Intelligent control method and system for multi-oil-cylinder autonomous cooperation shield tunneling machine

Abstract

The invention discloses an intelligent control method and system for a multi-oil-cylinder autonomous cooperation shield tunneling machine, and the method comprises the steps: obtaining the initial total thrust of the shield tunneling machine, and distributing the initial pressure values of the oil cylinders of the shield tunneling machine; a first target track is obtained, and the shield tunneling machine is controlled to start tunneling according to the first target track; acquiring actual tunneling point coordinates and target point coordinates of the shield tunneling machine, and determining a second target track; according to the actual tunneling point coordinates and the target point coordinates, the track deviation of the shield tunneling machine is determined; the actual total propelling thrust is obtained, and the expected pressure value of an oil cylinder of the shield tunneling machine is adjusted according to the actual total propelling thrust and the posture deviation value; according to the sum of the expected pressure values of the oil cylinders of the shield tunneling machine, the expected total thrust of the shield tunneling machine is reversely adjusted; and according to the expected total propelling thrust of the shield tunneling machine, the shield tunneling machine is controlled to conduct tunneling according to the second target track, and intelligent adjustment of the tunneling process of the shield tunneling machine is achieved through the method.

Description

Technical Field

[0001] The present invention relates to the field of tunnel construction, and in particular to an intelligent control method and system for a shield machine with autonomous coordination of multiple cylinders. Background Art

[0002] The shield machine is a large-scale tunnel excavation equipment. As a key equipment in tunnel engineering, its propulsion and posture control are crucial to the safety and efficiency of the entire construction process. In actual engineering, the construction environment, geological conditions, and equipment status of the tunnel are closely related. The traditional shield machine control system of the tunnel relies on fixed models and preset parameters, which is difficult to adjust in real time under complex geological conditions, resulting in unstable thrust, large posture deviation, and even construction risks. Most of the technical solutions in the existing technology rely on accurate models and have slow response speeds, and cannot effectively adapt to dynamic changes in the construction process. Summary of the invention

[0003] One of the embodiments of this specification provides an intelligent control method for a shield machine with multi-cylinder autonomous coordination. The method includes:

[0004] S1, obtaining the initial total thrust of the shield machine, and allocating the initial pressure value of the shield machine cylinder, wherein the shield machine cylinder includes at least two groups of zoned cylinders;

[0005] S2, obtaining a first target trajectory, and controlling the shield machine to start excavation according to the first target trajectory;

[0006] S3, obtaining the actual excavation point coordinates and the target point coordinates of the shield machine, and determining the second target trajectory;

[0007] S4, determining the trajectory deviation of the shield machine according to the actual excavation point coordinates and the target point coordinates;

[0008] S5, calculating and obtaining a posture deviation value of the shield machine according to the trajectory deviation;

[0009] S6, obtaining an actual total thrust, and adjusting an expected pressure value of the shield machine cylinder according to the actual total thrust and the attitude deviation value;

[0010] S7, reversely adjusting the expected total thrust of the shield machine according to the sum of the expected pressure values ​​of the shield machine cylinders;

[0011] S8, controlling the shield machine to excavate according to the second target trajectory according to the expected total thrust of the shield machine.

[0012] One of the embodiments of this specification provides an intelligent control system for a shield machine with multiple oil cylinders autonomously coordinated, including:

[0013] A trajectory planning module, used to obtain the first target trajectory, and determine the second target trajectory according to the actual tunneling point coordinates of the shield machine and the target point coordinates;

[0014] A thrust control module is used to obtain the initial total thrust of the shield machine and adjust the actual total thrust of the shield machine in real time according to the cutter head torque;

[0015] A posture control module, used for calculating the trajectory deviation between the actual working data and the second target trajectory based on the actual working data of the shield machine; and obtaining the posture deviation value of the shield machine according to the trajectory deviation calculation;

[0016] The cylinder pressure control module is used to adjust the expected pressure value of the shield machine cylinder according to the actual total thrust and the posture deviation value; and reversely adjust the expected total thrust of the shield machine according to the sum of the expected pressure values ​​of the shield machine cylinders.

