A shield machine excavation posture adjustment method and system under multi-sensor monitoring

Abstract

The present invention discloses a method and system for adjusting the tunneling posture of a shield machine under multi-sensor monitoring, which relates to the field of shield machine control technology, interactive engineering planning and identification of the tunnel centerline, determination of the tunneling reference axis and triangular grid division of the tunnel profile, setting the posture position relationship of the shield machine, training the posture adjustment module, collecting measurement data, measuring the shield posture misalignment and making adjustment decisions for each shield single ring during the tunneling operation of the shield machine, determining the posture adjustment strategy and responding to the control center of the shield machine for tunneling posture adjustment control. It is used to solve the technical problems existing in the prior art that the decision-making considerations are not comprehensive enough and the technical support is insufficient, and the immediacy and adaptability of the tunneling posture adjustment cannot be guaranteed, resulting in insufficient accuracy and reliability of the adjustment strategy. High-precision real-time control of the shield machine posture is achieved, effectively improving construction safety and efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of shield machine control, and in particular to a method and system for adjusting the tunneling posture of a shield machine under multi-sensor monitoring. Background Art

[0002] When a shield machine is excavating under complex geological conditions, the accuracy and responsiveness of its attitude adjustment directly affect the construction efficiency and quality of tunnel engineering. In traditional technologies, the attitude adjustment of shield machines mostly relies on manual monitoring and single sensor equipment, which makes it difficult to obtain the tunnel environment and equipment operating status in real time and accurately, resulting in problems such as deviation, machine jamming or deformation of the construction surface during excavation.

[0003] In the prior art, some methods assist posture adjustment by introducing three-dimensional modeling and sensor technology, but most of them are based on single-point measurement data, and the posture adjustment effect is limited.

[0004] In summary, the existing technology has certain limitations in the adjustment of the tunneling posture of the shield machine. The decision-making considerations are not comprehensive enough and the technical support is insufficient. It is impossible to guarantee the immediacy and adaptability of the tunneling posture adjustment, resulting in insufficient accuracy and reliability of the adjustment strategy. Summary of the invention

[0005] The present application provides a method and system for adjusting the tunneling posture of a shield machine under multi-sensor monitoring, which is used to solve the technical problems existing in the prior art, such as insufficient comprehensive decision-making considerations and insufficient technical support, inability to ensure the immediacy and adaptability of tunneling posture adjustment, resulting in insufficient accuracy and reliability of adjustment strategies.

[0006] In view of the above problems, the present application provides a method and system for adjusting the tunneling posture of a shield machine under multi-sensor monitoring.

[0007] In the first aspect, the present application provides a method for adjusting the excavation posture of a shield machine under multi-sensor monitoring, the method comprising: interactive engineering planning and identifying the tunnel centerline, determining the excavation reference axis, wherein the excavation reference axis is marked with a Gaussian curvature; determining the tunnel profile based on the excavation reference axis and performing triangular grid division to construct a spatial grid map; setting the posture position relationship of the shield machine, and training a posture adjustment module in combination with the spatial grid map, wherein the posture adjustment module includes an adjustment decision unit and an optimization decision unit; based on a sensor measurement device, obtaining real-time excavation measurement data, wherein the sensor measurement device includes a positioning device and a radar device, and the radar device is installed on the shield cutter head; transmitting the measurement data back to the posture adjustment module, performing shield posture misalignment measurement and adjustment decision for each shield single ring during the shield machine excavation operation, and determining a posture adjustment strategy; the posture adjustment strategy is responded to the control center of the shield machine to execute posture adjustment control of the shield machine excavation.

[0008] In the second aspect, the present application provides a shield machine excavation posture adjustment system under multi-sensor monitoring, the system comprising: an axis determination unit, the axis determination unit is used for interactive engineering planning and identifying the tunnel centerline, and determining the excavation reference axis, wherein the excavation reference axis is marked with a Gaussian curvature; a grid division unit, the grid division unit is used to determine the tunnel profile based on the excavation reference axis and perform triangular grid division to construct a spatial grid map; a module training unit, the module training unit is used to set the posture position relationship of the shield machine, and train the posture adjustment module in combination with the spatial grid map, wherein the posture adjustment module includes An adjustment decision unit and an optimization decision unit; an excavation measurement unit, the excavation measurement unit is used to obtain real-time excavation measurement data based on a sensor measurement device, wherein the sensor measurement device includes a positioning device and a radar device, and the radar device is installed on the shield cutter head; an adjustment decision unit, the adjustment decision unit is used to feed back the measurement data to the posture adjustment module, perform shield posture misalignment measurement and adjustment decision for each single shield ring during the shield machine excavation operation, and determine the posture adjustment strategy; an adjustment management unit, the adjustment management unit is used to respond to the posture adjustment strategy to the control center of the shield machine, and execute posture adjustment control of the shield machine excavation.

[0009] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0010] The embodiment of the present application provides a method for adjusting the attitude of a shield machine under multi-sensor monitoring, interactive engineering planning and identifying the tunnel centerline, determining the excavation reference axis, determining the tunnel profile based on the excavation reference axis and performing triangular grid division, and constructing a spatial grid map; setting the attitude position relationship of the shield machine, combining the spatial grid map, training the attitude adjustment module, the attitude adjustment module includes an adjustment decision unit and an optimization decision unit; based on the sensor measurement equipment, obtaining the measurement data of real-time excavation, wherein the sensor measurement equipment includes a positioning device and a radar device, and the radar device is installed on the shield cutter head; returning the measurement data to the attitude adjustment module, measuring the shield attitude misalignment of each shield single ring during the shield machine excavation operation and making adjustment decisions, and determining the attitude adjustment strategy; the attitude adjustment strategy responds to the control center of the shield machine to execute the attitude adjustment control of the shield machine excavation. It is used to solve the technical problems that the decision-making considerations in the prior art are not comprehensive enough and the technical support is insufficient, and the immediacy and adaptability of the excavation attitude adjustment cannot be guaranteed, resulting in insufficient accuracy and reliability of the adjustment strategy. High-precision real-time control of the shield machine's posture is achieved, effectively improving construction safety and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1A schematic diagram of a method for adjusting the tunneling posture of a shield machine under multi-sensor monitoring is provided for this application;

[0012] Figure 2 A schematic diagram of the process of obtaining measurement data of real-time tunneling in a tunneling posture adjustment method of a shield machine under multi-sensor monitoring is provided for this application;

[0013] Figure 3 A schematic structural diagram of a shield machine tunneling posture adjustment system under multi-sensor monitoring is provided for this application.

