Propulsion control method, controller, and control system for a main articulating type heading machine

Abstract

The present disclosure provides a propulsion control method, controller and control system of an active articulated tunneling machine, and relates to the field of tunnel construction. The method comprises: obtaining an actual position, a design axis and a segment floating amount of the active articulated tunneling machine; calculating a planned tunneling trajectory according to the actual position, the design axis and the segment floating amount; and adjusting at least one of an actual correction torque of a propulsion system and an actual articulation angle of an articulation system of the active articulated tunneling machine, so that the actual position of the active articulated tunneling machine matches the planned tunneling trajectory. The present disclosure can reduce the deviation between the future actual position and the planned tunneling trajectory, and reduce the safety risk that the tunneling machine still maintains the design axis tunneling when the tunnel turns or there is segment floating.

Description

Technical Field

[0001] This disclosure relates to the field of tunnel construction, and in particular to a propulsion control method, controller and control system for an active articulated tunneling machine. Background Technology

[0002] Tunnel boring machines (TBMs) are the main equipment used in tunnel construction. With the increasing R&D investment by major global TBM design and development companies in equipment upgrades and efficiency improvements, TBMs are evolving towards automation, intelligence, greater depth, larger cross-sections, and longer distances. TBMs can be categorized by their articulation type: articulated, passively articulated, and actively articulated. Actively articulated TBMs are widely used due to their small turning radius. Currently, in addition to the normal construction procedures of "advance, stop, and assemble," TBMs can simultaneously advance and assemble tunnel segments by closing the retractable portion of the advance cylinder—a synchronous advance-assemble mode—to improve construction efficiency.

[0003] In recent years, with the development of technology, research on tunnel boring machine (TBM) propulsion control has gradually emerged. For example, in synchronous propulsion mode, the resultant force point of the propulsion system is stabilized and adjusted to keep the tunneling trajectory within the allowable range of the design axis. However, the tunneling state of the TBM varies greatly with the geological strata. Maintaining the design axis during tunnel turns or when segments float poses safety risks. Furthermore, when the total thrust changes, the resultant force point control scheme suffers from instability due to steering effects. Summary of the Invention

[0004] One technical problem this disclosure aims to solve is to provide a propulsion control method, controller, and control system for an active articulated tunnel boring machine (TBM) that can reduce the safety risks associated with the TBM maintaining its design axis during tunnel turns or when tunnel segments are floating.

[0005] According to one aspect of this disclosure, a propulsion control method for an active articulated tunneling machine is proposed, comprising: acquiring the actual position, design axis, and segment uplift of the active articulated tunneling machine; calculating a planned tunneling trajectory based on the actual position, design axis, and segment uplift; and adjusting at least one of the actual correction torque of the propulsion system and the actual articulation angle of the articulation system of the active articulated tunneling machine, so as to match the actual position of the active articulated tunneling machine with the planned tunneling trajectory.

[0006] In some embodiments, the gap between the tail shield and the tunnel segment of the active articulated tunneling machine in a predetermined direction is obtained; and when the gap in the predetermined direction is less than a gap threshold and the active articulated tunneling machine is tunneling in the predetermined direction, the planned tunneling trajectory is adjusted.

[0007] In some embodiments, adjusting at least one of the actual corrective torque of the propulsion system and the actual articulation angle of the articulated system of the active articulated tunneling machine includes: adjusting the first target corrective torque of the propulsion system to obtain a second target corrective torque when there is a deviation between the actual position of the active articulated tunneling machine and the planned tunneling trajectory; and adjusting the actual corrective torque to match the second target corrective torque.

[0008] In some embodiments, adjusting at least one of the actual corrective torque of the propulsion system of the active articulated tunneling machine and the actual articulation angle of the articulated system includes: adjusting a first target articulation angle of the articulated system to obtain a second target articulation angle when there is a deviation between the actual position of the active articulated tunneling machine and the planned tunneling trajectory; and adjusting the actual articulation angle to match the second target articulation angle.

[0009] In some embodiments, adjusting at least one of the actual corrective torque of the propulsion system and the actual articulation angle of the articulated tunneling machine includes: adjusting the first target corrective torque of the propulsion system to obtain a third target corrective torque when there is a deviation between the actual position of the active articulated tunneling machine and the planned tunneling trajectory; adjusting the first target articulation angle of the articulated system to obtain a third target articulation angle; adjusting the actual corrective torque to match the third target corrective torque; and adjusting the actual articulation angle to match the third target articulation angle.

[0010] In some embodiments, adjusting the first target correction torque of the propulsion system to obtain the second target correction torque includes: calculating the planned attitude corresponding to the actual position in the planned tunneling trajectory based on the actual position of the active articulated tunneling machine; and adjusting the first target correction torque based on the attitude deviation between the actual attitude and the planned attitude of the active articulated tunneling machine to obtain the second target correction torque.

[0011] In some embodiments, sample correction torque and sample attitude deviation are obtained; and a machine learning model is trained using sample correction torque and sample attitude deviation as training data and sample correction torque adjustment amount as label value to obtain a trained correction torque adjustment model. The adjustment of the first target correction torque to obtain the second target correction torque based on the attitude deviation between the actual attitude and the planned attitude of the active articulated tunneling machine includes: inputting the first target correction torque and attitude deviation into the correction torque adjustment model to obtain the first correction torque adjustment amount; and adjusting the first target correction torque using the first correction torque adjustment amount to obtain the second target correction torque.

[0012] In some embodiments, adjusting the first target hinge angle of the articulated system to obtain the second target hinge angle includes: calculating the planned posture corresponding to the actual position in the planned tunneling trajectory based on the actual position of the active articulated tunneling machine; and adjusting the first target hinge angle based on the posture deviation between the actual posture and the planned posture of the active articulated tunneling machine to obtain the second target hinge angle.

[0013] In some embodiments, sample hinge angles and sample attitude deviations are obtained; and a machine learning model is trained using the sample hinge angles and sample attitude deviations as training data and the sample hinge angle adjustment amount as a label value to obtain a trained hinge angle adjustment model. Specifically, adjusting the first target hinge angle based on the attitude deviation between the actual attitude and the planned attitude of the active articulated tunneling machine to obtain a second target hinge angle includes: inputting the first target hinge angle and attitude deviation into the hinge angle adjustment model to obtain a first hinge angle adjustment amount; and using the first hinge angle adjustment amount to adjust the first target hinge angle to obtain the second target hinge angle.

[0014] In some embodiments, adjusting the first target correction torque of the propulsion system to obtain a third target correction torque, and adjusting the first target hinge angle of the articulated system to obtain a third target hinge angle, includes: calculating the planned attitude corresponding to the actual position in the planned tunneling trajectory based on the actual position of the active articulated tunneling machine; and adjusting the first target correction torque to obtain a third target correction torque based on the attitude deviation between the actual attitude and the planned attitude of the active articulated tunneling machine, and adjusting the first target hinge angle to obtain a third target hinge angle.

[0015] In some embodiments, sample correction torque, sample hinge angle, and sample attitude deviation are acquired; and a machine learning model is trained using the sample correction torque, sample hinge angle, and sample attitude deviation as training data, and the sample correction torque adjustment amount and sample hinge angle adjustment amount as label values ​​to obtain a trained adjustment model. Specifically, based on the attitude deviation between the actual attitude and the planned attitude of the active articulated tunneling machine, the first target correction torque is adjusted to obtain a third target correction torque, and the first target hinge angle is adjusted to obtain a third target hinge angle. This includes: inputting the first target correction torque, the first target hinge angle, and the attitude deviation into the adjustment model to obtain a second correction torque adjustment amount and a second hinge angle adjustment amount; and using the second correction torque adjustment amount to adjust the first target correction torque to obtain a third target correction torque, and using the second hinge angle adjustment amount to adjust the first target hinge angle to obtain a third target hinge angle.

