Tunnel boring machine cutterhead starting torque calculation method based on data driving

Abstract

The invention relates to the technical field of tunnel boring machines. The tunneling machine cutterhead starting torque calculation method based on data driving comprises the steps that environment data of an area needing tunneling currently is collected; the environmental data in the tunneling process are completely consistent with the cutter parameters of the current tunnel boring machine in the historical tunneling process, and the historical cutter starting torque in the tunneling process is completely consistent with the cutter parameters of the current tunnel boring machine in the historical tunneling process; the difference degree is calculated, and all difference degree calculation results are sorted; obtaining a safety interval of the cutterhead torque from the historical cutterhead starting torque based on the calculated difference degree; the torque and the advancing speed of the tunnel boring machine after the cutterhead starts to work after the tunnel boring machine is started are collected; the cutterhead starting torque of the tunnel boring machine is calculated based on the advancing speed of the tunnel boring machine, the torque after the cutterhead starts to work after the tunnel boring machine is started and the safety interval of the cutterhead torque, and the cutterhead starting torque calculation efficiency of the tunnel boring machine is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel boring machines, and in particular to a data-driven method for calculating the starting torque of a tunnel boring machine cutterhead. Background Art

[0002] Shield construction has become the primary method for tunnel excavation and urban subway construction. During tunneling, the shield machine's cutterhead rotates, continuously cutting rock and soil. The soil is forced through the cutterhead opening into a soil or slurry compartment, then discharged to the outside of the tunnel via a screw conveyor or slurry pump. Driven by circumferential hydraulic jacks, the shield machine continuously advances. When the shield machine advances the length of a segment (along the tunnel axis), the segment assembly machine assembles several segments into a ring from bottom to top, and so on. Therefore, the starting torque of the tunnel boring machine's cutterhead is a key indicator for determining whether the equipment is starting under load and whether any abnormalities have occurred. However, geological conditions often fluctuate during construction, and the normal fluctuation range of the cutterhead torque is closely related to these conditions. Therefore, there is no method for testing the starting torque of the entire cutterhead during construction. On-site estimates are often made based on the starting torque of a single cutter on a test bench. Summary of the Invention

[0003] In response to the shortcomings of the existing technology, the present invention provides a data-driven method for calculating the starting torque of the cutterhead of a tunnel boring machine, which has the advantages of accurate calculation and timely determination of the starting torque of the cutterhead, thereby solving the above-mentioned technical problems.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] Collect environmental data of the area where excavation is currently required, environmental data of excavation processes during historical excavation processes that are completely consistent with the current tunnel boring machine cutter head parameters, and historical cutter head starting torques during excavation processes during historical excavation processes that are completely consistent with the current tunnel boring machine cutter head parameters;

[0006] The difference is calculated one by one based on the environmental data of the current excavation area and the environmental data of the historical excavation process with the same cutterhead parameters as the current tunnel boring machine. All the difference calculation results are sorted. Based on the calculated difference, the safe range of cutterhead torque is obtained from the historical cutterhead starting torque.

[0007] Collect the torque of the cutterhead and the forward speed of the tunnel boring machine after the machine is started;

[0008] The starting torque of the tunnel boring machine cutterhead is calculated based on the forward speed of the tunnel boring machine, the torque size of the cutterhead after the tunnel boring machine starts working, and the safe range of the cutterhead torque.

[0009] Furthermore, the environmental data of the area currently requiring excavation includes soil strength, soil moisture, and underground temperature, which are specifically expressed as follows:

[0010] DQHJ=[TRQD0,TRSD0,TRWD0]

[0011] Among them, TRQD0 represents the current soil strength, TRSD0 represents the current soil moisture, TRWD0 represents the current soil temperature, and DQHJ represents the current environmental dataset.

