Tunnel boring machine tunneling track control method

Abstract

The invention relates to the technical field of tunneling track control of tunneling machines, and discloses a tunneling track control method of a tunnel boring machine. According to the method, target setting and planning are carried out, the design track, depth and tunneling speed of a tunnel are determined, geological exploration data are collected, the type and structure of underground soil are determined, a central calculation system carries out real-time processing on the collected data, track deviation and track curvature are calculated, potential deviation tracks and encountered obstacles are recognized, and the method is suitable for tunnel construction. Performing track adjustment and control, calculating the torque of the heading machine, the current power of the heading machine and the thrust of the heading machine, optimizing the propulsion speed of the heading machine according to the numerical values, calculating the predicted heading efficiency, optimizing the energy consumption in the heading process, and calculating the energy consumption based on the calculation result of deviation and curvature. A tunneling track adjusting instruction of the tunneling machine is generated and transmitted to the tunneling machine control unit, and the tunneling machine control unit automatically controls and adjusts the tunneling track of the tunneling machine when receiving the tunneling track adjusting instruction of the tunneling machine.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel boring machine excavation trajectory control, and in particular to a tunnel boring machine excavation trajectory control method. Background Art

[0002] Tunnel Boring Machine, abbreviated as TBM, is a mechanical equipment used to excavate underground tunnels. TBM uses powerful mechanical power and precise control system to quickly excavate and transport soil or rock, and at the same time lay the tunnel lining structure to ensure the stability and safety of the tunnel. Tunnel Boring Machine is widely used in the construction of infrastructure such as subways, railways, roads, pipelines, etc., and is an important tool for modern tunnel construction. TBM is equipped with a cutterhead with high-strength cutting tools, which can effectively cut soil and rocks of different hardness. During the excavation process, TBM also installs prefabricated lining rings at its rear to ensure the integrity and stability of the tunnel and prevent landslides. Therefore, trajectory control of tunnel boring machine is the key to ensuring the quality, safety and efficiency of tunnel construction. Accurate trajectory control can effectively reduce construction time and reduce additional construction costs such as re-excavation and correction caused by deviations, thereby improving overall construction efficiency.

[0003] Currently, when controlling the excavation trajectory of a tunnel boring machine, the trajectory adjustment mostly relies on the operator's experience and judgment. The operator manually adjusts the trajectory of the tunnel boring machine based on real-time observation and traditional methods. This method increases the complexity of operation and the risk of human error. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a tunnel boring machine excavation trajectory control method, which has the characteristics of determining the design trajectory, depth and excavation speed of the tunnel through target setting and planning, collecting geological exploration data, clarifying the underground soil type and structure, and collecting excavation status data in real time through sensors and monitoring equipment, including formation pressure, soil moisture, temperature, vibration and tunnel boring machine posture data. The central computing system processes the collected data in real time, calculates the deviation Gjpc and trajectory curvature Gjql between the current excavation position and the design trajectory, identifies potential deviations from the trajectory and obstacles encountered, adjusts and controls the trajectory, and calculates the torque of the tunnel boring machine. Wjnj, the current power of the tunnel boring machine Jjgl, and the thrust of the tunnel boring machine Wjtl. The propulsion speed of the tunnel boring machine is optimized according to the above values, and the expected tunnel boring efficiency Sjxl is calculated to optimize the energy consumption during the tunnel boring process. Based on the calculation results of the deviation and curvature, the tunnel boring machine excavation trajectory adjustment instruction Sdtl is generated and transmitted to the tunnel boring machine control unit. When the tunnel boring machine control unit receives the tunnel boring machine excavation trajectory adjustment instruction Sdtl, it automatically controls and adjusts the tunnel boring machine excavation trajectory. Through the above trajectory control method, the tunnel boring machine trajectory is automatically adjusted, which reduces the complexity of tunnel boring machine operation and the risk of human control errors, and solves the above problems.