[0016] In some embodiments, calculating the planned tunneling trajectory includes: obtaining a first trajectory deviation, a first deviation velocity, and a first deviation acceleration corresponding to the initial position of the active articulated tunneling machine, and a second trajectory deviation, a second deviation velocity, and a second deviation acceleration corresponding to the final position of the active articulated tunneling machine, wherein the second trajectory deviation is determined based on the segment uplift and the curvature of the design axis; constructing a trajectory deviation polynomial between the planned tunneling trajectory and the design axis based on the traveling position and initial position of the active articulated tunneling machine; solving the trajectory deviation polynomial based on the first trajectory deviation, the first deviation velocity, the first deviation acceleration, the second trajectory deviation, the second deviation velocity, and the second deviation acceleration to obtain the unknown constant of the trajectory deviation polynomial; using the trajectory deviation polynomial to obtain the trajectory deviation corresponding to the actual position; and obtaining the planned tunneling trajectory based on the trajectory deviation.

[0017] In some embodiments, calculating the planned tunneling trajectory includes: obtaining a first trajectory deviation, a first deviation velocity, and a first deviation acceleration corresponding to the initial position of the active articulated tunneling machine, and a second trajectory deviation, a second deviation velocity, and a second deviation acceleration corresponding to the final position of the active articulated tunneling machine, wherein the second trajectory deviation is determined based on the segment uplift and the curvature of the design axis; constructing a trajectory deviation polynomial between the planned tunneling trajectory and the design axis based on the traveling position and initial position of the active articulated tunneling machine; solving the trajectory deviation polynomial based on the first trajectory deviation, the first deviation velocity, the first deviation acceleration, the second trajectory deviation, the second deviation velocity, and the second deviation acceleration to obtain the unknown constant of the trajectory deviation polynomial; using the trajectory deviation polynomial to obtain the trajectory deviation corresponding to the actual position; and obtaining the planned tunneling trajectory based on the trajectory deviation; and adjusting the planned tunneling trajectory, including: using the trajectory deviation corresponding to the current position as the second trajectory deviation in the process of calculating the planned tunneling trajectory.

[0018] In some embodiments, the current working mode of the active articulated tunneling machine is obtained, the current working mode including construction tunneling mode or synchronous push-and-assemble mode, wherein adjusting the actual correction torque includes: adjusting the state of the propulsion cylinder of the propulsion system according to the current working mode to adjust the actual correction torque.

[0019] In some embodiments, the actual advance speed of the active articulated tunneling machine is calculated; and the actual advance speed is controlled to match the target advance speed.

[0020] In some embodiments, the actual total thrust of the active articulated tunneling machine is calculated; and the actual total thrust is controlled to match the target total thrust.

[0021] According to another aspect of this disclosure, a controller for an active articulated tunneling machine is also proposed, comprising: a data acquisition module configured to acquire the actual position, design axis, and segment uplift of the active articulated tunneling machine; a data processing module configured to calculate a planned tunneling trajectory based on the actual position, design axis, and segment uplift; and a control module configured to adjust at least one of the actual correction torque of the propulsion system of the active articulated tunneling machine and the actual articulation angle of the articulation system, so as to match the actual position of the active articulated tunneling machine with the planned tunneling trajectory.

[0022] In some embodiments, the data acquisition module is further configured to acquire the gap between the tail shield and the tunnel segment of the active articulated tunneling machine in a predetermined direction; and the data processing module is further configured to adjust the planned tunneling trajectory when the gap in the predetermined direction is less than a gap threshold and the active articulated tunneling machine is tunneling in the predetermined direction.

[0023] According to another aspect of this disclosure, a controller for an active articulated tunneling machine is also proposed, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the propulsion control method as described above based on instructions stored in the memory.

[0024] According to another aspect of this disclosure, a control system for an active articulated tunneling machine is also proposed, comprising: the controller described above; a guidance measurement module configured to measure the position and attitude of the active articulated tunneling machine; a propulsion system configured to propel at least a portion of the propulsion cylinders of the active articulated tunneling machine; and an articulation system configured to control the movement of the articulation cylinders.

[0025] In some embodiments, the control system further includes a tail shield gap measurement module configured to measure the gap between the tail shield and the tunnel segments of an active articulated tunneling machine.

[0026] In some embodiments, the control system further includes: a sensor configured to measure a first pressure value and a first stroke value of at least some or all of the propulsion cylinders; and to measure a second pressure value and a second stroke value of some or all of the articulated cylinders.

[0027] In some embodiments, the control system further includes an interaction module configured to display information and receive user input.

[0028] According to another aspect of this disclosure, a computer-readable storage medium is also proposed, on which computer program instructions are stored, which, when executed by a processor, implement the aforementioned propulsion control method.

[0029] In this embodiment, the planned tunneling trajectory is dynamically determined by combining information such as the design axis, actual position, and segment uplift. Then, at least one of the actual correction torque of the propulsion system and the actual articulation angle of the articulation system of the active articulated tunneling machine is adjusted to match the actual position of the tunneling machine with the planned tunneling trajectory. This reduces the deviation between the actual position and the planned tunneling trajectory in the future, and reduces the safety risk of the tunneling machine maintaining the design axis when tunneling turns or when segments are uplifted.

[0030] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0031] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0032] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0033] Figure 1 This is a flowchart illustrating some embodiments of the propulsion control method for an active articulated tunneling machine disclosed herein;

[0034] Figure 2 This is a horizontal schematic diagram of the tunneling trajectory in some embodiments of this disclosure;

[0035] Figure 3 This is a flowchart illustrating some other embodiments of the propulsion control method for an active articulated tunneling machine disclosed herein;

[0036] Figure 4 This is a flowchart illustrating some other embodiments of the propulsion control method for an active articulated tunneling machine disclosed herein;

[0037] Figure 5 This is a flowchart illustrating some other embodiments of the propulsion control method for an active articulated tunneling machine disclosed herein;

[0038] Figure 6 This is a flowchart illustrating some other embodiments of the propulsion control method for an active articulated tunneling machine disclosed herein;

[0039] Figure 7 This is a schematic diagram of the structure of some embodiments of the controller of the active articulated tunneling machine disclosed herein;

[0040] Figure 8 Schematic diagrams of other embodiments of the controller for the active articulated tunneling machine disclosed herein;

[0041] Figure 9Schematic diagrams of other embodiments of the controller for the active articulated tunneling machine disclosed herein;

[0042] Figure 10 This is a schematic diagram of the structure of some embodiments of the control system of the active articulated tunneling machine disclosed herein;

[0043] Figure 11 These are schematic diagrams illustrating the structure of some embodiments of the active articulated tunneling machine disclosed herein; and

[0044] Figure 12 This is a schematic diagram of the structure of some other embodiments of the control system of the active articulated tunneling machine disclosed herein. Detailed Implementation

[0045] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, 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 the present disclosure.

[0046] 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.

[0047] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0052] Figure 1 This is a flowchart illustrating some embodiments of the propulsion control method for an active articulated tunneling machine disclosed herein, which is executed by a controller.

[0053] In step 110, the actual position, design axis, and segment uplift of the active articulated tunneling machine are obtained.

[0054] In some embodiments, the actual position and attitude of the active articulated tunneling machine are determined by a guidance measurement module, or the actual position of the active articulated tunneling machine is obtained based on the stroke values ​​of some or all of the propulsion cylinders and some or all of the articulated cylinders of the propulsion system measured by sensors. The segment uplift is determined by comparing the uplift or downlift position of the segment after it has exited the shield tail a certain distance. This uplift is, for example, input by the user through an interactive module, or detected by sensors and directly input to the controller. The design axis is a pre-set trajectory.

[0055] In step 120, the planned tunneling trajectory is calculated based on the actual location, design axis, and segment uplift.

[0056] In some embodiments, such as Figure 2 As shown, in the tunnel bends, the planned excavation trajectory lies inside the bend along the design axis, thereby controlling and reducing construction risks. In Figure 2, the dashed line represents the planned excavation trajectory, and the solid line represents the design axis. The horizontal distance between the planned excavation trajectory and the design axis is positively correlated with the curvature of the design axis; the greater the curvature, the greater the distance. For example, a bend with an 800m radius corresponds to a 5mm distance; a bend with a 500m radius corresponds to a 10mm distance, and so on.