[0012] Furthermore, the specific expression of the environmental data during the tunneling process in which the parameters of the cutter head of the tunnel boring machine are completely consistent with those of the current tunnel boring machine during the historical tunneling process is as follows:

[0013]

[0014] Among them, LSHJ represents the historical environmental dataset, LSQD1,…,LSQD n ,…,LSQD N They represent the historical soil strength collected at the first time, ..., the historical soil strength collected at the nth time, ..., the historical soil strength collected at the Nth time, LSSD1, ..., LSSD n ,…,LSSD N They represent the historical soil moisture collected at the first time, ..., the historical soil moisture collected at the nth time, ..., the historical soil moisture collected at the Nth time, LSWD1, ..., LSWD n ,…,LSWD N They represent the historical soil temperature collected for the first time, ..., the historical soil temperature collected for the nth time, ..., the historical soil temperature collected for the Nth time.

[0015] Furthermore, the specific expression of the historical cutterhead starting torque is as follows:

[0016] LSDP=[LSNJ1,…,LSNJ m ,…,LSNJ M ]

[0017] Among them, LSNJ1,…,LSNJ m ,…,LSNJ M They represent the historical cutterhead startup torque collected for the first time, ..., the historical cutterhead startup torque collected for the mth time, ..., the historical cutterhead startup torque collected for the Mth time, and LSDP represents the historical cutterhead startup torque dataset.

[0018] Furthermore, the difference degree is calculated one by one based on the environmental data of the area where excavation is currently required and the environmental data of the excavation process in the past that is completely consistent with the current tunnel boring machine cutter head parameters, including:

[0019] The environmental data of the area currently requiring excavation and the environmental data of the excavation process in the past that is completely consistent with the current tunnel boring machine cutter head parameters are respectively substituted into the initial difference calculation function to calculate the initial difference;

[0020] The difference is calculated based on the initial difference.

[0021] Furthermore, the expression of the initial difference calculation function is as follows:

[0022]

[0023] Among them, F n represents the initial difference calculation function of the nth calculation, A0 represents the index of TRQD0, TRSD0 and TRWD0, TRQD0 represents the current soil strength, TRSD0 represents the current soil moisture, TRWD0 represents the current soil temperature, B n Represents LSQD n LSSD n and LSWD n Index, LSQD n Indicates the historical soil strength collected at the nth time, LSSD n Indicates the historical soil moisture collected at the nth time, LSWD n represents the historical soil temperature collected at the nth time, |*| represents the calculation of the absolute value, and the initial difference degree of the nth calculation includes three data generated by substituting different indexes for each calculation, namely F n TRQD 、F n TRSD and F n TRWD , where F n TRQD represents the initial difference of soil strength calculated by the initial difference calculation function for the nth time, F n TRSD The initial difference of soil moisture calculated by the initial difference calculation function for the nth time, F n TRWD The initial difference of soil temperature calculated by the initial difference calculation function for the nth time.

[0024] Furthermore, the specific calculation expression of the difference degree is as follows:

[0025] CYD n =F n TRQD +F n TRSD +F n TRWD

[0026] Among them, CYD n Indicates the difference of the nth calculation, F n TRQD represents the initial difference of soil strength calculated by the initial difference calculation function for the nth time, F n TRSD The initial difference of soil moisture calculated by the initial difference calculation function for the nth time, F n TRWD The initial difference of soil temperature calculated by the initial difference calculation function for the nth time.

[0027] Furthermore, the calculation process of the safety interval is:

[0028] On the basis of sorting all the difference calculation results, the difference of two quartiles is selected to correspond to the upper and lower limits of the cutter head torque safety range in the historical cutter head startup torque dataset.

[0029] Furthermore, the calculation of the tunnel boring machine cutter head starting torque includes:

[0030] After starting the tunnel boring machine cutterhead, the torque value of the cutterhead is collected in real time after it starts working;

[0031] After the torque size of the cutterhead starts working and enters the safety range, it is judged whether the current cutterhead torque growth trend is stable. If it is stable, the cutterhead torque values ​​at all sampling moments are recorded until the output speed of the current tunneling speed acquisition unit is greater than 0. The judgment of whether the current cutterhead torque growth trend is stable includes: judging whether the cutterhead torque growth rate is greater than the growth rate threshold δ. If it is greater, it is judged to be unstable and re-sampling is waited for the next sampling moment to judge. If it is not greater, it is judged whether it exceeds the upper limit or lower limit of the safety range. If it exceeds the upper limit or lower limit of the safety range, it is judged to be stable.

