Control system, method and tunneling machine

Abstract

This disclosure provides a control system, method, and tunnel boring machine (TBM) in the field of engineering machinery technology. The system includes: a cutterhead torque early warning subsystem configured to: acquire the first torque of the cutterhead of the TBM at the current moment; determine the first target total thrust of the TBM and the torque state of the cutterhead based on the first torque and the first preset torque of the cutterhead; a guidance and correction control subsystem configured to: determine the pressure distribution vector direction of the first group of hydraulic cylinders among multiple hydraulic cylinders of the TBM that are expected to apply a pressure greater than 0, based on a preset target deviation; and a hydraulic cylinder pressure calculation subsystem configured to: determine the magnitude of the target resultant force of the pressure of multiple hydraulic cylinders based on the torque state of the cutterhead; determine the pressure of multiple hydraulic cylinders based on the magnitude and distribution vector direction of the target resultant force of the pressure of multiple hydraulic cylinders, wherein, in the case of an abnormal torque state, the magnitude of the target resultant force of the pressure of multiple hydraulic cylinders is the first target total thrust.

Description

Technical Field

[0001] This disclosure relates to the field of engineering machinery technology, and in particular to a control system, method, and tunnel boring machine (TBM). Background Technology

[0002] A tunnel boring machine (TBM) is a type of tunnel boring machine that uses the shield tunneling method. TBMs primarily rely on the cutting action of the cutterhead and the forward pressure of multiple hydraulic cylinders to complete the tunneling. During TBM operation, guidance deviation needs to be considered, that is, the deviation of the TBM's tunneling direction needs to be corrected (also known as "eccentricity correction") to ensure that the TBM tunnels in the predetermined direction. Summary of the Invention

[0003] The inventors discovered that during the correction process of a tunnel boring machine (TBM), there is a problem of sudden cessation of tunneling. This problem leads to low operating efficiency of the TBM.

[0004] Further analysis by the inventors revealed that if the torque of the cutterhead of the tunnel boring machine is too high, the machine will automatically stop tunneling in order to protect the cutterhead.

[0005] In related technologies, tunnel boring machines (TBMs) only consider the hydraulic cylinder pressure required to complete the correction process. This approach ignores the fact that the cutterhead torque also increases as the hydraulic cylinder pressure increases, leading to the aforementioned problems.

[0006] To address the aforementioned problems, the present disclosure proposes the following solutions.

[0007] According to one aspect of the present disclosure, a control system for a tunnel boring machine (TBM) is provided, comprising: a cutterhead torque early warning subsystem configured to: acquire a first torque of the cutterhead of the TBM at a current moment; determine a first target total thrust of the TBM and a torque state of the cutterhead based on the first torque and a first preset torque of the cutterhead, wherein the torque state is an abnormal state when the first torque is greater than the first preset torque, and a normal state when the first torque is less than or equal to the first preset torque; and when the torque state is an abnormal state, the first target total thrust is less than the torque of the cutterhead. The shield tunneling machine's total thrust at the current moment is equal to the total thrust at the previous moment. A guidance and correction control subsystem is configured to: determine the pressure distribution vector direction of the first group of cylinders in the shield tunneling machine's multiple cylinders that are expected to apply a pressure greater than 0, based on a preset target deviation; a cylinder pressure calculation subsystem is configured to: determine the magnitude of the target resultant force of the pressure of the multiple cylinders based on the torque state of the cutterhead; determine the pressure of the multiple cylinders based on the magnitude of the target resultant force of the pressure of the multiple cylinders and the distribution vector direction, wherein, in the case of an abnormal torque state, the magnitude of the target resultant force of the pressure of the multiple cylinders is the first target total thrust.

[0008] In some embodiments, a propulsion speed control subsystem is further included, configured to: acquire a first propulsion speed of the tunnel boring machine at the current moment; determine a second target total thrust of the tunnel boring machine based on the first propulsion speed and a preset target propulsion speed; wherein, when the torque state is in a normal state, the magnitude of the target resultant force of the pressure of the plurality of hydraulic cylinders is the second target total thrust.

[0009] In some embodiments, when the torque state is abnormal, the difference between the total thrust at the previous moment and the first target total thrust is not greater than the force corresponding to the difference between the first torque and the first preset torque.

[0010] In some embodiments, the difference between the total thrust at the previous moment and the first target total thrust is equal to the force corresponding to the difference between the first torque and the torque at the previous moment.

[0011] In some embodiments, the second target total thrust causes the second thrust velocity at the next moment of the current moment to be less than or equal to the preset target thrust velocity, and the difference between the second thrust velocity and the first thrust velocity is not less than the difference between the first thrust velocity and the third thrust velocity at the previous moment.

[0012] In some embodiments, the difference between the second propulsion speed and the first propulsion speed is equal to the difference between the first propulsion speed and the third propulsion speed.

[0013] In some embodiments, the propulsion speed control subsystem is further configured to: determine the application rate of the second target total thrust as a first rate when the first torque is greater than or equal to a second preset torque and less than or equal to the first preset torque, wherein the second preset torque is greater than 0 and less than the first preset torque; and determine the application rate as a second rate when the first torque is less than the second preset torque, wherein the second rate is greater than the first rate.

[0014] In some embodiments, the guidance and correction control subsystem is configured to: determine a first cylinder stroke difference in the horizontal direction and a second cylinder stroke difference in the vertical direction of the tunnel boring machine (TBM) based on the preset target deviation; determine a first cylinder pressure difference in the horizontal direction of the TBM based on the first cylinder stroke difference; determine a second cylinder pressure difference in the vertical direction of the TBM based on the second cylinder stroke difference; and determine the distribution vector direction based on the first cylinder pressure difference and the second cylinder pressure difference.

[0015] In some embodiments, the guide correction control subsystem is further configured to: determine the geometric distribution shape of the pressure of the second group of cylinders requiring a pressure greater than 0 on the cutter head based on the distribution vector direction and the desired speed for completing the correction; the cylinder pressure solving subsystem is configured to: determine the pressure of the multiple cylinders based on the magnitude of the target resultant force of the pressure of the multiple cylinders and the geometric distribution shape; wherein, in a first case, the geometric distribution shape is a triangle, the distribution vector direction is from the first cylinder at the first vertex of the triangle to the second cylinder at the first midpoint of the side opposite to the first vertex, the pressure of the first group of cylinders increases sequentially along the distribution vector direction, the second group of cylinders includes the first cylinder and multiple pairs of third cylinders, each pair of third cylinders is symmetrically distributed with respect to the line connecting the first vertex and the first midpoint, and the resultant force of the pressure of each pair of third cylinders is the pressure of the cylinder located in the first group of cylinders. The pressure of the cylinders between the third cylinders is such that the length of the side opposite the first vertex is the resultant force of the pressure of the pair of third cylinders corresponding to the first midpoint; in the second case, the geometric distribution shape is trapezoidal, and the distribution vector direction is from the fourth cylinder at the second midpoint of the upper base of the trapezoid to the fifth cylinder at the third midpoint of the lower base of the trapezoid. The pressure of the first group of cylinders increases sequentially along the distribution vector direction. The second group of cylinders includes multiple pairs of sixth cylinders. Each pair of sixth cylinders is symmetrically distributed with respect to the line connecting the second midpoint and the third midpoint. The resultant force of the pressure of each pair of sixth cylinders is the pressure of the cylinder located between the pair of sixth cylinders in the first group of cylinders. The length of the upper base is the resultant force of the pressure of the pair of sixth cylinders corresponding to the second midpoint, and the length of the lower base is the resultant force of the pressure of the pair of sixth cylinders corresponding to the third midpoint; wherein, the desired speed in the first case is greater than the desired speed in the second case.

[0016] According to another aspect of the present disclosure, a control method for a tunnel boring machine (TBM) is provided, comprising: acquiring a first torque of the cutterhead of the TBM at a current moment; determining a first target total thrust of the TBM and a torque state of the cutterhead based on the first torque and a first preset torque of the cutterhead, wherein the torque state is an abnormal state when the first torque is greater than the first preset torque, and a normal state when the first torque is less than or equal to the first preset torque; in the case of an abnormal torque state, the first target total thrust is less than the total thrust of the TBM at the previous moment; determining the pressure distribution vector direction of a first group of hydraulic cylinders among a plurality of hydraulic cylinders of the TBM that are expected to apply a pressure greater than 0 based on a preset target deviation; determining the magnitude of a target resultant force of the pressure of the plurality of hydraulic cylinders based on the torque state of the cutterhead; determining the pressure of the plurality of hydraulic cylinders based on the magnitude of the target resultant force of the pressure of the plurality of hydraulic cylinders and the distribution vector direction, wherein in the case of an abnormal torque state, the magnitude of the target resultant force of the pressure of the plurality of hydraulic cylinders is the first target total thrust.