[0057] In some embodiments, when the tunnel segment floats, the planned tunneling trajectory is positioned below the design axis, thereby reducing the deviation between the formed tunnel and the design axis. For example, if it is known that the tunnel segment floats up 20mm after leaving the shield tail, the planned tunneling trajectory will be calculated to be 20mm below the design axis.

[0058] In some embodiments, the controller acquires a first trajectory deviation, a first deviation velocity, and a first deviation acceleration corresponding to the initial position of the active articulated tunneling machine, and a second trajectory deviation, a second deviation velocity, and a second deviation acceleration corresponding to the final position of the active articulated tunneling machine. The second trajectory deviation is determined based on the segment uplift and the curvature of the design axis. Based on the travel position and initial position of the active articulated tunneling machine, a trajectory deviation polynomial between the planned tunneling trajectory and the design axis is constructed. Based on the first trajectory deviation, the first deviation velocity, the first deviation acceleration, the second trajectory deviation, the second deviation velocity, and the second deviation acceleration, the trajectory deviation polynomial is solved to obtain the unknown constant of the trajectory deviation polynomial. Using the trajectory deviation polynomial, the trajectory deviation corresponding to the actual position is obtained. Based on the trajectory deviation, the planned tunneling trajectory is obtained.

[0059] In some embodiments, based on the driving position, a first partial derivative is performed on the trajectory deviation polynomial to obtain a velocity deviation polynomial; a second partial derivative is performed on the trajectory deviation polynomial based on the driving position to obtain an acceleration deviation polynomial, thus obtaining three polynomials. Substituting the first trajectory deviation, first deviation velocity, and first deviation acceleration corresponding to the initial position of the tunnel boring machine, and the second trajectory deviation, second deviation velocity, and second deviation acceleration corresponding to the final position of the tunnel boring machine, into the polynomials, the unknown constants of the trajectory deviation polynomials are obtained. The actual position is then substituted into the trajectory deviation polynomials to obtain the trajectory deviation. This trajectory deviation is then transformed to calculate the planned tunneling trajectory.

[0060] For example, the trajectory deviation polynomial is:

[0061] Yh(s)=a0+a1(s-s0)+a2(s-s0) 2 +a3(s-s0) 3 +a4(s-s0) 4 +a5(s-s0) 5

[0062] Yv(s)=a6+a7(s-s0)+a8(s-s0) 2 +a9(s-s0) 3 +a 10 (s-s0) 4 +a 11 (s-s0) 5

[0063] Where s0 is the initial position, for example, represented by the initial mileage; s is the travel position, for example, represented by the travel mileage, s0 < s < s1, where s1 is the ending position, for example, represented by the ending mileage; Yh(s) is the horizontal deviation between the planned tunneling trajectory and the design axis; Yv(s) is the vertical deviation between the planned tunneling trajectory and the design axis, a0, a1, a2, a3, a4, a5, a6, a7, a8, a9, a 10 a 11 For the trajectory deviation polynomial, there is an unknown constant.

[0064] The first trajectory deviation, first deviation velocity, and first deviation acceleration are known quantities; that is, the horizontal deviation, vertical deviation, horizontal deviation velocity, vertical deviation velocity, horizontal deviation acceleration, and vertical deviation acceleration of the initial mileage are all known quantities. The ending mileage is, for example, the third ring about to be advanced. Those skilled in the art should understand that this ending mileage can be selected according to actual conditions. The second trajectory deviation is determined based on the segment uplift and the curvature of the design axis. The second deviation velocity and second deviation acceleration are set to 0. That is, the horizontal deviation velocity, vertical deviation velocity, horizontal deviation acceleration, and vertical deviation acceleration corresponding to the ending mileage are equal to 0. The value of the vertical deviation is equal to the negative segment uplift, and the value of the horizontal deviation is determined according to the curvature corresponding to the design axis, for example, 5 times the curvature. Those skilled in the art should understand that this ratio of horizontal deviation to curvature can be set according to actual conditions.

[0065] For Yh(s)=a0+a1(s-s0)+a2(s-s0) 2 +a3(s-s0) 3 +a4(s-s0) 4 +a5(s-s0) 5 Taking the first derivative, we get Yh(s)′=a1+2a2(s-s0)+3a3(s-s0) 2 +4a4(s-s0) 3 +5a5(s-s0) 4 . For Yh(s)=a0+a1(s-s0)+a2(s-s0) 2 +a3(s-s0) 3 +a4(s-s0) 4 +a5(s-s0) 5 Taking the second derivative, we get Yh(s)″=2a2+6a3(s-s0)+12a4(s-s0) 2 +20a5(s-s0) 3 For Yv(s) = a6 + a7(s - s0) + a8(s - s0) 2 +a9(s-s0) 3 +a 10 (s-s0) 4 +a 11 (s-s0) 5 Taking the first derivative, we get Yv(s)′=a7+2a8(s-s0)+3a9(s-s0) 2 +4a 10 (s-s0) 3 +5a 11 (s-s0) 4 . For Yh(s)=a0+a1(s-s0)+a2(s-s0) 2+a3(s-s0) 3 +a4(s-s0) 4 +a5(s-s0) 5 Taking the second derivative, we get Yv(s)″=2a8+6a9(s-s0)+12a 10 (s-s0) 2 +20a 11 (s-s0) 3 .

[0066] Substituting the initial horizontal deviation, vertical deviation, horizontal deviation velocity, vertical deviation velocity, horizontal deviation acceleration, and vertical deviation acceleration, and the ending horizontal deviation, vertical deviation, horizontal deviation velocity, vertical deviation velocity, horizontal deviation acceleration, and vertical deviation acceleration into the above formula, we can obtain a0, a1, a2, a3, a4, a5, a6, ax, a8, a9, and a 10 a 11 .

[0067] Substitute the current actual mileage into the known variable Yh(s) = a0 + a1(s-s0) + a2(s-s0). 2 +a3(s-s0) 3 +a4(s-s0) 4 +a5(s-s0) 5 And Yv(s)=a6+a7(s-s0)+a8(s-s0) 2 +a9(s-s0) 3 +a 10 (s-s0) 4 +a 11 (s-s0) 5 The horizontal deviation Yh(s) and vertical deviation Yv(s) between the planned tunneling trajectory and the design axis corresponding to the current actual mileage can be obtained. Yh(s) and Yv(s) are the local tunneling trajectories in the Frenet coordinate system. The coordinates in the Cartesian coordinate system, i.e. the planned tunneling trajectory, can be obtained by coordinate transformation.

[0068] In step 130, at least one of the actual corrective torque of the propulsion system and the actual articulation angle of the articulation system of the active articulated tunneling machine is adjusted so that the actual position of the active articulated tunneling machine matches the planned tunneling trajectory.

[0069] In some embodiments, when there is a deviation between the actual position of the active articulated tunneling machine and the planned tunneling trajectory, the first target correction torque of the propulsion system is adjusted to obtain a second target correction torque; and the actual correction torque is adjusted to match the second target correction torque. The first target correction torque is the target correction torque before adjustment, and the second target correction torque is the target correction torque after adjustment. Adjusting the actual correction torque to achieve the adjusted target correction torque reduces the deviation between the future actual position and the planned tunneling trajectory, ensuring that the actual tunneling trajectory remains within the planned tunneling trajectory.

[0070] In some embodiments, when there is a deviation between the actual position of the active articulated tunnel boring machine and the planned tunneling trajectory, or when the planned tunneling trajectory changes, the first target articulation angle of the articulated system is adjusted to obtain a second target articulation angle; and the actual articulation angle is adjusted to match the second target articulation angle. The first target articulation angle is the target articulation angle before adjustment, and the second target articulation angle is the target articulation angle after adjustment. Adjusting the actual articulation angle to achieve the adjusted target articulation angle reduces the deviation between the future actual position and the planned tunneling trajectory, ensuring that the actual tunneling trajectory remains within the planned tunneling trajectory. The articulation angle refers to the angle between the front and rear sections of the active articulated tunnel boring machine.