[0017] One of the embodiments of the present specification provides an intelligent control device for a shield machine with autonomous coordination of multiple cylinders, including a processor, wherein the processor is used to execute an intelligent control method for a shield machine with autonomous coordination of multiple cylinders.

[0018] One of the embodiments of the present specification provides a computer-readable storage medium, wherein the storage medium stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes an intelligent control method for a shield machine with autonomous coordination of multiple cylinders.

[0019] The beneficial effects of the present invention include:

[0020] (1) By real-time monitoring and adjusting the total thrust, posture and cylinder pressure of the shield machine during excavation, the precise posture control and efficient propulsion of the shield machine are ensured, thereby solving the problem that the existing manually controlled shield machine is difficult to control during excavation, which is easily affected by posture deviation and changes in cutter head torque, resulting in low excavation efficiency or excessive deviation between the excavation path and the designed trajectory.

[0021] (2) An intelligent trajectory planning module has been added, which can optimize the tunneling path of the shield machine according to the design axis of the tunnel and combine with other functional modules of the shield machine to ensure the accuracy of posture control and path tracking during the tunneling process.

[0022] (3) Through the system described in the present invention, the total thrust control module, the posture control module, and the cylinder pressure control module can cooperate with each other to form a closed-loop adjustment of multiple parameters such as the total thrust, posture deviation, and trajectory deviation, thereby realizing automatic deviation correction and path deepening during the excavation process of the shield machine. By monitoring and adjusting the equipment data, the service life of the equipment parts can be extended and the working efficiency of the equipment can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] This specification will be further described in the form of exemplary embodiments, which will be described in detail by the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein:

[0024] Figure 1 It is a schematic diagram of the working process of the intelligent control system of a shield machine with multi-cylinder autonomous coordination according to some embodiments of this specification;

[0025] Figure 2 is an exemplary flow chart of an intelligent control method for a shield machine based on multi-cylinder autonomous collaboration according to some embodiments of this specification;

[0026] Figure 3 It is an exemplary structural diagram of an intelligent control system for a shield machine with multiple cylinders autonomously coordinated according to some embodiments of this specification. DETAILED DESCRIPTION

[0027] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of this specification. For ordinary technicians in this field, this specification can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0028] It should be understood that the "system", "device", "unit" and / or "module" used herein are a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

[0029] As shown in this specification and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0030] Flowcharts are used in this specification to illustrate the operations performed by the system according to the embodiments of this specification. It should be understood that the preceding or following operations are not necessarily performed precisely in order. Instead, the steps may be processed in reverse order or simultaneously. At the same time, other operations may also be added to these processes, or one or more operations may be removed from these processes.

[0031] Figure 1 It is a schematic diagram of the working process of the intelligent control system of a shield machine with multi-cylinder autonomous coordination shown in some embodiments of this specification.

[0032] Shield machine, also known as shield tunnel boring machine, is a special engineering machinery for tunnel excavation. Modern shield tunnel boring machine integrates optical, mechanical, electrical, hydraulic, sensor and information technology. It has the functions of excavating and cutting soil, conveying soil ballast, assembling tunnel lining, measuring and guiding deviation correction, etc. It involves geology, civil engineering, machinery, mechanics, hydraulics, electricity, control, measurement and other disciplines and technologies. It must be designed and manufactured according to different geology, and the reliability requirements are extremely high. Shield tunnel boring machine has been widely used in subway, railway, highway, municipal, hydropower and other tunnel projects.

[0033] In some embodiments, this specification provides a multi-cylinder autonomous coordinated shield machine intelligent control system, such as Figure 1 As shown, the system adopts a cascade control framework and is divided into three closed-loop control loops: total thrust control loop, attitude control loop and cylinder pressure control loop.

[0034] Specifically, the total thrust control loop is responsible for adjusting the total thrust of the shield machine according to the relationship between the system thrust value and the cutter head torque to ensure that the thrust is within a safe range. Through the intelligent distribution module, the target total thrust is distributed to each partition cylinder to achieve precise thrust control and distribution.