[0017] In some embodiments, the method further includes: obtaining a first propulsion speed of the tunnel boring machine at the current moment; determining a second target total thrust of the tunnel boring machine based on the first propulsion speed and a preset target propulsion speed; wherein, when the torque state is in a normal state, the magnitude of the target resultant force of the pressure of the plurality of hydraulic cylinders is the second target total thrust.

[0018] In some embodiments, when the torque state is abnormal, the difference between the total thrust at the previous moment and the first target total thrust is not greater than the force corresponding to the difference between the first torque and the first preset torque.

[0019] In some embodiments, the difference between the total thrust at the previous moment and the first target total thrust is equal to the force corresponding to the difference between the first torque and the torque at the previous moment.

[0020] In some embodiments, the second target total thrust causes the second thrust velocity at the next moment of the current moment to be less than or equal to the preset target thrust velocity, and the difference between the second thrust velocity and the first thrust velocity is not less than the difference between the first thrust velocity and the third thrust velocity at the previous moment.

[0021] In some embodiments, the difference between the second propulsion speed and the first propulsion speed is equal to the difference between the first propulsion speed and the third propulsion speed.

[0022] In some embodiments, the method further includes: when the first torque is greater than or equal to a second preset torque and less than or equal to the first preset torque, determining the application rate of the second target total thrust as a first rate, wherein the second preset torque is greater than 0 and less than the first preset torque; and when the first torque is less than the second preset torque, determining the application rate as a second rate, wherein the second rate is greater than the first rate.

[0023] In some embodiments, based on the preset target deviation, the horizontal first cylinder stroke difference and the vertical second cylinder stroke difference of the tunnel boring machine are determined; based on the first cylinder stroke difference, the horizontal first cylinder pressure difference of the tunnel boring machine is determined; based on the second cylinder stroke difference, the vertical second cylinder pressure difference of the tunnel boring machine is determined; and based on the first cylinder pressure difference and the second cylinder pressure difference, the distribution vector direction is determined.

[0024] In some embodiments, based on the distribution vector direction and the desired speed for completing the correction, the geometric distribution shape of the pressure of the second group of cylinders requiring a pressure greater than 0 on the cutter head is determined; the pressure of the multiple cylinders is determined based on the magnitude of the target resultant force of the pressure of the multiple cylinders and the geometric distribution shape; wherein, in a first case, the geometric distribution shape is triangular, the distribution vector direction is from the first cylinder at the first vertex of the triangle to the second cylinder at the first midpoint of the side opposite to the first vertex, the pressure of the first group of cylinders increases sequentially along the distribution vector direction, the second group of cylinders includes the first cylinder and multiple pairs of third cylinders, each pair of third cylinders is symmetrically distributed with respect to the line connecting the first vertex and the first midpoint, and the resultant force of the pressure of each pair of third cylinders is the pressure of the cylinder located between the pairs of third cylinders in the first group of cylinders. The length of the side opposite the first vertex is the resultant force of the pressure of the pair of third cylinders corresponding to the first midpoint; in the second case, the geometric distribution shape is trapezoidal, the distribution vector direction is from the fourth cylinder at the second midpoint of the upper base of the trapezoid to the fifth cylinder at the third midpoint of the lower base of the trapezoid, the pressure of the first group of cylinders increases sequentially along the distribution vector direction, the second group of cylinders includes multiple pairs of sixth cylinders, each pair of sixth cylinders is symmetrically distributed with respect to the line connecting the second midpoint and the third midpoint, the resultant force of the pressure of each pair of sixth cylinders is the pressure of the cylinder located between the pair of sixth cylinders in the first group of cylinders, the length of the upper base is the resultant force of the pressure of the pair of sixth cylinders corresponding to the second midpoint, and the length of the lower base is the resultant force of the pressure of the pair of sixth cylinders corresponding to the third midpoint; wherein, the desired speed in the first case is greater than the desired speed in the second case.

[0025] According to another aspect of the present disclosure, a control system for a tunnel boring machine is provided, comprising: a module for using the method described in any of the above embodiments.

[0026] According to another aspect of the present disclosure, a control system for a tunnel boring machine is provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the method described in any of the above embodiments based on instructions stored in the memory.

[0027] According to another aspect of the present disclosure, a tunnel boring machine is provided, comprising: the system described in any of the above embodiments.

[0028] In this embodiment of the disclosure, the tunnel boring machine control system includes a cutterhead torque early warning subsystem, a guide correction control subsystem, and a hydraulic cylinder pressure calculation subsystem.

[0029] The cutterhead torque early warning subsystem acquires the first torque of the tunnel boring machine's (TBM) cutterhead at the current moment and determines the first target total thrust and cutterhead torque state based on the first torque and the first preset torque of the cutterhead. The guidance and correction control subsystem determines the pressure distribution vector direction of the first group of hydraulic cylinders among the multiple cylinders of the TBM that are expected to apply pressure greater than 0, based on the preset target deviation. The cylinder pressure calculation subsystem determines the magnitude of the target resultant force of the pressure of the multiple hydraulic cylinders of the TBM based on the torque state of the cutterhead, and determines the pressure of the multiple hydraulic cylinders based on the magnitude and distribution vector direction of the target resultant force of the pressure of these multiple hydraulic cylinders. In this way, when the first torque is greater than the first preset torque (i.e., in an abnormal state), the first target total thrust is less than the total thrust of the TBM at the previous moment, and the magnitude of the target resultant force of the pressure of these multiple hydraulic cylinders is the first target total thrust.

[0030] In this way, the target total thrust is determined based on the current cutterhead torque when the torque state is abnormal. Then, the target total thrust is applied to correct the deviation and reduce the cutterhead torque at the next moment. This can both correct the deviation and prevent the cutterhead torque from becoming too large, reducing the occurrence of the tunnel boring machine automatically stopping tunneling when the cutterhead torque is too large, and improving the operating efficiency of the tunnel boring machine.

[0031] The technical solutions of this disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the control system of a tunnel boring machine according to some embodiments of the present disclosure.

[0034] Figure 2 This is a schematic diagram of the control system of a tunnel boring machine according to other embodiments of the present disclosure.

[0035] Figure 3 This is a schematic diagram showing the distribution of hydraulic cylinders according to some embodiments of this disclosure.

[0036] Figure 4A This is a schematic diagram of the geometric distribution shape according to some embodiments of the present disclosure.

[0037] Figure 4B This is a schematic diagram of the geometric distribution shape according to other embodiments of this disclosure.

[0038] Figure 5 This is a flowchart illustrating a control method for a tunnel boring machine according to some embodiments of the present disclosure.

[0039] Figure 6 This is a schematic diagram of the control system of a tunnel boring machine according to some embodiments of the present disclosure.

[0040] Figure 7 This is a schematic diagram of the control system of a tunnel boring machine according to some embodiments of the present disclosure. Detailed Implementation

[0041] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0042] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of this disclosure.

[0043] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0044] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0045] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0046] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0047] Furthermore, in the description of this disclosure, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or order. Similarly, although operations are depicted in a specific order in the accompanying drawings, this should not be construed as requiring such operations to be performed in the specific order shown or in sequential order, or requiring the execution of all illustrated operations to achieve the desired result. In some cases, multitasking and parallel processing can be advantageous.

[0048] Figure 1 This is a schematic diagram of the control system of a tunnel boring machine according to some embodiments of the present disclosure.

[0049] like Figure 1 As shown, the tunnel boring machine (TBM) control system includes a cutterhead torque early warning subsystem 101, a guidance and correction control subsystem 102, and a cylinder pressure calculation subsystem 103. It should be understood that the TBM's tunneling progress is calculated in segments, with one segment representing one complete work cycle. Correction is required in each work cycle.