[0014] Explanation of the reference numerals: axis determination unit 11 , grid division unit 12 , module training unit 13 , excavation measurement unit 14 , adjustment decision unit 15 , adjustment management unit 16 . DETAILED DESCRIPTION

[0015] This application provides a method and system for adjusting the attitude of a shield machine under multi-sensor monitoring, interactive engineering planning and identifying the center line of the tunnel, determining the reference axis of the tunneling and dividing the tunnel profile into triangular grids, setting the attitude position relationship of the shield machine, training the attitude adjustment module, collecting measurement data, measuring the shield attitude misalignment and making adjustment decisions for each shield ring during the tunneling operation of the shield machine, determining the attitude adjustment strategy and responding to the control center of the shield machine for tunneling attitude adjustment control. It is used to solve the technical problems existing in the prior art that the decision-making considerations are not comprehensive enough and the technical support is insufficient, and the immediacy and adaptability of the tunneling attitude adjustment cannot be guaranteed, resulting in insufficient accuracy and reliability of the adjustment strategy.

[0016] Embodiment 1: Figure 1 As shown, the present application provides a method for adjusting the tunneling posture of a shield machine under multi-sensor monitoring, the method comprising:

[0017] S1: Interactive engineering planning and identification of the tunnel centerline, determining the excavation reference axis, wherein the excavation reference axis is marked with a Gaussian curvature.

[0018] In the embodiment of the present application, the engineering plan is a construction plan determined based on the engineering design objectives and construction environment conditions. The tunnel centerline refers to the geometric center trajectory distributed along the longitudinal direction of the tunnel, which describes the overall shape and direction of the tunnel in two-dimensional or three-dimensional space. The tunnel centerline can be identified and determined based on the engineering plan, and the tunnel centerline is used as a reference for the tunneling posture of the shield machine.

[0019] Furthermore, the excavation reference axis is the core reference line used to guide the excavation direction and posture during the construction of the shield machine. It is basically consistent with the tunnel centerline but is optimized and adjusted to meet the construction needs. Specifically, the optimization adjustment of the excavation reference axis is achieved by measuring the Gaussian curvature of the tunnel centerline. Gaussian curvature is a geometric property used to characterize the degree of curvature of a spatial curve or surface, and its calculation method is the product of the principal curvatures of the curve at a given point. By calculating the Gaussian curvature of the tunnel centerline point by point, the degree of curvature of the line and its changing law can be identified, thereby identifying the key posture nodes according to the degree of curvature change.

[0020] In actual implementation, the excavation reference axis with Gaussian curvature is visualized with linear or curved features. It can clearly reflect the curved areas, straight segments and key bending points in the tunnel design path, and provide clear directional guidance for the subsequent shield machine posture adjustment and precise excavation. For example, on the reference axis with high curvature area, the turning and tilting strategies of the shield machine can be planned in advance to ensure the consistency of the excavation path with the design path.

[0021] At the same time, the points where the curvature changes greatly, that is, the posture of the shield machine changes greatly, are more likely to have posture deviations, and they are used as the key posture adjustment positions. Adjustment decisions are made based on key posture nodes to reduce the amount of invalid calculations while ensuring the shield machine's excavation posture.

[0022] Furthermore, the step S1 of determining the excavation reference axis in the present application includes:

[0023] Identify the tunnel centerline, measure Gaussian curvature for each centerline node, and locate key posture nodes, wherein the key posture nodes are located on the tunnel centerline, and the distribution density is positively correlated with the curvature variable; determine the curvature trend vector for the key posture node, wherein the curvature trend vector includes a directional feature and a vector feature; map the key posture node and the curvature trend vector, and mark the tunnel centerline as the excavation reference axis.

[0024] Specifically, through digital engineering planning, the geometric information of the tunnel centerline is extracted. The tunnel centerline is the core feature of the tunnel design path, which represents the spatial distribution trajectory of all nodes in the longitudinal direction of the tunnel. The Gaussian curvature of each centerline node is calculated by mathematical methods. The Gaussian curvature represents the curvature of the space curve, and its calculation formula is the product of the principal curvatures. In this process, the Gaussian curvature value of each node is used to identify the curvature characteristics of each position of the tunnel centerline.

[0025] Furthermore, based on the change of Gaussian curvature value, nodes with significant curvature changes are selected as key posture nodes. Their distribution density is positively correlated with the curvature variable, that is, in high curvature areas, the distribution of key posture nodes is denser. In this way, the areas that need to be focused on in tunneling posture adjustment can be accurately captured.

[0026] For the key posture node, a curvature trend vector is further determined. The curvature trend vector is a quantitative parameter that describes the curvature change trend, which includes directional features and vector features. The directional feature characterizes the directionality of the curvature change, such as the direction of the curvature increase when transitioning from a straight segment to a curved segment; the vector feature characterizes the magnitude of the change, including the rate and amplitude of the curvature change. By calculating the curvature trend vector of each key posture node, the curvature change trend of the tunnel centerline can be accurately described.

[0027] Finally, the key attitude nodes are mapped to their corresponding curvature trend vectors, the tunnel centerline is marked, and determined as the excavation reference axis, that is, a reference axis with trajectory characteristics and trend information is formed. The excavation reference axis serves as a reference path for shield machine excavation and can intuitively reflect the complexity of the path. For example, in construction design, the marked reference axis will clearly show characteristic areas such as sharp turns and long straight sections with slow curvature changes, thereby providing accurate guidance for subsequent shield attitude adjustments.

[0028] S2: Determine the tunnel profile based on the excavation reference axis and perform triangulated grid division to construct a spatial grid map.

[0029] In the embodiment of the present application, firstly, a tunnel profile is defined based on the excavation reference axis. The tunnel profile is a two-dimensional cross section perpendicular to the excavation reference axis, which is specifically determined by the tunnel design characteristics.

[0030] Furthermore, the tunnel profile is divided into a series of triangular regions by triangulating the tunnel profile, so that the complex surface morphology can be represented by simple vertices and edges, which assists in posture adjustment analysis. In actual implementation, the grid division can adopt Delaunay triangulation, which can ensure the rationality of the angle distribution of the triangle and minimize the generation of overly sharp or flat triangles, thereby improving the stability and accuracy of grid analysis calculation.