[0035] For example, the total thrust control loop can be responsible for dynamically adjusting the input thrust adjustment model based on the cutter head torque of the shield machine to achieve real-time adjustment of the total thrust. Among them, the total thrust control loop is directly related to the cutter head torque, and the size of the cutter head torque value can affect the adjustment of the total thrust. Among them, the thrust adjustment model can be based on the PID control strategy or implemented through the sliding mode control algorithm (SMC).

[0036] The attitude control loop corrects the attitude deviation of the shield machine by adjusting the pressure difference of the partitioned cylinders, and uses the model-free adaptive control module (AS-MFAC) to adjust the horizontal and vertical attitudes. The system calculates the attitude deviation through the horizontal and vertical attitude controllers and adjusts the cylinder pressure in real time to make the attitude tend to the desired state.

[0037] Cylinder pressure control loop: This loop realizes closed-loop control of the pressure of each cylinder based on the adjustment amount output by the attitude control loop, combined with the basic pressure and distribution pressure of the partitioned cylinder. Through the active disturbance rejection controller (ADRC), the expected pressure value is compared with the actual value, and the precise control amount is calculated to ensure stable operation of the system.

[0038] In some embodiments, the workflow of the intelligent control system of the shield machine based on multi-cylinder autonomous coordination is as follows:

[0039] During the tunneling process of the shield machine, the shield machine propulsion system first monitors the attitude deviation of the shield machine in real time through the attitude sensor. If there is a deviation in the horizontal or vertical direction of the shield machine, the attitude control loop will adjust the corresponding partition cylinder pressure according to the deviation information to ensure the stability of the shield machine's attitude. At the same time, the total thrust control loop will adjust the total thrust based on the change of the cutter head torque to ensure uniformity during the propulsion process. Finally, the cylinder control loop is responsible for executing the instructions of the attitude control loop and the total thrust control loop, and accurately controlling the ABCD partition cylinders, thereby realizing the automatic propulsion of the shield machine under complex geological conditions. The specific work flow is as follows:

[0040] (1) System initialization:

[0041] Start the intelligent control system of the shield machine and check whether all sensors and control modules are working properly;

[0042] Initialize the initial pressure value of each group of shield machine cylinders;

[0043] Read and display the current posture of the shield machine, total thrust, pressure and target trajectory of each group of zone cylinders, cutter head torque and other data.

[0044] (2) Real-time adjustment of total propulsion thrust:

[0045] The system obtains the value of the cutter head torque in real time;

[0046] If the cutter head torque exceeds a preset threshold, adjusting the desired total thrust in the total thrust control loop;

[0047] The adjusted total thrust setpoint is input to the total thrust control loop.

[0048] (3) Detect the shield machine posture:

[0049] The system reads the data of the shield machine's attitude sensor in real time and monitors the horizontal and vertical attitude deviations of the shield machine;

[0050] If attitude deviation (including horizontal and vertical deviation) is detected, the system adjusts the desired attitude setpoint of the attitude control loop;

[0051] Adjust the pressure setting value of each group of zone cylinders according to the posture deviation to keep the shield machine posture stable;

[0052] Output attitude adjustment instructions to the cylinder control loop.

[0053] (4) Adjust the cylinder pressure

[0054] The system reads the data of the shield machine's attitude sensor in real time and monitors the horizontal and vertical attitude deviations of the shield machine;

[0055] The cylinder control ring adjusts the pressure of each group of zone cylinders in real time according to the output instructions of the attitude control ring;

[0056] Adjust the posture of the shield machine to ensure that the shield machine excavates according to the target trajectory;

[0057] At the same time, the feedback of the cylinder pressure is detected to ensure the accurate execution of the control instructions.

[0058] (5) Intelligent planning of target trajectory

[0059] According to the designed trajectory route, determine the first target trajectory of the shield machine;

[0060] Real-time collection of actual working data of the shield machine and target point coordinates, including actual excavation point coordinates, soil quality, obstacles, distance and other data;

[0061] Generate a candidate path set from the actual excavation point coordinates to the target point coordinates by a path planning algorithm, wherein the candidate path set includes at least one candidate path;

[0062] Calculating the risk cost of each candidate path;

[0063] The candidate path with the lowest risk cost is determined as the second target trajectory.