[0032] The cutter disc torque values ​​recorded at all sampling moments are averaged to output the cutter disc starting torque.

[0033] According to a second aspect of the present invention, a data-driven system for calculating the starting torque of a tunnel boring machine cutterhead is provided, comprising:

[0034] Tunneling environment data acquisition module, tunnel boring machine cutter head torque acquisition module, tunneling data analysis module and tunnel boring machine cutter head torque analysis and calculation module;

[0035] The tunneling environment data acquisition module includes a current tunneling environment data acquisition unit and a historical tunneling environment data acquisition unit. The current environment data acquisition unit is used to collect environmental data of the area currently requiring tunneling, and the historical tunneling environment data acquisition unit is used to collect environmental data during tunneling processes in the past that are completely consistent with the current tunnel boring machine cutterhead parameters. The tunneling environment data acquisition module sends the collected environmental data of the area currently requiring tunneling and the environmental data during tunneling processes in the past that are completely consistent with the current tunnel boring machine cutterhead parameters to the tunneling data analysis module.

[0036] The tunnel boring machine cutter head torque acquisition module is used to collect the historical cutter head starting torque during the tunneling process that is completely consistent with the current tunnel boring machine cutter head parameters, and send the historical cutter head starting torque to the tunneling data analysis module;

[0037] The tunneling data analysis module includes a difference analysis unit and a safety threshold calculation unit. The difference analysis unit calculates differences one by one based on environmental data of the area currently requiring tunneling and environmental data of historical tunneling processes that are completely consistent with the current tunneling machine cutterhead parameters, and sorts all the difference calculation results. The safety threshold calculation unit obtains a safety range of cutterhead torque from the historical cutterhead starting torque collected by the tunneling machine cutterhead torque collection module based on the difference calculated by the difference analysis unit. The tunneling data analysis module sends the obtained safety range of cutterhead torque to the tunneling machine cutterhead torque analysis and calculation module.

[0038] The cutterhead torque analysis and calculation module of the tunnel boring machine includes a current cutterhead torque acquisition unit, a current tunneling speed acquisition unit, and a cutterhead torque calculation unit. The current cutterhead torque acquisition unit is used to collect the torque magnitude of the cutterhead after the tunnel boring machine starts working. The current tunneling speed acquisition unit is used to collect the forward speed of the tunnel boring machine. The cutterhead torque calculation unit calculates the tunnel boring machine cutterhead starting torque based on the forward speed of the tunnel boring machine, the torque magnitude of the cutterhead after the tunnel boring machine starts working, and the safety range of the cutterhead torque.

[0039] Compared with the prior art, the present invention provides a data-driven method for calculating the starting torque of a tunnel boring machine cutterhead, which has the following beneficial effects:

[0040] The present invention calculates differences one by one using environmental data of the area currently requiring excavation and environmental data of historical excavation processes that are completely consistent with the current tunnel boring machine cutterhead parameters. Based on the calculated difference results, the historical cutterhead starting torque is selected as the upper and lower limits of a safety interval. After starting the tunnel boring machine cutterhead, it is determined whether the current cutterhead torque growth trend is stable. If stable, the cutterhead torque values ​​at all sampling moments are recorded until the output speed of the current excavation speed acquisition unit is greater than 0. The cutterhead torque values ​​recorded at all sampling moments are averaged and output as the cutterhead starting torque. Thus, the cutterhead starting torque can be directly obtained, thereby improving the efficiency of calculating the tunnel boring machine cutterhead starting torque. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A flow chart of a method for calculating the starting torque of a tunnel boring machine cutter head based on data driving according to an embodiment of the present invention is shown;

[0042] Figure 2 A block diagram of a data-driven device for calculating the start-up torque of a tunnel boring machine cutterhead is shown according to an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0044] See also Figure 1 , a data-driven method for calculating the starting torque of a tunnel boring machine cutterhead, comprising:

[0045] S101, collecting environmental data of the area currently requiring excavation, environmental data of excavation processes during historical excavation processes that are completely consistent with the current tunnel boring machine cutterhead parameters, and historical cutterhead starting torques during excavation processes during historical excavation processes that are completely consistent with the current tunnel boring machine cutterhead parameters;