[0031] Preferably, the distribution area of ​​the main line of the excavation benchmark, that is, the key area, can be divided in a refined manner; the division accuracy of the remaining profile areas can be reduced, such as uniform triangulation based on a preset size.

[0032] After all sections have completed the triangulated grid division, a spatial grid map is generated. The spatial grid map can characterize the spatial form of the tunnel and the surrounding environment characteristics, and each grid unit has a clear geometric position and adjacency relationship. For example, the vertex coordinates of a grid unit can be used to calculate the deviation between the current position of the shield machine and the excavation path, and the adjacent relationship of the grid can guide the continuity constraint in the attitude adjustment of the shield machine. By constructing a spatial grid map, the present invention realizes a three-dimensional refined expression of the tunnel environment, and provides important data support for the attitude adjustment and construction management of the shield machine during excavation.

[0033] S3: Setting the posture position relationship of the shield machine, combining the spatial grid map, and training a posture adjustment module, wherein the posture adjustment module includes an adjustment decision unit and an optimization decision unit.

[0034] Specifically, the attitude and position relationship of the shield machine describes the geometric relationship of the shield machine relative to the excavation reference axis in three-dimensional space, which includes two parts: displacement attitude relationship and angle attitude relationship. The displacement attitude relationship characterizes the spatial position offset of the shield machine, such as the horizontal displacement of the shield head, the vertical displacement of the shield head, and the relative position between the shield tail and the reference axis. The angle attitude relationship is used to describe the rotation state of the shield machine in three-dimensional space, including the horizontal angle, the pitch angle and the rotation angle, which respectively reflect the projection angle of the center axis of the shield machine on the horizontal plane, the angle with the horizontal plane, and the rotation angle around its own center axis. These attitude parameters are the core basis for the attitude adjustment of the shield machine, and can comprehensively reflect the current operating state of the shield machine and its deviation from the designed path.

[0035] Combined with the above-mentioned attitude and position relationship, the spatial information of the shield machine is mapped to the spatial grid map. The spatial grid map provides a three-dimensional geometric description of the shield machine's excavation path, and its grid cells contain precise geometric position and adjacency information. By associating the attitude and position parameters of the shield machine with the grid map, the relative relationship between the shield machine and the excavation path can be intuitively displayed, and data support can be provided for subsequent attitude adjustment strategies.

[0036] After completing the setting and mapping of the attitude position relationship, the attitude adjustment module is trained. The attitude adjustment module includes two core components: the adjustment decision unit and the optimization decision unit. The adjustment decision unit is used to detect and correct the attitude deviation of the shield machine in real time during operation. Based on the spatial grid map and the attitude position relationship, it analyzes the direction and amplitude of the shield machine's attitude deviation and generates a preliminary adjustment decision. For example, when the pitch angle of the shield machine exceeds the design value, the adjustment decision unit can generate an attitude correction command based on the geometric relationship of the spatial grid to adjust the excavation direction.

[0037] However, since the decision-making basis of the adjustment decision unit is a linear relationship, the analysis and decision-making for some nonlinear factors are made under linear standards, which makes the determined strategy have certain errors. Further optimization and adjustment should be carried out for these nonlinear factors to ensure the accuracy of the strategy.

[0038] That is, the optimization decision unit further optimizes the output of the adjustment decision unit. The optimization decision unit takes nonlinear parameter optimization as the core, and adjusts the parameter configuration of the adjustment strategy by taking into account the complex geological conditions and nonlinear influencing factors in the process of shield machine posture adjustment. Its goal is to ensure that the adjustment strategy can not only correct the posture deviation, but also minimize the construction energy consumption and equipment wear. For example, during the excavation of soft soil layers, the optimization decision unit can adjust the posture adjustment amplitude of the shield machine according to the characteristics of the formation to reduce the disturbance to the surrounding formations.

[0039] Exemplarily, supervised training is performed until convergence in a sample training manner, with the adjustment decision unit as the first adjustment stage and the optimization decision unit as the second adjustment stage. The posture adjustment module can achieve high-precision control of the shield machine posture based on multi-source data, providing a strong guarantee for the safety and efficiency of tunnel construction.

[0040] Further, step S3 of the present application includes: setting the attitude position relationship of the shield machine, wherein the attitude position relationship includes a displacement attitude relationship and an angle attitude relationship;

[0041] Among them, the angle posture relationship includes the horizontal angle posture relationship, the pitch angle posture relationship and the rotation angle posture relationship. The horizontal angle is the angle between the projection of the central axis of the shield machine in the excavation direction on the horizontal plane and the excavation reference axis. The pitch angle is the angle between the central axis of the shield machine and the horizontal plane. The rotation angle is the angle of rotation of the shield machine around its own central axis. The displacement posture relationship includes the shield head displacement relationship and the shield tail displacement relationship. The shield head displacement includes the shield head vertical displacement and the shield head horizontal displacement.

[0042] In the embodiment of the present application, first, the components of the attitude position relationship are defined, including the displacement attitude relationship and the angle attitude relationship. The attitude position relationship is a comprehensive parameter set that describes the spatial state of the shield machine relative to the excavation reference axis in space and its changes. Its core is to simultaneously characterize the position offset and angle offset of the shield machine, convert the excavation attitude into a position relationship for analysis, so as to fully control the operating state of the shield machine.

[0043] Among them, the angle attitude relationship includes a horizontal angle attitude relationship, a pitch angle attitude relationship and a rotation angle attitude relationship. The horizontal angle attitude relationship refers to the angle between the projection of the central axis of the shield machine on the horizontal plane and the excavation reference axis, which is mainly used to reflect the degree of deflection of the shield machine in the horizontal plane. For example, when the shield machine is working on a curve, its horizontal angle attitude relationship needs to be adjusted in real time to maintain consistency with the reference axis. The pitch angle attitude relationship describes the angle between the central axis of the shield machine and the horizontal plane, which is used to characterize the inclination state of the shield machine in the vertical direction. For example, when the excavation path is uphill or downhill, the pitch angle attitude relationship will change dynamically to ensure that the shield machine excavates according to the designed slope. The rotation angle attitude relationship refers to the rotation angle of the shield machine around its own central axis, which is used to describe the rotation state of the shield machine on its own axis. For example, when excavating in a soft soil layer, the deviation of the rotation angle attitude relationship may cause uneven cutting surface and affect the construction quality.

