Method, device and system for monitoring sealing state of shield tail of shield tunneling machine, and program product

Abstract

The invention relates to a shield tunneling machine shield tail sealing state monitoring method, device and system and a program product. The shield tunneling machine shield tail sealing state monitoring method comprises the steps that shield tail sealing state data of a shield tunneling machine are obtained in real time, and the shield tail sealing state data comprise at least one of the water content of a tail brush cavity and shield tail abrasion state parameters; and controlling the shield tail sealing state of the shield tunneling machine according to the shield tail sealing state data. According to the invention, real-time monitoring of various shield tail sealing state data can be realized, and real-time monitoring and control of the shield tail sealing state can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel construction, and in particular to a method, device, system, and program product for monitoring the sealing status of a shield tail of a tunnel boring machine. Background Art

[0002] During the tunneling process of the shield machine, a gap of a certain size is generally formed between the tail shield support and the tunnel lining structure (segment). This gap connects the tunnel soil layer with a certain pressure and the safe space in the shield body, so a corresponding sealing device is needed to separate it. Since the sealing structure of the wire brush applying the shield tail sealing grease has good adaptability to unevenness, it is widely used in different types of shield machines. In the shield tail sealing devices of related technical shields, most of them use wire brushes. Since the shield tail sealing structure of the wire brush has good unevenness tracking performance, when the flatness of the adjacent segments is poor, the wire brush shield tail seal can follow the deformation according to the actual situation of the outer arc surface of the segment, thereby achieving the sealing and waterproofing of the shield tail. Summary of the invention

[0003] The inventors have found through research that the relevant technology is limited by the narrow and variable space of the tail shield, and is also limited by the fact that the sealing state of the tail shield is affected by the combined effect of multiple factors, resulting in a technical problem of difficulty in monitoring the shield tail seal.

[0004] In view of at least one of the above technical problems, the present disclosure provides a shield tail sealing status monitoring method, device and system, and program product for a shield machine, which can realize real-time monitoring of various shield tail sealing status data, and can monitor and control the shield tail sealing status in real time.

[0005] According to one aspect of the present disclosure, a method for monitoring the sealing state of a shield tail of a shield machine is provided, comprising:

[0006] Acquire the shield tail sealing status data of the shield machine in real time, wherein the shield tail sealing status data includes at least one of the moisture content of the tail brush chamber and the shield tail wear status parameter;

[0007] The shield tail sealing state of the shield machine is controlled according to the shield tail sealing state data.

[0008] In some embodiments of the present disclosure, controlling the shield tail sealing state of the shield machine according to the shield tail sealing state data includes at least one of the following steps:

[0009] Determining the shield tail sealing state of the shield machine according to the shield tail sealing state data;

[0010] According to the shield tail sealing status data, an early warning is issued for the shield tail sealing status of the shield machine;

[0011] According to the shield tail sealing state data, the shield tail sealing grease injection of the shield machine is automatically controlled.

[0012] In some embodiments of the present disclosure, controlling the shield tail sealing state of the shield machine according to the shield tail sealing state data includes:

[0013] Control the opening and closing of the grease injection port in the tail brush cavity;

[0014] Controls the amount of grease injected into the tail brush cavity.

[0015] In some embodiments of the present disclosure, controlling the shield tail sealing state of the shield machine according to the shield tail sealing state data includes:

[0016] According to the moisture content of the tail brush cavity, determine whether there is water in the tail brush cavity;

[0017] When there is water in the tail brush cavity, an alarm will be given for the leakage point in the cavity;

[0018] Determine the grease injection port near the water leakage point in the water-containing cavity;

[0019] Control the grease injection port near the water leakage point in the water-containing cavity to inject grease.

[0020] In some embodiments of the present disclosure, controlling the shield tail sealing state of the shield machine according to the shield tail sealing state data includes:

[0021] Determining whether the shield tail wear state parameter is abnormal;

[0022] In the case where the shield tail wear state parameter is abnormal, determining the abnormal degree of shield tail wear;

[0023] Determining whether the abnormality level is the first level and affects safe excavation;

[0024] When the abnormality level is the first level and affects safe excavation, it is prompted that the tail brush is failed and a tail brush replacement operation is performed.

[0025] In some embodiments of the present disclosure, controlling the shield tail sealing state of the shield machine according to the shield tail sealing state data further includes:

[0026] When the abnormality level is not the first level, or the abnormality level does not affect safe excavation, prompting that the tail brush is abnormal and indicating that the abnormality level is the second level, wherein the abnormality level of the second level is lower than the abnormality level of the first level;

[0027] Control the grease injection port near the abnormal point of the tail brush to be always open;

[0028] Grease is injected into the grease injection port near the abnormal point of the tail brush to maintain the pressure in the nearby cavity greater than the first predetermined pressure.

[0029] In some embodiments of the present disclosure, the shield tail sealing status data also includes shield tail clearance measurement data.

[0030] In some embodiments of the present disclosure, controlling the shield tail sealing state of the shield machine according to the shield tail sealing state data includes:

[0031] Determining whether the shield tail clearance measurement data is within a normal range;

[0032] When the shield tail clearance measurement data is not within the normal range, an abnormal shield tail posture alarm is issued, and a prompt is given to adjust the excavation direction.

[0033] In some embodiments of the present disclosure, the shield tail sealing status data also includes the pressure in the tail brush cavity.

[0034] In some embodiments of the present disclosure, controlling the shield tail sealing state of the shield machine according to the shield tail sealing state data includes:

[0035] determining a position in the tail brush chamber where the pressure is lower than a second predetermined pressure;

[0036] Determine a grease injection port near a position where the pressure in the tail brush cavity is lower than a second predetermined pressure;

[0037] Turning on the grease injection port switch near the position, and performing grease injection operation on the grease injection port near the position;

[0038] The change in grease injection operation is determined through real-time feedback of the pressure monitoring in the tail brush cavity.

[0039] In some embodiments of the present disclosure, the shield tail sealing status data further includes mud pressure at the rear of the tail shield.

[0040] In some embodiments of the present disclosure, controlling the shield tail sealing state of the shield machine according to the shield tail sealing state data further includes:

[0041] Determine whether the pressure state, the pressure difference between cavities, and the first pressure difference are normal, wherein the first pressure difference is the difference between the mud pressure at the shield tail and the pressure in the tail brush cavity, and the pressure difference between cavities is the pressure difference between every two tail brush cavities;

[0042] When at least one of the pressure state, the pressure difference between cavities, and the first pressure difference is abnormal, determining a grease injection port near the abnormal point of the pressure state or the pressure difference;

[0043] Control the pressure state or the grease injection port near the abnormal pressure difference point to inject grease.