[0050] The cutterhead torque early warning subsystem 101 is configured to acquire the first torque of the tunnel boring machine's cutterhead at the current moment; based on the first torque and the first preset torque of the cutterhead, it determines the first target total thrust of the tunnel boring machine and the torque state of the cutterhead. Here, the torque state is considered abnormal if the first torque is greater than the first preset torque, and normal if the first torque is less than or equal to the first preset torque. In the case of an abnormal torque state, the first target total thrust is less than the total thrust of the tunnel boring machine at the previous moment. The cutterhead torque early warning subsystem 101 can be, for example, a controller, such as a programmable logic controller (PLC).

[0051] In some embodiments, the first preset torque may also be referred to as the warning torque, and the first preset torque is less than the maximum torque that the cutterhead of the tunnel boring machine can withstand. As some implementations, the first preset torque can be set based on human experience.

[0052] It should be understood that the initial torque of the tunnel boring machine's cutterhead at the current moment is affected by the total thrust applied at the previous moment. In other words, the greater the total thrust applied at the previous moment, the greater the initial torque of the cutterhead at the current moment.

[0053] In other words, when the torque state is abnormal, the total thrust of the first target is less than the total thrust of the tunnel boring machine at the previous moment, which can make the torque of the cutterhead at the next moment smaller than the first torque at the current moment.

[0054] In some embodiments, the time interval between the current moment and the previous moment can be a preset fixed time interval.

[0055] The guidance and correction control subsystem 102 is configured to determine the pressure distribution vector direction of the first group of cylinders in a plurality of cylinders of the tunnel boring machine (TBM) to which a pressure greater than zero is desired, based on a preset target deviation. In some embodiments, the plurality of cylinders refers to all cylinders of the TBM. The guidance and correction control subsystem 102 may be, for example, a controller, such as a PLC.

[0056] For example, the preset target deviation may include the target guidance deviation in the horizontal direction (i.e., the deviation in tunneling in the horizontal direction); for another example, the preset target deviation may include the target guidance deviation in the vertical direction (i.e., the deviation in tunneling in the vertical direction); and for yet another example, the preset target deviation may include both the target guidance deviation in the horizontal direction and the target guidance deviation in the vertical direction.

[0057] It should be understood that the pressure of the first set of hydraulic cylinders, which is expected to apply a pressure greater than 0 to complete the correction, exhibits a gradient distribution, and the direction of the distribution vector represents the gradient distribution. For example, when the tunnel boring machine needs to correct its tunneling direction to the right, the pressure of the first set of hydraulic cylinders required to complete this correction is distributed in the horizontal direction, gradually increasing from left to right, and the direction of the distribution vector represents the pressure distribution of the first set of hydraulic cylinders in the horizontal direction from left to right.

[0058] The hydraulic cylinder pressure calculation subsystem 103 is configured to determine the magnitude of the target resultant force of the pressure of multiple hydraulic cylinders of the tunnel boring machine based on the torque state of the cutterhead; and to determine the pressure of multiple hydraulic cylinders based on the magnitude of the target resultant force of the pressure of multiple hydraulic cylinders and the distribution vector direction of the pressure of the first group of hydraulic cylinders. Here, when the torque state is abnormal, the magnitude of the target resultant force of the pressure of multiple hydraulic cylinders is the first target total thrust. The hydraulic cylinder pressure calculation subsystem 103 can be, for example, a controller, such as a PLC.

[0059] In other words, the optimization goal of the tunnel boring machine control system is to determine the pressure of multiple hydraulic cylinders to meet the correction requirements of the tunnel boring machine during tunneling, and to ensure that the torque of the cutterhead is in a normal state.

[0060] For example, taking the magnitude of the combined force of the pressure from multiple cylinders as the first objective total thrust and the desired pressure distribution vector direction as the optimization objective, by continuously changing the pressure of multiple cylinders, it is possible to ultimately determine which cylinders need to apply pressure, which cylinders do not need to apply pressure, and how much pressure the cylinders that need to apply pressure should specifically apply, in order to meet the optimization objective.

[0061] The implementation method for determining the pressure of multiple hydraulic cylinders based on the magnitude and distribution vector direction of the target resultant force of the pressure of multiple hydraulic cylinders will be introduced later and will not be elaborated here.

[0062] In this approach, the cutterhead torque early warning subsystem acquires the first torque of the tunnel boring machine's (TBM) cutterhead at the current moment and determines the first target total thrust and cutterhead torque state based on the first torque and the first preset torque of the cutterhead. The guidance and correction control subsystem determines the pressure distribution vector direction of the first group of cylinders among the TBM's multiple cylinders that are expected to apply pressure greater than 0 based on the preset target deviation. The cylinder pressure calculation subsystem determines the magnitude of the target resultant force of the pressure of the multiple cylinders of the TBM based on the cutterhead torque state, and determines the pressure of the multiple cylinders based on the magnitude and distribution vector direction of the target resultant force of the pressure of these multiple cylinders. In this approach, when the first torque is greater than the first preset torque (i.e., in an abnormal state), the first target total thrust is less than the total thrust of the TBM at the previous moment, and the magnitude of the target resultant force of the pressure of these multiple cylinders is the first target total thrust.

[0063] In this way, the target total thrust is determined based on the current cutterhead torque when the torque state is abnormal. Then, the target total thrust is applied to correct the deviation and reduce the cutterhead torque at the next moment. This can both correct the deviation and prevent the cutterhead torque from becoming too large, reducing the occurrence of the tunnel boring machine automatically stopping tunneling when the cutterhead torque is too large, and improving the operating efficiency of the tunnel boring machine.

[0064] In some embodiments, when the torque state is abnormal, the difference between the total thrust of the previous moment and the first target total thrust is not greater than the force corresponding to the difference between the first torque and the first preset torque.

[0065] In other words, the first target total thrust can reduce the torque of the cutterhead in the next moment to less than or equal to the first preset torque.

[0066] Thus, when the torque state is abnormal, the difference between the total thrust of the previous moment and the first target total thrust is less than or equal to the force corresponding to the difference between the first torque and the first preset torque. In this case, the torque state can quickly change from an abnormal state to a normal state, thereby further reducing the occurrence of the tunnel boring machine stopping tunneling to protect the cutterhead and further improving the operating efficiency of the tunnel boring machine.

[0067] In some embodiments, the difference between the total thrust of the previous moment and the first target total thrust is equal to the force corresponding to the difference between the first torque and the torque of the previous moment. That is, the first target total thrust can restore the torque of the cutterhead in the next moment to the torque of the cutterhead in the previous moment.

[0068] Thus, when the torque state is abnormal, the difference between the total thrust of the previous moment and the total thrust of the first target moment is the force corresponding to the difference between the first torque and the torque of the previous moment. In this case, the torque of the cutterhead at the next moment can be restored to the torque of the cutterhead at the previous moment, ensuring that the torque state of the cutterhead changes from an abnormal state to a normal state. This further reduces the occurrence of the tunnel boring machine stopping tunneling to protect the cutterhead, and further improves the operating efficiency of the tunnel boring machine.

[0069] The inventors noted that the operating efficiency of a tunnel boring machine (TBM) can be improved by increasing its tunneling speed. Since tunneling speed is positively correlated with the total thrust of the TBM, increasing the total thrust of the TBM, assuming the cutterhead torque is normal, can increase the tunneling speed and thus improve its operating efficiency. This disclosure further proposes the following implementation scheme.

[0070] In some embodiments, when the torque state is normal, the first target total thrust is greater than or equal to the total thrust of the tunnel boring machine at the current moment compared to the previous moment. In this case, the magnitude of the target resultant force of the pressure from the multiple cylinders is the first target total thrust.

[0071] In other words, if the first torque does not exceed the first preset torque, a force that is larger than the total thrust at the previous moment or the same as the total thrust at the previous moment can be applied.

[0072] Thus, when the cutterhead torque is in a normal state, the thrust applied to the tunnel boring machine is greater than or equal to the total thrust of the tunnel boring machine at the current moment compared to the previous moment, which can increase the tunneling speed of the tunnel boring machine and thus further improve the operating efficiency of the tunnel boring machine.

[0073] In some embodiments, when the torque state of the cutter head is in a normal state, if the first torque is less than the first preset torque, then the first target total thrust is the force corresponding to the cutter head reaching the first preset torque. That is, the first target total thrust is the maximum total thrust that can maintain the torque state in a normal state.

[0074] Thus, when the first torque is less than the first preset torque, the first target total thrust is the force corresponding to the cutterhead reaching the first preset torque. In this case, the torque state can be in a normal state, and the tunneling speed of the tunnel boring machine is faster, thereby further improving the operating efficiency of the tunnel boring machine.