[0064] (6) Promoting process monitoring

[0065] The system continuously monitors the total thrust, cutterhead torque, TBM posture, and the pressure and stroke of each group of cylinders;

[0066] If the posture, cutter torque and total thrust are detected to be beyond the preset range, an alarm will be issued immediately and the control parameters will be adjusted;

[0067] During the advancement process, the system checks and updates the control parameters at regular intervals to cope with changes in different geological conditions.

[0068] (7) End of excavation section

[0069] When the shield machine completes the advancement task of the preset excavation section, the system automatically stops the advancement operation;

[0070] The system enters standby mode, waiting for the start command of the next excavation task.

[0071] Figure 2 This is an exemplary flow chart of a shield machine intelligent control method based on multi-cylinder autonomous collaboration according to some embodiments of this specification. The process specifically includes the following steps:

[0072] S1, obtaining the initial total thrust of the shield machine, and allocating the initial pressure value of the shield machine cylinder, wherein the shield machine cylinder includes at least two groups of zoned cylinders.

[0073] In some embodiments, the shield driver or operator can input the threshold range of the initial total thrust and the cutterhead torque in the excavation parameter management interface of the intelligent terminal. The system will dynamically adjust the total thrust through the neural network according to the real-time changes of the cutterhead torque to ensure that the cutterhead torque is maintained within the set cutterhead torque threshold range.

[0074] In some embodiments, the shield machine cylinders may include at least two, which are used to control and adjust the propulsion direction and power of the shield machine. For example, the shield machine cylinders may include four groups of partitioned cylinders, and the number of partitioned cylinders in each group may be different, and may specifically include an upper partitioned cylinder, a lower partitioned cylinder, a left partitioned cylinder, and a right partitioned cylinder, wherein the upper partitioned cylinder and the lower partitioned cylinder may be used to control the vertical posture of the shield machine, and the left partitioned cylinder and the right partitioned cylinder may control the horizontal posture of the shield machine.

[0075] In some embodiments, allocating the initial pressure value of the shield machine cylinder further includes:

[0076] Based on the initial total thrust, the total initial pressure value is converted according to the size and number of the shield machine cylinders;

[0077] According to the first allocation strategy of the shield machine cylinder, the initial pressure values ​​of at least two groups of zone cylinders of the shield machine cylinder are allocated based on the total initial pressure value.

[0078] In some embodiments, based on the initial total thrust, the total initial pressure value is converted according to the size and number of the shield machine cylinders, as shown in formula (1):

[0079]

[0080] Among them, F base (k) represents the total initial thrust of the shield machine during the startup phase, R t Indicates the radius of each oil cylinder; n t is the number of cylinders in each group.

[0081] In some embodiments, the first allocation strategy means that a basic pressure value should be set in advance for each partition cylinder to ensure that the propulsion cylinder can start smoothly during the startup phase and avoid a sagging trend.

[0082] As shown in the following formula (2):

[0083]

[0084] Among them, P base (k) represents the total base pressure required by the cylinder during the start-up phase of the shield machine. Indicates the basic thrust pressure of the right partition cylinder (Group A); Indicates the basic thrust pressure of the lower partition cylinder (Group B); Indicates the basic thrust pressure of the left partition cylinder (Group C); Indicates the basic thrust pressure of the upper partition cylinder (Group D).

[0085] The first allocation strategy can be freely adjusted according to factors such as construction objectives and construction environment, for example, P base (k) = [5, 25, 5, 5] T .

[0086] S2, obtaining a first target trajectory, and controlling the shield machine to start excavation according to the first target trajectory.

[0087] In some embodiments, the track route of the shield machine is designed and determined by the construction team, and the designed track route map can be input into the system before the excavation work begins. The first target track refers to the first section of the construction path of the shield machine excavation work. The designed track route map can be imported through an external device or manually input by an operator.

