2, θ CV (|θCV |<π / 2) is the angle between p1 and p2.

[0118] θ q Represented as:

[0119]

[0120] θ r Represented as:

[0121]

[0122] When θ r and θ q Given θ, we can calculate θ. CH :

[0123] cos(θ CH )=cos(θ q sin 2 (θ r )+cos 2 (θ r )

[0124]

[0125] θ CH =-sign[sin(θ)] r )]|θ CH |

[0126] Similarly, θ CV It can be represented as:

[0127] cos(θ CV )=cos(θ q cos 2 (θ r )+sin 2 (θ r )

[0128]

[0129] θ CV =sign[cos(θ)] r )]|θ CV |

[0130] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0131] Similarly, it should be understood that, in order to streamline this disclosure and aid in understanding one or more of the various aspects of the invention, in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof. However, this method of disclosure should not be interpreted as reflecting an intention that the claimed invention requires more features than expressly recited in each claim. Rather, as reflected in the claims, inventive aspects lie in fewer than all features of a single foregoing disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the invention.

[0132] Those skilled in the art will understand that the modules, units, or groups of devices in the examples disclosed herein can be arranged in the device as described in this embodiment, or alternatively, can be located in one or more devices different from the device in this example. The modules in the foregoing examples can be combined into a single module or, in addition, can be divided into multiple sub-modules.

[0133] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or groups in the embodiments can be combined into a single module, unit, or group, and further, they can be divided into multiple sub-modules, sub-units, or sub-groups. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0134] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination.

[0135] Furthermore, some of the embodiments described herein are methods or combinations of method elements that can be implemented by a processor of a computer system or by other means of performing the functions. Therefore, a processor having the necessary instructions for implementing the method or method elements forms means for implementing the method or method elements. Furthermore, the elements described herein in the apparatus embodiments are examples of means for implementing the functions performed by elements for the purposes of carrying out the invention.

[0136] The various techniques described herein can be implemented in combination with hardware or software, or a combination thereof. Thus, the methods and apparatus of the present invention, or certain aspects or portions thereof, can take the form of program code (i.e., instructions) embedded in a tangible medium, such as a floppy disk, CD-ROM, hard disk, or any other machine-readable storage medium, wherein when the program is loaded into and executed by a machine such as a computer, the machine becomes an apparatus for practicing the present invention.

[0137] When the program code is executed on a programmable computer, the computing device generally includes a processor, a processor-readable storage medium (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device. The memory is configured to store program code; the processor is configured to execute the method of the present invention according to instructions in the program code stored in the memory.

[0138] By way of example, and not limitation, computer-readable media include computer storage media and communication media. Computer storage media stores information such as computer-readable instructions, data structures, program modules, or other data. Communication media generally embodies computer-readable instructions, data structures, program modules, or other data in the form of modulated data signals such as carrier waves or other transmission mechanisms, and includes any information delivery medium. Any combination of the above is also included within the scope of computer-readable media.

[0139] As used herein, unless otherwise specified, the use of ordinal numbers such as “first,” “second,” “third,” etc., to describe ordinary objects merely indicates different instances of similar objects and is not intended to imply that the objects being described must have a given order in time, space, ordering, or any other manner.

[0140] Although the invention has been described with reference to a limited number of embodiments, those skilled in the art will understand from the foregoing description that other embodiments are conceivable within the scope of the invention described herein. Furthermore, it should be noted that the language used in this specification has been chosen primarily for readability and instructional purposes, and not for the purpose of interpreting or limiting the subject matter of the invention. Therefore, many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the appended claims. The disclosure of the invention is illustrative and not restrictive, and the scope of the invention is defined by the appended claims.