[0071] In some embodiments, when there is a deviation between the actual position of the active articulated tunneling machine and the planned tunneling trajectory, the first target corrective torque of the propulsion system is adjusted to obtain a third target corrective torque; the first target articulation angle of the articulated system is adjusted to obtain a third target articulation angle; and the actual corrective torque is adjusted to match the third target corrective torque, and the actual articulation angle is adjusted to match the third target articulation angle. The first target corrective torque is the target corrective torque before adjustment, and the third target corrective torque is the target corrective torque after adjustment. The first target articulation angle is the target articulation angle before adjustment, and the third target articulation angle is the target articulation angle after adjustment. Adjusting the actual corrective torque to reach the adjusted target corrective torque and adjusting the actual articulation angle to reach the adjusted target articulation angle reduces the deviation between the future actual position and the planned tunneling trajectory, ensuring that the actual tunneling trajectory remains within the planned tunneling trajectory.

[0072] In the above embodiments, the planned tunneling trajectory is dynamically determined by combining information such as the design axis, actual position, and segment uplift. Then, at least one of the actual correction torque of the propulsion system and the actual articulation angle of the articulation system of the active articulated tunneling machine is adjusted to match the actual position of the tunneling machine with the planned tunneling trajectory. This reduces the deviation between the actual position and the planned tunneling trajectory in the future, and reduces the safety risk of the tunneling machine maintaining the design axis when tunneling turns or when segments are uplifted.

[0073] Figure 3 This is a flowchart illustrating some other embodiments of the propulsion control method for the active articulated tunneling machine disclosed herein.

[0074] In step 310, the gap between the tail shield and the tunnel segment of the active articulated tunneling machine in a predetermined direction, and the gap between the tail shield and the tunnel segment in a predetermined direction are obtained.

[0075] In some embodiments, the gap between the shield tail and the tunnel segment is measured in real time using a shield tail gap measurement module. Gap in a predetermined direction includes, for example, the gap between the right side of the shield tail and the tunnel segment, the gap between the left side of the shield tail and the tunnel segment, the gap between the upper side of the shield tail and the tunnel segment, and the gap between the lower side of the shield tail and the tunnel segment.

[0076] In step 320, the planned tunneling trajectory is calculated based on the actual location, design axis, and segment uplift.

[0077] In step 330, when the gap in the predetermined direction is less than the gap threshold and the active articulated tunneling machine is tunneling in the predetermined direction, the planned tunneling trajectory is adjusted.

[0078] In some embodiments, the trajectory deviation corresponding to the current position is used as the second trajectory deviation in the process of calculating the planned tunneling trajectory, and the planned tunneling trajectory is recalculated.

[0079] For example, if the gap between the right side of the shield tail and the tunnel segment is less than the first threshold, and the horizontal deviation of the end mileage is greater than the horizontal deviation of the initial mileage, then the horizontal trajectory deviation corresponding to the current actual position will be used as the horizontal deviation value of the end mileage, and the tunneling trajectory will be replanned.

[0080] When the gap between the left side of the shield tail and the tunnel segment is less than the second threshold, and the horizontal deviation of the end mileage is less than the horizontal deviation of the initial mileage, the horizontal trajectory deviation corresponding to the current actual position is taken as the horizontal deviation value of the end mileage, and the tunneling trajectory is replanned.

[0081] When the gap between the upper side of the shield tail and the tunnel segment is less than the third threshold, and the vertical deviation of the end mileage is greater than the vertical deviation of the initial mileage, the vertical trajectory deviation corresponding to the current actual position is taken as the end mileage handling deviation value, and the tunneling trajectory is replanned.

[0082] When the gap between the lower side of the shield tail and the tunnel segment is less than the fourth threshold, and the vertical deviation of the end mileage is less than the vertical deviation of the initial mileage, the vertical trajectory deviation corresponding to the current actual position is taken as the end mileage handling deviation value, and the tunneling trajectory is replanned.

[0083] The first threshold, second threshold, third threshold, and fourth threshold in the above example can be the same or different, and can be set according to the actual situation.

[0084] In step 340, at least one of the actual correction torque of the propulsion system and the actual articulation angle of the articulation system of the active articulated tunneling machine is adjusted so that the actual position of the active articulated tunneling machine matches the planned tunneling trajectory.

[0085] In the above embodiments, when the active articulated tunnel boring machine (TBM) starts up or during continuous tunneling, the planned tunneling trajectory is dynamically determined by combining information such as the design axis, actual position, and segment uplift. The planned tunneling trajectory is then adjusted by monitoring changes in the shield tail gap. The active articulated TBM is then controlled to match its actual position with the planned tunneling trajectory, thereby reducing the deviation between the actual position and the planned tunneling trajectory in the future. On the one hand, this reduces the safety risk of the active articulated TBM maintaining the design axis during tunnel turns or when segments are uplifted. On the other hand, considering the impact of attitude adjustment on the segments, it prevents damage to the segments and improves operational safety.

[0086] Figure 4 This is a flowchart illustrating some other embodiments of the propulsion control method for the active articulated tunneling machine disclosed herein.

[0087] In step 410, the planned posture corresponding to the actual position in the planned tunneling trajectory is calculated based on the actual position of the active articulated tunneling machine.

[0088] In step 420, based on the attitude deviation between the actual attitude and the planned attitude of the active articulated tunneling machine, the first target correction torque is adjusted to obtain the second target correction torque.

[0089] In some embodiments, a first target correction torque and attitude deviation are input into the correction torque adjustment model to obtain a first correction torque adjustment amount; and the first target correction torque is adjusted using the first correction torque adjustment amount to obtain a second target correction torque. The first target correction torque is a preset value, or equal to the initial correction torque of the propulsion system. The correction torque adjustment model in this embodiment is trained based on a machine learning algorithm.

[0090] In some embodiments, sample correction torque and sample attitude deviation are obtained; and the machine learning model is trained using the sample correction torque and sample attitude deviation as training data and the sample correction torque adjustment amount as a label value to obtain a trained correction torque adjustment model.

[0091] For example, adjusting the correction torque of a tunneling machine changes its attitude. The correction torque and attitude information are collected and used as training data. The adjustment amount of the correction torque is used as the label value of the training data. The output value of the machine learning model is compared with the label value to determine whether the comparison result meets the requirements of the loss function for constructing the correction torque adjustment model. This process is iterated repeatedly to optimize and adjust the parameters of the machine learning model until the comparison result finally meets the requirements of the loss function for constructing the correction torque adjustment model. The correction torque adjustment model is then saved.

[0092] The errors between the actual horizontal attitude and the planned horizontal attitude, and the errors between the actual vertical attitude and the planned vertical attitude, are input into the trained correction torque adjustment model to obtain the first correction torque adjustment amount. The first correction torque adjustment amount is added to the first target correction torque to obtain the second target correction torque.

[0093] In some embodiments, the target correction torque includes the target horizontal correction torque and the target vertical correction torque.

[0094] Correction torque is a physical quantity that describes the rotational effect of multiple hydraulic cylinders in the propulsion system causing the tunnel boring machine to rotate around the horizontal and vertical axes, while the resultant force point in related technologies describes the combined action point of multiple hydraulic cylinders in the propulsion system.

[0095] In step 430, the actual correction torque is adjusted to match the second target correction torque.

[0096] In some embodiments, the state of the propulsion cylinder of the propulsion system is adjusted to adjust the actual correction torque so that the actual correction torque matches the second target correction torque.

[0097] In some embodiments, a propulsion system is used to make the hydraulic cylinders operate in the axial direction. This propulsion system is arranged on the side of the tunnel boring machine and supported against the tunnel lining segments, providing power for the tunnel boring machine to advance. The hydraulic cylinder correction torque can be determined based on the hydraulic cylinder pressure value.