[0088] S3, obtaining the actual excavation point coordinates and the target point coordinates of the shield machine, and determining the second target trajectory.

[0089] In some embodiments, an attempt can be made to obtain the actual working data of the shield machine. The actual working data may include actual excavation point coordinates, target point coordinates, soil quality, obstacles, distance and other data. The actual working data can be collected and obtained through sensors.

[0090] In some embodiments, the target point coordinates refer to the continuous coordinate points of the next construction path of the shield machine. After determining the trajectory deviation between the target point coordinates and the actual excavation point coordinates, the next construction path to be constructed by the shield machine, i.e., the second target trajectory, is further determined. The posture deviation of the shield machine is further determined, and the shield machine is controlled to excavate according to the second target trajectory by adjusting the cylinder pressure.

[0091] Specifically, step S3 also includes:

[0092] The actual excavation point coordinates and the target point coordinates of the shield machine are obtained.

[0093] For example, the actual excavation point coordinates are P (t) =(x (t) ,y (t) ,z (t) ); the target point coordinate is T (t) =(x t [t],y t [t],z t [t]).

[0094] A candidate path set from the actual excavation point coordinates to the target point coordinates is generated by a path planning algorithm, and the candidate path set includes at least one candidate path.

[0095] Specifically, the path planning algorithm can create a grid map representing the environment through environmental modeling, where each cell can be accessible or inaccessible; further, the map is updated using sensor data to reflect fault objects and geological conditions in real time; and a grid map is generated from the actual excavation point coordinates P ( t) to the target point coordinates T of the first target trajectory (t) A collection of multiple candidate paths.

[0096] The risk cost of each candidate path is calculated.

[0097] Specifically, the cost of each candidate route is calculated through the cost function to evaluate the risk of the candidate route. As shown in formula (3):

[0098] C=w1·d+w2·t+w3·R(3),

[0099] Among them, C represents the total cost, d represents the path length, which can be calculated using the Euclidean distance or by finding the actual distance between points in a grid map; t represents the estimated time, which is determined based on the path length and speed; R represents the risk value; w1, w2, and w3 represent the factor weights, reflecting their relative importance in the decision. The weight values ​​can be adjusted through experience, experiments, or optimization algorithms to meet specific needs.

[0100] In some embodiments, the risk value can be determined by a construction environment risk assessment table to determine the risk level, and can be expressed in the form of numbers or percentages.

[0101] Specifically, for each candidate path p i , the corresponding cost C can be obtained by calculating the path length, estimated time and risk value i .

[0102] The candidate path with the lowest risk cost is determined as the second target trajectory. As shown in formula (4):

[0103] p * =argminC i (4)

[0104] Among them, p * Represents the second target trajectory.

[0105] S4, based on the actual working data of the shield machine, calculating the trajectory deviation between the actual working data and the second target trajectory.

[0106] S5, obtaining a posture deviation value of the shield machine according to the trajectory deviation calculation.

[0107] In some embodiments, steps S4-S5 specifically include:

[0108] Obtain the actual excavation point coordinates of the shield machine and the target point coordinates. The actual excavation point coordinates are P (t) =(x (t) ,y (t) , z (t) ); the target point coordinates can be expressed as T (t) =(x t [t],y t [t],z t [t]).

[0109] A trajectory deviation vector in at least one direction between the actual excavation point coordinates and the first target trajectory point coordinates of the second target trajectory is calculated.

[0110] For example, the trajectory deviation vector in the horizontal direction is: Δx = x t (t)-x(t); the vertical trajectory deviation vector is: Δz=z t (t)-z(t).

[0111] In some embodiments, the deviation may be quantified using Euclidean distance, as shown in equation (5):

[0112]

[0113] Determining whether the trajectory deviation vector in the at least one direction exceeds a threshold;

[0114] When the trajectory deviation vector in at least one direction exceeds a threshold value, a posture deviation value of the shield machine is obtained according to the trajectory deviation calculation.

[0115] S6, obtaining an actual total thrust, and adjusting an expected pressure value of the shield machine cylinder according to the actual total thrust and the posture deviation value.