[0044] Among them, the displacement posture relationship further includes the shield head displacement relationship and the shield tail displacement relationship. The shield head displacement relationship refers to the spatial displacement of the shield head, including the horizontal displacement of the shield head and the vertical displacement of the shield head. The horizontal displacement of the shield head describes the displacement of the shield head in the horizontal plane. For example, when the stratum is uneven, the shield head may deviate to the left or right; the vertical displacement of the shield head describes the displacement of the shield head in the vertical direction. For example, when the geology is uneven, the shield head may be displaced up and down. The shield tail displacement relationship refers to the offset state of the tail of the shield machine relative to the reference axis, which is mainly used to ensure the stability of the rear section of the shield machine and the continuity of construction. For example, when the shield tail is offset too much, it may affect the assembly accuracy of subsequent segments.

[0045] By comprehensively setting the above-mentioned angle attitude relationship and displacement attitude relationship, the operating status of the shield machine in three-dimensional space can be fully described, providing accurate parameter basis for subsequent attitude adjustment and tunneling control. For example, under complex geological conditions, real-time monitoring and adjustment of the angle and displacement attitude relationship of the shield machine can effectively avoid tunneling deviation and improve the accuracy and efficiency of construction.

[0046] Further, the training posture adjustment module, step S3 of this application includes:

[0047] Obtain influencing factors affecting the tunneling posture of the shield machine, and dig out the relative control relationship between the influencing factors and the tunneling posture parameters, wherein the influencing factors include geological environment factors and tunneling machine parameter control factors; traverse the relative control relationship to determine the linear control relationship, which includes the approximate linearity of linear parameters and nonlinear parameters; supervise the training of the adjustment decision unit based on the linear control relationship, combined with the posture position relationship and the spatial grid map; supervise the training of the optimization decision unit with the goal of combined optimization of nonlinear parameters.

[0048] In the embodiment of the present application, the main factors affecting the tunneling posture of the shield machine can be divided into geological environmental factors and tunneling machine parameter control factors. Geological environmental factors include soil layer type, soil hardness, groundwater level, rock distribution, etc. These factors have a direct impact on the tunneling stability and posture control of the shield machine. The tunneling machine parameter control factors refer to the mechanical parameters and control settings of the shield machine, such as the thrust, speed, cutter head angle, etc. of the shield machine, which are closely related to the motion state and posture changes of the shield machine.

[0049] Next, by analyzing the influencing factors, the relative control relationship between them and the tunneling attitude parameters is explored. The tunneling attitude parameters mainly include the horizontal angle, pitch angle, rotation angle, etc. of the shield machine, which reflect the attitude changes of the shield machine in three-dimensional space. For example, by calling the historical operation records of the tunneling machine and performing statistical analysis, the degree and direction of the influence of each influencing factor on the attitude parameters can be identified. For example, the hardness of the soil layer has a significant impact on the thrust demand and rotation angle changes of the shield machine; and the change of the groundwater level may affect the vertical attitude adjustment of the shield machine. By constructing these control relationships, a theoretical basis can be provided for subsequent attitude adjustments.

[0050] On this basis, the relative control relationship is traversed. Since the relative control relationship is determined based on linear elements and nonlinear elements, for linear elements, it can be directly determined based on the control relationship between its influencing factors and attitude parameters. For nonlinear elements, in order to facilitate analysis, its approximate linear relationship is determined. To determine the linear equation approximate description of the control relationship between each influencing factor and attitude parameters based on the relative control relationship. This step aims to achieve a rapid response to the attitude adjustment of the shield machine by simplifying the model. Among them, for the approximate linearity of nonlinear parameters, for example, through mathematical tools such as the least squares method, the optimal linear parameter combination is found, and then the complex nonlinear problem is converted into a linear problem that can be handled.

[0051] Furthermore, by using sample training, the control relationship is combined with the environmental information in the spatial grid map by using the previously acquired linear control relationship and the attitude data of the shield machine, so as to train the adjustment decision unit so that it can make accurate attitude adjustment decisions based on real-time data. For example, if it is detected that the pitch angle of the shield machine is too large, the adjustment decision unit will generate corresponding adjustment instructions based on the geological information in the spatial grid map and the current motion state of the shield machine.

[0052] Finally, since the nonlinear influencing factors in the above analysis are decided in a linear state, the determined adjustment strategy has certain errors. These nonlinear influencing factors are further adjusted and optimized to improve the accuracy of the decision. Specifically, the optimization of the nonlinear parameters is taken as the goal, and the optimization decision unit is supervised and trained. This step uses the optimization algorithm to find the best combination of nonlinear control parameters, thereby improving the accuracy and stability of the adjustment decision. Through step-by-step iteration and optimization, for example, a single optimization step is set to perform multiple rounds of analysis based on adjustment optimization and effect evaluation to determine the best combination strategy for the nonlinear part. The optimization decision unit can adjust the nonlinear control parameters in a complex geological environment, optimize the tunneling path and posture of the shield machine, and ensure the stable operation of the shield machine under complex conditions.

[0053] Through the above steps, the present invention realizes precise posture adjustment based on multiple influencing factors, and through supervised learning and optimized decision-making, the posture control of the shield machine during the excavation process is more precise, thereby improving construction efficiency and safety.

[0054] S4: Based on the sensing and measuring equipment, real-time excavation measurement data is obtained, wherein the sensing and measuring equipment includes a positioning device and a radar device, and the radar device is installed on the shield cutter head.

[0055] First, use sensor measurement equipment to obtain real-time measurement data during the tunneling process of the shield machine. These data are real-time basic information for the attitude adjustment of the shield machine. Sensor measurement equipment includes two types of positioning equipment and radar equipment. The two complement each other and jointly complete the monitoring and data collection of the tunneling status of the shield machine.

[0056] The positioning equipment is used to determine the precise position of the shield machine and its offset relative to the designed path of the tunnel. Through the positioning sensors installed on the shield machine, such as total stations, laser rangefinders, etc., the positioning equipment can monitor the displacement information of the shield machine in real time, including the forward direction, vertical displacement and lateral displacement of the shield machine. These data provide accurate position information basis for subsequent posture adjustment.

