An inclined shaft TBM automatic tunneling control method and device and electronic equipment
By implementing an automated tunneling control method for inclined shaft TBMs, precise control under different modes was achieved, solving the problems of low efficiency and poor safety during steep slope tunneling of inclined shaft TBMs, and improving construction efficiency and safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHINA RAILWAY CONSTR HEAVY IND
- Filing Date
- 2023-06-05
- Publication Date
- 2026-07-31
AI Technical Summary
Inclined shaft TBMs have low efficiency, are inconvenient to operate, and are difficult to ensure construction safety, especially when turning on steep slopes, they lack automatic control methods.
This paper provides an automatic tunneling control method for inclined shaft TBMs. By collecting the extension of the propulsion cylinder group in real time, combined with the planned route and the current tunneling mileage, the TBM position is determined. Automatic propulsion and step-changing modes are adopted, including control strategies for different modes such as flat ground, slope, and turning. The method accurately controls the actions of the front shield, support shoe, ABS device and anti-slip cylinder. An algorithm for cylinder extension during steep turns is designed.
It improves the automation and intelligence level of the inclined shaft TBM, realizes modular control, ensures construction safety, avoids machine jamming, reduces the frequency of cylinder adjustment during turning, and improves tunneling efficiency.
Smart Images
Figure CN117145505B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of tunnel boring machine technology, and in particular, to an automatic tunneling control method, device, and electronic equipment for inclined shaft TBMs. Background Technology
[0002] Full-face hard rock tunnel boring machine (TBM) is a large-scale tunnel construction equipment that integrates mechanical, electrical, hydraulic, optical, and pneumatic systems. It can be used for tunneling, support, muck removal and other construction processes and can be used for continuous operation. It has the advantages of fast tunneling speed, environmental protection and high comprehensive benefits.
[0003] With the rapid growth of TBM applications in railway, hydropower, transportation, mining, and municipal tunnel projects in China, using TBMs for steep-slope inclined shaft tunnel construction is gradually becoming a new approach. Currently, research on inclined shaft TBMs mainly focuses on the mechanical structure design of the equipment, such as the stepping device and anti-slip mechanism. Tunneling operations are still primarily manual, lacking research on automated control methods, especially for steep turns. However, compared to conventional tunnels, inclined shaft tunnels present a more challenging construction environment. During steep-slope tunneling, workers face difficulties in movement and operation within the tunnel, impacting tunneling efficiency and compromising construction safety.
[0004] In conclusion, researching an automatic control method for inclined shaft TBM tunneling is of great significance for improving construction efficiency and ensuring personnel safety. Summary of the Invention
[0005] This application provides an automatic tunneling control method for inclined shaft TBMs to solve the technical problems of low construction efficiency, inconvenient operation, and difficulty in ensuring construction safety during large-slope tunneling in the prior art.
[0006] The technical solution adopted in this application is as follows:
[0007] An automated control method for inclined shaft TBM tunneling includes the following steps:
[0008] The extension of each cylinder in the propulsion cylinder group of the inclined shaft TBM is collected in real time, and the location of the inclined shaft TBM is determined based on the planned route and the current tunneling mileage.
[0009] If the extension of any cylinder in the propulsion cylinder group of the inclined shaft TBM is less than the set value, and no manually input step-change control signal is received, then if the inclined shaft TBM is on flat ground, it will enter the automatic propulsion flat ground mode to control the extension of each cylinder in the propulsion cylinder group to achieve automatic propulsion on flat ground; if the inclined shaft TBM is on a slope, it will enter the automatic propulsion slope mode to control the extension of each cylinder in the propulsion cylinder group to achieve automatic propulsion on the slope; if the cutterhead of the inclined shaft TBM reaches a steep slope turning point, it will first enter the automatic step-change flat ground mode and then enter the automatic propulsion steep slope turning mode to control the extension of each cylinder in the propulsion cylinder group to achieve automatic propulsion on steep slope turning.
[0010] If the extension of any cylinder in the propulsion cylinder group is greater than or equal to the set value, or if a manually input step-change control signal is received, then if the TBM in the inclined shaft is on flat ground, it will enter the automatic step-change flat ground mode to control the extension of each cylinder in the propulsion cylinder group and the auxiliary propulsion cylinder group to achieve automatic step-change on flat ground; if the TBM in the inclined shaft is on a slope, it will enter the automatic step-change slope mode to control the extension of each cylinder in the propulsion cylinder group and the auxiliary propulsion cylinder group to achieve automatic step-change on the slope; if the TBM in the inclined shaft is at a steep slope turn, it will enter the automatic step-change steep slope turn mode to control the extension of each cylinder in the propulsion cylinder group and the auxiliary propulsion cylinder group to achieve automatic step-change on steep slope turns.
[0011] Furthermore, the step of controlling the extension of each cylinder in the propulsion cylinder group to achieve automatic propulsion on flat ground in the automatic propulsion mode includes the following steps:
[0012] The support shoes and ABS devices of the inclined shaft TBM extend to tighten the tunnel wall;
[0013] Check if the anti-runaway cylinder of the inclined shaft TBM has retracted. If not, control the anti-runaway cylinder to retract; if yes, proceed to the next step.
[0014] The hydraulic cylinders of the propulsion cylinder group of the inclined shaft TBM extend synchronously until the preset extension value of each cylinder's propulsion stroke is reached.
[0015] Furthermore, the automatic ramp propulsion mode control of the extension of each cylinder in the propulsion cylinder group to achieve automatic ramp propulsion includes the following steps:
[0016] The support shoes and ABS devices of the inclined shaft TBM extend to tighten the tunnel wall;
[0017] Check if the anti-runaway cylinder of the inclined shaft TBM is tightly pressed against the steel arch frame. If not, control the anti-runaway cylinder to extend until it presses against the steel arch frame; if so, proceed to the next step.
[0018] Control the synchronous extension of each cylinder in the propulsion cylinder group until the preset extension value of each cylinder's propulsion stroke is reached.