[0075] The inventors noted that excessively large increases in tunneling speed within a short period can easily lead to instability in the operation of the tunnel boring machine, thereby affecting operational safety. In response, this disclosure proposes the following implementation scheme.

[0076] In some embodiments, when the torque state of the cutter head is in a normal state, if the first torque is less than the first preset torque, then the difference between the first target total thrust and the total thrust at the previous moment is the force corresponding to the difference between the first torque and the torque at the previous moment.

[0077] In other words, the first target total thrust can make the change in the cutter head torque from the current moment to the next moment equal to the change in the first torque from the first torque to the change in the cutter head torque from the current moment to the previous moment.

[0078] Thus, when the first torque is less than the first preset torque, the difference between the first target total thrust and the total thrust at the previous moment is the force corresponding to the difference between the first torque and the torque at the previous moment. Under these conditions, the torque state can be in a normal state, and the tunneling speed of the tunnel boring machine gradually increases, thereby stabilizing the operation of the tunnel boring machine, improving the safety of the tunnel boring machine operation, and further improving the operating efficiency of the tunnel boring machine.

[0079] The inventors noted that when the cutterhead torque is in a normal state, if the first torque equals the first preset torque, then if the first target total thrust is greater than the total thrust of the tunnel boring machine at the previous moment, the torque state at the next moment will become abnormal. To address this, the present disclosure also proposes the following implementation scheme.

[0080] In some embodiments, when the cutterhead torque is in a normal state, if the first torque equals the first preset torque, then the first target total thrust is equal to the total thrust of the tunnel boring machine at the current moment and the previous moment. That is, the total thrust at the current moment is the same as the total thrust at the previous moment.

[0081] Thus, when the first torque equals the first preset torque, the first target total thrust equals the total thrust of the tunnel boring machine at the previous moment, which can reduce the possibility of the torque state becoming abnormal in the next moment, thereby further improving the operating efficiency of the tunnel boring machine.

[0082] The inventors noted that tunnel boring machines (TBMs) have a desired preset target speed during operation, which balances operational safety and efficiency. In other words, it is desirable for the TBM to tunnel at this preset target speed to achieve both. In this case, during the correction process, in addition to considering the torque state of the cutterhead, the preset target speed also needs to be taken into account. To address this, the following implementation scheme is proposed.

[0083] In some embodiments, such as Figure 2 As shown, the control system of the tunnel boring machine also includes a propulsion speed control subsystem 201. The propulsion speed control subsystem 201 may be a controller, such as a PLC.

[0084] Figure 2 This is a schematic diagram of the control system of a tunnel boring machine according to other embodiments of the present disclosure.

[0085] The propulsion speed control subsystem 201 is configured to acquire the first propulsion speed of the tunnel boring machine (TBM) at the current moment; and to determine the second target total thrust of the TBM based on the first propulsion speed and a preset target propulsion speed. Here, under normal torque conditions, the magnitude of the target resultant force of the pressure of the multiple cylinders of the TBM is the second target total thrust.

[0086] In other words, under normal torque conditions, the total thrust of the tunnel boring machine (TBM) is the second target total thrust determined based on the first propulsion speed and the preset target propulsion speed, rather than the first target total thrust. In other words, the optimization goal of the TBM control system is to determine the pressure of multiple hydraulic cylinders to meet the TBM's correction and propulsion speed requirements during tunneling, while ensuring the cutterhead torque is within normal limits.

[0087] Thus, the target total thrust is determined based on the first thrust speed and the preset target thrust speed when the torque is normal. This target total thrust is then applied to correct the deviation, thereby taking the preset target thrust speed into account during the deviation correction process, which improves the operational safety and efficiency of the tunnel boring machine.

[0088] In some embodiments, the second target total thrust causes the second thrust velocity at the next moment after the current moment to be less than or equal to the preset target thrust velocity, and the difference between the second thrust velocity and the first thrust velocity at the current moment is not less than the difference between the first thrust velocity and the third thrust velocity at the previous moment.

[0089] In other words, the second target total thrust makes the second thrust velocity at the next moment of the current moment approach the preset target thrust velocity, and the increment from the first thrust velocity to the second thrust velocity at the current moment is greater than or equal to the increment from the third thrust velocity to the first thrust velocity at the previous moment of the current moment.

[0090] Thus, under normal torque conditions, the second target total thrust ensures that the second propulsion speed at the next moment is less than or equal to the preset target propulsion speed, and the difference between the second propulsion speed and the first propulsion speed at the current moment is greater than or equal to the difference between the first propulsion speed and the third propulsion speed at the previous moment. This method allows the tunnel boring machine's propulsion speed to approach the preset target propulsion speed during the correction process, further improving the tunnel boring machine's operational safety and efficiency.

[0091] In some embodiments, the difference between the second propulsion speed and the first propulsion speed is equal to the difference between the first propulsion speed and the third propulsion speed.

[0092] In other words, the increment from the first propulsion velocity at the current moment to the second propulsion velocity at the next moment is equal to the increment from the third propulsion velocity at the previous moment to the first propulsion velocity.

[0093] Thus, under normal torque conditions, the difference between the second and first propulsion speeds is equal to the difference between the first and third propulsion speeds. This method allows the tunnel boring machine's (TBM) propulsion speed to gradually approach the preset target propulsion speed with a fixed amount of variation during the correction process, thereby stabilizing TBM operation and further improving its safety and efficiency.

[0094] The inventors noted that when the cutterhead torque is in a normal state, although the first torque of the tunnel boring machine's cutterhead at the current moment does not exceed the first preset torque, the difference between the first torque and the first preset torque may be small. In this case, if the rate at which the target total thrust of the tunnel boring machine is applied is large, the rate of change of the cutterhead torque will also be large, and the torque state of the cutterhead will quickly change from a normal state to an abnormal state, which is detrimental to the stable operation of the tunnel boring machine. To address this, this disclosure also proposes the following implementation scheme.

[0095] In some embodiments, the propulsion speed control subsystem 201 is further configured to determine the application rate of the second target total thrust as a first rate when the first torque is greater than or equal to a second preset torque and less than or equal to the first preset torque; and to determine the application rate of the second target total thrust as a second rate when the first torque is less than the second preset torque.

[0096] Here, the second preset torque is greater than 0 and less than the first preset torque, and the second speed is greater than the first speed. The second preset torque can be, for example, greater than half, three-quarters, or four-fifths of the first preset torque, and the second preset torque can also be set based on human experience.

[0097] In other words, when the first torque is relatively small, the application rate of the second target total thrust is relatively large; when the first torque is relatively large, the application rate of the second target total thrust is relatively small.

[0098] Thus, when the first torque is greater than or equal to the second preset torque, the application rate of the second target total thrust is determined to be a smaller first rate; when the first torque is less than the second preset torque, the application rate of the second target total thrust is determined to be a larger second rate. In this approach, when the first torque is smaller, the second target thrust can be applied quickly, thereby rapidly bringing the tunnel boring machine's (TBM) advance speed closer to the preset target advance speed, further improving the TBM's operational safety and efficiency. When the first torque is larger, the second target thrust can be applied slowly, thereby reducing the occurrence of the cutterhead's torque state rapidly changing from a normal state to an abnormal state, further improving the TBM's operational safety and efficiency.

[0099] The following describes how the guidance correction control subsystem 102 determines the distribution vector direction of the pressure that satisfies the preset target deviation based on the preset target deviation.

[0100] In some embodiments, the guidance and correction control subsystem 102 is configured to determine the first cylinder stroke difference in the horizontal direction and the second cylinder stroke difference in the vertical direction of the tunnel boring machine (TBM) based on a preset target deviation. It should be understood that the larger the preset target deviation, the larger the corresponding cylinder stroke difference. For example, if the target guidance deviation in the horizontal direction is larger, the first cylinder stroke difference in the horizontal direction will be larger.

[0101] Here, a preset target deviation can be input into a black box, gray box, or white box model to obtain the specific value of the first cylinder stroke difference and the specific value of the second cylinder stroke difference. The implementation method for obtaining the specific value of the cylinder stroke difference is not limited here.