[0044] In some embodiments of the present disclosure, the shield tail sealing status data also includes the temperature in the tail brush cavity.

[0045] In some embodiments of the present disclosure, controlling the shield tail sealing state of the shield machine according to the shield tail sealing state data includes:

[0046] Determine whether the temperature in the tail brush cavity is normal;

[0047] In case of abnormal temperature in the tail brush cavity, it is indicated to change the grease type or adjust the grease ratio.

[0048] According to another aspect of the present disclosure, a shield tail sealing state monitoring device for a shield machine is provided, comprising:

[0049] A status data acquisition module is configured to acquire the shield tail sealing status data of the shield machine in real time, wherein the shield tail sealing status data includes at least one of the moisture content of the tail brush chamber and the shield tail wear status parameter;

[0050] The sealing state control module is configured to control the sealing state of the shield tail of the shield machine according to the shield tail sealing state data.

[0051] According to another aspect of the present disclosure, a shield tail sealing state monitoring device for a shield machine is provided, comprising:

[0052] a memory configured to store instructions;

[0053] The processor is configured to execute the instructions so that the shield tail sealing state monitoring device of the shield machine implements the shield tail sealing state monitoring method of the shield machine as described in any of the above embodiments.

[0054] According to another aspect of the present disclosure, a shield tail sealing state monitoring system for a shield machine is provided, comprising:

[0055] A shield tail sealing status monitoring device for a shield machine as described in any of the above embodiments;

[0056] The sensing device is configured to measure the shield tail sealing status data of the shield machine in real time; and send the shield tail sealing status data to the shield tail sealing status monitoring device of the shield machine.

[0057] In some embodiments of the present disclosure, the sensing device includes at least one of a tail brush chamber water status monitoring sensor and a tail brush wear monitoring device, wherein:

[0058] The tail brush chamber moisture status monitoring sensor is configured to collect the moisture content of the tail brush chamber; and send the moisture content of the tail brush chamber to the shield tail sealing status monitoring device of the shield machine;

[0059] The tail brush wear monitoring device is configured to collect the shield tail wear state parameters; and send the shield tail wear state parameters to the shield tail sealing state monitoring device of the shield machine.

[0060] In some embodiments of the present disclosure, the tail brush cavity water status monitoring sensor includes dual electrodes, a signal transmission cable and an electrical signal receiving device, wherein the dual electrode sheet is in the shape of a long strip and is fixed to the surface of the tail brush bottom plate of the shield in the tail brush cavity through an insulating base; the signal transmission cable is axially opened through a longitudinal groove in the tail shield, led out along the longitudinal groove to the shield body operating space and connected to the signal acquisition device.

[0061] In some embodiments of the present disclosure, the tail brush wear monitoring device includes a wear sensitive element, a wear signal acquisition module and a wear result signal transmission line, wherein:

[0062] The wear-sensitive element is mounted on the surface or embedded in the tail brush guard plate, and the wear-sensitive element wears together with the tail brush guard plate, and the wear direction is consistent; when the wear-sensitive element wears, the signal emitted by the wear-sensitive element changes;

[0063] The wear signal acquisition module is configured to collect the signal emitted by the wear sensitive element, determine the wear condition of the wear sensitive element; use the wear condition of the wear sensitive element as the wear condition of the tail brush guard plate; use the wear condition of the tail brush guard plate as a wear result signal, and send it to the shield tail sealing status monitoring device of the shield machine through the wear result signal transmission line.

[0064] In some embodiments of the present disclosure, the sensing device further includes:

[0065] The shield tail gap automatic measuring device is configured to collect shield tail gap measurement data; and send the shield tail gap measurement data to the shield tail sealing state monitoring device of the shield machine.

[0066] In some embodiments of the present disclosure, the automatic shield tail gap measuring device includes a structural package, an ultrasonic ranging module and a signal transmission cable trough, wherein the ultrasonic ranging module and the signal transmission cable trough are arranged in the structural package, and the automatic shield tail gap measuring device is embedded in the mounting hole of the tail shield for welding installation, and the mounting hole is formed by structural digging at the tail shield installation point.

[0067] In some embodiments of the present disclosure, the shield tail gap automatic measurement device includes:

[0068] An image-based shield tail gap measuring device is configured to collect shield tail gap image data and transmit the shield tail gap image data to an image processing industrial computer;

[0069] The image processing industrial computer is configured to perform shield tail gap calculation on the shield tail gap image data to determine shield tail gap measurement data; and send the shield tail gap measurement data to the shield tail sealing status monitoring device of the shield machine.

[0070] In some embodiments of the present disclosure, the sensing device further includes:

[0071] A tail brush chamber temperature and pressure monitoring sensor is configured to collect the pressure and temperature in the tail brush chamber; and send the pressure and temperature in the tail brush chamber to the shield tail sealing state monitoring device of the shield machine;

[0072] The tail brush cavity temperature and pressure monitoring sensor is a serially connected tail brush cavity temperature and pressure monitoring sensor.

[0073] In some embodiments of the present disclosure, the tail brush cavity temperature and pressure monitoring sensor is an annular, serially connected tail brush cavity temperature and pressure monitoring sensor.

[0074] In some embodiments of the present disclosure, the tail brush chamber temperature and pressure monitoring sensor is disposed in the tail brush chamber, wherein the tail brush chamber is a circular sealed grease chamber.

[0075] In some embodiments of the present disclosure, the sensing device further includes:

[0076] The tail mud pressure sensor is configured to collect the mud pressure at the rear of the tail shield and send the rear mud pressure of the tail shield to the shield tail sealing state monitoring device of the shield machine;

[0077] The shield tail mud pressure sensor is arranged between the shield tail brush and the mud stop plate. The shield tail mud pressure sensor is integrated with the hollow stud, which is used to fix the mud stop plate at the tail of the tail shield and fix the shield tail mud pressure sensor to the tail of the tail shield through a threaded connection.

[0078] According to another aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the method for monitoring the sealing status of the shield tail of a tunnel boring machine as described in any of the above embodiments is implemented.

[0079] According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the method for monitoring the sealing status of the tail of a tunnel boring machine as described in any of the above embodiments is implemented.

[0080] The present invention can realize real-time monitoring of various shield tail sealing status data, and can also realize real-time monitoring and control of the shield tail sealing status. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0082] Figure 1 Schematic diagram of some embodiments of the shield tail sealing status monitoring method of the shield machine disclosed in the present invention.