[0019] Furthermore, the step of controlling the extension of each cylinder in the propulsion cylinder group to achieve automatic propulsion during steep turns includes the following steps:
[0020] The support shoes and ABS devices of the inclined shaft TBM extend to tighten the tunnel wall;
[0021] Check if the anti-slip cylinder is firmly against the steel arch frame. If not, control the anti-slip cylinder to extend until it hits the steel arch frame; if yes, proceed to the next step.
[0022] Based on the slope of the inclined tunnel and the total length of each cylinder in the propulsion cylinder group before the turn, calculate the extension ΔL of the propulsion stroke of each cylinder in the propulsion cylinder group. i , i = 1, 2, 3, 4, ..., n;
[0023] Control each cylinder of the propulsion cylinder group according to the calculated extension ΔL of the propulsion stroke of each cylinder in the propulsion cylinder group. i Extend.
[0024] Furthermore, the calculation of the extension of the propulsion stroke of each cylinder in the propulsion cylinder group based on the slope of the inclined tunnel and the total length of each cylinder in the propulsion cylinder group before turning specifically includes the following steps:
[0025] Number each cylinder in the propulsion cylinder group from top to bottom as i, i = 1, 2, 3, 4, ..., n; obtain the vertical distance 'a' from the horizontal plane containing the center of the cross-section of the uppermost cylinder (i = 1) to the horizontal plane containing the top of the front shield of the inclined shaft TBM; and detect the vertical distance 'd' from the horizontal plane containing the center of the cross-section of the cylinder (i = 1) to the horizontal plane containing the centers of the cross-sections of all other cylinders. i ;
[0026] Calculate the extension of the cylinder with number i=1 during its thrust stroke: After turning, the total length X1 of cylinder with number i=1 is:
[0027]
[0028] Where α is the slope of the inclined tunnel and L is the total length of each cylinder in the hydraulic cylinder group before turning, the extension of the thrust stroke of cylinder i=1, ΔL1, is:
[0029] △L1=X1-L
[0030] Then calculate the total length X of each corresponding numbered cylinder after the turn. i :
[0031]
[0032] in,
[0033] Then, the extension ΔL of the thrust stroke of each corresponding numbered hydraulic cylinderi for:
[0034] △L i =X i -L, i = 1, 2, 3, ..., n;
[0035] Compare the total length X of the bottommost cylinder numbered n. n The maximum total length L of each cylinder in the propulsion cylinder group max If X n ≤L max Then the stroke elongation of each cylinder in the propulsion cylinder group is ΔL. i Let i = 1, 2, 3, 4, ..., n; if X n >L max Let the stroke elongation ΔL of cylinder number n be... n for:
[0036] △L n =L max -L
[0037] At this point, the extension ΔL of the thrust stroke of each corresponding numbered hydraulic cylinder i for:
[0038] △L i =X i ′-L,i=1,2,3,…n
[0039]
[0040] Among them, X i 'For X n >L max The total length of each corresponding numbered hydraulic cylinder after the TBM turns in the inclined shaft.
[0041]
[0042] in,
[0043] Furthermore, the automatic step-changing level ground mode control of the extension of each cylinder in the propulsion cylinder group and the auxiliary propulsion cylinder group to achieve automatic step-changing on level ground includes the following steps:
[0044] The front shield and ABS device of the TBM in the inclined shaft extend to brace the tunnel wall, and the support shoe retracts.
[0045] Check if the anti-runaway cylinder of the inclined shaft TBM has retracted. If not, control the anti-runaway cylinder to retract; if yes, proceed to the next step.
[0046] The hydraulic cylinders of the propulsion cylinder group of the inclined shaft TBM retract synchronously, and the auxiliary propulsion cylinder group extends in sync with the propulsion cylinder group.
[0047] After the propulsion cylinder group retracts into place, the support shoe of the inclined shaft TBM extends to tighten the tunnel wall, and the ABS device retracts.
[0048] The auxiliary propulsion cylinder group of the TBM in the deviated shaft retracts synchronously, and its retraction amount is equal to its follow-up extension amount.
[0049] Furthermore, the automatic ramp-changing mode control of the extension of each cylinder in the propulsion cylinder group and the auxiliary propulsion cylinder group to achieve automatic ramp-changing includes the following steps:
[0050] The front shield and ABS device of the TBM in the inclined shaft extend to brace the tunnel wall, and the support shoe retracts.
[0051] Check if the anti-runaway cylinder of the inclined shaft TBM is tightly pressed against the steel arch frame. If not, control the anti-runaway cylinder to extend until it presses against the steel arch frame; if so, proceed to the next step.
[0052] The propulsion cylinder group of the inclined shaft TBM retracts synchronously, and the auxiliary propulsion cylinder group and the anti-runaway cylinder extend synchronously following the propulsion cylinder group.
[0053] After the propulsion cylinder assembly retracts into place, the support shoe of the inclined shaft TBM extends to tighten the tunnel wall, and the ABS device retracts.
[0054] The auxiliary propulsion cylinder group of the TBM in the inclined shaft is retracted synchronously.
[0055] Furthermore, the automatic step-changing high-slope turning mode, which controls the extension of each cylinder in the propulsion cylinder group and the auxiliary propulsion cylinder group to achieve automatic step-changing during high-slope turns, includes the following steps:
[0056] The front shield and ABS device of the TBM in the inclined shaft extend to brace the tunnel wall, and the support shoe retracts.
[0057] Check if the anti-runaway cylinder of the inclined shaft TBM is tightly pressed against the steel arch frame. If not, control the anti-runaway cylinder to extend until it presses against the steel arch frame; if so, proceed to the next step.
[0058] The retraction of each cylinder in the propulsion cylinder group of the inclined shaft TBM is controlled by the following principle: the retraction amount of each cylinder in the propulsion cylinder group is equal to the extension amount ΔL of the propulsion stroke of each cylinder in the propulsion cylinder group under the automatic propulsion large slope turning mode. i , i = 1, 2, 3, 4, ..., n, the auxiliary propulsion cylinder group and the anti-slip cylinder extend synchronously with the propulsion cylinder group;
[0059] After the propulsion cylinder assembly retracts into place, the support shoe 7 of the control shaft TBM extends to tighten the tunnel wall, and the ABS device retracts.
[0060] The auxiliary propulsion cylinder group of the control shaft TBM retracts synchronously, and the retraction amount of each cylinder in the auxiliary propulsion cylinder group is equal to its synchronous extension amount.