[0102] Based on the stroke difference of the first hydraulic cylinder, the horizontal pressure difference of the first hydraulic cylinder of the tunnel boring machine is determined; based on the stroke difference of the second hydraulic cylinder, the vertical pressure difference of the second hydraulic cylinder is determined. It should be understood that the larger the stroke difference of the hydraulic cylinders, the larger the pressure difference. Here, the stroke difference of the hydraulic cylinders can be input into the mathematical model to obtain the pressure difference, or methods such as system identification or fitting regression can be used to establish the relationship between the stroke difference and the pressure difference, realizing the mapping output between the stroke difference and the pressure difference. The method of obtaining the pressure difference is not limited here.

[0103] The direction of the pressure distribution vector can be determined based on the pressure difference between the first and second cylinders. For example, a pressure gradient diagram can be plotted using the pressure difference between the first and second cylinders to obtain the direction of the pressure distribution vector.

[0104] In this way, the horizontal cylinder stroke difference and the vertical cylinder stroke difference of the tunnel boring machine are determined according to the preset target deviation. Then, the cylinder pressure difference in the corresponding direction is determined according to these two cylinder stroke differences, and the pressure distribution vector direction is determined according to the cylinder pressure difference. This can accurately determine the pressure distribution vector direction, which helps to accurately determine the pressure of multiple cylinders and improve the accuracy of tunnel boring machine correction.

[0105] In some embodiments, such as Figure 3 As shown, the cylinders in the multiple cylinders of the propulsion cutterhead 301 that require a pressure greater than 0, as determined by the cylinder pressure solving subsystem 103, can be the first group of cylinders (here, the first group of cylinders includes cylinders 303, 304, and 305 schematically shown). That is, the first group of cylinders is distributed along the distribution vector direction 302, and the pressure of the first group of cylinders increases sequentially along the distribution vector direction 302. The other cylinders besides the first group do not need to provide correction thrust. Thus, the distribution of the first group of cylinders along the distribution vector direction and the sequential increase in pressure along the distribution vector direction enable the entire process of tunnel boring machine correction, thereby improving the operating efficiency of the tunnel boring machine.

[0106] In other embodiments, the guidance and correction control subsystem 102 is further configured to determine the geometric distribution shape of the pressure on the cutterhead of the second group of hydraulic cylinders that require a pressure greater than 0, based on the distribution vector direction and the desired speed for completing the correction; the hydraulic cylinder pressure solving subsystem 103 is configured to determine the pressure of the multiple hydraulic cylinders of the tunnel boring machine based on the magnitude and geometric distribution shape of the target resultant force of the pressure of the multiple hydraulic cylinders. For example, the magnitude and geometric distribution shape of the target resultant force of the pressure of the multiple hydraulic cylinders can be input into a black box or gray box model to determine the pressure of the multiple hydraulic cylinders of the tunnel boring machine.

[0107] It should be understood that the pressure of the defined multiple cylinders includes: the pressure of the second group of cylinders is greater than 0, and the pressure of the other cylinders (if any) besides the second group of cylinders is equal to 0.

[0108] Here, the geometric distribution shape in the first case where the desired speed is large is different from the geometric distribution shape in the second case where the desired speed is small compared to the first case.

[0109] like Figure 4A As shown, in the first case, the geometric distribution shape on the cutter head 301 is triangle 401.

[0110] Here, the distribution vector direction 302 extends from the first cylinder at the first vertex 402 of triangle 401 to the second cylinder at the first midpoint 403 of the side opposite the first vertex. The pressure of the first group of cylinders increases sequentially along the distribution vector direction 302. The second group of cylinders includes the first cylinder and multiple pairs of third cylinders. Each pair of third cylinders is symmetrically distributed with respect to the line connecting the first vertex 402 and the first midpoint 403. The resultant force of the pressure of each pair of third cylinders is the pressure of the cylinder located between the pairs of third cylinders in the first group. The length of the side opposite the first vertex is the resultant force of the pressure of the pair of third cylinders corresponding to the first midpoint 403. It should be understood that the first group of cylinders includes the first and second cylinders, while the second group of cylinders does not include any cylinder from the first group other than the first cylinder.

[0111] In other words, the first cylinder at the first vertex 402 is the cylinder with the lowest pressure in the distribution vector direction 302. The distribution vector direction points from the first vertex 402 to the first midpoint 403. The second cylinder at the first midpoint 403 is the cylinder with the highest pressure in the distribution vector direction 302.

[0112] like Figure 4B As shown, in the second case, the geometric distribution shape on the cutter head 301 is trapezoidal 404.

[0113] Here, the distribution vector direction 302 extends from the fourth cylinder at the second midpoint 405 of the upper base of trapezoid 404 to the fifth cylinder at the third midpoint 406 of the lower base of trapezoid 404. The pressure of the first group of cylinders increases sequentially along the distribution vector direction 302. The second group of cylinders includes multiple pairs of sixth cylinders, each pair of sixth cylinders being symmetrically distributed with respect to the line connecting the second midpoint 405 and the third midpoint 406. The resultant force of the pressure of each pair of sixth cylinders is the pressure of the cylinder located between those pairs in the first group. The length of the upper base of trapezoid 404 is the resultant force of the pressure of the pair of sixth cylinders corresponding to the second midpoint 405, and the length of the lower base of trapezoid 404 is the resultant force of the pressure of the pair of sixth cylinders corresponding to the third midpoint 406. It should be understood that the first group of cylinders includes the fourth and fifth cylinders, while the second group of cylinders does not include any of the cylinders in the first group.

[0114] In other words, the distribution vector direction 302 points from the second midpoint 405 of the upper base to the third midpoint 406 of the lower base. The fourth cylinder at the second midpoint 405 is the cylinder with the lowest pressure in the distribution vector direction 302, and the fifth cylinder at the third midpoint 406 is the cylinder with the highest pressure in the distribution vector direction 302.

[0115] Thus, based on the direction of the pressure distribution vector and the desired speed for completing the correction, the geometric distribution shape of the pressure of the multiple cylinders of the tunnel boring machine on the cutterhead is determined to be triangular or trapezoidal. Then, the pressure of the multiple cylinders of the tunnel boring machine is determined based on the magnitude of the target resultant force of the pressure of the multiple cylinders and the geometric distribution shape.

[0116] In this way, the pressure concentrated in the direction of the distribution vector can be dispersed into pressure symmetrically distributed on both sides of the direction of the distribution vector, thereby making the cutterhead subjected to uniform force and improving the safety of tunnel boring machine operation.

[0117] On the other hand, when the expected speed of completing the correction is relatively high, the triangular geometric distribution shape helps to complete the correction faster, further improving the operating efficiency of the tunnel boring machine; when the expected speed of completing the correction is relatively low, the trapezoidal geometric distribution shape helps to make the cutterhead more uniformly stressed, further improving the safety of the tunnel boring machine operation.

[0118] In some embodiments, the tunnel boring machine control system may further include a hydraulic cylinder pressure control subsystem.

[0119] The hydraulic cylinder pressure control subsystem is configured to adjust the pressure of multiple hydraulic cylinders of the tunnel boring machine at the current moment so that the pressure of these multiple cylinders is the same as the pressure of the multiple cylinders determined by the hydraulic cylinder pressure solving subsystem 103. For example, the difference between the current pressure of the multiple cylinders and the corresponding pressure of the multiple cylinders determined by the hydraulic cylinder pressure solving subsystem 103 can be used as the input of the hydraulic cylinder pressure control subsystem, thereby allowing the hydraulic cylinder pressure control subsystem to adjust the pressure of the multiple cylinders at the current moment.

[0120] Here, for example, a PLC can be used to control multiple hydraulic cylinders to adjust the pressure of the multiple cylinders.

[0121] In this way, by adjusting the pressure of multiple cylinders of the tunnel boring machine at the current moment so that the pressure of these multiple cylinders is determined by the cylinder pressure solution subsystem, the entire process of tunnel boring machine correction can be realized, which helps to improve the operating efficiency of the tunnel boring machine.

[0122] In some embodiments, the change between the cylinder pressure at the previous moment and the cylinder pressure at the current moment can also be used as input to the cylinder pressure control subsystem. In this case, the cylinder pressure control subsystem can adjust the pressure of multiple cylinders at the current moment with reference to this change. For example, the pressure of multiple cylinders at the current moment can be gradually adjusted by the same amount of change to achieve the pressure of multiple cylinders determined by the cylinder pressure solving subsystem 103.

[0123] In this way, the change between the cylinder pressure at the previous moment and the cylinder pressure at the current moment is used as the input of the cylinder pressure control subsystem. The cylinder pressure control subsystem can then adjust the pressure of multiple cylinders at the current moment by referring to this change, thereby stably realizing the entire process of tunnel boring machine correction and further improving the operating efficiency of the tunnel boring machine.