[0098] In some embodiments, the propulsion system of an active articulated tunneling machine includes multiple cylinder sections spaced circumferentially, each cylinder section containing at least one cylinder point. The controller acquires the target total thrust, target horizontal correction torque, and target vertical correction torque in the current operating mode; constructs a first thrust distribution group to generate unit thrust, the first thrust distribution group including first thrust corresponding to the multiple cylinder sections; constructs a second thrust distribution group to generate unit horizontal correction torque, the second thrust distribution group including second thrust corresponding to the multiple cylinder sections; and constructs a third thrust distribution group to generate unit vertical correction torque, the third thrust distribution group including third thrust corresponding to the multiple cylinder sections. The first, second, and third thrust distribution groups are linearly independent. Based on the first, second, and third thrust distribution groups, as well as the target thrust, target horizontal correction torque, and target vertical correction torque, the controller obtains the propulsion force of each cylinder section, thereby controlling the state of the cylinders in the multiple cylinder sections.

[0099] In the above embodiments, by adjusting and stabilizing the actual correction torque to achieve the target correction torque, the actual tunneling trajectory is kept within the allowable range of the planned tunneling trajectory. This reduces the safety risk of tunneling along the design axis when the tunnel turns or when the tunnel segments float. It also solves the problem of unstable correction effect in the resultant force point control scheme when the total thrust changes.

[0100] Figure 5 This is a flowchart illustrating some other embodiments of the propulsion control method for the active articulated tunneling machine disclosed herein.

[0101] In step 510, the planned posture corresponding to the actual position in the planned tunneling trajectory is calculated based on the actual position of the active articulated tunneling machine.

[0102] In step 520, based on the attitude deviation between the actual attitude and the planned attitude of the active articulated tunneling machine, the first target articulation angle is adjusted to obtain the second target articulation angle.

[0103] In some embodiments, a first target hinge angle and attitude deviation are input into a hinge angle adjustment model to obtain a first hinge angle adjustment amount; and the first target hinge angle is adjusted using the first hinge angle adjustment amount to obtain a second target hinge angle. The first target hinge angle is a preset value, or equal to the initial hinge angle when connected to the hinge system. The hinge angle adjustment model in this embodiment is trained based on a machine learning algorithm.

[0104] In some embodiments, the sample hinge angle and sample posture deviation are obtained; and the machine learning model is trained using the sample hinge angle and sample posture deviation as training data and the sample hinge angle adjustment amount as a label value to obtain a trained hinge angle adjustment model.

[0105] For example, adjusting the hinge angle of the articulated system changes the attitude of the tunneling machine. The hinge angle and attitude information of the tunneling machine are collected and used as training data. The hinge angle adjustment amount is used as the label value of the training data. The output value of the machine learning model is compared with the label value to determine whether the comparison result meets the requirements of the loss function for constructing the hinge angle adjustment model. The parameters of the machine learning model are repeatedly iterated, optimized and adjusted so that the comparison result finally meets the requirements of the loss function for constructing the hinge angle adjustment model. The hinge angle adjustment model is then saved.

[0106] The errors between the actual horizontal posture and the planned horizontal posture, and the errors between the actual vertical posture and the planned vertical posture, are input into the trained hinge angle adjustment model to obtain the first hinge angle adjustment amount. The first hinge angle adjustment amount is added to the first target hinge angle to obtain the second target hinge angle.

[0107] In some embodiments, the target hinge angle includes a target horizontal hinge angle and a target vertical hinge angle.

[0108] In step 530, the actual hinge angle is adjusted to match the second target hinge angle.

[0109] In some embodiments, the state of the articulation cylinder of the articulation system is adjusted to adjust the actual articulation angle so that the actual articulation angle matches the second target articulation angle.

[0110] In the above embodiments, adjusting and stabilizing the actual articulation angle to reach the target articulation angle ensures that the actual tunneling trajectory remains within the allowable range of the planned tunneling trajectory. This reduces the safety risks of maintaining the design axis during tunnel turns or when segments float, and also solves the problem of instability in the resultant force point control scheme when the total thrust changes.

[0111] Figure 6 This is a flowchart illustrating some other embodiments of the propulsion control method for the active articulated tunneling machine disclosed herein.

[0112] In step 610, the planned posture corresponding to the actual position in the planned tunneling trajectory is calculated based on the actual position of the active articulated tunneling machine.

[0113] In step 620, based on the attitude deviation between the actual attitude and the planned attitude of the active articulated tunneling machine, the first target correction torque is adjusted to obtain the third target correction torque, and the first target articulation angle is adjusted to obtain the third target articulation angle.

[0114] In some embodiments, the first target correction torque, the first target hinge angle, and the attitude deviation are input into the adjustment model to obtain the second correction torque adjustment amount and the second hinge angle adjustment amount; and the first target correction torque is adjusted using the second correction torque adjustment amount to obtain the third target correction torque, and the first target hinge angle is adjusted using the second hinge angle adjustment amount to obtain the third target hinge angle.

[0115] In some embodiments, sample correction torque, sample hinge angle, and sample posture deviation are obtained; and the machine learning model is trained using the sample correction torque, sample hinge angle, and sample posture deviation as training data, and the sample correction torque adjustment amount and sample hinge angle adjustment amount as label values, to obtain a trained adjustment model.

[0116] The errors between the actual horizontal attitude and the planned horizontal attitude, and the errors between the actual vertical attitude and the planned vertical attitude, are input into the trained adjustment model to obtain the second corrective torque adjustment and the second hinge angle adjustment. The second corrective torque adjustment is added to the first target corrective torque to obtain the third target corrective torque. The second hinge angle adjustment is then added to the first target hinge angle to obtain the third target hinge angle.

[0117] In step 630, the actual correction torque is adjusted to match the third target correction torque, and the actual hinge angle is adjusted to match the third target hinge angle.

[0118] In the above embodiments, adjusting and stabilizing the actual correction torque to reach the target correction torque and the actual hinge angle to reach the target hinge angle ensures that the actual tunneling trajectory remains within the allowable range of the planned tunneling trajectory. This reduces the safety risk of tunneling along the design axis when the tunnel turns or when segments float, and solves the problem of unstable correction effect in the resultant force point control scheme when the total thrust changes.

[0119] In some embodiments, the current working mode of the tunneling machine is obtained, including construction tunneling mode or synchronous pushing and assembling mode. Based on the current working mode, the state of the propulsion cylinder of the propulsion system is adjusted to adjust the actual correction torque.

[0120] In the synchronous push-and-assemble mode, some hydraulic cylinders retract during the advancement process to achieve partial segment assembly. During synchronous push-and-assemble tunneling, specifically when the hydraulic cylinders are under pressure to install the missing segments, the remaining operational cylinders of the advancement system are controlled to adjust and stabilize the actual correction torque to achieve the target correction torque, thereby ensuring the actual position during advancement closely approximates the planned trajectory.

[0121] In some embodiments of this disclosure, the interactive module receives the tunneling efficiency mode selected by the user, which includes a speed control mode and a thrust control mode, in accordance with project construction requirements.

[0122] In some embodiments, in speed control mode, the actual advance speed of the tunnel boring machine is calculated; and the actual advance speed is controlled to match the target advance speed, for example, the actual advance speed is controlled to remain within the range allowed by the target advance speed.

[0123] For example, the actual advancing speed of the tunneling machine can be determined based on the stroke value of the propulsion cylinder. For instance, at time t1, the stroke value of the propulsion cylinder is S1, and at time t2, the stroke value of the propulsion cylinder is S2, and the speed V = (S2 - S1) / (t2 - t1). This target advancing speed is input by the user through the interactive module.

[0124] In some embodiments, in speed control mode, the controller controls the propulsion system to adjust and stabilize the actual propulsion speed to reach the target propulsion speed when the cylinder thrust is applied to the missing section of the installation segment.