[0061] Another preferred embodiment of this application provides an automatic tunneling control device for inclined shaft TBMs, comprising:
[0062] The data acquisition module is used to collect the extension of each cylinder of the propulsion cylinder group of the inclined shaft TBM in real time, and to determine the location of the inclined shaft TBM based on the planned route and the current tunneling mileage.
[0063] The automatic propulsion control module is used to control the extension of each cylinder in the propulsion cylinder group of the inclined shaft TBM to achieve automatic propulsion on flat ground if the extension of any cylinder in the propulsion cylinder group is less than the set value and no manually input step-change control signal is received. If the inclined shaft TBM is on flat ground, it will enter the automatic propulsion flat ground mode to control the extension of each cylinder in the propulsion cylinder group to achieve automatic propulsion on the slope. If the inclined shaft TBM's cutterhead reaches a steep turn, it will first enter the automatic step-change flat ground mode and then enter the automatic propulsion steep turn mode to control the extension of each cylinder in the propulsion cylinder group to achieve automatic propulsion on the steep turn.
[0064] The automatic step-change control module is used to control the extension of each cylinder in the propulsion cylinder group and the auxiliary propulsion cylinder group to achieve automatic step-change on flat ground if the extension of a certain cylinder in the propulsion cylinder group is greater than or equal to a set value or if a manually input step-change control signal is received. If the TBM in the inclined shaft is on flat ground, it enters the automatic step-change on flat ground mode to control the extension of each cylinder in the propulsion cylinder group and the auxiliary propulsion cylinder group to achieve automatic step-change on the slope. If the TBM in the inclined shaft is at a steep turn, it enters the automatic step-change on a steep turn mode to control the extension of each cylinder in the propulsion cylinder group and the auxiliary propulsion cylinder group to achieve automatic step-change on a steep turn.
[0065] Another preferred embodiment of this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the automatic tunneling control method for the inclined shaft TBM.
[0066] Another preferred embodiment of this application also provides a storage medium including a stored program that, when the program is executed, controls the device where the storage medium is located to perform the steps of the deviated shaft TBM automatic tunneling control method.
[0067] Compared with the prior art, this application has the following advantages:
[0068] 1. This application provides an automatic tunneling control method for inclined shaft TBMs, which improves the level of automation and intelligence.
[0069] 2. This application classifies the TBM tunneling modes of inclined shafts, including automatic propulsion on flat ground, automatic propulsion on slopes, automatic propulsion on steep turns, automatic step-changing on flat ground, automatic step-changing on slopes, and automatic step-changing on steep turns. Different automatic control strategies are implemented for different modes, realizing modular control, more precise control, and a simpler and clearer control process.
[0070] 3. This application automatically controls the operation of safety mechanisms such as the front shield, support shoe, ABS device, and anti-runaway cylinder of the inclined shaft TBM by adopting different strategies under different modes, without the need for manual intervention, thus ensuring the safety of personnel and machines and construction safety of the inclined shaft TBM.
[0071] 4. This application designs a control algorithm for the extension of each cylinder in the inclined shaft TBM propulsion cylinder group when making steep turns, ensuring that the inclined shaft TBM can turn smoothly and avoid jamming. At the same time, it reduces the frequency of cylinder adjustment during turns and improves tunneling efficiency.
[0072] In addition to the purposes, features, and advantages described above, this application provides other purposes, features, and advantages. The application will now be described in further detail with reference to the accompanying drawings. Attached Figure Description
[0073] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:
[0074] Figure 1 This is a schematic diagram of an inclined shaft TBM structure.
[0075] Figure 2 This is a schematic diagram of the flow chart of the automatic tunneling control method for inclined shaft TBM according to a preferred embodiment of this application.
[0076] Figure 3 This is a flowchart illustrating a sub-step of step S1 in a preferred embodiment of this application.
[0077] Figure 4 This is a flowchart illustrating a sub-step of step S1 in another preferred embodiment of this application.
[0078] Figure 5 This is a flowchart illustrating a sub-step of step S1 in another preferred embodiment of this application.
[0079] Figure 6 This is a schematic cross-sectional view of the propulsion cylinder assembly of the inclined shaft TBM according to a preferred embodiment of this application.
[0080] Figure 7This is a schematic diagram showing the position changes of the cutterhead and propulsion cylinder group during a steep turn in the inclined shaft TBM according to a preferred embodiment of this application.
[0081] Figure 8 This is a schematic diagram of the hydraulic cylinder parameters during steep slope turning excavation using a TBM in a preferred embodiment of this application.
[0082] Figure 9 This is a flowchart illustrating a sub-step of step S2 in a preferred embodiment of this application.
[0083] Figure 10 This is a flowchart illustrating a sub-step of step S2 in another preferred embodiment of this application.
[0084] Figure 11 This is a flowchart illustrating a sub-step of step S2 in another preferred embodiment of this application.
[0085] Figure 12 This is a schematic diagram of the automatic tunneling control device module for inclined shaft TBM according to a preferred embodiment of this application.
[0086] Figure 13 This is a schematic block diagram of an electronic device according to a preferred embodiment of this application.
[0087] Figure 14 This is an internal structural diagram of a computer device according to a preferred embodiment of this application.
[0088] As shown in the figure:
[0089] 1. Cutterhead; 2. Front shield; 3. Propulsion cylinder assembly; 4. Main drive motor; 5. Belt conveyor; 6. Tensioning shield; 7. Support shoe; 8. Steel arch frame assembly machine; 9. Anchor drilling rig; 10. Main beam; 11. Auxiliary propulsion cylinder assembly; 12. ABS device; 13. Anti-slip cylinder; 14. Steel arch frame. Detailed Implementation
[0090] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.
[0091] Figure 1 This is a schematic diagram of the current inclined shaft TBM structure, including cutterhead 1, front shield 2, propulsion cylinder group 3, main drive motor 4, belt conveyor 5, tension shield 6, support shoe 7, steel arch frame assembly machine 8, anchor drilling rig 9, main beam 10, auxiliary propulsion cylinder group 11, ABS device 12, anti-slip cylinder 13, and steel arch frame 14. During inclined shaft TBM excavation, the propulsion or step-changing actions are achieved through the cooperation between the front shield 2, propulsion cylinder group 3, support shoe 7, auxiliary propulsion cylinder group 11, and ABS device 12.