[0057] The radar equipment is used in conjunction with the positioning equipment. The radar equipment is installed on the shield cutterhead and is mainly used to detect the characteristics and changes of the stratum in front of the shield machine. The radar equipment emits electromagnetic waves and judges the structure, density and location of potential obstacles of the soil layer in front based on the reflected waveform data. These radar data help to timely detect the unevenness of the stratum, obstacles or other potential risks, thereby providing important reference information for the attitude adjustment of the shield machine. For example, when the radar detects that the hardness of the soil layer in front is high, an alarm can be issued in advance, and the cutting parameters of the shield machine can be adjusted according to the characteristics of the stratum.

[0058] The radar equipment is installed on the shield cutterhead, so that the radar can directly contact the geological environment in front of the tunneling face and transmit data in real time. This location selection allows the radar to more accurately monitor the geological changes that may be encountered during the tunneling process of the shield machine and provide timely early warning information. By combining with the measurement data of the positioning equipment, the radar equipment can provide more comprehensive environmental information for the posture adjustment of the shield machine, especially when facing complex geological conditions.

[0059] Finally, the real-time data collected by the positioning equipment and the radar equipment are transmitted back to the control system or attitude adjustment module of the shield machine through the data transmission system. The fusion processing of these real-time excavation data enables the shield machine to adjust and optimize its attitude in time according to the changes in the surrounding environment and the attitude adjustment requirements of the shield machine itself during the excavation process, ensuring the smooth progress of the excavation operation. It can effectively realize the precise monitoring and dynamic adjustment of the shield machine's excavation process, thereby improving the safety and efficiency of the shield operation.

[0060] Further, such as Figure 2 As shown, the acquisition of real-time excavation measurement data, step S4 of the present application includes:

[0061] Taking the key posture node as a constraint, determine the first key posture node, wherein the first key posture node is the next key posture node based on the real-time position of the shield machine; push the first key posture node forward a preset distance, and generate a sensor monitoring instruction, wherein the forward pushing direction is the reverse direction of the movement of the shield machine; the sensor monitoring instruction responds to the positioning equipment and the radar equipment to collect positioning data and radar data, wherein the radar data is the stratum characteristic data in front of the shield machine construction face.

[0062] In an embodiment of the present application, the key posture node refers to a specific position point where the posture of the shield machine changes significantly during the tunnel excavation process. By monitoring the posture and position information of the shield machine in real time, these nodes can be dynamically identified, and these nodes are crucial for subsequent posture adjustment and risk warning. In this step, the first key posture node is the next key posture node calculated based on the real-time position of the shield machine. That is, by calculating the current position of the shield machine and its motion trajectory, according to the excavation reference axis, the point where the posture changes significantly next time is used as the first key posture node. This ensures that the posture adjustment is forward-looking during the shield machine excavation process and reduces the occurrence of posture misalignment.

[0063] Furthermore, for the first key attitude node, a preset distance is pushed forward, that is, a distance range is pre-set according to the working environment and attitude adjustment needs of the shield machine, so as to carry out early environmental monitoring and data collection before the key attitude node arrives. The setting of this distance is usually based on experience or the requirements of the actual construction environment. The purpose is to enable the measuring equipment to obtain sufficient environmental information in advance before the shield machine reaches the node, so as to take attitude adjustment measures in time. The generated sensor monitoring instruction is an instruction to instruct the positioning equipment and radar equipment to start data collection. The purpose is to start monitoring the area to be passed before the shield machine reaches the first key attitude node.

[0064] Specifically, the positioning equipment provides data on the deviation between the shield machine and the tunnel design path by monitoring the displacement, posture and relative position of the shield machine in real time; while the radar equipment is mainly responsible for collecting data on the characteristics of the strata in front of the shield machine's construction face. Radar data includes information such as the hardness, density, and potential obstacles of the soil layer, helping the shield machine control system to evaluate the geological environment in front of the shield machine in real time and determine whether posture adjustment or other emergency responses are needed.

[0065] In summary, accurate monitoring and dynamic adjustment of the shield machine's excavation process are achieved. Through forward sensing monitoring, the shield machine can grasp the surrounding geological environment information in advance before reaching the key posture node, ensuring that its posture can be adjusted in time, thereby improving the stability and safety of the shield machine during excavation.

[0066] S5: transmitting the measurement data back to the posture adjustment module, measuring and adjusting the shield posture misalignment of each shield single ring during the shield machine excavation operation, and determining the posture adjustment strategy.

[0067] Specifically, the measurement data includes real-time data collected by the positioning equipment and radar equipment, covering the displacement, posture, formation characteristics and other information of the shield machine. The measurement data will be transmitted back to the posture adjustment module through the data transmission system, and the transmission process usually adopts real-time data transmission technology, such as wireless communication or optical fiber communication.

[0068] Furthermore, the adjustment decision unit in the attitude adjustment module will determine whether the shield machine has attitude misalignment and the degree of deviation based on the shield attitude misalignment measurement of each shield single ring during the shield machine excavation operation, that is, the degree of deviation between the actual attitude (including position and angle) and the predetermined design attitude. For example, if the shield head of the shield machine is excessively deflected or the attitude changes that do not conform to the design trajectory, the adjustment decision unit will issue a warning and determine whether the attitude of the shield machine needs to be adjusted.

[0069] Further, the corresponding adjustment decision is generated based on the measurement results, that is, the specific plan for adjusting the posture of the shield machine. It includes how the shield machine should adjust its posture to restore to the normal operating trajectory. For example, it may be instructed to adjust the inclination angle, rotation angle or position fine-tuning of the shield machine to ensure the accuracy and safety of the excavation path. To determine the posture adjustment strategy, that is, based on the current posture deviation of the shield machine and the excavation environment data, a specific adjustment plan is given after comprehensive consideration of multiple factors. Further optimization and adjustment of the nonlinear scheme part is carried out to ensure that the shield machine can continue the excavation operation in a stable and safe state. Among them, the shield machine or a section of the spliced ​​pipe segment is used as a single shield ring.

[0070] Ultimately, this attitude adjustment strategy will be transmitted to the shield machine's control system, which will perform specific adjustment operations to ensure that the shield machine's excavation attitude meets safety and operational requirements. Through this complete feedback and adjustment process, the shield machine can accurately excavate in complex underground environments, avoiding risks and failures caused by attitude inaccuracy, thereby improving construction efficiency and safety.

[0071] S6: The posture adjustment strategy is responded to the control center of the shield machine to execute the posture adjustment control of the shield machine excavation.