[0116] In some embodiments, step S6 further includes:

[0117] Obtaining the actual total thrust of the shield machine;

[0118] The actual total propulsion thrust is subtracted from the initial total propulsion thrust to obtain the adjusted total propulsion thrust.

[0119] According to the size and number of the shield machine cylinders, the adjusted total thrust is converted into a total cylinder adjustment pressure value.

[0120] Specifically, as shown in formula (6):

[0121]

[0122] Where P mean (k) represents the total cylinder adjustment pressure value of the shield machine; F tar_out (k) represents the actual total thrust of the shield machine; sum(F base (k)) represents the sum of the basic thrusts of the partitioned cylinders; R t Indicates the radius of each oil cylinder; n t is the number of cylinders in each group.

[0123] Furthermore, a second pressure distribution strategy of the shield machine cylinder is determined based on the posture deviation value; and then according to the second pressure distribution strategy, the expected pressure values ​​of at least two groups of zone cylinders in the shield machine cylinder are distributed based on the total cylinder adjustment pressure value.

[0124] Specifically, the second pressure distribution strategy refers to determining the distribution requirements of each group of cylinders according to the posture deviation, and further determining the pressure distribution coefficient of each group of cylinders. In order to ensure the total thrust, the pressure distribution coefficient of each group of cylinders needs to satisfy the sum of the distribution coefficients of the two groups of cylinders controlling the same direction is 2, for example, formula (7):

[0125]

[0126] Among them, k a It indicates the pressure distribution coefficient of the upper partition cylinder of group A; it indicates the pressure distribution coefficient of the lower partition cylinder of group B; it indicates the pressure distribution coefficient of the left partition cylinder of group C; it indicates the pressure distribution coefficient of the right partition cylinder of group D.

[0127] According to the above cylinder pressure distribution coefficient, the total cylinder adjustment pressure value of the shield machine is distributed. As shown in formula (8):

[0128] P gain (k) = [P a_gain (k), P b_gain (k), P c_gain (k), P d_gain (k)] T =P mean (k)[k a , k b , k c , k d ] T (8)

[0129] Among them, P gain (k) The total cylinder adjustment pressure value allocated to the four groups of cylinders; P a_gain (k) represents the expected pressure value assigned to the upper partition cylinder of group A; Pb_gain (k) represents the expected pressure value assigned to the cylinder in the lower partition of group B; P c_gain (k) represents the expected pressure value assigned to the left partition cylinder of group C; P d_gain (k) represents the expected pressure value assigned to the right partition cylinder of group D.

[0130] S7, reversely adjusting the expected total thrust of the shield machine according to the sum of the expected pressure values ​​of the shield machine cylinders.

[0131] S8, controlling the shield machine to excavate according to the second target trajectory according to the expected total thrust of the shield machine.

[0132] In some embodiments, the multi-cylinder autonomous coordinated shield machine intelligent control method further includes:

[0133] Obtaining the cutter head torque of the shield machine;

[0134] According to the cutter head torque, the actual total propulsion thrust of the shield machine is adjusted in real time through a thrust adjustment model.

[0135] Specifically, the cutter head torque of the shield machine is obtained; based on the cutter head torque and the cutter head torque threshold range, an expected thrust adjustment coefficient is obtained; further, it is determined whether the cutter head torque exceeds the cutter head torque threshold range; when the cutter head torque exceeds the cutter head torque threshold range, the expected total propulsion thrust of the shield machine is adjusted according to the thrust adjustment coefficient; and based on the adjusted expected total propulsion thrust, the shield machine is controlled to adjust the actual total propulsion thrust.

[0136] It should be noted that the above description of the relevant process is only for example and explanation, and does not limit the scope of application of this specification. For those skilled in the art, various modifications and changes can be made to the process under the guidance of this specification. However, these modifications and changes are still within the scope of this specification.