[0046] S102, calculating differences one by one based on environmental data of the current tunneling area and environmental data of historical tunneling processes with completely consistent cutterhead parameters with the current tunneling machine, and sorting all the calculated difference results; and obtaining a safe range of cutterhead torque from the historical cutterhead starting torque based on the calculated differences;

[0047] S103, collecting the torque magnitude and forward speed of the tunnel boring machine after the cutterhead starts working after the tunnel boring machine is started;

[0048] S104 , calculating a starting torque of the tunnel boring machine cutter head based on the forward speed of the tunnel boring machine, the torque magnitude of the cutter head after the tunnel boring machine is started and the safety range of the cutter head torque.

[0049] See also Figure 2 , a data-driven tunnel boring machine cutterhead starting torque calculation system, comprising:

[0050] Tunneling environment data acquisition module 201, tunnel boring machine cutter head torque acquisition module 202, tunneling data analysis module 203 and tunnel boring machine cutter head torque analysis and calculation module 204;

[0051] The excavation environment data acquisition module includes a current excavation environment data acquisition unit and a historical excavation environment data acquisition unit. The current environment data acquisition unit is used to collect environmental data of the area where excavation is currently required. The environmental data collected by the excavation environment data acquisition unit include soil strength, soil moisture and underground temperature. Specifically, DQHJ = [TRQD0, TRSD0, TRWD0], where TRQD0 represents the current soil strength, TRSD0 represents the current soil moisture, TRWD0 represents the current soil temperature, and DQHJ represents the current environmental data set. The historical excavation environment data acquisition unit is used to collect environmental data during the excavation process in the historical excavation process that is completely consistent with the current tunnel boring machine cutter head parameters. The historical excavation environment data acquisition unit collects environmental data during the excavation process in the historical excavation process that is completely consistent with the current tunnel boring machine cutter head parameters. Specifically, Among them, LSHJ represents the historical environmental dataset, LSQD1,…,LSQD n ,…,LSQD N They represent the historical soil strength collected at the first time, ..., the historical soil strength collected at the nth time, ..., the historical soil strength collected at the Nth time, LSSD1, ..., LSSD n ,…,LSSD N They represent the historical soil moisture collected at the first time, ..., the historical soil moisture collected at the nth time, ..., the historical soil moisture collected at the Nth time, LSWD1, ..., LSWD n ,…,LSWD N The excavation environment data acquisition module sends the collected environmental data of the current area where excavation is required and the environmental data of the excavation process during the historical excavation process that is completely consistent with the current tunnel boring machine cutter head parameters to the excavation data analysis module.

[0052] The cutter head torque acquisition module of the tunnel boring machine is used to collect the historical cutter head starting torque of the tunnel boring machine in the tunnel boring process that is completely consistent with the current tunnel boring machine cutter head parameters. The specific historical cutter head starting torque collected by the tunnel boring machine cutter head torque acquisition module is LSDP = [LSNJ1,…,LSNJ m ,…,LSNJ M ], where LSNJ1,…,LSNJ m ,…,LSNJ M They represent the historical cutterhead starting torque collected for the first time, ..., the historical cutterhead starting torque collected for the mth time, ..., the historical cutterhead starting torque collected for the Mth time, and LSDP represents the historical cutterhead starting torque dataset. At the same time, the historical cutterhead starting torque is sent to the tunneling data analysis module.

[0053] The tunneling data analysis module includes a difference analysis unit and a safety threshold calculation unit. The difference analysis unit calculates differences one by one based on the environmental data of the current tunneling area and the environmental data of the tunneling process with the same parameters as the current tunnel boring machine cutterhead. It then sorts all the difference calculation results. The specific steps are as follows:

[0054] Step A1: The environmental data of the current area to be excavated and the environmental data of the historical excavation process that is completely consistent with the current tunnel boring machine cutterhead parameters are respectively substituted into the initial difference calculation function to calculate the initial difference. The expression of the initial difference calculation function in step A1 is as follows:

[0055]