[0072] First, the attitude adjustment strategy will be transmitted to the control center of the shield machine through the data transmission system. The control center is the core control system of the shield machine, responsible for receiving external signals and controlling the system according to internal and external data. The control center will decode and analyze the received attitude adjustment strategy and convert it into specific control commands to ensure that the shield machine can accurately perform adjustment operations.

[0073] Among them, the attitude adjustment and control operation of the control center involves the coordination of multiple execution units. The execution units may include hydraulic control systems, drive motors, rotation systems, displacement sensors, etc. These components work together to ensure the stability and accuracy of the attitude of the shield machine during excavation. For example, when the inclination angle of the shield machine needs to be adjusted, the control center will issue a command to start the relevant hydraulic system, and adjust the inclination attitude of the shield machine by precisely controlling the extension and retraction of the hydraulic cylinder to restore it to the designed trajectory.

[0074] In addition, the attitude adjustment control of the shield machine also includes real-time monitoring of the working status of the shield machine. During the execution of the adjustment command, the control center will continue to receive data from various sensors and monitor the effect of the shield machine attitude adjustment in real time to ensure that the adjustment achieves the expected goal. During the adjustment process, any slight error will be detected and corrected in time to ensure that the excavation operation is always safe and efficient.

[0075] In summary, it can effectively improve the stability and safety of shield machine excavation, reduce the probability of engineering accidents, and ensure that tunnel construction tasks are completed on schedule.

[0076] Furthermore, the shield attitude misalignment measurement and adjustment decision of each shield single ring during the shield machine excavation operation are performed, and step S5 of the present application includes:

[0077] Identify the measurement data, measure and correct the excavation posture misalignment based on the posture-position relationship in the adjustment decision unit, and determine the posture pre-adjustment scale; determine the posture adjustment parameter group based on the linear control relationship; combine with the optimization decision unit, perform nonlinear parameter control optimization on the posture adjustment parameter group, and output the posture adjustment strategy.

[0078] The measurement data includes real-time attitude data and stratum characteristic data collected by the positioning equipment and radar equipment during the tunneling process of the shield machine. The adjustment decision unit performs tunneling attitude misalignment measurement and correction based on the attitude position relationship according to these data. It includes position relationship analysis of the shield machine's angle attitude, displacement attitude, etc., to determine whether the shield machine's current attitude is misaligned, the degree of misalignment, and calculate the amplitude of the required correction.

[0079] On this basis, the attitude pre-adjustment scale is further determined, that is, the preset measurement of the shield machine attitude adjustment. For example, if the shield machine has a certain tilt, the pre-adjustment scale will be set to an angle range determined based on the tilt condition to guide subsequent adjustment operations.

[0080] Subsequently, a posture adjustment parameter group is determined based on the linear control relationship. The linear control relationship refers to the linear relationship between the shield machine posture and various control parameters, such as the relationship between the shield machine inclination angle and the hydraulic control system parameters and the angle adjustment parameters of the drive system. A group of control parameters that need to be adjusted is calculated, that is, the adjustment requirements are converted into the control parameters of the shield machine, so as to achieve fine-tuning of the shield machine posture.

[0081] Furthermore, in combination with the optimization decision unit, the attitude adjustment parameter group is optimized for nonlinear parameter control. In the method of parameter optimization iteration, for example, the nonlinear part of the determined strategy is adjusted within a preset range, the adjustment parameter group is determined, and it is further determined whether the adjusted one is better than the one before the adjustment, and the better solution is retained. Multiple iterative optimization analyses are performed until the maximum number of iterations is met, the current optimal parameter group is determined, the nonlinear part in the attitude adjustment parameter group is replaced, and the attitude adjustment strategy is determined.

[0082] In summary, the posture of the shield machine can be adjusted in real time and effectively to ensure that the shield machine is always in a safe and stable working state during the excavation process, thereby improving excavation efficiency and reducing risks.

[0083] Furthermore, the attitude adjustment parameter group is subjected to nonlinear parameter control optimization, and step S5 of the present application includes:

[0084] The posture adjustment parameters are traversed to determine a nonlinear parameter group; the nonlinear parameter group is used as an optimization variable, the posture adjustment strategy is used as an initial strategy, and optimization iteration is performed until convergence to determine the posture adjustment strategy, wherein a unit step size for variable optimization adjustment is set, and the unit step size is a small-scale step size.

[0085] In the embodiment of the present application, the attitude adjustment parameters refer to various parameters that need to be controlled when adjusting the attitude of the shield machine, such as the inclination angle, rotation angle, displacement, etc. of the shield machine. These parameters are jointly affected by multiple factors, such as geological conditions, the motion state of the shield machine, and the mechanical characteristics of the equipment itself.

[0086] As for the nonlinear part of the posture adjustment parameters, since the above-mentioned decision is made based on an approximately linear relationship, further optimization adjustment is required. The nonlinear parameter group is used as the optimization variable to perform further optimization operations.

[0087] The current nonlinear parameter group is used as the initial strategy, and the optimization target is solved. That is, by introducing the optimization algorithm, the system begins to optimize the initial strategy in order to find the best posture adjustment solution. The optimization process includes multiple iterations. Each iteration outputs new posture adjustment parameters based on the current adjustment strategy, and compares the new parameter values ​​with the target to ensure that the system continues to approach the optimal solution in multiple iterations.

[0088] To ensure the effectiveness and accuracy of the optimization process, the unit step of variable optimization adjustment is set, that is, the magnitude of variable adjustment during each optimization adjustment process. The unit step is set to a small step to fine-tune the adjustment to avoid instability or oscillation of the optimization process caused by too large a step, thereby ensuring that the optimization process is stable and convergent. By setting a small step, the optimization process can gradually approach the optimal solution, thereby ensuring that the shield machine attitude adjustment strategy can achieve the best effect.

[0089] Finally, after multiple optimization iterations, the optimal control scheme of the nonlinear parameter group is determined. The nonlinear part of the attitude adjustment strategy is replaced to guide the shield machine to make precise attitude adjustments during the excavation process. This process ensures that the shield machine achieves high accuracy and flexibility during the excavation process through fine adjustment and optimization, using precise nonlinear optimization methods, thereby significantly improving the efficiency and safety of excavation work.

[0090] The present application provides a method for adjusting the tunneling posture of a shield machine under multi-sensor monitoring, which has the following technical effects:

[0091] 1. Through the coordinated work of sensor measurement equipment (positioning equipment and radar equipment), the real-time position and stratum characteristic data of the shield machine are obtained. It not only provides the real-time posture information of the shield machine, but also reflects the geological environment conditions of the construction surface, provides reliable support for posture adjustment, and significantly improves the adaptability of the shield machine in complex tunnel environments.