[0137] Figure 3 is an exemplary structural diagram of a shield machine intelligent control system with multiple cylinders autonomously coordinated according to some embodiments of this specification. Figure 3 As shown, the multi-cylinder autonomous coordinated shield machine intelligent control system 300 includes:

[0138] The trajectory planning module 310 is used to obtain the first target trajectory and determine the second target trajectory according to the actual tunneling point coordinates of the shield machine and the target point coordinates.

[0139] The thrust control module 320 is used to obtain the initial total thrust of the shield machine and adjust the actual total thrust of the shield machine in real time according to the cutter head torque.

[0140] The posture control module 330 is used to calculate the trajectory deviation between the actual working data and the second target trajectory based on the actual working data of the shield machine; and obtain the posture deviation value of the shield machine according to the trajectory deviation calculation.

[0141] The cylinder pressure control module 340 is used to adjust the expected pressure value of the shield machine cylinder according to the actual total thrust and the posture deviation value; and reversely adjust the expected total thrust of the shield machine according to the sum of the expected pressure values ​​of the shield machine cylinders.

[0142] In some embodiments, the present application also provides a multi-cylinder autonomously coordinated shield machine intelligent control device, including a processor, and the processor is used to execute the above-mentioned multi-cylinder autonomously coordinated shield machine intelligent control method.

[0143] In some embodiments, the present application also provides a computer-readable storage medium, which stores computer instructions. When the computer reads the computer instructions in the storage medium, the computer executes the above-mentioned multi-cylinder autonomous collaborative shield machine intelligent control method.

[0144] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only for example and does not constitute a limitation of this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements and corrections to this specification. Such modifications, improvements and corrections are suggested in this specification, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of this specification.

[0145] At the same time, this specification uses specific words to describe the embodiments of this specification. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of this specification. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures or characteristics in one or more embodiments of this specification can be appropriately combined.

[0146] In addition, unless explicitly stated in the claims, the order of the processing elements and sequences described in this specification, the use of alphanumeric characters, or the use of other names are not intended to limit the order of the processes and methods of this specification. Although the above disclosure discusses some invention embodiments that are currently considered useful through various examples, it should be understood that such details are only for illustrative purposes, and the attached claims are not limited to the disclosed embodiments. On the contrary, the claims are intended to cover all modifications and equivalent combinations that are consistent with the essence and scope of the embodiments of this specification. For example, although the system components described above can be implemented by hardware devices, they can also be implemented only by software solutions, such as installing the described system on an existing server or mobile device.

[0147] Similarly, it should be noted that in order to simplify the description disclosed in this specification and thus help understand one or more embodiments of the invention, in the above description of the embodiments of this specification, multiple features are sometimes combined into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the subject matter of this specification are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0148] In some embodiments, numbers describing the number of components and attributes are used. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise specified, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of this specification are approximate values, in specific embodiments, the setting of such numerical values ​​is as accurate as possible within the feasible range.

[0149] Each patent, patent application, patent application publication, and other materials, such as articles, books, specifications, publications, documents, etc., cited in this specification are hereby incorporated by reference in their entirety. Except for application history documents that are inconsistent with or conflicting with the contents of this specification, documents that limit the broadest scope of the claims of this specification (currently or later attached to this specification) are also excluded. It should be noted that if the descriptions, definitions, and / or use of terms in the materials attached to this specification are inconsistent or conflicting with the contents described in this specification, the descriptions, definitions, and / or use of terms in this specification shall prevail.

[0150] Finally, it should be understood that the embodiments described in this specification are only used to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, as an example and not a limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly introduced and described in this specification.

Claims

1. A multi-cylinder autonomous coordinated shield machine intelligent control method, characterized in that: include: S1, obtaining the initial total thrust of the shield machine, and allocating the initial pressure value of the shield machine cylinder, wherein the shield machine cylinder includes at least two groups of zoned cylinders; S2, obtaining a first target trajectory, and controlling the shield machine to start excavation according to the first target trajectory; S3, obtaining the actual excavation point coordinates and the target point coordinates of the shield machine, and determining the second target trajectory; S4, determining the trajectory deviation of the shield machine according to the actual excavation point coordinates and the target point coordinates; S5, calculating and obtaining a posture deviation value of the shield machine according to the trajectory deviation; S6, obtaining an actual total thrust, and adjusting an expected pressure value of the shield machine cylinder according to the actual total thrust and the attitude deviation value; S7, reversely adjusting the expected total thrust of the shield machine according to the sum of the expected pressure values ​​of the shield machine cylinders; S8, controlling the shield machine to excavate according to the second target trajectory according to the expected total thrust of the shield machine.