Claims

1. A large-dip-angle shield continuous small-curve-radius tunneling construction posture control method, characterized in that, The method comprises the following steps: Step 1: design a tunnel construction theoretical axis according to engineering requirements; Step 2: dynamically monitor the shield posture while excavating; Step 3: when the shield posture is inconsistent with the tunnel construction theoretical axis, perform first-round deviation correction on the shield posture based on a primary adjustment algorithm; Step 4: re-fit the shield posture based on the shield posture after the first-round deviation correction, and when the shield posture is inconsistent with the tunnel construction theoretical axis, continue the next round of deviation correction based on a deviation improvement degree; Step 5: repeat Step 4 until the shield posture is consistent with the tunnel construction theoretical axis, and end the deviation correction of the shield posture. The primary adjustment algorithm comprises the following steps: Step 3.1: determine the stage at which the shield machine is excavating; Step 3.2: take the advancing direction of the shield machine as a reference line, determine the direction in which the shield machine posture deviates, and the deviation direction includes horizontal left deviation or right deviation, and vertical upward deviation or downward deviation; Step 3.3: determine the deviation degree of the shield machine posture in the horizontal and vertical directions respectively; Step 3.4: when the deviation degree in the horizontal direction is greater than that in the vertical direction, preferentially perform horizontal deviation correction, and vice versa, when the deviation degree in the vertical direction is greater than that in the horizontal direction, preferentially perform vertical deviation correction; Step 3.5: based on the deviation degree discrimination method, perform reverse adjustment of the shield machine posture and adjustment of the advancing speed of the shield machine; The method is characterized in that Step 3.5 comprises: ① when D≤1, the shield posture performs reverse deviation correction of the deviation degree according to the minimum adjustment angle A0; ② when 1 ③ when D>k, the adjustment formula of the advancing speed of the shield machine is: V1=V0×δ wherein V1 represents the advancing speed of the shield machine after adjustment, V0 represents the advancing speed of the shield machine before adjustment, and δ represents a maximum speed adjustment factor, which is an empirical value of the maximum speed adjustment amplitude under the condition of ensuring continuous operation of the shield construction; The adjustment angle of the shield posture of the shield machine is: A1=min(A0×D,Am) wherein A1 represents the adjustment angle of the shield posture of the shield machine, min(,) represents a minimum value function, Am represents a preset maximum adjustment angle of the shield posture of the shield machine, and min(A0×D,Am) represents taking the minimum value of A0×D and Am. The calculation formula of the deviation improvement degree in Step 4 is: wherein l represents the deviation improvement degree, D1 represents the deviation degree after deviation correction, and D0 represents the deviation degree before deviation correction. The stages at which the shield machine is excavating include a straight line segment, a curve segment, a curve-to-straight line transition segment, and a straight line-to-curve transition segment, 2. The large-dip-angle shield continuous small-curve-radius tunneling construction posture control method according to claim 1, characterized in that: wherein the judgment basis for the straight line segment is that the current shield machine is in a straight line motion state, and the shield machine maintains the straight line motion state within a standard response time t; the judgment basis for the curve segment is that the current shield machine is in a curve motion state, and the shield machine maintains the curve motion state within the standard response time t. ​ The criteria for determining the transition from curve to straight line are: the tunnel boring machine is currently in a curved motion state, and within the standard response time t, the tunnel boring machine transitions to a straight motion state; The criteria for determining the transition from straight line to curve are: the tunnel boring machine is currently in a straight line motion state, and within the standard response time t, the tunnel boring machine transitions to a curve motion state.

3. The large-dip-angle shield continuous small-curve-radius tunneling construction posture control method according to claim 2, characterized in that, The formula for calculating the deviation is: D = C1 / C0 Where D represents the degree of deviation, C1 represents the angle of deviation, when there is a vertical deviation, the angle of deviation is the angle between the deviation and the horizontal plane, when there is a horizontal deviation, the angle of deviation is the angle between the deviation and the vertical plane, and C0 represents the expected adjustment angle for rapid deviation.

4. The method according to claim 1, characterized in that: When l≤0, manual intervention is performed; when l>0, deviation correction is performed again based on step 3.

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