[0092] 2. The reference path of the shield machine excavation is determined by the excavation reference axis based on Gaussian curvature. At the same time, the attitude relationship between displacement and angle is set, covering the horizontal angle, pitch angle, rotation angle of the shield machine and the displacement relationship between the shield head and the shield tail, providing a simple and accurate attitude misalignment judgment method. The decision-making based on full linearization of elements and adaptive modeling based on nonlinear optimization can flexibly adjust the attitude parameters according to real-time data in a complex environment, thereby achieving precise attitude control and improving the efficiency and accuracy of excavation operations.

[0093] In summary, it ensures that the shield machine can carry out precise excavation in complex geological environments, optimizes the efficiency and safety of the excavation process, and has significant technical effects.

[0094] Embodiment 2: Based on the same inventive concept as the method for adjusting the tunneling posture of a shield machine under multi-sensor monitoring in the above embodiment, Figure 3 As shown, the present application provides a shield machine excavation posture adjustment system under multi-sensor monitoring, the system comprising:

[0095] An axis determination unit 11, the axis determination unit 11 is used for interactive engineering planning and identifying the tunnel centerline, and determining the excavation reference axis, wherein the excavation reference axis is marked with a Gaussian curvature;

[0096] A grid division unit 12, the grid division unit 12 is used to determine the tunnel profile based on the excavation reference axis and perform triangular grid division to construct a spatial grid map;

[0097] A module training unit 13, the module training unit 13 is used to set the posture position relationship of the shield machine, and train the posture adjustment module in combination with the space grid map, wherein the posture adjustment module includes an adjustment decision unit and an optimization decision unit;

[0098] The excavation measurement unit 14 is used to obtain real-time excavation measurement data based on a sensor measurement device, wherein the sensor measurement device includes a positioning device and a radar device, and the radar device is installed on the shield cutter head;

[0099] An adjustment decision unit 15, wherein the adjustment decision unit 15 is used to transmit the measurement data back to the attitude adjustment module, measure the shield attitude misalignment of each shield single ring during the shield machine excavation operation, and make an adjustment decision to determine the attitude adjustment strategy;

[0100] The adjustment management unit 16 is used to respond the posture adjustment strategy to the control center of the shield machine and execute the posture adjustment control of the shield machine excavation.

[0101] Among them, the axis determination unit 11 is used to perform the following steps: identify the center line of the tunnel, measure the Gaussian curvature of each center line node, and locate the key posture node, wherein the key posture node is located on the center line of the tunnel, and the distribution density is positively correlated with the curvature variable; for the key posture node, determine the curvature trend vector, wherein the curvature trend vector includes directional characteristics and vector characteristics; map the key posture node and the curvature trend vector, and mark the center line of the tunnel as the excavation reference axis.

[0102] Among them, the module training unit 13 is used to perform the following steps: setting the posture and position relationship of the shield machine, the posture and position relationship includes a displacement posture relationship and an angle posture relationship; wherein the angle posture relationship includes a horizontal angle posture relationship, a pitch angle posture relationship and a rotation angle posture relationship, the horizontal angle is the angle between the projection of the central axis of the shield machine in the excavation direction on the horizontal plane and the excavation reference axis, the pitch angle is the angle between the central axis of the shield machine and the horizontal plane, and the rotation angle is the angle of rotation of the shield machine around its own central axis; the displacement posture relationship includes a shield head displacement relationship and a shield tail displacement relationship, and the shield head displacement includes a shield head vertical displacement and a shield head horizontal displacement.

[0103] Among them, the excavation measurement unit 14 is used to perform the following steps: determine the first key posture node with the key posture node as a constraint, wherein the first key posture node is the next key posture node based on the real-time position of the shield machine; push the first key posture node forward a preset distance, and generate a sensor monitoring instruction, wherein the forward pushing direction is the reverse direction of the movement of the shield machine; the sensor monitoring instruction responds to the positioning equipment and the radar equipment, and collects positioning data and radar data, wherein the radar data is the stratum characteristic data in front of the shield machine construction face.

[0104] Among them, the module training unit 13 is used to perform the following steps: obtain the influencing factors that affect the tunneling posture of the shield machine, and the relative control relationship between the excavation influencing factors and the tunneling posture parameters, wherein the influencing factors include geological environment factors and tunneling machine parameter control factors; traverse the relative control relationship to determine the linear control relationship, which includes the approximate linearity of linear parameters and nonlinear parameters; based on the linear control relationship, combined with the posture position relationship and the spatial grid map, supervise the training of the adjustment decision unit; with the combination optimization of nonlinear parameters as the goal, supervise the training of the optimization decision unit.

[0105] Among them, the adjustment decision unit 15 is used to execute the following steps: identify the measurement data, measure and correct the excavation posture misalignment based on the posture position relationship in the adjustment decision unit, and determine the posture pre-adjustment scale; determine the posture adjustment parameter group based on the linear control relationship; combine with the optimization decision unit to perform nonlinear parameter control optimization on the posture adjustment parameter group, and output the posture adjustment strategy.

[0106] The adjustment decision unit 15 is used to perform the following steps: traverse the posture adjustment parameters to determine the nonlinear parameter group; use the nonlinear parameter group as the optimization variable and the posture adjustment strategy as the initial strategy to perform optimization iteration until convergence to determine the posture adjustment strategy, wherein a unit step size for variable optimization adjustment is set, and the unit step size is a small-scale step size.