[0005] To achieve the above object, the present invention provides the following technical solution: a tunnel boring machine excavation trajectory control method, comprising the following steps:

[0006] S1. Set goals and plan, determine the design trajectory, depth and excavation speed of the tunnel, collect geological exploration data, and clarify the underground soil type and structure;

[0007] S2, collect tunneling status data in real time through sensors and monitoring equipment, including ground pressure, soil moisture, temperature, vibration and tunneling machine posture data;

[0008] S3, the central computing system processes the collected data in real time, calculates the deviation Gjpc and the trajectory curvature Gjql between the current excavation position and the designed trajectory, and identifies potential deviations from the trajectory and obstacles encountered;

[0009] S4, perform trajectory adjustment and control, calculate the tunnel boring machine torque Wjnj, the current power Jjgl of the tunnel boring machine, and the thrust Wjtl of the tunnel boring machine, optimize the tunnel boring machine propulsion speed according to the above values, and calculate the expected tunnel boring efficiency Sjxl, optimize the energy consumption during the tunnel boring process, and generate the tunnel boring machine tunnel boring trajectory adjustment instruction Sdtl based on the calculation results of the deviation and curvature and transmit it to the tunnel boring machine control unit;

[0010] S5. When receiving the tunnel boring machine excavation trajectory adjustment instruction Sdtl, the tunnel boring machine control unit automatically controls and adjusts the tunnel boring machine excavation trajectory.

[0011] Preferably, the S2 collects data through high-precision pressure sensors, soil moisture sensors, temperature sensors and vibration sensors, and transmits the data to a central database through NB-IoT wireless communication technology to achieve remote monitoring.

[0012] Preferably, the formula for calculating the deviation Gjpc between the current excavation position and the designed trajectory in S3 is as follows:

[0013]

[0014] In the formula, Gjpc represents the deviation between the current excavation position and the designed trajectory, x cu ,y cu and z cu Indicates the actual position of the current tunnel boring machine in the three-dimensional coordinate system, x de ,y de and z de Represents the expected position of the design trajectory in the three-dimensional coordinate system.

[0015] Preferably, the formula for calculating the trajectory curvature Gjql in S3 is as follows:

[0016]

[0017] In the formula, Gjql represents the curvature of the trajectory, x′y″ represents the relationship between the change of the tangent in the x direction and the acceleration in the y direction, y′x'' represents the relationship between the change of the tangent in the y direction and the acceleration in the x direction, and x′ 2 +y′ 2 It represents the square of the tangent velocity of the curve at a certain point, reflecting the overall speed of the curve at that point under a unit parameter change. Taking the square root and then cubic it gives the cube of the modulus of the tangent velocity, which provides support for adjusting the magnitude of the curvature.

[0018] Preferably, the formula for calculating the tunnel boring machine torque Wjnj in S4 is as follows:

[0019] Wjnj=Yxqx*Czjl

[0020] In the formula, Wjnj represents the torque of the tunnel boring machine, Yxqx represents the effective cutting force applied to the cutter head, and Czjl represents the vertical distance between the cutter head and the rotating shaft.

[0021] Preferably, the formula for calculating the current power Jjgl of the tunnel boring machine in S4 is as follows:

[0022] Jjgl=Wjnj*Jsdz

[0023] In the formula, Jjgl represents the current power of the tunnel boring machine, Wjnj represents the torque of the tunnel boring machine, and Jsdz represents the angular velocity, that is, the rate at which an object rotates around its axis.

[0024] Preferably, the formula for calculating the thrust W of the tunnel boring machine in S4 is as follows:

[0025] Wjtl=C t *Qxmj* soil

[0026] In the formula, Wjtl represents the thrust of the tunnel boring machine, C t represents the cutting coefficient, Qxmj represents the cutting area, P soil Indicates soil pressure.

[0027] Preferably, the formula for optimizing the advancement speed of the tunnel boring machine in S4 is as follows:

[0028]

[0029] In the formula, V optimal It represents the optimal propulsion speed of the tunnel boring machine, Djnl represents the total energy output by the motor, and Wjtl represents the thrust of the tunnel boring machine.

[0030] Preferably, the formula for calculating the estimated excavation efficiency Sjxl in S4 is as follows:

[0031]

[0032] In the formula, Sjxl represents the expected excavation efficiency, V optimal represents the optimal advancement speed of the tunnel boring machine, Dist represents the actual advancement distance during the tunneling process, and P effort Indicates the work consumed to complete excavation.