[0083] Figure 2 Schematic diagrams of other embodiments of the shield tail sealing status monitoring method of the shield machine disclosed in the present invention.

[0084] Figure 3 Schematic diagrams of some embodiments of the shield tail sealing status monitoring device of the shield machine disclosed in the present invention.

[0085] Figure 4 It is a schematic structural diagram of other embodiments of the shield tail sealing status monitoring device of the shield machine disclosed in the present invention.

[0086] Figure 5 Schematic diagram of some embodiments of the shield tail sealing status monitoring system of the shield machine disclosed in the present invention.

[0087] Figure 6 Schematic diagrams of other embodiments of the shield tail sealing status monitoring system for the shield machine disclosed in the present invention.

[0088] Figure 7 Schematic diagram of a serially connected tail brush cavity temperature and pressure monitoring sensor subsystem in some embodiments of the present disclosure.

[0089] Figure 8 Schematic diagram of the installation of a serially connected tail brush cavity temperature and pressure monitoring sensor in some embodiments of the present disclosure.

[0090] Fig. 9 Schematic diagram of the design of a sensor for monitoring the water status of the tail brush chamber in some embodiments of the present disclosure.

[0091] Fig.10 Schematic diagram of the installation of a sensor for monitoring the water status of the tail brush chamber in some embodiments of the present disclosure.

[0092] Fig.11 Schematic diagram of the design and installation of the shield tail mud pressure sensor in some embodiments of the present disclosure.

[0093] Fig.12 Schematic diagram of the hardware design of the tail brush wear monitoring device in some embodiments of the present disclosure.

[0094] Fig.13The present invention is a schematic diagram of the design of an automatic shield tail gap measurement device based on ultrasonic ranging in some embodiments of the present invention.

[0095] Fig.14 Schematic diagram of signal transmission of serially connected tail brush cavity temperature and pressure monitoring sensors in some embodiments of the present disclosure.

[0096] Fig.15 It is a schematic diagram of the shield tail sealing status data display page of the host computer in some embodiments of the present disclosure.

[0097] Fig.16 This is a schematic diagram of a visualization display page of the tail brush cavity pressure status in some embodiments of the present disclosure.

[0098] Fig.17 Schematic diagram of a warning status display page in some embodiments of the present disclosure.

[0099] Fig.18 A schematic diagram of assigning values ​​to location cells in some embodiments of the present disclosure.

[0100] Fig.19 It is a schematic diagram of the grease injection control page in some embodiments of the present disclosure. DETAILED DESCRIPTION

[0101] The technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0102] Unless specifically stated otherwise, the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0103] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0104] Technologies, methods, and apparatus known to ordinary technicians in the relevant field may not be discussed in detail, but where appropriate, such technologies, methods, and apparatus should be considered part of the authorization specification.

[0105] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0106] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0107] Through research, the inventors found that some related technologies use machine learning algorithms such as random forests and support vector machines to diagnose faults of shield machine cutters. Although these machine learning algorithms have a certain accuracy in identifying faults, considering the actual construction conditions of the project, these algorithms are still not good at diagnosing abnormal conditions of the cutters.

[0108] The relevant technology is limited by the narrow and variable space of the tail shield, and is also limited by the fact that the sealing state of the tail shield is affected by the combined effect of multiple factors. During the research process, there are three major technical problems in the key technology of shield tail sealing state monitoring: "difficulty in shield tail sealing monitoring, difficulty in leakage mechanism exploration, and difficulty in safety warning."

[0109] In view of at least one of the above technical problems, the present disclosure provides a shield tail seal status monitoring method, device and system, and program product for a shield machine, which can stably, reliably and accurately realize comprehensive status monitoring of the shield tail seal, safety warning, and automatic grease injection control.

[0110] The present disclosure is described below through specific embodiments.

[0111] Figure 1 Schematic diagram of some embodiments of the shield tail sealing state monitoring method of the present invention. Preferably, this embodiment can be performed by the shield tail sealing state monitoring device of the present invention or the shield tail sealing state monitoring system of the present invention. Figure 1 As shown, Figure 1 The method of the embodiment may include at least one of step 1 and step 2.

[0112] Step 1: acquiring the shield tail sealing status data of the shield machine in real time, wherein the shield tail sealing status data includes at least one of the moisture content of the tail brush chamber and the shield tail wear status parameter.

[0113] In some embodiments of the present disclosure, the shield tail sealing status data may also include at least one of shield tail clearance measurement data, tail brush cavity pressure, tail shield rear mud pressure, tail brush cavity temperature and the like.

[0114] Step 2: Controlling the shield tail sealing state of the shield machine according to the shield tail sealing state data.

[0115] In some embodiments of the present disclosure, step 2 may include at least one of steps 21 to 23.

[0116] Step 21, determining the shield tail sealing state of the shield machine according to the shield tail sealing state data.

[0117] Step 22: issuing an early warning on the shield tail sealing status of the shield machine according to the shield tail sealing status data.

[0118] Step 23, automatically controlling the grease injection of the shield tail seal of the shield machine according to the shield tail seal status data.

[0119] In some embodiments of the present disclosure, in step 23, the step of automatically controlling the grease injection of the shield tail seal of the shield machine may include: controlling the opening and closing of the grease injection port in the tail brush cavity; and controlling the grease injection amount in the tail brush cavity.

[0120] In some embodiments of the present disclosure, when the shield tail sealing status data includes the moisture content of the tail brush chamber, step 2 may include at least one of steps 201 to 204 .

[0121] Step 201, judging whether there is water in the tail brush cavity according to the moisture content of the tail brush cavity.

[0122] Step 202, when there is water in the tail brush cavity, an alarm is issued for the water leakage point in the water cavity.

[0123] Step 203, determining the grease injection port near the water leakage point in the water-containing cavity.

[0124] Step 204, controlling the grease injection port near the water leakage point in the water-containing cavity to inject grease.

[0125] In some embodiments of the present disclosure, step 204 may include: controlling the grease injection ports near the water leakage points in the water-containing cavity to perform focused grease injection.

[0126] In some embodiments of the present disclosure, when the shield tail sealing state data includes the shield tail wear state parameter, step 2 may include at least one step from step 211 to step 217 .

[0127] Step 211, determining whether the shield tail wear state parameter is abnormal.

[0128] Step 212: when the wear state parameter of the shield tail is abnormal, determine the abnormal degree of the shield tail wear.