[0056] Among them, F n represents the initial difference calculation function of the nth calculation, A0 represents the index of TRQD0, TRSD0 and TRWD0, TRQD0 represents the current soil strength, TRSD0 represents the current soil moisture, TRWD0 represents the current soil temperature, B n Represents LSQD n LSSD n and LSWD n Index, LSQD n Indicates the historical soil strength collected at the nth time, LSSD n Indicates the historical soil moisture collected at the nth time, LSWD n represents the historical soil temperature collected at the nth time, |*| represents the calculation of the absolute value, A0 and B n The substitution relationship is a one-to-one correspondence. If A0 is substituted into TRQD0, then B n Substitute into LSQD nThe initial difference of the nth calculation includes three data generated by substituting different indexes in each calculation, which are F n TRQD 、F n TRSD and F n TRWD , where F n TRQD represents the initial difference of soil strength calculated by the initial difference calculation function for the nth time, F n TRSD The initial difference of soil moisture calculated by the initial difference calculation function for the nth time, F n TRWD The initial difference of soil temperature calculated by the initial difference calculation function for the nth time;

[0057] Step A2: Calculate the difference based on the initial difference obtained in step A1. The specific calculation expression of the difference is as follows:

[0058] CYD n =F n TRQD +F n TRSD +F n TRWD

[0059] Among them, CYD n Indicates the difference of the nth calculation, F n TRQD represents the initial difference of soil strength calculated by the initial difference calculation function for the nth time, F n TRSD The initial difference of soil moisture calculated by the initial difference calculation function for the nth time, F n TRWD The initial difference of soil temperature calculated by the initial difference calculation function for the nth time;

[0060] The safety threshold calculation unit derives a safety interval for the cutterhead torque from the historical cutterhead startup torque data collected by the tunnel boring machine cutterhead torque acquisition module based on the difference calculated by the difference analysis unit. The safety interval refers to the upper and lower limits of the cutterhead torque safety interval in the historical cutterhead startup torque dataset (LSDP) corresponding to the difference between two quartiles, after sorting all the difference calculation results. This ensures the overall interval is different. The tunneling data analysis module sends the obtained cutterhead torque safety interval to the tunnel boring machine cutterhead torque analysis and calculation module.

[0061] The cutterhead torque analysis and calculation module of the tunnel boring machine includes a current cutterhead torque acquisition unit, a current tunneling speed acquisition unit, and a cutterhead torque calculation unit. The current cutterhead torque acquisition unit is used to record the torque magnitude after the cutterhead starts working after the tunnel boring machine is started. The current tunneling speed acquisition unit is used to collect the forward speed of the tunnel boring machine. The cutterhead torque calculation unit calculates the tunnel boring machine cutterhead starting torque based on the forward speed of the tunnel boring machine, the torque magnitude after the cutterhead starts working after the tunnel boring machine is started, and the safety range of the cutterhead torque. The specific steps for the tunnel boring machine cutterhead torque analysis and calculation module to calculate the tunnel boring machine cutterhead starting torque are as follows:

[0062] Step B1: After the cutterhead of the tunnel boring machine is started, the torque magnitude of the cutterhead after the cutterhead starts working is recorded in real time by the current cutterhead torque acquisition unit;

[0063] Step B2: After the torque of the cutter head starts working and enters the safe range, execute step B3;

[0064] Step B3: Determine whether the current cutterhead torque growth trend is stable. If it is stable, record the cutterhead torque values ​​at all sampling moments until the output speed of the current tunneling speed acquisition unit is greater than 0.

[0065] Step B4: Calculate the average of the cutter head torque values ​​recorded at all sampling moments and output the cutter head starting torque T. The specific expression is as follows:

[0066]

[0067] Among them, T x It represents the cutter head torque of the xth sampled record, and X represents the total number of records.

[0068] While 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 these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A data-driven method for calculating the starting torque of a tunnel boring machine cutterhead, characterized in that: include: Collect environmental data of the area where excavation is currently required, environmental data of the excavation process during the historical excavation process that is completely consistent with the current tunnel boring machine cutter head parameters, and historical cutter head starting torque during the excavation process during the historical excavation process that is completely consistent with the current tunnel boring machine cutter head parameters; Based on the environmental data of the area where excavation is currently required and the environmental data of the excavation process in the past that is completely consistent with the current TBM cutterhead parameters, the differences are calculated one by one, and all the difference calculation results are sorted; based on the calculated differences, the safety range of the cutterhead torque is obtained from the historical cutterhead starting torque; Collect the torque of the cutterhead and the forward speed of the tunnel boring machine after the tunnel boring machine is started; The starting torque of the cutter head of the tunnel boring machine is calculated based on the forward speed of the tunnel boring machine, the torque size after the cutter head starts working after the tunnel boring machine is started, and the safety range of the cutter head torque.