[0033] Preferably, the S4 generates a tunnel boring machine excavation trajectory adjustment instruction Sdtl based on the calculation results of the deviation and the curvature, and the formula is as follows:

[0034] Δθ=ra*Gjpc+rb*Gjql

[0035] ΔV=rc*Gjpc

[0036] In the formula, Δθ represents the instruction for the direction angle to be adjusted, ΔV represents the instruction for adjusting the moving speed of the tunnel boring machine, Gjpc represents the deviation between the current tunneling position and the designed trajectory, Gjql represents the trajectory curvature, ra represents the sensitivity coefficient of the adjustment angle to the deviation, rb represents the sensitivity coefficient of the adjustment angle to the curvature, and rc represents the sensitivity coefficient of the adjustment speed to the deviation.

[0037] Compared with the prior art, the present invention provides a tunnel boring machine excavation trajectory control method, which has the following beneficial effects:

[0038] The present invention determines the design trajectory, depth and excavation speed of the tunnel by setting and planning goals, collects geological exploration data, clarifies the underground soil type and structure, and collects excavation status data in real time through sensors and monitoring equipment, including stratum pressure, soil moisture, temperature, vibration and tunnel boring machine posture data. The central computing system processes the collected data in real time, calculates the deviation Gjpc and trajectory curvature Gjql between the current excavation position and the design trajectory, identifies potential deviations from the trajectory and obstacles encountered, adjusts and controls the trajectory, and calculates the tunnel boring machine torque Wjnj, the current The power Jjgl and the thrust Wjtl of the tunnel boring machine are used to optimize the propulsion speed of the tunnel boring machine according to the above values, and the expected tunnel boring efficiency Sjxl is calculated to optimize the energy consumption during the tunnel boring process. Based on the calculation results of the deviation and curvature, the tunnel boring machine excavation trajectory adjustment instruction Sdtl is generated and transmitted to the tunnel boring machine control unit. When the tunnel boring machine control unit receives the tunnel boring machine excavation trajectory adjustment instruction Sdtl, it automatically controls and adjusts the tunnel boring machine excavation trajectory. Through the above trajectory control method, the tunnel boring machine trajectory is automatically adjusted, which reduces the complexity of tunnel boring machine operation and the risk of human control errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the steps of the method of the present invention. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] In view of the fact that the track adjustment of the tunnel boring machine is mostly dependent on the operator's experience and judgment when controlling the tunnel boring machine's excavation trajectory, the operator manually adjusts the track of the tunnel boring machine based on real-time observation and traditional methods. This method increases the complexity of operation and the risk of human error. Therefore, a tunnel boring machine excavation trajectory control method is proposed. Figure 1 , the method comprises the following steps:

[0042] S1. Set goals and plan, determine the design trajectory, depth and excavation speed of the tunnel, collect geological exploration data, and clarify the underground soil type and structure;

[0043] When carrying out a tunnel construction project, goal setting and planning are key steps to ensure the success of the project. First, the overall goals of the project need to be considered comprehensively, including the design trajectory, depth and excavation speed of the tunnel. In this process, 3D modeling through computer-aided design software can intuitively display the planned tunnel direction and terrain changes, thus providing a clear guide for subsequent construction;

[0044] When establishing the design trajectory, the underground structure is scanned using ground-penetrating radar and sonic detection technology to obtain accurate geological data. This reveals the distribution of the underground soil, including soil type, layer structure, and potential obstacles such as rocks and groundwater levels. This is combined with drilling sampling for analysis to ensure an accurate understanding of the nature of the underground soil layer in order to assess its strength, excavability, and its impact on the tunnel design;

[0045] S2, collect tunneling status data in real time through sensors and monitoring equipment, including ground pressure, soil moisture, temperature, vibration and tunneling machine posture data;

[0046] During tunneling, in order to ensure the safety and efficiency of construction, it is crucial to collect tunneling status data in real time. By installing a variety of sensors and monitoring equipment on the tunnel boring machine and the surrounding environment, the construction team can fully monitor key parameters. These sensors include formation pressure sensors, soil moisture sensors, temperature monitors, vibration sensors, and attitude sensors, forming a comprehensive monitoring system.