[0129] Step 213, determining whether the abnormality level is the first level and affects safe excavation.

[0130] Step 214, when the abnormality level is the first level and affects safe excavation, it is prompted that the tail brush is failed and a tail brush replacement operation is performed.

[0131] Step 215, when the abnormality level is not the first level or the abnormality level does not affect safe excavation, prompting the tail brush abnormality and indicating the abnormality level is the second level, wherein the abnormality level of the second level is lower than the abnormality level of the first level.

[0132] Step 216, controlling the grease injection port near the abnormal point of the tail brush to be normally open.

[0133] Step 217, inject grease into the grease injection port near the abnormal point of the tail brush to maintain the pressure in the nearby cavity greater than the first predetermined pressure.

[0134] In some embodiments of the present disclosure, when the shield tail sealing state data includes shield tail clearance measurement data, step 2 may include at least one of steps 221 to 222 .

[0135] Step 221, determining whether the shield tail clearance measurement data is within a normal range.

[0136] Step 222, when the shield tail clearance measurement data is not within the normal range, an abnormal shield tail posture alarm is issued, and a prompt is given to adjust the excavation direction.

[0137] In some embodiments of the present disclosure, when the shield tail sealing state data includes the pressure in the tail brush chamber, step 2 may include at least one of steps 231 to 234 .

[0138] Step 231, determining a position where the pressure in the tail brush chamber is lower than a second predetermined pressure.

[0139] Step 232, determining a grease injection port near a position where the pressure in the tail brush cavity is lower than a second predetermined pressure.

[0140] Step 233, turning on the grease injection port switch near the position, and performing grease injection operation on the grease injection port near the position.

[0141] Step 234, determining the change in the grease injection operation through real-time feedback of the pressure monitoring in the tail brush cavity.

[0142] The above-mentioned embodiments of the present disclosure can realize dynamic closed-loop control of the tail brush cavity grease injection system according to real-time feedback of monitoring parameters, timely adjust the opening and closing of the grease injection port and the amount of grease injected into the cavity, improve the economy of shield construction, and provide all-round safety protection for shield construction.

[0143] In some embodiments of the present disclosure, when the shield tail sealing status data includes the pressure in the tail brush chamber and the mud pressure at the rear of the tail shield, step 2 may include at least one of steps 241 to 243 .

[0144] Step 241, judging whether the pressure state, the pressure difference between cavities, and the first pressure difference are normal, wherein the first pressure difference is the difference between the shield tail mud pressure and the pressure in the tail brush cavity, and the pressure difference between cavities is the pressure difference between every two tail brush cavities.

[0145] Step 242, when at least one of the pressure state, the pressure difference between cavities, and the first pressure difference is abnormal, determine a grease injection port near the abnormal point of the pressure state or the pressure difference.

[0146] Step 243, controlling the pressure state or the grease injection port near the abnormal pressure difference point to inject grease.

[0147] In some embodiments of the present disclosure, when the shield tail sealing status data includes the temperature inside the tail brush cavity, step 2 may include: determining whether the temperature inside the tail brush cavity is normal; if the temperature inside the tail brush cavity is abnormal, instructing to change the grease type or adjust the grease ratio.

[0148] The above-mentioned embodiment of the present disclosure designs a shield tail seal comprehensive status monitoring, safety warning, and grease injection automatic control system. Through the serial front-end sensing integration technology, it can continuously monitor the pressure, temperature, moisture content and other status parameters in the shield tail sealing cavity in real time at multiple points, and continuously monitor the shield tail brush wear status parameters at multiple points in real time. Combined with the real-time shield tail gap measurement data, the mud pressure value at the rear of the tail shield, the soil pressure value outside the shield, etc., a multi-dimensional parameter coupling comprehensive analysis algorithm is designed and an intelligent discrimination model is introduced, which solves the problem of being unable to predict the shield tail brush wear and shield tail seal leakage during shield construction, and realizes the comprehensive safety warning function of the shield tail sealing system.

[0149] The above-mentioned embodiments of the present disclosure are designed to monitor the comprehensive status of the shield tail seal, as well as to provide a safety warning and automatic grease injection control method. Through the serial front-end sensing integration technology, the pressure, temperature, moisture content and other status parameters in the shield tail seal cavity can be continuously monitored in real time at multiple points, and the wear status parameters of the shield tail brush can be continuously monitored in real time at multiple points. Combined with the real-time shield tail gap measurement data, the mud pressure value at the rear of the tail shield, the soil pressure value outside the shield, etc., a multi-dimensional parameter coupling comprehensive analysis algorithm is designed and an intelligent discrimination model is introduced, which solves the technical problem that the wear of the shield tail brush and the leakage of the shield tail seal cannot be predicted during the shield construction process, and realizes the comprehensive safety warning function of the shield tail sealing system. At the same time, the above-mentioned embodiments of the present disclosure can realize the dynamic closed-loop control of the tail brush cavity grease injection system according to the real-time feedback of the monitoring parameters, and timely adjust the opening and closing of the grease injection port and the amount of grease injected into the cavity, thereby improving the economy of the shield construction and providing all-round safety protection for the shield construction.

[0150] Figure 2 Schematic diagrams of other embodiments of the shield tail sealing state monitoring method of the present invention. Preferably, this embodiment can be performed by the shield tail sealing state monitoring device of the present invention or the shield tail sealing state monitoring system of the present invention. Figure 2 As shown, Figure 2 The method of the embodiment may include at least one of steps 301 to 323 .

[0151] Step 301: The tunnel boring machine excavates normally, collects and transmits shield tail sealing status monitoring data, and the system obtains monitoring data from each sensing system.

[0152] Step 302, monitor the water content of the tail brush cavity and obtain the water content of the tail brush cavity.

[0153] In some embodiments of the present disclosure, step 304 may include: using a tail brush cavity water content status monitoring sensor to monitor the water content status of the tail brush cavity, and obtaining the water content rate of the tail brush cavity.

[0154] In some embodiments of the present disclosure, the output of the tail brush chamber water status monitoring sensor is a switch quantity. If the tail brush chamber contains water, the sensor output value is "1"; if the tail brush chamber does not contain water and is in a normal state, the output value is "0".

[0155] Step 303, judging whether there is water in the tail brush cavity according to the water content of the tail brush cavity. If there is water in the tail brush cavity, step 304 is executed; otherwise, if there is no water in the tail brush cavity, step 306 is executed.

[0156] Step 304, alarming the water leakage point in the water-containing cavity.