[0092] Reference Figure 2A preferred embodiment of this application provides an automatic tunneling control method for inclined shaft TBMs, comprising the following steps:
[0093] S1. Real-time acquisition of the extension of each cylinder in the propulsion cylinder group 3 of the inclined shaft TBM, and determination of the location of the inclined shaft TBM based on the planned route and the current tunneling mileage.
[0094] S2. If the extension of any cylinder in the propulsion cylinder group 3 of the inclined shaft TBM is less than the set value and no manually input step-change control signal is received, then if the inclined shaft TBM is on flat ground, it will enter the automatic propulsion flat ground mode to control the extension of each cylinder in the propulsion cylinder group 3 to achieve automatic propulsion on flat ground; if the inclined shaft TBM is on a slope, it will enter the automatic propulsion slope mode to control the extension of each cylinder in the propulsion cylinder group 3 to achieve automatic propulsion on the slope; if the cutterhead 1 of the inclined shaft TBM reaches a large slope turning point, it will first enter the automatic step-change flat ground mode and then enter the automatic propulsion large slope turning mode to control the extension of each cylinder in the propulsion cylinder group 3 to achieve automatic propulsion on the large slope turning point.
[0095] S3. If the extension of a certain cylinder in the propulsion cylinder group 3 is greater than or equal to the set value or a manually input step-change control signal is received, then if the inclined shaft TBM is on flat ground, it will enter the automatic step-change flat ground mode to control the extension of each cylinder in the propulsion cylinder group 3 and the auxiliary propulsion cylinder group 11 to achieve automatic step-change on flat ground; if the inclined shaft TBM is on a slope, it will enter the automatic step-change slope mode to control the extension of each cylinder in the propulsion cylinder group 3 and the auxiliary propulsion cylinder group 11 to achieve automatic step-change on the slope; if the inclined shaft TBM is at a steep slope turn, it will enter the automatic step-change steep slope turn mode to control the extension of each cylinder in the propulsion cylinder group 3 and the auxiliary propulsion cylinder group 11 to achieve automatic step-change on the steep slope turn.
[0096] This embodiment has the following beneficial effects:
[0097] 1. This embodiment provides an automatic tunneling control method for inclined shaft TBMs, which improves the level of automation and intelligence.
[0098] 2. This embodiment classifies the TBM tunneling modes of inclined shafts, including automatic propulsion on flat ground, automatic propulsion on slopes, automatic propulsion on steep turns, automatic step-changing on flat ground, automatic step-changing on slopes, and automatic step-changing on steep turns. Different automatic control strategies are implemented for different modes, realizing modular control, more precise control, and a simpler and clearer control process.
[0099] 3. This embodiment automatically controls the safety mechanisms of the inclined shaft TBM, such as the front shield, support shoe, ABS device, and anti-runaway cylinder, by adopting different strategies in different modes, without the need for manual intervention, thus ensuring the safety of personnel and machines and construction safety of the inclined shaft TBM.
[0100] 4. This embodiment designs a control algorithm for the extension of each cylinder in the inclined shaft TBM propulsion cylinder group when making steep turns, ensuring that the inclined shaft TBM can turn smoothly and avoid jamming. At the same time, it reduces the frequency of cylinder adjustment during turns and improves tunneling efficiency.
[0101] Preferably, such as Figure 3 As shown, the automatic propulsion mode for level ground control, which controls the extension of each cylinder in propulsion cylinder group 3 to achieve automatic propulsion on level ground, includes the following steps:
[0102] S101, The support shoe 7 and ABS device 12 of the inclined shaft TBM extend to tighten the tunnel wall;
[0103] S102. Check whether the anti-runaway cylinder 13 of the inclined shaft TBM has retracted. If not, control the anti-runaway cylinder 13 to retract; if yes, proceed to the next step.
[0104] S103, control the synchronous extension of each cylinder of the propulsion cylinder group 3 of the inclined shaft TBM until the preset extension value of each cylinder's propulsion stroke is reached.
[0105] Preferably, such as Figure 4 As shown, the automatic ramp propulsion mode is achieved by controlling the extension of each cylinder in the propulsion cylinder group 3 to realize automatic ramp propulsion, including the following steps:
[0106] S111, the support shoe 7 and ABS device 12 of the inclined shaft TBM extend to tighten the tunnel wall;
[0107] S112. Check whether the anti-runaway cylinder 13 of the inclined shaft TBM is tightly pressed against the steel arch frame. If not, control the anti-runaway cylinder 13 to extend until it presses against the steel arch frame 14. If yes, proceed to the next step.
[0108] S113, control the synchronous extension of each cylinder of the propulsion cylinder group 3 until the preset extension value of each cylinder's propulsion stroke is reached.
[0109] Preferably, such as Figure 5 As shown, the automatic propulsion and steep turning mode control of the extension of each cylinder in the propulsion cylinder group 3 to achieve automatic propulsion during steep turns includes the following steps:
[0110] S121, The support shoe 7 and ABS device 12 of the inclined shaft TBM extend to tighten the tunnel wall;
[0111] S122. Check whether the anti-slip cylinder 13 is pressed against the steel arch frame 14. If not, control the anti-slip cylinder 13 to extend until it presses against the steel arch frame 14. If yes, proceed to the next step.
[0112] S123. Based on the slope of the inclined tunnel and the total length of each cylinder in the propulsion cylinder group 3 before the turn, calculate the extension ΔL of the propulsion stroke of each cylinder in the propulsion cylinder group 3. i, i = 1, 2, 3, 4, ..., n;
[0113] S124. Control each cylinder of the propulsion cylinder group 3 according to the calculated extension ΔL of the propulsion stroke of each cylinder of the propulsion cylinder group 3. i Extend.