[0125] In the above embodiments, by controlling the advance speed of the tunneling machine, the construction quality and efficiency can be improved. Furthermore, by automatically controlling the propulsion system, the driver's operational tasks during the tunneling process can be reduced, thereby improving the automation level of shield tunneling and reducing the impact of human factors.

[0126] In some embodiments, under thrust control mode, the actual total thrust of the tunneling machine is calculated; and the actual total thrust is controlled to match a target total thrust, for example, the actual total thrust is controlled to remain within the target total thrust range. This target total thrust is input by the user through an interactive module. The actual total thrust of the tunneling machine is the sum of the pressures of all propulsion cylinders.

[0127] In some embodiments, under thrust control mode, the controller controls the propulsion system to adjust and stabilize the actual total thrust to achieve the target total thrust when the cylinder thrust of the missing section of the installation segment is applied.

[0128] In the above embodiments, by controlling the total thrust of the tunneling machine, the construction quality and efficiency can be improved. Furthermore, by automatically controlling the propulsion system, the driver's operational tasks during the tunneling process can be reduced, thereby improving the automation level of shield tunneling and reducing the impact of human factors.

[0129] In the embodiments of this disclosure, the tunneling machine can be made to advance along the planned axis and at a set efficiency by adjusting the axial propulsion cylinder of the propulsion system and the articulation cylinder of the articulation system during normal construction tunneling or synchronous push-and-assemble construction tunneling.

[0130] Figure 7 This is a schematic diagram of the structure of some embodiments of the controller for the active articulated tunneling machine disclosed herein. The controller includes a data acquisition module 710, a data processing module 720, and a control module 730.

[0131] The data acquisition module 710 is configured to acquire the actual position, design axis, and segment uplift of the active articulated tunneling machine.

[0132] In some embodiments, the data acquisition module 710 is further configured to acquire the gap between the tail shield and the tunnel segment of the active articulated tunneling machine in a predetermined direction. The gap in the predetermined direction includes, for example, the gap between the right side of the tail shield and the tunnel segment, the gap between the left side of the tail shield and the tunnel segment, the gap between the upper side of the tail shield and the tunnel segment, and the gap between the lower side of the tail shield and the tunnel segment.

[0133] In some embodiments, the data acquisition module 710 is further configured to acquire the current operating mode of the active articulated tunneling machine, the current operating mode including construction tunneling mode or synchronous push-and-assemble mode.

[0134] The data processing module 720 is configured to calculate the planned tunneling trajectory based on the actual location, design axis, and segment uplift.

[0135] In some embodiments, at tunnel bends, the planned tunneling trajectory lies inside the bend along the design axis. In cases where segments are floating, the planned tunneling trajectory lies below the design axis.

[0136] In some embodiments, the data processing module 720 acquires the first trajectory deviation, first deviation velocity, and first deviation acceleration corresponding to the initial position of the active articulated tunneling machine, and the second trajectory deviation, second deviation velocity, and second deviation acceleration corresponding to the final position of the active articulated tunneling machine. The second trajectory deviation is determined based on the segment uplift and the curvature of the design axis. Based on the traveling position and initial position of the active articulated tunneling machine, a trajectory deviation polynomial between the planned tunneling trajectory and the design axis is constructed. Based on the first trajectory deviation, first deviation velocity, first deviation acceleration, second trajectory deviation, second deviation velocity, and second deviation acceleration, the trajectory deviation polynomial is solved to obtain the unknown constant of the trajectory deviation polynomial. Using the trajectory deviation polynomial, the trajectory deviation corresponding to the actual position is obtained. Based on the trajectory deviation, the planned tunneling trajectory is obtained.

[0137] In some embodiments, the data processing module 720 is further configured to adjust the planned tunneling trajectory when the gap in the predetermined direction is less than a gap threshold and the active articulated tunneling machine is tunneling in the predetermined direction. For example, the trajectory deviation corresponding to the current position is used as a second trajectory deviation in the process of calculating the planned tunneling trajectory. By monitoring the tail shield gap in real time, damage to the tunnel segments can be prevented, and the safety of the operation can be improved.

[0138] The control module 730 is configured to adjust at least one of the actual corrective torque of the propulsion system of the active articulated tunneling machine and the actual articulation angle of the articulated system, so that the actual position of the active articulated tunneling machine matches the planned tunneling trajectory.

[0139] In some embodiments, when there is a deviation between the actual position of the active articulated tunneling machine and the planned tunneling trajectory, the control module 730 adjusts the first target correction torque of the propulsion system to obtain the second target correction torque; and adjusts the actual correction torque to match the second target correction torque.

[0140] In some embodiments, the control module 730 is further configured to adjust the state of the propulsion cylinder of the propulsion system according to the current operating mode, so as to adjust the actual correction torque.

[0141] In some embodiments, the planned attitude corresponding to the actual position in the planned tunneling trajectory is calculated based on the actual position of the active articulated tunneling machine; and the first target correction torque is adjusted based on the attitude deviation between the actual attitude and the planned attitude of the active articulated tunneling machine to obtain the second target correction torque.

[0142] In some embodiments, when there is a deviation between the actual position of the active articulated tunneling machine and the planned tunneling trajectory, the control module 730 adjusts the first target articulation angle of the articulation system to obtain a second target articulation angle; and adjusts the actual articulation angle to match the second target articulation angle.

[0143] In some embodiments, the planned attitude corresponding to the actual position in the planned tunneling trajectory is calculated based on the actual position of the active articulated tunneling machine; and the first target articulation angle is adjusted based on the attitude deviation between the actual attitude and the planned attitude of the active articulated tunneling machine to obtain the second target articulation angle.

[0144] In some embodiments, when there is a deviation between the actual position of the active articulated tunneling machine and the planned tunneling trajectory, the control module 730 adjusts the first target correction torque of the propulsion system to obtain a third target correction torque, adjusts the first target hinge angle of the articulated system to obtain a third target hinge angle, adjusts the actual correction torque to match the third target correction torque, and adjusts the actual hinge angle to match the third target hinge angle.

[0145] In some embodiments, the planned attitude corresponding to the actual position in the planned tunneling trajectory is calculated based on the actual position of the active articulated tunneling machine; and the first target correction torque is adjusted based on the attitude deviation between the actual attitude and the planned attitude of the active articulated tunneling machine to obtain the third target correction torque, and the first target articulation angle is adjusted to obtain the third target articulation angle.

[0146] In some embodiments, such as Figure 8 As shown, the controller also includes a model training module 810, configured to acquire sample correction torque and sample attitude deviation; and to train a machine learning model using sample correction torque and sample attitude deviation as training data and sample correction torque adjustment amount as label value to obtain a trained correction torque adjustment model. The control module 730 inputs the first target correction torque and attitude deviation into the correction torque adjustment model to obtain the first correction torque adjustment amount; and uses the first correction torque adjustment amount to adjust the first target correction torque to obtain the second target correction torque.

[0147] The model training module 810 is also configured to acquire sample hinge angles and sample posture deviations; and to train the machine learning model using sample hinge angles and sample posture deviations as training data and sample hinge angle adjustment amounts as label values ​​to obtain a trained hinge angle adjustment model. The control module 730 inputs the first target hinge angle and posture deviation into the hinge angle adjustment model to obtain the first hinge angle adjustment amount; and uses the first hinge angle adjustment amount to adjust the first target hinge angle to obtain the second target hinge angle.

[0148] The model training module 810 is also configured to acquire sample correction torque, sample hinge angle, and sample attitude deviation; and to train the machine learning model using sample correction torque, sample hinge angle, and sample attitude deviation as training data, and sample correction torque adjustment amount and sample hinge angle adjustment amount as label values, to obtain a trained adjustment model. The control module 730 inputs the first target correction torque, the first target hinge angle, and attitude deviation into the adjustment model to obtain the second correction torque adjustment amount and the second hinge angle adjustment amount; and uses the second correction torque adjustment amount to adjust the first target correction torque to obtain the third target correction torque, and uses the second hinge angle adjustment amount to adjust the first target hinge angle to obtain the third target hinge angle.