[0047] Ground pressure sensors are used to measure the pressure changes of the soil layers around the tunnel in real time, which helps to assess geological stability and identify potential landslide risks. By comparing with pre-set safety thresholds, the system can issue an alarm before the danger occurs, so that necessary preventive measures can be taken;

[0048] Soil moisture sensors can monitor the moisture content in the soil. When the humidity is too high, the fluidity of the soil may increase, affecting the working efficiency of the tunnel boring machine and the structural stability of the tunnel. Combined with real-time data, the construction team can adjust the tunneling strategy to ensure the safety of the operation.

[0049] Temperature monitoring equipment Temperature changes deep in the tunnel are also of great significance. High temperatures may affect the working efficiency and safety of the equipment. Therefore, by installing high-precision temperature sensors, temperature anomalies can be detected in time and appropriate cooling measures can be taken;

[0050] Vibration sensors are used to monitor the vibration of the tunnel boring machine during operation to evaluate the equipment's operating status and the reaction of the surrounding environment. Abnormal vibration signals may indicate mechanical failure of the equipment or geological changes, which need to be dealt with in a timely manner to avoid greater losses.

[0051] Finally, the attitude sensor monitors the direction and tilt angle of the tunnel boring machine in real time to ensure that the equipment always operates along the predetermined trajectory. By comprehensively analyzing these real-time data, the construction team can understand various indicators of the tunneling process in real time;

[0052] S3, the central computing system processes the collected data in real time, calculates the deviation Gjpc and the trajectory curvature Gjql between the current excavation position and the designed trajectory, and identifies potential deviations from the trajectory and obstacles encountered;

[0053] The trajectory deviation calculation formula is as follows:

[0054]

[0055] Calculating the deviation between the current excavation position and the designed trajectory can effectively evaluate whether the TBM remains on the expected trajectory. This real-time monitoring not only allows engineers to promptly identify any deviations that occur during the excavation process, but also provides the necessary data support for adjusting the operating parameters of the TBM. In the formula, Gjpc represents the deviation between the current excavation position and the designed trajectory, and x cu ,y cu and z cu Indicates the actual position of the current tunnel boring machine in the three-dimensional coordinate system, x de ,y de and z de It indicates the expected position of the designed trajectory in the three-dimensional coordinate system. The calculation of deviation helps to determine the impact of factors such as changes in soil type, sudden changes in geological conditions or mechanical failures on the excavation path, improving the accuracy and safety of construction. With the help of this data, the construction team can respond quickly and make necessary adjustments to avoid subsequent problems caused by deviations from the designed trajectory, such as tunnel shape not meeting design standards and uneven pressure on the supporting structure.

[0056] The trajectory curvature calculation formula is as follows:

[0057]

[0058] Calculating the curvature of the track is an important step in ensuring that the roadheader can successfully complete the complex tunnel design. The change in curvature not only affects the mechanical load of the roadheader, but also has a significant impact on the overall structural stability of the tunnel. In the formula, Gjql represents the curvature of the track, x′y″ represents the relationship between the change of the tangent in the x direction and the acceleration in the y direction, y′x'' represents the relationship between the change of the tangent in the y direction and the acceleration in the x direction, and x′ 2 +y′ 2The square of the tangent velocity of the curve at a certain point reflects the overall velocity of the curve at that point under unit parameter change. Taking the square root and then cubic it, we get the cube of the modulus of the tangent velocity, which provides support for adjusting the magnitude of the curvature. Understanding the curvature characteristics of the trajectory helps engineers formulate corresponding excavation strategies to avoid stratum damage and damage to the tunnel boring machine caused by too sharp turns. In addition, curvature data can be used to optimize the operation mode of the tunnel boring machine so that it can perform specific excavation operations with minimal energy consumption and optimal efficiency, which is especially important for tunnel construction in complex urban environments.