[0114] Preferably, the step of calculating the extension of the propulsion stroke of each cylinder in the propulsion cylinder group 3 based on the slope of the inclined tunnel and the total length of each cylinder in the propulsion cylinder group 3 before turning specifically includes the following steps:
[0115] S1231. Number each cylinder in propulsion cylinder group 3 from top to bottom as i, i = 1, 2, 3, 4, ..., n; obtain the vertical distance 'a' from the horizontal plane containing the center of the cross-section of the uppermost cylinder (i = 1) to the horizontal plane containing the top of the front shield of the inclined shaft TBM; detect the vertical distance 'd' from the horizontal plane containing the center of the cross-section of cylinder i = 1 to the horizontal plane containing the centers of the cross-sections of all other cylinders. i (See Figure 6 );
[0116] S1232, Calculate the extension of the thrust stroke of the cylinder numbered i=1 (see...) Figure 7 and Figure 8 The total length X1 of the cylinder numbered i=1 after the turn is:
[0117]
[0118] Where α is the slope of the inclined tunnel and L is the total length of each cylinder in the 3-cylinder propulsion cylinder group before turning, the extension of the propulsion stroke ΔL1 of cylinder numbered i=1 is:
[0119] △L1=X1-L
[0120] Then calculate the total length X of each corresponding numbered cylinder after the turn. i :
[0121]
[0122] in,
[0123] Then, the extension ΔL of the thrust stroke of each corresponding numbered hydraulic cylinder i for:
[0124] △L i =X i -L, i = 1, 2, 3, ..., n;
[0125] S1233, Compare the total length X of the bottommost cylinder numbered n. n The maximum total length L of the three hydraulic cylinders in the propulsion cylinder group. max If X n≤L max Then the stroke extension of each cylinder in the propulsion cylinder group 3 is ΔL i Let i = 1, 2, 3, 4, ..., n; if X n >L max Let the stroke elongation ΔL of cylinder number n be... n for:
[0126] △L n =L max -L
[0127] At this point, the extension ΔL of the thrust stroke of each corresponding numbered hydraulic cylinder i for:
[0128] △L i =X i ′-L,i=1,2,3,…n
[0129]
[0130] Among them, X i 'For X n >L max The total length of each corresponding numbered hydraulic cylinder after the TBM turns in the inclined shaft.
[0131]
[0132] in,
[0133] like Figure 7 and Figure 8 As shown, 1 represents the current position of the cutterhead (i.e., the turning point of the steep slope), 3 represents the current position of the propulsion cylinder group, 6 represents the current position of the tensioning shield, 1' represents the position of the cutterhead after the turn, 3' represents the position of the propulsion cylinder group after the turn, α represents the slope of the inclined tunnel, and L represents the total length of each cylinder in the propulsion cylinder group before the turn. The selection of the cutterhead position after the inclined shaft TBM turns is based on the fact that cylinder ① of the propulsion cylinder group just passes through the turning point O. The turning point O is the intersection of the flat ground tunneling route and the inclined slope tunneling route. After passing this point, the tunneling machine begins to tunnel up the inclined slope from the flat ground. The cylinders passing through the turning point O is based on the fact that when turning, the propulsion cylinders extend in a straight line, but the tunneling route is a curve, so the extension length of each propulsion cylinder is different. In order to conform to the tunneling curve, the maximum extension of each cylinder group is determined by the fact that the cylinder at the top just passes through the turning point after extending.
[0134] In this embodiment, X is determined. n With L max The size relationship is because:
[0135] The single extension ΔL of each propulsion cylinder in the propulsion cylinder group at the turning point was calculated earlier. i However, whether the calculated value matches the actual situation needs further judgment, because the maximum propulsion stroke value of each propulsion cylinder in the propulsion cylinder group is the same, i.e., L. max When turning, the bottommost cylinder (i.e. Figure 6 The cylinder numbered n has the largest extension. Here, we check if the stroke of the bottommost cylinder exceeds the maximum value. If the bottommost cylinder does not exceed it, then the others will not either, which matches the actual tunneling situation. Then, we can calculate ΔL according to the previous steps S1232. i Control the extension action of each hydraulic cylinder. If the calculated value of the bottommost cylinder exceeds the maximum value, it does not conform to reality, and the stroke of all hydraulic cylinders must be shortened accordingly. n >L max The corresponding correction calculation was performed under the circumstances, and ΔL was recalculated. i .
[0136] Preferably, such as Figure 9 As shown, the automatic step-changing level ground mode controls the extension of each cylinder in the propulsion cylinder group 3 and the auxiliary propulsion cylinder group 11 to achieve automatic step-changing on level ground, including the following steps:
[0137] S201, the front shield 2 and ABS device 12 of the control shaft TBM extend to brace the tunnel wall, and the support shoe 7 retracts;
[0138] S202. Check whether the anti-runaway cylinder 13 of the inclined shaft TBM has retracted. If not, control the anti-runaway cylinder 13 to retract; if yes, proceed to the next step.
[0139] S203, The hydraulic cylinders of the propulsion cylinder group 3 of the control deviated shaft TBM retract synchronously, and the auxiliary propulsion cylinder group 11 extends in sync with the propulsion cylinder group 3.
[0140] S204. After the propulsion cylinder group 3 retracts into position, the support shoe 7 of the inclined shaft TBM extends to tighten the tunnel wall, and the ABS device 12 retracts.
[0141] S205, the auxiliary propulsion cylinder group 11 of the control deviated well TBM retracts synchronously, and its retraction amount is equal to its follow-up extension amount.
[0142] Preferably, such as Figure 10 As shown, the automatic ramp-changing mode control of the extension of each cylinder in the propulsion cylinder group 3 and the auxiliary propulsion cylinder group 11 to achieve automatic ramp-changing includes the following steps:
[0143] S211, the front shield 2 and ABS device 12 of the control shaft TBM extend to brace the tunnel wall, and the support shoe 7 retracts;
[0144] S212. Check whether the anti-runaway cylinder 13 of the inclined shaft TBM is tightly pressed against the steel arch frame 14. If not, control the anti-runaway cylinder 13 to extend until it presses against the steel arch frame 14. If yes, proceed to the next step.
[0145] S213, The propulsion cylinder group 3 of the control shaft TBM retracts synchronously, and the auxiliary propulsion cylinder group 11 and the anti-runaway cylinder 13 extend synchronously with the propulsion cylinder group 3.