[0149] In the above embodiments, the planned tunneling trajectory is dynamically determined by combining information such as the design axis, actual position, and segment uplift. Then, the tunnel boring machine is controlled to match the actual position of the tunnel boring machine with the planned tunneling trajectory. This can reduce the deviation between the actual position and the planned tunneling trajectory in the future and reduce the safety risks of the tunnel boring machine maintaining the design axis when the tunnel turns or when there is segment uplift.

[0150] In some embodiments of this disclosure, the data processing module 720 is further configured to calculate the actual advance speed of the tunneling machine, and the control module 730 is further configured to control the actual advance speed to match the target advance speed.

[0151] The data processing module 720 is also configured to calculate the actual total thrust of the tunneling machine, and the control module 730 is also configured to control the actual total thrust to match the target total thrust.

[0152] By controlling the advance speed and total thrust of the tunneling machine, construction quality and efficiency can be improved.

[0153] Figure 9 This is a schematic diagram of the structure of another embodiment of the controller for the active articulated tunneling machine disclosed herein. The controller includes a memory 910 and a processor 920. The memory 910 can be a disk, flash memory, or any other non-volatile storage medium. The memory 910 is used to store the instructions in the above embodiments. The processor 920 is coupled to the memory 910 and can be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 920 is used to execute the instructions stored in the memory.

[0154] In some embodiments, the processor 920 is coupled to the memory 910 via a BUS bus 930. The controller can also be connected to an external storage device 950 via a storage interface 940 to access external data, and can also be connected to a network or another computer system (not shown) via a network interface 960. Further details are omitted here.

[0155] In this embodiment, by storing data instructions in a memory and then processing them with a processor, the safety risks of maintaining the designed axis of tunneling during tunnel bends or when segments float can be reduced. It also addresses the instability of the resultant force point control scheme due to deviation effects when the total thrust changes. Furthermore, automatic control of the propulsion system reduces driver workload during tunneling, improves the automation level of shield tunneling, reduces the impact of human factors, and enhances construction quality and efficiency.

[0156] Figure 10 This is a schematic diagram of the structure of some embodiments of the control system of the active articulated tunneling machine disclosed herein. The control system includes a controller 1010, a guidance and measurement module 1020, a propulsion system 1030, and an articulation system 1040. The controller 1010 has been described in detail in the above embodiments and will not be further elaborated here. The guidance and measurement module 1020, the propulsion system 1030, and the articulation system 1040 are electrically connected to the controller 1010.

[0157] The guidance measurement module 1020 is configured to measure the position and attitude of the active articulated tunnel boring machine (TBM), and the propulsion system 1030 is configured to propel at least a portion of the propulsion cylinders of the active articulated TBM. The propulsion cylinders of the propulsion system 1030 operate axially, are located on the side of the TBM, and are supported against the tunnel lining segments, providing power for the TBM's propulsion. For example, in synchronous push-and-assemble mode, the propulsion system 1030 propels the cylinders. The articulation system 1040 is configured to control the movement of the articulated cylinders. The articulated cylinders operate axially, are located on the side, connect the front and rear parts of the TBM, and transfer propulsion system power from the rear to the front.

[0158] like Figure 11 As shown, the propulsion system of the active articulated tunneling machine includes a propulsion cylinder 111, and the articulation system includes an articulation cylinder 112.

[0159] In some embodiments, such as Figure 12 As shown, the control system also includes a tail shield gap measurement module 1210, configured to measure the gap between the tail shield and the tunnel lining segments of an active articulated tunneling machine. The tail shield gap measurement module 1210 is electrically connected to the controller 1010. The tail shield gap measurement module is, for example, a laser detector.

[0160] In some embodiments, the control system further includes a sensor 1220 configured to measure a first pressure value and a first stroke value of at least some or all of the propulsion cylinders; and to measure a second pressure value and a second stroke value of some or all of the articulated cylinders. This sensor may include, for example, a pressure sensor, and since not all cylinders are equipped with pressure sensors, it is possible that only the pressure and stroke values ​​of some cylinders are detected. For example, the cylinders are controlled by groups, such as group A, group B, group C, and group D, each group containing one or more cylinders, with only one pressure sensor configured on one cylinder in each group; in this case, the pressure sensor only detects the pressure of one cylinder in each group. The sensor may also include, for example, a displacement sensor.

[0161] In some embodiments, the control system further includes an interaction module 1230, configured to display information and receive user input. For example, it may display the tunneling trajectory and receive user input such as segment uplift, target propulsion speed, and target total thrust. This interaction module may be a user terminal such as a host computer.

[0162] In other embodiments, a computer-readable storage medium stores computer program instructions that, when executed by a processor, implement the steps of the methods described above. Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, apparatus, 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.

[0163] 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 will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing 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.

[0164] 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.

[0165] 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.

[0166] This concludes the detailed description of the present disclosure. To avoid obscuring the concept of the disclosure, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

[0167] The methods and apparatus of this disclosure may be implemented in many ways. For example, they may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order of steps for the methods is for illustrative purposes only, and the steps of the methods of this disclosure are not limited to the order specifically described above unless otherwise specifically stated. Furthermore, in some embodiments, this disclosure may also be implemented as a program recorded on a recording medium, the program including machine-readable instructions for implementing the methods according to this disclosure. Thus, this disclosure also covers recording media storing programs for performing the methods according to this disclosure.

[0168] While specific embodiments of this disclosure have been described in detail by way of example, 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 without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A propulsion control method for an active articulated tunneling machine, comprising: Obtain the actual position, design axis, and segment uplift of the active articulated tunneling machine; Based on the actual position, the design axis, and the segment uplift, a planned tunneling trajectory is calculated. This involves obtaining the first trajectory deviation, first deviation velocity, and first deviation acceleration corresponding to the initial position of the active articulated tunneling machine, and the second trajectory deviation, second deviation velocity, and second deviation acceleration corresponding to the final position of the active articulated tunneling machine. The second trajectory deviation is determined based on the segment uplift and the curvature of the design axis. The final position is a selected position. Based on the travel position and initial position of the active articulated tunneling machine, a trajectory deviation polynomial between the planned tunneling trajectory and the design axis is constructed. The trajectory deviation polynomial is solved based on the first trajectory deviation, first deviation velocity, first deviation acceleration, second trajectory deviation, second deviation velocity, and second deviation acceleration to obtain the unknown constant of the trajectory deviation polynomial. Using the trajectory deviation polynomial, the trajectory deviation corresponding to the actual position is obtained. Based on the trajectory deviation, the planned tunneling trajectory is obtained. At least one of the actual correction torque of the propulsion system and the actual articulation angle of the articulation system of the active articulated tunneling machine is adjusted so that the actual position of the active articulated tunneling machine matches the planned tunneling trajectory.

2. The propulsion control method according to claim 1 further includes: Obtain the gap between the tail shield and the tunnel lining segments of the active articulated tunneling machine in a predetermined direction; as well as When the gap in the predetermined direction is less than the gap threshold and the active articulated tunneling machine is tunneling in the predetermined direction, the planned tunneling trajectory is adjusted.

3. The propulsion control method according to claim 1, wherein, Adjusting at least one of the actual corrective torque of the propulsion system and the actual articulation angle of the articulated system of the active articulated tunneling machine includes: When a deviation exists between the actual position of the active articulated tunneling machine and the planned tunneling trajectory, the first target correction torque of the propulsion system is adjusted to obtain a second target correction torque; and The actual correction torque is adjusted to match the second target correction torque.

4. The propulsion control method according to claim 1, wherein, Adjusting at least one of the actual corrective torque of the propulsion system and the actual articulation angle of the articulated system of the active articulated tunneling machine includes: When there is a deviation between the actual position of the active articulated tunneling machine and the planned tunneling trajectory, the first target articulation angle of the articulation system is adjusted to obtain a second target articulation angle; and The actual hinge angle is adjusted to match the second target hinge angle.