2. The method for calculating the starting torque of a tunnel boring machine cutter head based on data drive according to claim 1, characterized in that: The environmental data of the area currently requiring excavation includes soil strength, soil moisture and underground temperature, and the specific expression thereof is: DQHJ=[TRQD0,TRSD0,TRWD0] Among them, TRQD0 represents the current soil strength, TRSD0 represents the current soil moisture, TRWD0 represents the current soil temperature, and DQHJ represents the current environmental data set.

3. The method for calculating the starting torque of a tunnel boring machine cutter head based on data drive according to claim 2, characterized in that: The specific expression of the environmental data in the excavation process during the historical excavation process that is completely consistent with the current tunnel boring machine cutter head parameters is as follows: Among them, LSHJ represents the historical environmental dataset, LSQD1,…,LSQD n ,…,LSQD N They represent the historical soil strength collected for the first time, …, the historical soil strength collected for the nth time, …, the historical soil strength collected for the Nth time, LSSD1, …, LSSD n ,…,LSSD N They represent the historical soil moisture collected for the first time, ..., the historical soil moisture collected for the nth time, ..., the historical soil moisture collected for the Nth time, LSWD1, ..., LSWD n ,…,LSWD N They respectively represent the historical soil temperature collected for the 1st time, …, the historical soil temperature collected for the nth time, …, the historical soil temperature collected for the Nth time.

4. The method for calculating the starting torque of a tunnel boring machine cutter head based on data drive according to claim 3, characterized in that: The specific expression of the historical cutter disc starting torque is as follows: LSDP=[LSNJ1,…,LSNJ m ,…,LSNJ M ] Among them, LSNJ1,…,LSNJ m ,…,LSNJ M They respectively represent the historical cutter head starting torque collected for the 1st time, …, the historical cutter head starting torque collected for the mth time, …, the historical cutter head starting torque collected for the Mth time, and LSDP represents the historical cutter head starting torque dataset.

5. The method for calculating the starting torque of a tunnel boring machine cutter head based on data drive according to claim 4, characterized in that: The difference degree is calculated one by one based on the environmental data of the area where excavation is currently required and the environmental data of the excavation process in the historical excavation process that is completely consistent with the current tunnel boring machine cutter head parameters, including: The environmental data of the area currently requiring excavation and the environmental data of the excavation process in the past excavation process that is completely consistent with the current tunnel boring machine cutter head parameters are respectively substituted into the initial difference degree calculation function to calculate the initial difference degree; The difference is calculated according to the initial difference.

6. The method for calculating the starting torque of a tunnel boring machine cutter head based on data drive according to claim 5, characterized in that: The expression of the initial difference calculation function is as follows: Among them, F n represents the initial difference calculation function of the nth calculation, A0 represents the index of TRQD0, TRSD0 and TRWD0, TRQD0 represents the current soil strength, TRSD0 represents the current soil moisture, TRWD0 represents the current soil temperature, B n Represents LSQD n LSSD n and LSWD n Index, LSQD n Indicates the historical soil strength collected at the nth time, LSSD n Indicates the historical soil moisture collected at the nth time, LSWD n represents the historical soil temperature collected for the nth time, |*| represents the calculation of the absolute value, and the initial difference degree of the nth calculation includes three data generated by substituting different indexes for each calculation, respectively F n TRQD 、F n TRSD and F n TRWD , where F n TRQD represents the initial difference of soil strength calculated by the initial difference calculation function for the nth time, F n TRSD The initial difference of soil moisture calculated by the initial difference calculation function for the nth time, F n TRWD The initial difference of soil temperature calculated by the initial difference calculation function for the nth time.