[0146] S214. After the propulsion cylinder group 3 retracts into place, the support shoe 7 of the control shaft TBM extends to tighten the tunnel wall, and the ABS device 12 retracts.
[0147] S215, the auxiliary propulsion cylinder group 11 of the control shaft TBM retracts synchronously.
[0148] Preferably, such as Figure 11 As shown, the automatic step-changing high-slope turning mode controls the extension of each cylinder in the propulsion cylinder group 3 and the auxiliary propulsion cylinder group 11 to achieve automatic step-changing during high-slope turns, including the following steps:
[0149] S221, The front shield 2 and ABS device 12 of the control shaft TBM extend to brace the tunnel wall, and the support shoe 7 retracts;
[0150] S222. Check whether the anti-runaway cylinder 13 of the inclined shaft TBM is tightly pressed against the steel arch frame 14. If not, control the anti-runaway cylinder 13 to extend until it presses against the steel arch frame 14. If yes, proceed to the next step.
[0151] S223. Control the retraction of each cylinder in the propulsion cylinder group 3 of the inclined shaft TBM. The retraction amount of each cylinder in the propulsion cylinder group 3 is equal to the extension amount ΔL of the propulsion stroke of each cylinder in the propulsion cylinder group 3 under the automatic propulsion large slope turning mode. i i = 1, 2, 3, 4, ..., n, the auxiliary propulsion cylinder group 11 and the anti-slip cylinder 13 extend synchronously with the propulsion cylinder group 3;
[0152] S224. After the propulsion cylinder group 3 retracts into place, the support shoe 7 of the control shaft TBM extends to tighten the tunnel wall, and the ABS device 12 retracts.
[0153] S225. The auxiliary propulsion cylinder group 11 of the control shaft TBM retracts synchronously, and the retraction amount of each cylinder of the auxiliary propulsion cylinder group 11 is equal to its synchronous extension amount.
[0154] like Figure 12 As shown, a preferred embodiment of this application also provides an automatic tunneling control device for inclined shaft TBMs, comprising:
[0155] The data acquisition module is used to collect the extension of each cylinder of the propulsion cylinder group 3 of the inclined shaft TBM in real time, and to determine the location of the inclined shaft TBM based on the planned route and the current tunneling mileage.
[0156] The automatic propulsion control module is used to control the extension of each cylinder in the propulsion cylinder group 3 of the inclined shaft TBM to achieve automatic propulsion on flat ground if the extension of any cylinder in the propulsion cylinder group 3 is less than the set value and no manually input step-change control signal is received. If the inclined shaft TBM is on flat ground, it will enter the automatic propulsion flat ground mode to control the extension of each cylinder in the propulsion cylinder group 3 to achieve automatic propulsion on the slope. If the inclined shaft TBM's cutterhead 1 reaches a steep turning point, it will first enter the automatic step-change flat ground mode and then enter the automatic propulsion steep turning mode to control the extension of each cylinder in the propulsion cylinder group 3 to achieve automatic propulsion on the steep turning point.
[0157] The automatic step-changing control module is used to control the extension of each cylinder of the propulsion cylinder group 3 and the auxiliary propulsion cylinder group 11 to achieve automatic step-changing on flat ground if the extension of a certain cylinder of the propulsion cylinder group 3 is greater than or equal to the set value or if a manually input step-changing control signal is received. At this time, if the TBM of the inclined shaft is on flat ground, it will enter the automatic step-changing on flat ground mode to control the extension of each cylinder of the propulsion cylinder group 3 and the auxiliary propulsion cylinder group 11 to achieve automatic step-changing on the slope; if the TBM of the inclined shaft is on a slope, it will enter the automatic step-changing on a steep slope mode to control the extension of each cylinder of the propulsion cylinder group 3 and the auxiliary propulsion cylinder group 11 to achieve automatic step-changing on the slope; if the TBM of the inclined shaft is at a steep slope turn, it will enter the automatic step-changing on a steep slope turn mode to control the extension of each cylinder of the propulsion cylinder group 3 and the auxiliary propulsion cylinder group 11 to achieve automatic step-changing on a steep slope turn.
[0158] like Figure 13 As shown, a preferred embodiment of this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of the inclined shaft TBM automatic tunneling control method in the above embodiments.
[0159] like Figure 14 As shown, a preferred embodiment of this application also provides a computer device, which may be a terminal or a liveness detection server, and its internal structure diagram may be as follows. Figure 14 As shown. The computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface is used to communicate with other external computer devices via a network connection. When the computer program is executed by the processor, it implements the steps of the aforementioned automatic tunneling control method for inclined shaft TBMs.
[0160] Those skilled in the art will understand that Figure 14The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.
[0161] A preferred embodiment of this application also provides a storage medium, the storage medium including a stored program, which, when the program is executed, controls the device where the storage medium is located to perform the steps of the inclined shaft TBM automatic tunneling control method in the above embodiments.
[0162] In summary, this application establishes an automatic tunneling control method for inclined shaft TBMs, dividing the tunneling modes into automatic propulsion on flat ground, automatic propulsion on slopes, automatic propulsion on steep turns, automatic step-changing on flat ground, automatic step-changing on slopes, and automatic step-changing on steep turns. Based on the mechanical structure and operating mechanism of the inclined shaft TBM, this application designs automatic control strategies for each tunneling mode and clarifies which strategy to use under what circumstances, forming an automatic tunneling control flow for the inclined shaft TBM, ensuring the feasibility of the automatic tunneling scheme. During steep turns, this application selects the extreme case where the cylinder closest to the inflection point just passes the inflection point as the calculation basis, designing a control algorithm for steep turns of the inclined shaft TBM. This ensures smooth turns of the inclined shaft TBM, avoids jamming, and minimizes the adjustment frequency of the inclined shaft TBM during turns, simplifying the control process and improving tunneling efficiency.
[0163] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.
[0164] If the functions described in this embodiment are implemented as software functional units and sold or used as independent products, they can be stored in one or more computing device-readable storage media. Based on this understanding, the parts of this application's embodiments that contribute to the prior art or the technical solutions can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a computing device (which may be a personal computer, server, mobile computing device, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage media include: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.