[0059] S4, perform trajectory adjustment and control, calculate the tunnel boring machine torque Wjnj, the current power Jjgl of the tunnel boring machine, and the thrust Wjtl of the tunnel boring machine, optimize the tunnel boring machine propulsion speed according to the above values, and calculate the expected tunnel boring efficiency Sjxl, optimize the energy consumption during the tunnel boring process, and generate the tunnel boring machine tunnel boring trajectory adjustment instruction Sdtl based on the calculation results of the deviation and curvature and transmit it to the tunnel boring machine control unit;

[0060] The calculation formula of the tunnel boring machine torque is as follows:

[0061] Wjnj=Yxqx*Czjl

[0062] The torque of a tunnel boring machine is an important indicator of its power system. By calculating the torque of the tunnel boring machine in real time, engineers can evaluate the resistance of the current soil layer and the working status of the equipment. The appearance of high torque may indicate that the soil layer is hard or the equipment has failed, while low torque may indicate that the soil condition is good or the lubrication system is working properly. In the formula, Wjnj represents the torque of the tunnel boring machine, Yxqx represents the effective cutting force applied to the cutter head, and Czjl represents the vertical distance between the cutter head and the rotating shaft. Understanding the torque change trend can help the construction team to adjust the tunneling rate and feed force in time to optimize the tunneling efficiency and ensure the safe operation of the equipment. Real-time monitoring of torque can also provide a basis for the maintenance of the tunnel boring machine. By analyzing the torque data, maintenance cycles can be predicted and arranged to reduce unplanned downtime and improve the overall efficiency of the operation.

[0063] The current power calculation formula of the tunnel boring machine is as follows:

[0064] Jjgl=Wjnj*Jsdz

[0065] Calculating the power of the tunnel boring machine can not only reflect its working status, but also provide a basis for optimizing energy use and cost control. By obtaining power data in real time, construction managers can evaluate the performance of the equipment under different tunneling conditions and find the best operating mode. Power calculation can also help identify abnormal load conditions and promptly discover and deal with potential failures or inefficiencies. In the formula, Jjgl represents the current power of the tunnel boring machine, Wjnj represents the torque of the tunnel boring machine, and Jsdz represents the angular velocity, that is, the rate at which an object rotates around its axis. Understanding the power change trend can improve resource utilization efficiency to a certain extent, reduce unnecessary energy consumption, and ensure construction progress and quality. Ultimately, this data-oriented analysis will provide a reference for optimizing construction plans for subsequent similar engineering projects.

[0066] The thrust calculation formula of the tunnel boring machine is as follows:

[0067] Wjtl=C t *Qxmj* soil

[0068] Thrust is a key factor for the effective operation of the tunnel boring machine in the soil layer. By calculating the current thrust, we can fully understand the performance of the tunnel boring machine at work. The thrust directly affects the tunneling speed and operating efficiency. Engineers can adjust the feed rate and other operating parameters in time based on the thrust data to adapt to different geological conditions in the best way. In the formula, Wjtl represents the thrust of the tunnel boring machine, C t represents the cutting coefficient, Qxmj represents the cutting area, P soil Indicates soil pressure. For different soil conditions such as soft soil, hard soil or aquifer, the real-time calculation of thrust provides valuable data support, helping engineers make more scientific and reasonable decisions and maintain the continuity and stability of construction. Monitoring thrust also allows engineers to have a clear understanding of the stability of the equipment and timely discover potential instability risks, thereby improving overall construction safety.

[0069] The formula for optimizing the advancement speed of the roadheader is as follows:

[0070]

[0071] By optimizing the advancement speed of the tunnel boring machine, the construction period can be effectively shortened and the overall efficiency of the tunnel boring operation can be improved. The appropriate advancement speed can ensure that the tunnel boring machine can maintain stable operation while minimizing the disturbance to the soil, thereby speeding up the tunneling progress. In the formula, V optimalrepresents the optimal advancement speed of the tunnel boring machine, Djnl represents the total energy output by the motor, and Wjtl represents the thrust of the tunnel boring machine. The appropriate advancement speed helps to control the shape and size of the tunnel and ensure that the structure of the tunnel meets the design standards. This control of construction quality can effectively prevent problems in subsequent construction, reduce maintenance costs, and extend the service life of the tunnel;

[0072] The formula for calculating the expected tunneling efficiency is as follows:

[0073]