[0124] In some embodiments, the tunnel boring machine (TBM) control system may further include a tunneling process monitoring subsystem. This subsystem is configured to stop the TBM operation upon completion of a work cycle. Stopping the TBM operation upon completion of a work cycle improves worker safety when inspecting the quality of that work cycle.

[0125] This disclosure also provides a method for controlling a tunnel boring machine.

[0126] Figure 5 This is a flowchart illustrating a control method for a tunnel boring machine according to some embodiments of the present disclosure.

[0127] In step 502, the first torque of the cutterhead of the tunnel boring machine at the current moment is obtained.

[0128] In step 504, the first target total thrust of the tunnel boring machine and the torque state of the cutterhead are determined based on the first torque and the first preset torque of the cutterhead. Here, the torque state is an abnormal state when the first torque is greater than the first preset torque, and a normal state when the first torque is less than or equal to the first preset torque. When the torque state is an abnormal state, the first target total thrust is less than the total thrust of the tunnel boring machine at the previous moment.

[0129] In step 506, based on the preset target deviation, the pressure distribution vector direction of the first group of cylinders in the tunnel boring machine that is expected to apply a pressure greater than 0 is determined.

[0130] In step 508, the magnitude of the target resultant force of the pressure of the multiple cylinders of the tunnel boring machine is determined based on the torque state of the cutterhead.

[0131] In step 510, the pressure of the multiple cylinders is determined based on the magnitude and distribution vector direction of the target resultant force of the pressure of the multiple cylinders. Here, when the torque state is abnormal, the magnitude of the target resultant force of the pressure of the multiple cylinders is the first target total thrust.

[0132] Thus, the first torque of the tunnel boring machine's cutterhead at the current moment is obtained, and the first target total thrust and cutterhead torque state are determined based on the first torque and the first preset torque of the cutterhead. Then, based on the preset target deviation, the pressure distribution vector direction of the first group of hydraulic cylinders among the multiple cylinders of the tunnel boring machine, which is expected to apply pressure greater than 0, is determined. Based on the cutterhead torque state, the magnitude of the target resultant force of the pressure of the multiple hydraulic cylinders is determined, and then the pressure of the multiple hydraulic cylinders is determined based on the magnitude and distribution vector direction of the target resultant force of the pressure of these multiple hydraulic cylinders. In this method, when the first torque is greater than the first preset torque (i.e., in an abnormal state), the first target total thrust is less than the total thrust of the tunnel boring machine at the previous moment, and the magnitude of the target resultant force of the pressure of these multiple hydraulic cylinders is the first target total thrust.

[0133] In this method, the target total thrust is determined based on the current cutterhead torque when the torque state is abnormal. This target total thrust is then applied to correct the deviation and reduce the cutterhead torque at the next moment. This not only corrects the deviation but also prevents the cutterhead torque from becoming too large, reducing the occurrence of the tunnel boring machine automatically stopping tunneling when the cutterhead torque is too large, thus improving the operating efficiency of the tunnel boring machine.

[0134] In some embodiments, the first propulsion speed of the tunnel boring machine at the current moment can also be obtained; based on the first propulsion speed and the preset target propulsion speed, the second target total thrust of the tunnel boring machine can be determined. Here, when the torque state is normal, the magnitude of the target resultant force of the pressure of these multiple cylinders is the second target total thrust.

[0135] Thus, the target total thrust is determined based on the first thrust speed and the preset target thrust speed when the torque is normal. This target total thrust is then applied to correct the deviation, thereby taking the preset target thrust speed into account during the deviation correction process, which improves the operational safety and efficiency of the tunnel boring machine.

[0136] In some embodiments, when the torque state is abnormal, the difference between the total thrust of the previous moment and the first target total thrust is not greater than the force corresponding to the difference between the first torque and the first preset torque.

[0137] Thus, when the torque state is abnormal, the difference between the total thrust of the previous moment and the first target total thrust is less than or equal to the force corresponding to the difference between the first torque and the first preset torque. In this case, the torque state can quickly change from an abnormal state to a normal state, thereby further reducing the occurrence of the tunnel boring machine stopping tunneling to protect the cutterhead and further improving the operating efficiency of the tunnel boring machine.

[0138] In some embodiments, the difference between the total thrust of the previous moment and the total thrust of the first target moment is equal to the force corresponding to the difference between the first torque and the torque of the previous moment.

[0139] Thus, when the torque state is abnormal, the difference between the total thrust of the previous moment and the total thrust of the first target moment is the force corresponding to the difference between the first torque and the torque of the previous moment. In this case, the torque of the cutterhead in the next moment can be restored to the torque of the cutterhead in the previous moment, ensuring that the torque state of the cutterhead changes from an abnormal state to a normal state. This further reduces the occurrence of the tunnel boring machine stopping tunneling to protect the cutterhead, and further improves the operating efficiency of the tunnel boring machine.

[0140] In some embodiments, the second target total thrust causes the second thrust velocity at the next moment after the current moment to be less than or equal to the preset target thrust velocity, and the difference between the second thrust velocity and the first thrust velocity is not less than the difference between the first thrust velocity and the third thrust velocity at the previous moment after the current moment.

[0141] Thus, under normal torque conditions, the second target total thrust ensures that the second propulsion speed at the next moment is less than or equal to the preset target propulsion speed, and the difference between the second propulsion speed and the first propulsion speed at the current moment is greater than or equal to the difference between the first propulsion speed and the third propulsion speed at the previous moment. This method allows the tunnel boring machine's propulsion speed to approach the preset target propulsion speed during the correction process, further improving the tunnel boring machine's operational safety and efficiency.

[0142] In some embodiments, the difference between the second propulsion speed and the first propulsion speed is equal to the difference between the first propulsion speed and the third propulsion speed.

[0143] Thus, under normal torque conditions, the difference between the second and first propulsion speeds is equal to the difference between the first and third propulsion speeds. This method allows the tunnel boring machine's (TBM) propulsion speed to gradually approach the preset target propulsion speed with a fixed amount of variation during the correction process, thereby stabilizing TBM operation and further improving its safety and efficiency.

[0144] In some embodiments, the application rate of the second target total thrust can be determined as the first rate when the first torque is greater than or equal to the second preset torque and less than or equal to the first preset torque; and the application rate can be determined as the second rate when the first torque is less than the second preset torque. Here, the second preset torque is greater than 0 and less than the first preset torque, and the second rate is greater than the first rate.

[0145] Thus, when the first torque is greater than or equal to the second preset torque, the application rate of the second target total thrust is determined to be a smaller first rate; when the first torque is less than the second preset torque, the application rate of the second target total thrust is determined to be a larger second rate. In this approach, when the first torque is smaller, the second target thrust can be applied quickly, thereby rapidly bringing the tunnel boring machine's (TBM) advance speed closer to the preset target advance speed, further improving the TBM's operational safety and efficiency. When the first torque is larger, the second target thrust can be applied slowly, thereby reducing the occurrence of the cutterhead's torque state rapidly changing from a normal state to an abnormal state, further improving the TBM's operational safety and efficiency.

[0146] In some embodiments, the horizontal first cylinder stroke difference and the vertical second cylinder stroke difference of the tunnel boring machine can be determined based on a preset target deviation; the horizontal first cylinder pressure difference of the tunnel boring machine can be determined based on the first cylinder stroke difference; the vertical second cylinder pressure difference of the tunnel boring machine can be determined based on the second cylinder stroke difference; and the distribution vector direction can be determined based on the first cylinder pressure difference and the second cylinder pressure difference.

[0147] In this way, the horizontal cylinder stroke difference and the vertical cylinder stroke difference of the tunnel boring machine are determined according to the preset target deviation. Then, the cylinder pressure difference in the corresponding direction is determined according to these two cylinder stroke differences, and the pressure distribution vector direction is determined according to the cylinder pressure difference. This can accurately determine the pressure distribution vector direction, which helps to accurately determine the pressure of multiple cylinders and improve the accuracy of tunnel boring machine correction.

[0148] In some embodiments, the geometric distribution shape of the pressure of the second group of hydraulic cylinders that need to apply a pressure greater than 0 on the cutter head can be determined according to the distribution vector direction and the expected speed for completing the correction; the pressure of the multiple hydraulic cylinders can be determined according to the magnitude and geometric distribution shape of the target resultant force of the pressure of the multiple hydraulic cylinders.