[0165] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of this application can be implemented in various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.
[0166] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0167] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.
[0168] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0169] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.
[0170] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.
Claims
1. A method for automatic control of inclined shaft TBM tunneling, characterized in that, Including the following steps: The extension of each cylinder in the propulsion cylinder group (3) of the inclined shaft TBM is collected in real time, and the location of the inclined shaft TBM is determined according to the planned route and the current tunneling mileage. If the extension of any cylinder in the propulsion cylinder group (3) of the inclined shaft TBM is less than the set value and no manual input step-change control signal is received, then if the inclined shaft TBM is on flat ground, it will enter the automatic propulsion flat ground mode to control the extension of each cylinder in the propulsion cylinder group (3) to achieve automatic propulsion on flat ground; if the inclined shaft TBM is on a slope, it will enter the automatic propulsion slope mode to control the extension of each cylinder in the propulsion cylinder group (3) to achieve automatic propulsion on the slope; if the cutterhead (1) of the inclined shaft TBM reaches the corner of a large slope, it will first enter the automatic step-change flat ground mode and then enter the automatic propulsion large slope turning mode to control the extension of each cylinder in the propulsion cylinder group (3) to achieve automatic propulsion on a large slope. If the extension of a certain cylinder in the propulsion cylinder group (3) is greater than or equal to the set value or a manually input step-change control signal is received, then if the inclined well TBM is on flat ground, it will enter the automatic step-change flat ground mode to control the extension of each cylinder in the propulsion cylinder group (3) and the auxiliary propulsion cylinder group (11) to achieve automatic step-change on flat ground; if the inclined well TBM is on a slope, it will enter the automatic step-change slope mode to control the extension of each cylinder in the propulsion cylinder group (3) and the auxiliary propulsion cylinder group (11) to achieve automatic step-change on slope; if the inclined well TBM is at a steep slope turn, it will enter the automatic step-change steep slope turn mode to control the extension of each cylinder in the propulsion cylinder group (3) and the auxiliary propulsion cylinder group (11) to achieve automatic step-change on steep slope turn.
2. The automatic tunneling control method for inclined shaft TBMs according to claim 1, characterized in that, The automatic propulsion mode for level ground control controls the extension of each cylinder in the propulsion cylinder group (3) to achieve automatic propulsion on level ground, including the following steps: The support shoe (7) and ABS device (12) of the inclined shaft TBM extend to tighten the tunnel wall; Check whether the anti-runaway cylinder (13) of the inclined shaft TBM has retracted. If not, control the anti-runaway cylinder (13) to retract; if yes, proceed to the next step. The propulsion cylinder group (3) of the control deviated well TBM extends synchronously until the preset extension value of each cylinder's propulsion stroke is reached.
3. The automatic tunneling control method for inclined shaft TBMs according to claim 1, characterized in that, The automatic ramp propulsion mode control of the extension of each cylinder in the propulsion cylinder group (3) to achieve automatic ramp propulsion includes the following steps: The support shoe (7) and ABS device (12) of the inclined shaft TBM extend to tighten the tunnel wall; Check whether the anti-runaway cylinder (13) of the inclined shaft TBM is pressed against the steel arch frame. If not, control the anti-runaway cylinder (13) to extend until it hits the steel arch frame (14). If yes, proceed to the next step. Control the hydraulic cylinder group (3) so that each cylinder extends synchronously until the preset extension value of each cylinder's stroke is reached.
4. The automatic tunneling control method for inclined shaft TBMs according to claim 1, characterized in that, The automatic propulsion high-slope turning mode control of the extension of each cylinder in the propulsion cylinder group (3) to achieve automatic propulsion for high-slope turns includes the following steps: The support shoe (7) and ABS device (12) of the inclined shaft TBM extend to tighten the tunnel wall; Check whether the anti-slip cylinder (13) is pressed against the steel arch frame (14). If not, control the anti-slip cylinder (13) to extend until it presses against the steel arch frame (14). If yes, proceed to the next step. According to the slope of the ramp tunnel, the total length of each oil cylinder of the advancing oil cylinder group (3) before turning, the advancing stroke elongation amount AL of each oil cylinder of the advancing oil cylinder group (3) is calculated i , i = 1, 2, 3, 4, …, n; Controlling the extension of each ram of the propulsion ram group (3) according to the calculated extension amount AL of each ram of the propulsion ram group (3) i extends.
5. The automatic tunneling control method for inclined shaft TBMs according to claim 4, characterized in that, The calculation of the extension of the propulsion stroke of each cylinder in the propulsion cylinder group (3) based on the slope of the inclined tunnel and the total length of each cylinder in the propulsion cylinder group (3) before turning includes the following steps: Number each cylinder in the propulsion cylinder group (3) from top to bottom as i, i = 1, 2, 3, 4, ..., n; obtain the vertical distance a from the horizontal plane where the center of the cross-section of the uppermost cylinder (i = 1) is located to the horizontal plane where the top of the front shield of the inclined shaft TBM is located; detect the vertical distance d from the horizontal plane where the center of the cross-section of the cylinder (i = 1) is located to the horizontal plane where the centers of the cross-sections of the other cylinders are located. i ; Calculate the extension of the cylinder with number i=1 during its thrust stroke: After turning, the total length X1 of cylinder with number i=1 is: Where α is the slope of the inclined tunnel, L is the total length of each cylinder in the forward thrust cylinder group (3) before turning, then the thrust stroke extension ΔL1 of the cylinder numbered i=1 is: △L1=X1-L Then calculate the total length X of each corresponding numbered cylinder after the turn. i : in, Then, the extension ΔL of the thrust stroke of each corresponding numbered hydraulic cylinder i for: △L i =X i -L,i=1,2,3,…n; Compare the total length X of the bottommost cylinder numbered n. n The maximum total length L of each cylinder in the propulsion cylinder group (3) max If X n ≤L max Then the stroke extension of each cylinder in the propulsion cylinder group (3) is ΔL. i Let i = 1, 2, 3, 4, ..., n; if X n >L max Let the stroke elongation ΔL of cylinder number n be... n for: △L n =L max -L At this point, the extension ΔL of the thrust stroke of each corresponding numbered hydraulic cylinder i for: △L i =X i ′-L,i=1,2,3,…n Among them, X i 'For X n >L max The total length of each corresponding numbered hydraulic cylinder after the TBM turns in the inclined shaft. in, 6. The automatic tunneling control method for inclined shaft TBMs according to claim 1, characterized in that, The automatic step-changing level ground mode control of the extension of each cylinder in the propulsion cylinder group (3) and the auxiliary propulsion cylinder group (11) to achieve automatic step-changing on level ground includes the following steps: The front shield (2) and ABS device (12) of the control shaft TBM extend to brace the tunnel wall, and the support shoe (7) retracts. Check whether the anti-runaway cylinder (13) of the inclined shaft TBM has retracted. If not, control the anti-runaway cylinder (13) to retract; if yes, proceed to the next step. The propulsion cylinder group (3) of the control deviated shaft TBM retracts synchronously, and the auxiliary propulsion cylinder group (11) extends in sync with the propulsion cylinder group (3); After the propulsion cylinder assembly (3) retracts into place, the support shoe (7) of the control shaft TBM extends to tighten the tunnel wall, and the ABS device (12) retracts. The auxiliary propulsion cylinder group (11) of the control shaft TBM retracts synchronously, and its retraction amount is equal to its follow-up extension amount.