[0074] The calculation of the expected tunneling efficiency is a reasonable assessment of the expected success rate and construction progress of the entire tunneling project. By integrating the operation data of the tunneling machine, including thrust, power, torque and other information, it can form an intuitive reflection of the current tunneling efficiency. Timely understanding of the tunneling efficiency will help the construction team adjust the construction plan according to the progress of the project to ensure the best match between efficiency and goals. In the formula, Sjxl represents the expected tunneling efficiency, V optimal represents the optimal advancement speed of the tunnel boring machine, Dist represents the actual advancement distance during the tunneling process, and P effort It indicates the work consumed to complete the excavation. By comparing with historical data, the analysis of the estimated excavation efficiency provides a scientific basis for the scheduling and resource allocation in the subsequent stages, avoiding resource waste and construction delays caused by efficiency fluctuations. This dynamic management model improves the overall economic efficiency of the project and also provides important support for risk management, enabling the project to be continuously optimized and adjusted during the construction process to achieve the expected goals;

[0075] Based on the calculation results of deviation and curvature, the tunnel boring machine excavation trajectory adjustment instruction Sdtl is generated, and the formula is as follows:

[0076] Δθ=ra*Gjpc+rb*Gjql

[0077] ΔV=rc*Gjpc

[0078] Under different geological conditions, the performance of tunnel excavation may be different. According to the real-time deviation and curvature data, the adjustment command can flexibly respond to geological changes, adjust the excavation direction and depth in time, and reduce the construction risks caused by geological changes. In the formula, Δθ represents the instruction for the direction angle to be adjusted, ΔV represents the instruction for adjusting the moving speed of the tunnel boring machine, Gjpc represents the deviation between the current excavation position and the designed trajectory, Gjql represents the trajectory curvature, ra represents the sensitivity coefficient of the adjustment angle to the deviation, rb represents the sensitivity coefficient of the adjustment angle to the curvature, and rc represents the sensitivity coefficient of the adjustment speed to the deviation. Combined with the data analysis of deviation and curvature, it can provide intelligent decision support for tunnel excavation operations. Through data-driven adjustment instructions, it can further improve the scientificity and accuracy of the overall construction management and promote the realization of intelligent construction.

[0079] S5, when receiving the tunnel boring machine excavation trajectory adjustment instruction Sdtl, the tunnel boring machine control unit automatically controls and adjusts the tunnel boring machine excavation trajectory;

[0080] The control unit uses high-precision sensors and inertial measurement units to monitor the current excavation angle, depth and curvature in real time, and compares it with the preset trajectory. On this basis, the system accurately adjusts the propulsion direction and speed of the tunnel boring machine through servo motors and hydraulic control systems to ensure the compatibility of the excavation path with the designed trajectory.

[0081] Through the above-mentioned trajectory control method, the trajectory of the tunnel boring machine is automatically adjusted, reducing the complexity of tunnel boring machine operation and the risk of human control errors.

[0082] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A tunnel boring machine excavation trajectory control method, characterized in that: The following steps are involved: S1. Set goals and plan, determine the design trajectory, depth and excavation speed of the tunnel, collect geological exploration data, and clarify the underground soil type and structure; S2, collect tunneling status data in real time through sensors and monitoring equipment, including ground pressure, soil moisture, temperature, vibration and tunneling machine posture data; S3, the central computing system processes the collected data in real time, calculates the deviation Gjpc and the trajectory curvature Gjql between the current excavation position and the designed trajectory, and identifies potential deviations from the trajectory and obstacles encountered; S4, perform trajectory adjustment and control, calculate the tunnel boring machine torque Wjnj, the current power Jjgl of the tunnel boring machine, and the thrust Wjtl of the tunnel boring machine, optimize the tunnel boring machine propulsion speed according to the above values, and calculate the expected tunnel boring efficiency Sjxl, optimize the energy consumption during the tunnel boring process, and generate the tunnel boring machine tunnel boring trajectory adjustment instruction Sdtl based on the calculation results of the deviation and curvature and transmit it to the tunnel boring machine control unit; S5. When receiving the tunnel boring machine excavation trajectory adjustment instruction Sdtl, the tunnel boring machine control unit automatically controls and adjusts the tunnel boring machine excavation trajectory.