2. The multi-cylinder autonomous coordinated shield machine intelligent control method according to claim 1 is characterized in that: The step of allocating the initial pressure value of the shield machine cylinder comprises: Based on the initial total thrust, it is converted into a total initial pressure value according to the size and number of the shield machine cylinders; according to the first allocation strategy of the shield machine cylinders, the initial pressure values ​​of at least two groups of zone cylinders of the shield machine cylinders are allocated based on the total initial pressure value.

3. The multi-cylinder autonomous coordinated shield machine intelligent control method according to claim 1 is characterized in that: The S3 includes: Obtaining the actual excavation point coordinates and target point coordinates of the shield machine; Generate a candidate path set from the actual excavation point coordinates to the target point coordinates by a path planning algorithm, wherein the candidate path set includes at least one candidate path; Calculating the risk cost of each candidate path; The candidate path with the lowest risk cost is determined as the second target trajectory.

4. The multi-cylinder autonomous coordinated shield machine intelligent control method according to claim 1 is characterized in that: S4-S5 include: Obtaining the actual excavation point coordinates and the target point coordinates of the shield machine; Calculate and obtain a trajectory deviation vector in at least one direction between the actual excavation point coordinates and the target trajectory point coordinates; determine whether the trajectory deviation vector in at least one direction exceeds a threshold; When the trajectory deviation vector in at least one direction exceeds a threshold value, a posture deviation value of the shield machine is obtained according to the trajectory deviation calculation.

5. The multi-cylinder autonomous coordinated shield machine intelligent control method according to claim 1 is characterized in that: The S6 includes: Obtaining the actual total thrust of the shield machine; Subtracting the actual total propulsion thrust from the initial total propulsion thrust to obtain an adjusted total propulsion thrust; According to the size and number of the shield machine cylinders, the total thrust of the adjustment is converted into a total cylinder adjustment pressure value; Determining a second pressure distribution strategy for the shield machine cylinder based on the posture deviation value; According to the second pressure distribution strategy, the desired pressure values ​​of at least two groups of zoned cylinders in the shield machine cylinder are distributed based on the total cylinder adjustment pressure value.

6. The multi-cylinder autonomous coordinated shield machine intelligent control method according to claim 5 is characterized in that: The obtaining of the actual total thrust of the shield machine comprises: Obtaining the cutter head torque of the shield machine; According to the cutter head torque, the actual total propulsion thrust of the shield machine is adjusted in real time through a thrust adjustment model.

7. An intelligent control system for a shield machine with multi-cylinder autonomous coordination, characterized in that: include: A trajectory planning module, used to obtain the first target trajectory, and determine the second target trajectory according to the actual tunneling point coordinates of the shield machine and the target point coordinates; A thrust control module is used to obtain the initial total thrust of the shield machine and adjust the actual total thrust of the shield machine in real time according to the cutter head torque; A posture control module, used for calculating the trajectory deviation between the actual working data and the second target trajectory based on the actual working data of the shield machine; and obtaining the posture deviation value of the shield machine according to the trajectory deviation calculation; The cylinder pressure control module is used to adjust the expected pressure value of the shield machine cylinder according to the actual total thrust and the posture deviation value; and reversely adjust the expected total thrust of the shield machine according to the sum of the expected pressure values ​​of the shield machine cylinders.

8. An intelligent control device for a shield machine with autonomous coordination of multiple cylinders, comprising a processor, wherein the processor is used to execute the total thrust control method for the shield machine based on a neural network as described in any one of claims 1 to 6.

9. A computer-readable storage medium, wherein the storage medium stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes the multi-cylinder autonomous collaborative shield machine intelligent control method as described in any one of claims 1 to 6.

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