7. The method for calculating the starting torque of a tunnel boring machine cutter head based on data drive according to claim 6, characterized in that: The specific calculation expression of the difference degree is as follows: CYD n =F n TRQD +F n TRSD +F n TRWD Among them, CYD n Indicates the difference of the nth calculation, F n TRQD represents the initial difference of soil strength calculated by the initial difference calculation function for the nth time, F n TRSD The initial difference of soil moisture calculated by the initial difference calculation function for the nth time, F n TRWD The initial difference of soil temperature calculated by the initial difference calculation function for the nth time.

8. The method for calculating the starting torque of a tunnel boring machine cutter head based on data drive according to claim 7, characterized in that: The calculation process of the safety interval is: On the basis of sorting all the difference calculation results, the difference of two quartiles is selected to correspond to the upper and lower limits of the cutter head torque safety range in the historical cutter head starting torque data set.

9. The method for calculating the starting torque of a tunnel boring machine cutter head based on data drive according to claim 8, characterized in that: The calculation to obtain the starting torque of the tunnel boring machine cutterhead includes: After starting the tunnel boring machine cutterhead, the torque of the cutterhead is collected in real time after it starts working; After the torque size after the cutter head starts working enters the safety interval, it is judged whether the current cutter head torque growth trend is stable. If it is stable, the cutter head torque values ​​at all sampling moments are recorded until the output speed of the current tunneling speed acquisition unit is greater than 0; the judgment of whether the current cutter head torque growth trend is stable includes: judging whether the cutter head torque growth rate is greater than the growth rate threshold δ, if it is greater, it is judged to be unstable, and re-sampling is waited for the next sampling moment to judge, if it is not greater than, it is judged whether it exceeds the upper limit or lower limit of the safety interval, and if it exceeds the upper limit or lower limit of the safety interval, it is judged to be stable; The cutter disc torque values ​​recorded at all sampling moments are averaged to output the cutter disc starting torque.

10. A data-driven tunnel boring machine cutterhead starting torque calculation system, characterized in that: include: Excavation environment data acquisition module, tunnel boring machine cutter head torque acquisition module, excavation data analysis module and tunnel boring machine cutter head torque analysis and calculation module; The excavation environment data acquisition module includes a current excavation environment data acquisition unit and a historical excavation environment data acquisition unit, wherein the current environment data acquisition unit is used to collect environment data of the area currently required to be excavated, and the historical excavation environment data acquisition unit is used to collect environment data of the excavation process in the historical excavation process that is completely consistent with the current tunnel boring machine cutter head parameters, and the excavation environment data acquisition module sends the collected environment data of the area currently required to be excavated and the environment data of the excavation process in the historical excavation process that is completely consistent with the current tunnel boring machine cutter head parameters to the excavation data analysis module; The tunnel boring machine cutter head torque acquisition module is used to collect the historical cutter head starting torque during the tunneling process that is completely consistent with the current tunnel boring machine cutter head parameters, and send the historical cutter head starting torque to the tunneling data analysis module; The excavation data analysis module includes a difference analysis unit and a safety threshold calculation unit. The difference analysis unit calculates the difference one by one based on the environmental data of the area currently requiring excavation and the environmental data of the excavation process in the historical excavation process that is completely consistent with the current tunnel boring machine cutter head parameters, and sorts all the difference calculation results. The safety threshold calculation unit obtains the safety interval of the cutter head torque from the historical cutter head starting torque collected by the tunnel boring machine cutter head torque collection module based on the difference calculated in the difference analysis unit. The excavation data analysis module sends the obtained safety interval of the cutter head torque to the tunnel boring machine cutter head torque analysis and calculation module. The cutter head torque analysis and calculation module of the tunnel boring machine includes a current cutter head torque acquisition unit, a current excavation speed acquisition unit and a cutter head torque calculation unit. The current cutter head torque acquisition unit is used to collect the torque size after the cutter head starts working after the tunnel boring machine is started. The current excavation speed acquisition unit is used to collect the forward speed of the tunnel boring machine. The cutter head torque calculation unit calculates the tunnel boring machine cutter head starting torque based on the forward speed of the tunnel boring machine, the torque size after the cutter head starts working after the tunnel boring machine is started, and the safety range of the cutter head torque.

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