[0157] In some embodiments of the present disclosure, step 304 may include: alarming at corresponding water leakage points in the water-containing cavity; and displaying on a host computer.

[0158] Step 305, determine the grease injection port near the water leakage point in the water-containing cavity; control the grease injection port near the water leakage point in the water-containing cavity to inject grease. Then execute step 306.

[0159] In some embodiments of the present disclosure, step 305 may include: controlling the grease injection ports near the water leakage points in the water-containing cavity to perform focused grease injection.

[0160] Step 306: monitor the wear of the shield tail and obtain the wear status parameters of the shield tail.

[0161] Step 307, determining whether the wear state parameter of the shield tail is abnormal. If the wear state parameter of the shield tail is abnormal, execute step 308; otherwise, if the wear state parameter of the shield tail is normal, execute step 313.

[0162] Step 308, determining the abnormal degree of shield tail wear.

[0163] In some embodiments of the present disclosure, step 308 may include: evaluating the abnormality level of the shield tail wear.

[0164] Step 309, determining whether the abnormality is the first degree and affects safe excavation. If the abnormality is the first degree and affects safe excavation, execute step 310; otherwise, if the abnormality is not the first degree or the abnormality does not affect safe excavation, execute step 311.

[0165] In some embodiments of the present disclosure, the first degree is severe wear.

[0166] Step 310, prompting that the tail brush is invalid and prompting to replace the tail brush. Then, step 301 is executed.

[0167] In some embodiments of the present disclosure, step 310 may include: prompting an operator that the tail brush has failed, and automatically performing a tail brush replacement operation.

[0168] In some embodiments of the present disclosure, step 310 may include: prompting the operator that the tail brush has failed, and prompting project personnel to perform a tail brush replacement operation.

[0169] Step 311, prompting that the tail brush is abnormal and indicating that the abnormality level is a second degree, wherein the abnormality level of the second degree is lower than the abnormality level of the first degree.

[0170] In some embodiments of the present disclosure, the second degree is slight wear.

[0171] In some embodiments of the present disclosure, step 311 may include: the host computer prompts that the tail brush is abnormal and displays the abnormality level as slight wear.

[0172] In some embodiments of the present disclosure, the abnormal degree of wear can be determined by whether at least one of the two layers of guard plates of the tail brush is worn. The tail brush has two layers of guard plates. If one layer of the guard plate of the tail brush is worn through or broken, the tail brush is in a relatively dangerous state.

[0173] Step 312, controlling the grease injection port near the abnormal point of the tail brush to be always open; injecting grease into the grease injection port near the abnormal point of the tail brush to maintain the pressure in the nearby cavity greater than the first predetermined pressure.

[0174] In some embodiments of the present disclosure, step 312 may include: controlling the grease injection port near the abnormal point of the tail brush to be normally open; and focusing on grease injection at the grease injection port near the abnormal point of the tail brush to maintain the pressure in the nearby cavity at high pressure.

[0175] Step 313: perform shield tail clearance measurement to obtain shield tail clearance measurement data.

[0176] Step 314, determining whether the shield tail clearance measurement data is within a normal range. If the shield tail clearance measurement data is not within a normal range, execute step 315; otherwise, if the shield tail clearance measurement data is within a normal range, execute step 317.

[0177] In some embodiments of the present disclosure, the normal ranges of the gaps between the tails of shield machines of different diameters are different.

[0178] In some embodiments of the present disclosure, the gap between the shield tail of the shield machine is 30-80 mm.

[0179] Step 315, an abnormal shield tail posture alarm is issued.

[0180] In some embodiments of the present disclosure, step 315 may include: the host computer issues an alarm for abnormal shield tail posture.

[0181] Step 316, prompting to adjust the excavation direction. Then, step 301 is executed.

[0182] In some embodiments of the present disclosure, the tunneling direction adjustment can correct the shield tail clearance value.

[0183] In some embodiments of the present disclosure, step 316 may include: prompting the operator to perform excavation direction adjustment.

[0184] In some other embodiments of the present disclosure, step 316 may include: the system automatically performs excavation direction adjustment.

[0185] Step 317, monitor the mud pressure at the rear of the tail shield to obtain the mud pressure at the rear of the tail shield.

[0186] Step 318, monitor the pressure in the tail brush cavity to obtain the pressure in the tail brush cavity.

[0187] Step 319, determine whether the pressure state, the pressure difference between chambers, and the first pressure difference are normal, wherein the first pressure difference is the difference between the shield tail mud pressure and the pressure in the tail brush chamber, and the pressure difference between chambers is the pressure difference between every two tail brush chambers. If at least one of the pressure state, the pressure difference between chambers, and the first pressure difference is abnormal, execute step 320; otherwise, if the pressure state, the pressure difference between chambers, and the first pressure difference are all normal, execute step 321.

[0188] In some embodiments of the present disclosure, the greater the shield tail mud pressure, the greater the difference between the shield tail mud pressure and the pressure in the tail brush chamber, which increases the risk of mud penetration into the tail brush chamber;

[0189] Step 320, determining the grease injection port near the pressure state or the pressure difference abnormal point; controlling the grease injection port near the pressure state or the pressure difference abnormal point to inject grease. Then, step 301 is executed.

[0190] In some embodiments of the present disclosure, step 320 may include: controlling the pressure state or the grease injection port near the abnormal pressure difference point to perform focused grease injection.

[0191] Step 321, monitor the temperature inside the tail brush cavity and obtain the temperature inside the tail brush cavity.

[0192] Step 322, determining whether the temperature in the tail brush cavity is normal; if the temperature in the tail brush cavity is abnormal, executing step 323; otherwise, if the temperature in the tail brush cavity is normal, executing step 301.

[0193] In some embodiments of the present disclosure, the normal temperature range is generally the ground temperature of the excavation formation. The ground temperature is different at high and low latitudes.

[0194] Step 323, indicating to change the grease type or adjust the grease ratio. Then, step 301 is executed.

[0195] In some embodiments of the present disclosure, temperature has a relatively large impact on grease. When the temperature changes, the viscosity, penetration and fluidity of the grease will change.

[0196] In some embodiments of the present disclosure, step 323 may include: the system automatically changes the grease type or adjusts the grease ratio.

[0197] In other embodiments of the present disclosure, step 323 may include: instructing the operator to change the grease type or adjust the grease ratio.