[0149] Here, in the first case, the geometric distribution shape is triangular. The distribution vector direction is from the first cylinder at the first vertex of the triangle to the second cylinder at the first midpoint of the side opposite to the first vertex. The pressure of the first group of cylinders increases sequentially along the distribution vector direction. The second group of cylinders includes the first cylinder and multiple pairs of third cylinders. Each pair of third cylinders is symmetrically distributed with respect to the line connecting the first vertex and the first midpoint. The resultant force of the pressure of each pair of third cylinders is the pressure of the cylinder located between the pairs of third cylinders in the first group of cylinders. The length of the side opposite the first vertex is the resultant force of the pressure of the pair of third cylinders corresponding to the first midpoint.

[0150] In the second case, the geometric distribution shape is trapezoidal. The distribution vector direction extends from the fourth cylinder at the second midpoint of the upper base of the trapezoid to the fifth cylinder at the third midpoint of the lower base. The pressure of the first group of cylinders increases sequentially along the distribution vector direction. The second group of cylinders includes multiple pairs of sixth cylinders, each pair of sixth cylinders being symmetrically distributed with respect to the line connecting the second and third midpoints. The resultant force of the pressure of each pair of sixth cylinders is the pressure of the cylinder located between those pairs in the first group. The length of the upper base is the resultant force of the pressure of the pair of sixth cylinders corresponding to the second midpoint, and the length of the lower base is the resultant force of the pressure of the pair of sixth cylinders corresponding to the third midpoint. Here, the desired velocity in the first case is greater than the desired velocity in the second case.

[0151] Thus, based on the direction of the pressure distribution vector and the desired speed for completing the correction, the geometric distribution shape of the pressure of the multiple cylinders of the tunnel boring machine on the cutterhead is determined to be triangular or trapezoidal. Then, the pressure of the multiple cylinders of the tunnel boring machine is determined based on the magnitude of the target resultant force of the pressure of the multiple cylinders and the geometric distribution shape.

[0152] In this way, the pressure concentrated in the direction of the distribution vector can be dispersed into pressure symmetrically distributed on both sides of the direction of the distribution vector, thereby making the cutterhead subjected to uniform force and improving the safety of tunnel boring machine operation.

[0153] On the other hand, when the expected speed of completing the correction is relatively high, the triangular geometric distribution shape helps to complete the correction faster, further improving the operating efficiency of the tunnel boring machine; when the expected speed of completing the correction is relatively low, the trapezoidal geometric distribution shape helps to make the cutterhead more uniformly stressed, further improving the safety of the tunnel boring machine operation.

[0154] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For system embodiments, since they largely correspond to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0155] In some embodiments, the control system of the tunnel boring machine may include a module that performs the control method of the tunnel boring machine described in the above embodiments.

[0156] Figure 6 This is a schematic diagram of the control system of a tunnel boring machine according to some embodiments of the present disclosure.

[0157] like Figure 6 As shown, the control system of the tunnel boring machine includes an acquisition module 601, a first determination module 602, a second determination module 603, a third determination module 604, and a fourth determination module 605.

[0158] The acquisition module 601 is configured to acquire the first torque of the cutterhead of the tunnel boring machine at the current moment.

[0159] The first determining module 602 is configured to determine the first target total thrust of the tunnel boring machine and the torque state of the cutterhead based on the first torque and the first preset torque of the cutterhead. Here, the torque state is an abnormal state when the first torque is greater than the first preset torque, and a normal state when the first torque is less than or equal to the first preset torque. When the torque state is an abnormal state, the first target total thrust is less than the total thrust of the tunnel boring machine at the previous moment.

[0160] The second determining module 603 is configured to determine the pressure distribution vector direction of the first group of cylinders in the multiple cylinders of the tunnel boring machine that are expected to apply a pressure greater than 0, based on a preset target deviation.

[0161] The third determining module 604 is configured to determine the magnitude of the target resultant force of the pressure of multiple cylinders of the tunnel boring machine based on the torque state of the cutterhead.

[0162] The fourth determining module 605 is configured to determine the pressure of the multiple cylinders based on the magnitude and distribution vector direction of the target resultant force of the pressure of the multiple cylinders. Here, when the torque state is abnormal, the magnitude of the target resultant force of the pressure of the multiple cylinders is the first target total thrust.

[0163] In some embodiments, the control system of the tunnel boring machine may also include other modules to execute the control method of the tunnel boring machine in any of the above embodiments.

[0164] Figure 7 This is a schematic diagram of the control system of a tunnel boring machine according to some embodiments of the present disclosure.

[0165] like Figure 7 As shown, the control system 700 of the tunnel boring machine includes a memory 701 and a processor 702 coupled to the memory 701. The processor 702 is configured to execute the method of any of the foregoing embodiments based on instructions stored in the memory 701.

[0166] The memory 701 may include, for example, system memory, fixed non-volatile storage media, etc. The system memory may store, for example, an operating system, application programs, a boot loader, and other programs.

[0167] The control system 700 of the tunnel boring machine may also include an input / output interface 703, a network interface 704, and a storage interface 705. The input / output interface 703, network interface 704, and storage interface 705, as well as the memory 701 and processor 702, can be connected via, for example, a bus 706. The input / output interface 703 provides a connection interface for input / output devices such as monitors, mice, keyboards, and touchscreens. The network interface 704 provides a connection interface for various networked devices. The storage interface 705 provides a connection interface for external storage devices such as SD cards and USB flash drives.

[0168] This disclosure also provides a tunnel boring machine (TBM), including the control system of the TBM of any of the above embodiments.

[0169] The embodiments of this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0170] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0171] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that the functions specified in one or more flowchart illustrations and / or one or more 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 functions for implementing the functions in the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0172] 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.

[0173] 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.

[0174] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A control system for a tunnel boring machine, comprising: The cutter head torque warning subsystem is configured as follows: Obtain the first torque of the cutterhead of the tunnel boring machine at the current moment; Based on the first torque and the first preset torque of the cutterhead, the first target total thrust of the tunnel boring machine and the torque state of the cutterhead are determined. Wherein, the torque state is an abnormal state when the first torque is greater than the first preset torque, and the torque state is a normal state when the first torque is less than or equal to the first preset torque. When the torque state is an abnormal state, the first target total thrust is less than the total thrust of the tunnel boring machine at the previous moment. The guidance and correction control subsystem is configured to: determine the pressure distribution vector direction of the first group of cylinders in the multiple cylinders of the tunnel boring machine that are expected to apply a pressure greater than 0, based on a preset target deviation; The hydraulic cylinder pressure calculation subsystem is configured to: determine the magnitude of the target resultant force of the pressure of the plurality of hydraulic cylinders based on the torque state of the cutter head; determine the pressure of the plurality of hydraulic cylinders based on the magnitude of the target resultant force of the pressure of the plurality of hydraulic cylinders and the direction of the distribution vector, wherein, when the torque state is in an abnormal state, the magnitude of the target resultant force of the pressure of the plurality of hydraulic cylinders is the first target total thrust.

2. The system according to claim 1 further includes a propulsion speed control subsystem, configured as follows: Obtain the first propulsion speed of the tunnel boring machine at the current moment; The second target total thrust of the tunnel boring machine is determined based on the first propulsion speed and the preset target propulsion speed; in, When the torque state is normal, the magnitude of the target resultant force of the pressure of the multiple cylinders is the second target total thrust.

3. The system according to claim 1, wherein, When the torque state is abnormal, the difference between the total thrust at the previous moment and the first target total thrust is not greater than the force corresponding to the difference between the first torque and the first preset torque.

4. The system according to claim 3, wherein, The difference between the total thrust at the previous moment and the total thrust of the first target is equal to the force corresponding to the difference between the first torque and the torque at the previous moment.

5. The system according to claim 2, wherein, The second target total thrust causes the second propulsion velocity at the next moment of the current moment to be less than or equal to the preset target propulsion velocity, and the difference between the second propulsion velocity and the first propulsion velocity is not less than the difference between the first propulsion velocity and the third propulsion velocity at the previous moment.

6. The system according to claim 5, wherein, The difference between the second propulsion speed and the first propulsion speed is equal to the difference between the first propulsion speed and the third propulsion speed.