[0107] Through the above-mentioned detailed description of a method for adjusting the excavation posture of a shield machine under multi-sensor monitoring, those skilled in the art can clearly know the method and system for adjusting the excavation posture of a shield machine under multi-sensor monitoring in this embodiment. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0108] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for adjusting the tunneling posture of a shield machine under multi-sensor monitoring, characterized in that: The method comprises: Interactive engineering planning and identification of the tunnel centerline, determining the excavation reference axis, wherein the excavation reference axis is marked with Gaussian curvature, and determining the key attitude node and the curvature trend vector through Gaussian curvature, wherein the key attitude node is located on the tunnel centerline, and the distribution density is positively correlated with the curvature trend vector; Determine the tunnel profile based on the excavation reference axis and perform triangulated grid division to construct a spatial grid map; Setting the posture position relationship of the shield machine, combining the spatial grid map, and training the posture adjustment module, wherein the posture adjustment module includes an adjustment decision unit and an optimization decision unit; Based on the sensor measurement equipment, real-time excavation measurement data is obtained, wherein the sensor measurement equipment includes a positioning device and a radar device, and the radar device is installed on the shield cutter head; The measurement data is transmitted back to the attitude adjustment module to measure and adjust the shield attitude misalignment of each shield ring during the tunneling operation of the shield machine, and determine the attitude adjustment strategy; The posture adjustment strategy is responded to the control center of the shield machine to execute the posture adjustment control of the shield machine excavation; Among them, the training posture adjustment module includes: Obtaining the influencing factors affecting the tunneling posture of the shield machine, and the relative control relationship between the excavation influencing factors and the tunneling posture parameters, wherein the influencing factors include geological environment factors and tunneling machine parameter control factors; Traversing the relative control relationship to determine a linear control relationship, wherein the linear relationship includes an approximate linearity of a linear parameter and a nonlinear parameter; Based on the linear control relationship, combined with the posture position relationship and the spatial grid map, supervise the training of the adjustment decision unit; The optimization decision unit is trained through supervision with the goal of optimizing the combination of nonlinear parameters.

2. The method for adjusting the tunneling posture of a shield machine under multi-sensor monitoring as claimed in claim 1, characterized in that: Determining the excavation reference axis includes: Identify the tunnel centerline, measure Gaussian curvature at each centerline node, and locate key posture nodes; For the key posture node, determining a curvature trend change vector, wherein the curvature trend change vector includes a direction feature and a vector feature; The key posture nodes and the curvature trend vector are mapped, and the tunnel centerline is marked as the excavation reference axis.

3. The method for adjusting the tunneling posture of a shield machine under multi-sensor monitoring as claimed in claim 1, characterized in that: Setting the posture position relationship of the shield machine, wherein the posture position relationship includes a displacement posture relationship and an angle posture relationship; The angle attitude relationship includes a horizontal angle attitude relationship, a pitch angle attitude relationship and a rotation angle attitude relationship. The horizontal angle is the angle between the projection of the central axis of the shield machine in the excavation direction on the horizontal plane and the excavation reference axis. The pitch angle is the angle between the central axis of the shield machine and the horizontal plane. The rotation angle is the angle at which the shield machine rotates around its own central axis. The displacement posture relationship includes a shield head displacement relationship and a shield tail displacement relationship, and the shield head displacement includes a shield head vertical displacement and a shield head horizontal displacement.

4. The method for adjusting the tunneling posture of a shield machine under multi-sensor monitoring as claimed in claim 2, characterized in that: The method of obtaining real-time excavation measurement data includes: Taking the key posture node as a constraint, determining a first key posture node, wherein the first key posture node is a next key posture node based on the real-time position of the shield machine; Pushing the first key posture node forward by a preset distance to generate a sensor monitoring instruction, wherein the forward pushing direction is the opposite direction of the movement of the shield machine; The sensor monitoring instruction responds to the positioning device and the radar device to collect positioning data and radar data, wherein the radar data is the stratum characteristic data in front of the shield machine construction face.

5. The method for adjusting the tunneling posture of a shield machine under multi-sensor monitoring as claimed in claim 1, characterized in that: Conduct shield machine attitude misalignment measurement and adjustment decisions for each shield ring during shield machine excavation operation, including: Identify the measurement data, measure and correct the excavation posture misalignment based on the posture position relationship in the adjustment decision unit, and determine the posture pre-adjustment scale; Determine a posture adjustment parameter group based on the linear control relationship; In combination with the optimization decision unit, nonlinear parameter control optimization is performed on the posture adjustment parameter group to output the posture adjustment strategy.

6. The method for adjusting the tunneling posture of a shield machine under multi-sensor monitoring as claimed in claim 5, characterized in that: The nonlinear parameter control optimization is performed on the attitude adjustment parameter group, including: Traversing the posture adjustment parameters to determine a nonlinear parameter group; The nonlinear parameter group is used as the optimization variable, the posture adjustment strategy is used as the initial strategy, and optimization iteration is performed until convergence to determine the posture adjustment strategy, wherein a unit step size for variable optimization adjustment is set, and the unit step size is a small-scale step size.

7. A shield machine excavation posture adjustment system under multi-sensor monitoring, characterized in that: The system is used to implement a method for adjusting the tunneling posture of a shield machine under multi-sensor monitoring as described in any one of claims 1 to 6, and the system comprises: An axis determination unit, the axis determination unit is used for interactive engineering planning and identifying the tunnel centerline, and determining the excavation reference axis, wherein the excavation reference axis is marked with Gaussian curvature, and the key posture node and the curvature trend vector are determined by Gaussian curvature, the key posture node is located on the tunnel centerline, and the distribution density is positively correlated with the curvature trend vector; A grid division unit, the grid division unit is used to determine the tunnel profile based on the excavation reference axis and perform triangular grid division to construct a spatial grid map; A module training unit, the module training unit is used to set the posture position relationship of the shield machine, and train the posture adjustment module in combination with the space grid map, wherein the posture adjustment module includes an adjustment decision unit and an optimization decision unit; Among them, the training posture adjustment module includes: Obtaining the influencing factors affecting the tunneling posture of the shield machine, and the relative control relationship between the excavation influencing factors and the tunneling posture parameters, wherein the influencing factors include geological environment factors and tunneling machine parameter control factors; Traversing the relative control relationship to determine a linear control relationship, wherein the linear relationship includes an approximate linearity of a linear parameter and a nonlinear parameter; Based on the linear control relationship, combined with the posture position relationship and the spatial grid map, supervise the training of the adjustment decision unit; The optimization decision unit is supervised and trained with the goal of optimizing the combination of nonlinear parameters; A tunneling measurement unit, which is used to obtain real-time tunneling measurement data based on a sensor measurement device, wherein the sensor measurement device includes a positioning device and a radar device, and the radar device is installed on the shield cutter head; An adjustment decision unit, the adjustment decision unit is used to transmit the measurement data back to the attitude adjustment module, measure the shield attitude misalignment of each shield single ring during the shield machine excavation operation and make an adjustment decision, and determine the attitude adjustment strategy; The adjustment management unit is used to respond to the posture adjustment strategy to the control center of the shield machine and execute the posture adjustment control of the shield machine excavation.

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