7. The automatic tunneling control method for inclined shaft TBMs according to claim 6, characterized in that, The automatic ramp-changing mode control of the extension of each cylinder in the propulsion cylinder group (3) and the auxiliary propulsion cylinder group (11) to achieve automatic ramp-changing includes the following steps: The front shield (2) and ABS device (12) of the control shaft TBM extend to brace the tunnel wall, and the support shoe (7) retracts. Check whether the anti-runaway cylinder (13) of the inclined shaft TBM is pressed against the steel arch frame (14). If not, control the anti-runaway cylinder (13) to extend until it presses against the steel arch frame (14); if so, proceed to the next step. The propulsion cylinder group (3) of the control deviated shaft TBM retracts synchronously, and the auxiliary propulsion cylinder group (11) and the anti-runaway cylinder (13) extend synchronously following the propulsion cylinder group (3); After the propulsion cylinder assembly (3) retracts into place, the support shoe (7) of the control shaft TBM extends to tighten the tunnel wall, and the ABS device (12) retracts. The auxiliary propulsion cylinder group (11) of the control shaft TBM retracts synchronously.
8. The automatic tunneling control method for inclined shaft TBMs according to claim 6, characterized in that, The automatic step-changing high-slope turning mode is achieved by controlling the extension of each cylinder in the propulsion cylinder group (3) and the auxiliary propulsion cylinder group (11) to realize automatic step-changing during high-slope turns, including the following steps: The front shield (2) and ABS device (12) of the control shaft TBM extend to brace the tunnel wall, and the support shoe (7) retracts. Check whether the anti-runaway cylinder (13) of the inclined shaft TBM is pressed against the steel arch frame (14). If not, control the anti-runaway cylinder (13) to extend until it presses against the steel arch frame (14); if so, proceed to the next step. The retraction of each cylinder in the propulsion cylinder group (3) of the inclined shaft TBM is controlled. The retraction amount of each cylinder in the propulsion cylinder group (3) is equal to the extension amount ΔL of the propulsion stroke of each cylinder in the propulsion cylinder group (3) under the automatic propulsion large slope turning mode. i i = 1, 2, 3, 4, ..., n, the auxiliary propulsion cylinder group (11) and the anti-slip cylinder (13) extend synchronously with the propulsion cylinder group (3); After the propulsion cylinder assembly (3) retracts into place, the support shoe (7) of the control shaft TBM extends to tighten the tunnel wall, and the ABS device (12) retracts. The cylinders of the auxiliary propulsion cylinder group (11) of the control deviated well TBM retract synchronously, and the retraction amount of each cylinder of the auxiliary propulsion cylinder group (11) is equal to its synchronous extension amount.
9. An automatic tunneling control device for inclined shaft TBMs, characterized in that, include: The data acquisition module is used to collect the extension of each cylinder of the propulsion cylinder group (3) of the inclined shaft TBM in real time, and to determine the location of the inclined shaft TBM according to the planned route and the current tunneling mileage. The automatic propulsion control module is used to control the extension of each cylinder of the propulsion cylinder group (3) of the inclined shaft TBM to achieve automatic propulsion on flat ground if the extension of any cylinder is less than the set value and no manual input step-change control signal is received. If the inclined shaft TBM is on flat ground, it will enter the automatic propulsion flat ground mode to control the extension of each cylinder of the propulsion cylinder group (3) to achieve automatic propulsion on flat ground. If the inclined shaft TBM is on a slope, it will enter the automatic propulsion slope mode to control the extension of each cylinder of the propulsion cylinder group (3) to achieve automatic propulsion on the slope. If the cutterhead (1) of the inclined shaft TBM reaches the corner of a large slope, it will first enter the automatic step-change flat ground mode and then enter the automatic propulsion large slope turning mode to control the extension of each cylinder of the propulsion cylinder group (3) to achieve automatic propulsion on a large slope turning. The automatic step-changing control module is used to control the extension of each cylinder of the propulsion cylinder group (3) to achieve automatic step-changing on flat ground if the extension of a certain cylinder is greater than or equal to the set value or if a manually input step-changing control signal is received. If the TBM of the inclined well is on flat ground, it enters the automatic step-changing flat ground mode to control the extension of each cylinder of the propulsion cylinder group (3) and the auxiliary propulsion cylinder group (11) to achieve automatic step-changing on flat ground. If the TBM of the inclined well is on a slope, it enters the automatic step-changing slope mode to control the extension of each cylinder of the propulsion cylinder group (3) and the auxiliary propulsion cylinder group (11) to achieve automatic step-changing on slope. If the TBM of the inclined well is on a steep slope turn, it enters the automatic step-changing steep slope turn mode to control the extension of each cylinder of the propulsion cylinder group (3) and the auxiliary propulsion cylinder group (11) to achieve automatic step-changing on steep slope turn.
10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the automatic tunneling control method for inclined shaft TBMs as described in any one of claims 1 to 8.