[0198] The above-mentioned embodiments of the present disclosure have achieved all-round monitoring of the shield tail sealing status by developing a variety of sensing hardware for monitoring the shield tail sealing status, designed a multi-dimensional parameter coupling comprehensive analysis algorithm and introduced an intelligent discrimination model, solved the problem of being unable to predict the wear of the shield tail brush and the leakage of the shield tail seal during the shield construction process, and realized the comprehensive safety warning function of the shield tail sealing system. At the same time, the above-mentioned embodiments of the present disclosure can realize the dynamic closed-loop control of the tail brush cavity grease injection system according to the real-time feedback of the monitoring parameters, timely adjust the opening and closing of the grease injection port and the amount of grease injected into the cavity, and improve the economy of shield construction.

[0199] Figure 3 Schematic diagram of some embodiments of the shield tail sealing state monitoring device of the shield machine disclosed in the present invention. Figure 3 As shown, the shield tail sealing state monitoring device of the shield machine disclosed in the present invention may include a state data acquisition module 31 and a sealing state control module 32 .

[0200] The status data acquisition module 31 is configured to acquire the shield tail sealing status data of the shield machine in real time, wherein the shield tail sealing status data includes at least one of the moisture content of the tail brush chamber and the shield tail wear status parameter.

[0201] In some embodiments of the present disclosure, the shield tail sealing status data may also include at least one of shield tail clearance measurement data, tail brush cavity pressure, tail shield rear mud pressure, tail brush cavity temperature and the like.

[0202] The sealing state control module 32 is configured to control the sealing state of the shield tail of the shield machine according to the shield tail sealing state data.

[0203] In some embodiments of the present disclosure, the sealing status control module 32 is configured to perform at least one of the following operations: determine the shield tail sealing status of the shield machine according to the shield tail sealing status data; issue an early warning of the shield tail sealing status of the shield machine according to the shield tail sealing status data; and automatically control the shield tail sealing grease injection of the shield machine according to the shield tail sealing status data.

[0204] In some embodiments of the present disclosure, the sealing status control module 32 can be configured to control the opening and closing of the grease injection port in the tail brush cavity and control the amount of grease injected into the tail brush cavity when controlling the shield tail sealing status of the shield machine according to the shield tail sealing status data.

[0205] In some embodiments of the present disclosure, when the shield tail sealing status data includes the moisture content of the tail brush cavity, the sealing status control module 32 can be configured to determine whether there is water in the tail brush cavity according to the moisture content of the tail brush cavity; when there is water in the tail brush cavity, alarm the leakage point in the water-containing cavity; determine the grease injection port near the leakage point in the water-containing cavity; and control the grease injection port near the leakage point in the water-containing cavity to inject grease.

[0206] In some embodiments of the present disclosure, the sealing status control module 32 can be configured to determine whether the shield tail wear status parameter is abnormal when the shield tail sealing status data includes the shield tail wear status parameter; when the shield tail wear status parameter is abnormal, determine the abnormal degree of shield tail wear; determine whether the abnormal degree is the first degree and affects safe excavation; when the abnormal degree is the first degree and affects safe excavation, prompt that the tail brush is failed and prompt to replace the tail brush.

[0207] In some embodiments of the present disclosure, when the shield tail sealing status data includes the shield tail wear status parameters, the sealing status control module 32 can also be configured to prompt that the tail brush is abnormal and indicate that the abnormality level is the second level when the abnormality level is not the first level or the abnormality level does not affect safe excavation, wherein the abnormality level of the second level is lower than the abnormality level of the first level; control the grease injection port near the abnormal point of the tail brush to be always open; inject grease into the grease injection port near the abnormal point of the tail brush to maintain the pressure in the nearby cavity greater than the first predetermined pressure.

[0208] In some embodiments of the present disclosure, the sealing status control module 32 can be configured to determine whether the shield tail gap measurement data is within a normal range when the shield tail sealing status data includes the shield tail gap measurement data; when the shield tail gap measurement data is not within the normal range, an abnormal shield tail posture alarm is issued, and a prompt is given to adjust the excavation direction.

[0209] In some embodiments of the present disclosure, when the shield tail sealing status data includes the pressure in the tail brush chamber, the sealing status control module 32 can be configured to determine a position where the pressure in the tail brush chamber is lower than a second predetermined pressure; determine a grease injection port near the position where the pressure in the tail brush chamber is lower than the second predetermined pressure; open a grease injection port switch near the position, and perform a grease injection operation on the grease injection port near the position; and determine a change in the grease injection operation through real-time feedback from the pressure monitoring in the tail brush chamber.

[0210] In some embodiments of the present disclosure, when the shield tail sealing status data includes the pressure in the tail brush cavity and the mud pressure at the rear of the tail shield, the sealing status control module 32 can be configured to determine whether the pressure status, the pressure difference between cavities, and the first pressure difference are normal, wherein the first pressure difference is the difference between the mud pressure at the shield tail and the pressure in the tail brush cavity, and the pressure difference between cavities is the pressure difference between every two tail brush cavities; when at least one of the pressure status, the pressure difference between cavities, and the first pressure difference is abnormal, determine the grease injection port near the abnormal point of the pressure status or pressure difference; and control the grease injection port near the abnormal point of the pressure status or pressure difference to perform grease injection.

[0211] In some embodiments of the present disclosure, when the shield tail sealing status data includes the temperature inside the tail brush cavity, the sealing status control module 32 can be configured to determine whether the temperature inside the tail brush cavity is normal; if the temperature inside the tail brush cavity is abnormal, it can instruct to change the grease type or adjust the grease ratio.

[0212] In some embodiments of the present disclosure, the shield tail sealing state monitoring device of the present disclosure may also be configured to execute the shield tail sealing state monitoring method of the shield tail described in any of the above embodiments of the present disclosure.

[0213] Figure 4 Schematic diagram of the structure of some other embodiments of the shield tail sealing state monitoring device of the shield machine disclosed in the present invention. Figure 4 As shown, the shield tail sealing state monitoring device of a shield machine includes a memory 41 and a processor 42 .

[0214] The memory 41 is used to store instructions, the processor 42 is coupled to the memory 41, and the processor 42 is configured to execute the shield tail sealing state monitoring method of the shield machine described in any of the above embodiments of the present disclosure based on the instructions stored in the memory.

[0215] like Figure 4As shown, the shield tail sealing state monitoring device of the shield machine also includes a communication interface 43 for information exchange with other devices. At the same time, the shield tail sealing state monitoring device of the shield machine also includes a bus 44, and the processor 42, the communication interface 43, and the memory 41 complete the communication with each other through the bus 44.