5. The propulsion control method according to claim 1, wherein, Adjusting at least one of the actual corrective torque of the propulsion system and the actual articulation angle of the articulated system of the active articulated tunneling machine includes: When there is a deviation between the actual position of the active articulated tunneling machine and the planned tunneling trajectory, the first target correction torque of the propulsion system is adjusted to obtain a third target correction torque, and the first target hinge angle of the articulated system is adjusted to obtain a third target hinge angle; and The actual correction torque is adjusted to match the third target correction torque, and the actual hinge angle is adjusted to match the third target hinge angle.

6. The propulsion control method according to claim 3, wherein, The adjustment of the first target correction torque of the propulsion system to obtain the second target correction torque includes: Based on the actual position of the active articulated tunneling machine, calculate the planned posture corresponding to the actual position in the planned tunneling trajectory; and Based on the attitude deviation between the actual attitude and the planned attitude of the active articulated tunneling machine, the first target correction torque is adjusted to obtain the second target correction torque.

7. The propulsion control method according to claim 6, further comprising: Obtain the sample correction torque and sample attitude deviation; as well as Using the sample correction torque and the sample attitude deviation as training data, and the sample correction torque adjustment amount as a label value, a machine learning model is trained to obtain a trained correction torque adjustment model. Specifically, the first target correction torque is adjusted based on the attitude deviation between the actual attitude and the planned attitude of the active articulated tunneling machine to obtain the second target correction torque, which includes: The first target correction torque and the attitude deviation are input into the correction torque adjustment model to obtain the first correction torque adjustment amount; and The first target correction torque is adjusted using the first correction torque adjustment amount to obtain the second target correction torque.

8. The propulsion control method according to claim 4, wherein, The adjustment of the first target hinge angle of the hinge system to obtain the second target hinge angle includes: Based on the actual position of the active articulated tunneling machine, calculate the planned posture corresponding to the actual position in the planned tunneling trajectory; and Based on the attitude deviation between the actual attitude and the planned attitude of the active articulated tunneling machine, the first target articulation angle is adjusted to obtain the second target articulation angle.

9. The propulsion control method according to claim 8, further comprising: Obtain the sample hinge angle and sample posture deviation; as well as Using the sample hinge angle and the sample posture deviation as training data, and the sample hinge angle adjustment amount as a label value, a machine learning model is trained to obtain a trained hinge angle adjustment model. Specifically, based on the posture deviation between the actual posture and the planned posture of the active articulated tunneling machine, the first target hinge angle is adjusted to obtain the second target hinge angle, including: The first target hinge angle and the attitude deviation are input into the hinge angle adjustment model to obtain the first hinge angle adjustment amount; and The first target hinge angle is adjusted using the first hinge angle adjustment amount to obtain the second target hinge angle.

10. The propulsion control method according to claim 5, wherein, The adjustment of the first target correction torque of the propulsion system to obtain the third target correction torque, and the adjustment of the first target hinge angle of the articulated system to obtain the third target hinge angle, include: Based on the actual position of the active articulated tunneling machine, calculate the planned posture corresponding to the actual position in the planned tunneling trajectory; and Based on the attitude deviation between the actual attitude and the planned attitude of the active articulated tunneling machine, the first target correction torque is adjusted to obtain the third target correction torque, and the first target articulation angle is adjusted to obtain the third target articulation angle.

11. The propulsion control method according to claim 10, further comprising: Obtain the sample correction torque, sample hinge angle, and sample attitude deviation; as well as Using the sample correction torque, the sample hinge angle, and the sample attitude deviation as training data, and the adjustment amounts of the sample correction torque and the sample hinge angle as label values, a machine learning model is trained to obtain a trained adjustment model. Specifically, based on the attitude deviation between the actual attitude and the planned attitude of the active articulated tunneling machine, the first target correction torque is adjusted to obtain the third target correction torque, and the first target hinge angle is adjusted to obtain the third target hinge angle, including: The first target correction torque, the first target hinge angle, and the attitude deviation are input into the adjustment model to obtain the second correction torque adjustment and the second hinge angle adjustment; and The first target correction torque is adjusted using the second correction torque adjustment amount to obtain the third target correction torque. The first target hinge angle is adjusted using the second hinge angle adjustment amount to obtain the third target hinge angle.

12. The propulsion control method according to claim 2, wherein, Adjusting the planned tunneling trajectory includes: The trajectory deviation corresponding to the current position is used as the second trajectory deviation in the process of calculating the planned tunneling trajectory.

13. The propulsion control method according to claim 3 or 5, further comprising: Obtain the current operating mode of the active articulated tunneling machine, wherein the current operating mode includes construction tunneling mode or synchronous push-and-assemble mode, and adjusting the actual correction torque includes: Based on the current working mode, the state of the propulsion cylinder of the propulsion system is adjusted to adjust the actual correction torque.

14. The propulsion control method according to any one of claims 1 to 12, further comprising: Calculate the actual advance speed of the active articulated tunneling machine; as well as The actual propulsion speed is controlled to match the target propulsion speed.

15. The propulsion control method according to any one of claims 1 to 12, further comprising: Calculate the actual total thrust of the active articulated tunneling machine; as well as The actual total thrust is controlled to match the target total thrust.

16. A controller for an active articulated tunneling machine, comprising: The data acquisition module is configured to acquire the actual position, design axis, and segment uplift of the active articulated tunneling machine; The data processing module is configured to calculate the planned tunneling trajectory based on the actual position, the design axis, and the segment uplift. This includes obtaining a first trajectory deviation, a first deviation velocity, and a first deviation acceleration corresponding to the initial position of the active articulated tunneling machine, and a second trajectory deviation, a second deviation velocity, and a second deviation acceleration corresponding to the final position of the active articulated tunneling machine. The second trajectory deviation is determined based on the segment uplift and the curvature of the design axis. The final position is a selected position. Based on the travel position and initial position of the active articulated tunneling machine, a trajectory deviation polynomial between the planned tunneling trajectory and the design axis is constructed. The trajectory deviation polynomial is solved based on the first trajectory deviation, the first deviation velocity, the first deviation acceleration, the second trajectory deviation, the second deviation velocity, and the second deviation acceleration to obtain the unknown constant of the trajectory deviation polynomial. The trajectory deviation corresponding to the actual position is obtained using the trajectory deviation polynomial. Based on the trajectory deviation, the planned tunneling trajectory is obtained. The control module is configured to adjust at least one of the actual corrective torque of the propulsion system and the actual articulation angle of the articulated system of the active articulated tunneling machine, so that the actual position of the active articulated tunneling machine matches the planned tunneling trajectory.

17. The controller according to claim 16, wherein, The data acquisition module is also configured to acquire the gap between the tail shield and the tunnel lining segments of the active articulated tunneling machine in a predetermined direction; and The data processing module is also configured to adjust the planned tunneling trajectory when the gap in the predetermined direction is less than a gap threshold and the active articulated tunneling machine is tunneling in the predetermined direction.

18. A controller for an active articulated tunneling machine, comprising: Memory; as well as A processor coupled to the memory, the processor being configured to execute the propulsion control method as described in any one of claims 1 to 15 based on instructions stored in the memory.

19. A control system for an active articulated tunneling machine, comprising: The controller according to any one of claims 16 to 18; The guiding measurement module is configured to measure the position and attitude of the active articulated tunneling machine; The propulsion system is configured to propel at least a portion of the propulsion cylinders of the active articulated tunneling machine; and The articulated system is configured to control the movement of the articulated hydraulic cylinder.

20. The control system according to claim 19, further comprising: The tail shield gap measurement module is configured to measure the gap between the tail shield and the tunnel lining segments of the active articulated tunneling machine.

21. The control system according to claim 19, further comprising: The sensor is configured to measure a first pressure value and a first stroke value of some or all of the at least part of the propulsion cylinder; And to measure the second pressure value and second stroke value of some or all of the articulated cylinders.

22. The control system according to any one of claims 19 to 21, further comprising: The interaction module is configured to display information and receive user input.

23. A computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the propulsion control method according to any one of claims 1 to 15.

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