7. The system according to claim 2, wherein, The propulsion speed control subsystem is also configured to: When the first torque is greater than or equal to the second preset torque and less than or equal to the first preset torque, the application rate of the second target total thrust is determined to be the first rate, and the second preset torque is greater than 0 and less than the first preset torque; If the first torque is less than the second preset torque, the applied rate is determined to be the second rate, which is greater than the first rate.

8. The system according to any one of claims 1-7, wherein, The guidance correction control subsystem is configured as follows: Based on the preset target deviation, the first cylinder stroke difference in the horizontal direction and the second cylinder stroke difference in the vertical direction of the tunnel boring machine are determined; The horizontal pressure difference of the first cylinder in the tunnel boring machine is determined based on the stroke difference of the first cylinder. The pressure difference of the second cylinder in the vertical direction of the tunnel boring machine is determined based on the stroke difference of the second cylinder. The direction of the distribution vector is determined based on the pressure difference between the first and second cylinders.

9. The system according to any one of claims 1-7, wherein, The guidance and correction control subsystem is also configured to: Based on the distribution vector direction and the desired speed for completing the correction, the geometric distribution shape of the pressure on the cutter head of the second group of hydraulic cylinders that need to apply a pressure greater than 0 is determined. The cylinder pressure calculation subsystem is configured to: determine the pressure of the multiple cylinders based on the magnitude of the target resultant force of the pressure of the multiple cylinders and the geometric distribution shape; In the first case, the geometric distribution shape is triangular, and the distribution vector direction is from the first cylinder at the first vertex of the triangle to the second cylinder at the first midpoint of the side opposite to the first vertex. The pressure of the first group of cylinders increases sequentially along the distribution vector direction. The second group of cylinders includes the first cylinder and multiple pairs of third cylinders. Each pair of third cylinders is symmetrically distributed with respect to the line connecting the first vertex and the first midpoint. The resultant force of the pressure of each pair of third cylinders is the pressure of the cylinder located between the pair of third cylinders in the first group of cylinders. The length of the side opposite to the first vertex is the resultant force of the pressure of the pair of third cylinders corresponding to the first midpoint. In the second case, the geometric distribution shape is trapezoidal, and the distribution vector direction is from the fourth cylinder at the second midpoint of the upper base of the trapezoid to the fifth cylinder at the third midpoint of the lower base of the trapezoid. The pressure of the first group of cylinders increases sequentially along the distribution vector direction. The second group of cylinders includes multiple pairs of sixth cylinders. Each pair of sixth cylinders is symmetrically distributed with respect to the line connecting the second midpoint and the third midpoint. The resultant force of the pressure of each pair of sixth cylinders is the pressure of the cylinder located between the pair of sixth cylinders in the first group of cylinders. The length of the upper base is the resultant force of the pressure of the pair of sixth cylinders corresponding to the second midpoint, and the length of the lower base is the resultant force of the pressure of the pair of sixth cylinders corresponding to the third midpoint. In the first case, the expected speed is greater than the expected speed in the second case.

10. A method for controlling a tunnel boring machine, comprising: Obtain the first torque of the cutterhead of the tunnel boring machine at the current moment; Based on the first torque and the first preset torque of the cutterhead, the first target total thrust of the tunnel boring machine and the torque state of the cutterhead are determined. Wherein, the torque state is an abnormal state when the first torque is greater than the first preset torque, and the torque state is a normal state when the first torque is less than or equal to the first preset torque. When the torque state is an abnormal state, the first target total thrust is less than the total thrust of the tunnel boring machine at the previous moment. Based on the preset target deviation, determine the pressure distribution vector direction of the first group of cylinders in the tunnel boring machine that is expected to apply a pressure greater than 0. The magnitude of the target resultant force of the pressure of the plurality of hydraulic cylinders is determined based on the torque state of the cutter head. The pressure of the multiple cylinders is determined based on the magnitude of the target resultant force of the pressure of the multiple cylinders and the direction of the distribution vector, wherein, when the torque state is in an abnormal state, the magnitude of the target resultant force of the pressure of the multiple cylinders is the first target total thrust.

11. The method of claim 10, further comprising: Obtain the first advance speed of the tunnel boring machine at the current moment; The second target total thrust of the tunnel boring machine is determined based on the first propulsion speed and the preset target propulsion speed; Wherein, when the torque state is normal, the magnitude of the target resultant force of the pressure of the multiple cylinders is the second target total thrust.

12. The method according to claim 10, wherein, When the torque state is abnormal, the difference between the total thrust at the previous moment and the first target total thrust is not greater than the force corresponding to the difference between the first torque and the first preset torque.

13. The method according to claim 12, wherein, The difference between the total thrust at the previous moment and the total thrust of the first target is equal to the force corresponding to the difference between the first torque and the torque at the previous moment.

14. The method according to claim 11, wherein, The second target total thrust causes the second propulsion velocity at the next moment of the current moment to be less than or equal to the preset target propulsion velocity, and the difference between the second propulsion velocity and the first propulsion velocity is not less than the difference between the first propulsion velocity and the third propulsion velocity at the previous moment.

15. The method according to claim 14, wherein, The difference between the second propulsion speed and the first propulsion speed is equal to the difference between the first propulsion speed and the third propulsion speed.

16. The method of claim 11, further comprising: When the first torque is greater than or equal to the second preset torque and less than or equal to the first preset torque, the application rate of the second target total thrust is determined to be the first rate, and the second preset torque is greater than 0 and less than the first preset torque; If the first torque is less than the second preset torque, the applied rate is determined to be the second rate, which is greater than the first rate.

17. The method according to any one of claims 10-16, wherein, The step of determining the distribution vector direction of the pressure that satisfies the preset target deviation includes: Based on the preset target deviation, the first cylinder stroke difference in the horizontal direction and the second cylinder stroke difference in the vertical direction of the tunnel boring machine are determined; The horizontal pressure difference of the first cylinder in the tunnel boring machine is determined based on the stroke difference of the first cylinder. The pressure difference of the second cylinder in the vertical direction of the tunnel boring machine is determined based on the stroke difference of the second cylinder. The direction of the distribution vector is determined based on the pressure difference between the first and second cylinders.

18. The method according to any one of claims 10-16, wherein, Determining the pressure of the multiple hydraulic cylinders based on the magnitude of the target resultant force and the direction of the distribution vector includes: Based on the distribution vector direction and the desired speed for completing the correction, the geometric distribution shape of the pressure on the cutter head of the second group of hydraulic cylinders that need to apply a pressure greater than 0 is determined. The pressure of the multiple hydraulic cylinders is determined based on the magnitude of the target resultant force of the pressure of the multiple hydraulic cylinders and the geometric distribution shape; In the first case, the geometric distribution shape is triangular, and the distribution vector direction is from the first cylinder at the first vertex of the triangle to the second cylinder at the first midpoint of the side opposite to the first vertex. The pressure of the first group of cylinders increases sequentially along the distribution vector direction. The second group of cylinders includes the first cylinder and multiple pairs of third cylinders. Each pair of third cylinders is symmetrically distributed with respect to the line connecting the first vertex and the first midpoint. The resultant force of the pressure of each pair of third cylinders is the pressure of the cylinder located between the pair of third cylinders in the first group of cylinders. The length of the side opposite to the first vertex is the resultant force of the pressure of the pair of third cylinders corresponding to the first midpoint. In the second case, the geometric distribution shape is trapezoidal, and the distribution vector direction is from the fourth cylinder at the second midpoint of the upper base of the trapezoid to the fifth cylinder at the third midpoint of the lower base of the trapezoid. The pressure of the first group of cylinders increases sequentially along the distribution vector direction. The second group of cylinders includes multiple pairs of sixth cylinders. Each pair of sixth cylinders is symmetrically distributed with respect to the line connecting the second midpoint and the third midpoint. The resultant force of the pressure of each pair of sixth cylinders is the pressure of the cylinder located between the pair of sixth cylinders in the first group of cylinders. The length of the upper base is the resultant force of the pressure of the pair of sixth cylinders corresponding to the second midpoint, and the length of the lower base is the resultant force of the pressure of the pair of sixth cylinders corresponding to the third midpoint. In the first case, the expected speed is greater than the expected speed in the second case.

19. A control system for a tunnel boring machine, comprising: A module for performing the method according to any one of claims 10-18.

20. A control system for a tunnel boring machine, comprising: Memory; as well as A processor coupled to the memory is configured to perform the method of any one of claims 10-18 based on instructions stored in the memory.

21. A tunnel boring machine, comprising: The system according to any one of claims 1-9, 19 and 20.

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