[0216] The memory 41 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory. The memory 41 may also be a memory array. The memory 41 may also be divided into blocks, and the blocks may be combined into virtual volumes according to certain rules.

[0217] In addition, the processor 42 may be a central processing unit (CPU), or may be an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present disclosure.

[0218] Figure 5 Schematic diagram of some embodiments of the shield tail sealing status monitoring system of the shield machine disclosed in the present invention. Figure 5 As shown, the shield tail sealing state monitoring system of the shield machine disclosed in the present invention may include a sensing device 51 and a shield tail sealing state monitoring device 52 .

[0219] The sensing device 51 is configured to measure the shield tail sealing status data of the shield machine in real time; and send the shield tail sealing status data to the shield tail sealing status monitoring device of the shield machine.

[0220] The shield tail sealing status monitoring device 52 of the shield machine is configured to obtain the shield tail sealing status data of the shield machine in real time, wherein the shield tail sealing status data includes at least one of the moisture content of the tail brush chamber and the shield tail wear status parameters; and control the shield tail sealing status of the shield machine according to the shield tail sealing status data.

[0221] In some embodiments of the present disclosure, the shield tail sealing status monitoring device 52 may be a shield tail sealing status monitoring device as described in any of the above embodiments.

[0222] Figure 6 Schematic diagrams of other embodiments of the shield tail sealing status monitoring system of the shield machine disclosed in the present invention. Figure 6 As shown, the shield tail seal status monitoring system of the shield machine disclosed in the present invention may include a sensing device 51, a data acquisition and transmission device 53, a data processing device 54, a host computer 55 and a shield tail seal grease injection control device 56.

[0223] In some embodiments of the present disclosure, Figure 5 The shield tail sealing state monitoring device 52 of the embodiment may include: Figure 6The data processing device 54, the host computer 55 and the shield tail seal grease injection control device 56 of the embodiment.

[0224] The data collection and transmission device 53 is configured to collect the shield tail sealing state data measured by the sensing device 51 and send the shield tail sealing state data to the data processing device 54 .

[0225] In some embodiments of the present disclosure, the data processing device 54 may be implemented as a shield PLC and a core data processing machine.

[0226] In some embodiments of the present disclosure, the sensing device 51 can be configured to transmit multi-dimensional sensing data to the shield PLC, configure a core data processor for shield tail sealing status monitoring and safety warning algorithm, establish a data transmission link between the core data processor and the shield PLC, and transmit all shield tail sealing related data to this core data processor.

[0227] In some embodiments of the present disclosure, the shield tail sealing status monitoring and safety warning algorithm is also installed in this core data processor. The algorithm processes the acquired multi-dimensional perception data and outputs the data processing results.

[0228] In some embodiments of the present disclosure, Figure 6 As shown, the sensing device 51 may include a tail brush chamber temperature and pressure monitoring sensor 511 , a tail brush chamber water content status monitoring sensor 512 , a tail brush wear monitoring device 513 , a shield tail clearance automatic measuring device 514 and a shield tail mud pressure sensor 515 .

[0229] In some embodiments of the present disclosure, Figure 6 As shown, the tail brush chamber temperature and pressure monitoring sensor 511 is configured to collect the pressure and temperature in the tail brush chamber; and send the pressure and temperature in the tail brush chamber to the shield tail sealing status monitoring device of the shield machine.

[0230] Figure 7 Schematic diagram of a series-connected tail brush chamber temperature and pressure monitoring sensor subsystem in some embodiments of the present disclosure. Figure 7 As shown, multiple tail brush cavity temperature and pressure monitoring sensors are arranged in a serial sensing layout, each tail brush cavity temperature and pressure monitoring sensor is provided with a pressure and temperature sensing part, and the connector between every two tail brush cavity temperature and pressure monitoring sensors is a waterproof connector for sensor interconnection cables. Figure 7 The serial-connected tail brush cavity temperature and pressure monitoring sensor subsystem includes three serial-connected tail brush cavity temperature and pressure monitoring sensors. The lead-out cable of the serial-connected tail brush cavity temperature and pressure monitoring sensor subsystem is a two-bus based power supply and signal transmission method.

[0231] In some embodiments of the present disclosure, Figure 7As shown, the tail brush cavity temperature and pressure monitoring sensor is a serially connected tail brush cavity temperature and pressure monitoring sensor.

[0232] Figure 8 Schematic diagram of the installation of a serially connected tail brush chamber temperature and pressure monitoring sensor in some embodiments of the present disclosure. Figure 8 As shown, the tail brush cavity temperature and pressure monitoring sensor is a ring-shaped, serially connected tail brush cavity temperature and pressure monitoring sensor.

[0233] In some embodiments of the present disclosure, Figure 8 As shown, the tail brush chamber temperature and pressure monitoring sensor is arranged in the tail brush chamber (shield tail sealing chamber), wherein the tail brush chamber is a circular annular closed grease chamber.

[0234] In some embodiments of the present disclosure, Figure 8 As shown, the serial-connected tail brush cavity temperature and pressure monitoring sensor adopts a serial-connected mounting solution, which is composed of 9 tail brush cavity temperature and pressure monitoring sensors 1-9 connected in series.

[0235] The above-mentioned embodiments of the present disclosure realize real-time monitoring of temperature and pressure at multiple points in the tail brush cavity through a serial sensor design.

[0236] Through research, the inventors found that the shield tail sealing grease has non-Newtonian properties, poor grease fluidity, poor pressure transmission hysteresis, and the shield tail grease cavity is full of grease and impurities, and is always in a state of high pressure and high humidity, and the space is small. The sensors of related technologies generally place the high-precision processing circuit module at the bottom of the sensing diaphragm, and lead the measured data out from the bottom with cables, resulting in a large axial dimension of the outer shape, which cannot be completely embedded in the tail brush cavity.

[0237] The above-mentioned embodiment of the present disclosure designs a flat sensor so that it can be fixed on the inner wall of the tail brush cavity, thereby facilitating front-end data collection.

[0238] Since the tail shield is covered with grease pipelines and grouting pipelines in the circumferential direction, in order not to affect the strength of the tail shield, the wiring grooves used for the sensor leads in the tail brush cavity on the inner wall of the tail shield should be as few as possible. A single sensor in the related technology generally requires a lead-out cable, so it is not suitable for the working conditions of the above-mentioned embodiments of the present disclosure. In addition, the circumference of the tail circular closed grease cavity of the tail brush cavity is generally more than 20m. Therefore, the above-mentioned embodiments of the present disclosure design a series-type tail brush cavity front-end sensing sensor to meet the requirements of quasi-distributed measurement.