2. A tunnel boring machine excavation trajectory control method according to claim 1, characterized in that: The S2 collects data through high-precision pressure sensors, soil moisture sensors, temperature sensors, and vibration sensors, and transmits the data to a central database through NB-IoT wireless communication technology to achieve remote monitoring.

3. A tunnel boring machine excavation trajectory control method according to claim 2, characterized in that: The formula for calculating the deviation Gjpc between the current excavation position and the designed trajectory in S3 is as follows: In the formula, Gjpc represents the deviation between the current excavation position and the designed trajectory, x cu ,y cu and z cu Indicates the actual position of the current tunnel boring machine in the three-dimensional coordinate system, x de ,y de and z de Represents the expected position of the design trajectory in the three-dimensional coordinate system.

4. A tunnel boring machine excavation trajectory control method according to claim 3, characterized in that: The formula for calculating the trajectory curvature Gjql in S3 is as follows: In the formula, Gjql represents the curvature of the trajectory, x′y″ represents the relationship between the change of the tangent in the x direction and the acceleration in the y direction, and y ′ x'' represents the relationship between the change of the tangent in the y direction and the acceleration in the x direction. ′2 +y ′2 It represents the square of the tangent velocity of the curve at a certain point, reflecting the overall speed of the curve at that point under a unit parameter change. Taking the square root and then cubic it gives the cube of the modulus of the tangent velocity, which provides support for adjusting the magnitude of the curvature.

5. A tunnel boring machine excavation trajectory control method according to claim 4, characterized in that: The formula for calculating the torque Wjnj of the tunnel boring machine in S4 is as follows: Wjnj=Yxqx*Czjl In the formula, Wjnj represents the torque of the tunnel boring machine, Yxqx represents the effective cutting force applied to the cutter head, and Czjl represents the vertical distance between the cutter head and the rotating shaft.

6. A tunnel boring machine excavation trajectory control method according to claim 5, characterized in that: The formula for calculating the current power Jjgl of the tunnel boring machine in S4 is as follows: Jjgl=Wjnj*Jsdz In the formula, Jjgl represents the current power of the tunnel boring machine, Wjnj represents the torque of the tunnel boring machine, and Jsdz represents the angular velocity, that is, the rate at which an object rotates around its axis.

7. A tunnel boring machine excavation trajectory control method according to claim 6, characterized in that: The formula for calculating the thrust W of the tunnel boring machine in S4 is as follows: Wjtl=C t *Qxmj*P soil In the formula, Wjtl represents the thrust of the tunnel boring machine, C t represents the cutting coefficient, Qxmj represents the cutting area, P soil Indicates soil pressure.

8. A tunnel boring machine excavation trajectory control method according to claim 7, characterized in that: The formula for optimizing the advancement speed of the tunnel boring machine by S4 is as follows: In the formula, V optimal It represents the optimal propulsion speed of the tunnel boring machine, Djnl represents the total energy output by the motor, and Wjtl represents the thrust of the tunnel boring machine.

9. A tunnel boring machine excavation trajectory control method according to claim 8, characterized in that: The formula for calculating the estimated excavation efficiency Sjxl by S4 is as follows: In the formula, Sjxl represents the expected excavation efficiency, V optimal represents the optimal advancement speed of the tunnel boring machine, Dist represents the actual advancement distance during the tunneling process, and P effort Indicates the work consumed to complete excavation.

10. A tunnel boring machine excavation trajectory control method according to claim 9, characterized in that: The S4 generates a tunnel boring machine excavation trajectory adjustment instruction Sdtl based on the calculation results of the deviation and curvature, and the formula is as follows: Δθ=ra*Gjpc+rb*Gjql ΔV=rc*Gjpc In the formula, Δθ represents the instruction for the direction angle to be adjusted, ΔV represents the instruction for adjusting the moving speed of the tunnel boring machine, Gjpc represents the deviation between the current tunneling position and the designed trajectory, Gjql represents the trajectory curvature, ra represents the sensitivity coefficient of the adjustment angle to the deviation, rb represents the sensitivity coefficient of the adjustment angle to the curvature, and rc represents the sensitivity coefficient of the adjustment speed to the deviation.

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