[0239] The inventors found through research that when there is a problem with the shield tail sealing system, water and soil in the outer space of the shield will penetrate into the inner space of the shield operation through the shield tail sealing cavity. Therefore, it is particularly important to monitor whether there is any water leakage in the grease filling medium in the tail brush cavity. If water penetrates, the shield tail sealing system will have a certain degree of safety risk.

[0240] In some embodiments of the present disclosure, Figure 6 As shown, the tail brush chamber water content status monitoring sensor 512 is configured to collect the water content of the tail brush chamber; and send the water content of the tail brush chamber to the shield tail sealing status monitoring device of the shield machine.

[0241] Fig. 9 Schematic diagram of the design of a sensor for monitoring the water content in the tail brush chamber in some embodiments of the present disclosure. Fig. 9 As shown, the present disclosure designs a tail brush cavity water status monitoring sensor that senses changes in the surrounding space medium through dual electrodes. The tail brush cavity water status monitoring sensor may include dual electrodes, a signal transmission cable, a signal acquisition device, a signal processing device, a signal output and a host computer display device.

[0242] Fig.10 FIG. 1 is a schematic diagram of the installation of a sensor for monitoring the water content in the tail brush chamber in some embodiments of the present disclosure. Fig.10 As shown, the double electrode sheet is in the shape of a long strip and is fixed to the surface of the bottom plate of the tail brush in the tail brush cavity through an insulating base; the signal transmission cable passes through the axial longitudinal groove of the tail shield (the longitudinal groove for the outlet of the tail shield body), and is led out along the longitudinal groove to the shield body operating space to connect to the signal acquisition device. Fig.10 The schematic diagram and positional relationship of the tail shield, tail shield brush and tail brush floor are also given.

[0243] In some embodiments of the present disclosure, Figure 6 As shown, the shield tail mud pressure sensor 515 can be configured to collect the mud pressure at the rear of the tail shield; and send the mud pressure at the rear of the tail shield to the shield tail sealing state monitoring device of the shield machine.

[0244] The main function of the shield tail sealing system disclosed in the present invention is to prevent water and soil in the external space of the shield from invading from the rear of the shield tail sealing system. Therefore, it is necessary for the present invention to monitor the mud pressure at the rear of the tail shield. If the mud pressure at the rear of the tail shield is too high and exceeds the protection capability of the shield tail sealing system, the shield tail sealing system also has a greater safety risk.

[0245] Fig.11 The following is a schematic diagram of the design and installation of the shield tail mud pressure sensor in some embodiments of the present disclosure. Fig.11 As shown, the tail of the tail shield is provided with a tail brush and a mud stop plate, the tail mud pressure sensor is arranged between the tail brush and the mud stop plate, the tail mud pressure sensor is integrated with a hollow stud, and is used to fix the mud stop plate at the tail of the tail shield, and the tail mud pressure sensor is fixed to the tail of the tail shield through a threaded connection. Fig.11 As shown, the shield tail mud pressure sensor also includes a signal acquisition unit and a host computer.

[0246] The above-mentioned embodiment of the present disclosure has a whole circle of slurry stop plate fixed at the tail of the tail shield, and the pressure sensor and the hollow stud are highly integrated. Therefore, the above-mentioned embodiment of the present disclosure can not only fix the original slurry stop plate, but also stably fix the mud pressure sensor to the tail of the tail shield through a threaded connection, which greatly saves installation space and has good stability, thereby achieving perfect integration with the shield machine.

[0247] In some embodiments of the present disclosure, the shield tail mud pressure sensor includes a shell. The shell can be a metal cylinder with openings at both ends. A sensing diaphragm is provided at one end of the shell and a screw seat is provided at the other end. The screw seat is integrally formed with the shell or sealed and fixedly connected. A hollow stud is integrally formed on the screw seat. A sensitive chip is provided on the back of the sensing diaphragm. The sensitive chip is tightly attached to the sensing diaphragm and is located inside the shell. A signal acquisition module is provided in the shell. The sensitive chip senses the mud pressure in the annular gap space through the sensing diaphragm and performs signal acquisition through the acquisition module. The sensing diaphragm serves as the sensing part of the sensor, and the acquisition chip is placed in the metal shell. The sensitive chip is made into a strain bridge. The sensitive chip is connected to the signal acquisition module through leads and is connected to the host computer through the communication adapter module through the hollow stud. Fig.11 As shown, when in use, the signal acquisition unit of the mud pressure sensor collects the front-end pressure parameters and converts them into 4-20mA signals, which are transmitted to the communication adapter module through the data signal line. The communication adapter module converts the 4-20mA signals into 485 signals that can be read by the host computer, and the host computer can display the mud pressure parameter values ​​on the computer screen.

[0248] In some embodiments of the present disclosure, Figure 6 As shown, the tail brush wear monitoring device 513 can be configured to collect shield tail wear state parameters; and send the shield tail wear state parameters to the shield tail sealing state monitoring device of the shield machine.

[0249] The inventors have found through research that the shield tail sealing system is sealed mainly by injecting high-pressure grease into the tail brush cavity formed by multiple shield tail brushes to form a seal to prevent external high-pressure water and soil intrusion. If there is a problem with the tail brush in the sealing system, the shield tail sealing system will face a certain degree of safety risk. Therefore, monitoring the wear or breakage of the tail brush is an important part of the shield tail sealing system status monitoring. The main characteristics of tail brush wear failure are excessive wear of the tail brush guard plate and guard plate breakage. Excessive wear of the tail brush guard plate will cause the tail brush guard plate to separate from the pipe segment when the shield tail gap is large, forming a gap, which will lead to sealing failure. The wear of the tail brush guard plate starts from the end of the tail brush guard plate and wears in the direction of the guard plate. The tail brush guard plate is usually made of spring steel plate, and the wear rate is relatively slow. The breakage of the tail brush guard plate is often due to the deformation of the tail brush guard plate under pressure, repeated bending, resulting in metal fatigue, and then breakage.

[0250] The tail brush guard plate will deform during operation. Therefore, the tail brush wear monitoring device 513 of the above-mentioned embodiment of the present invention needs to adopt a flexible design and be integrated with the tail brush. This can not only ensure that the wear detection device is not damaged when the tail brush is deformed under pressure for a long time, but also needs to fit closely with the tail brush guard plate and wear together to achieve the purpose of real-time monitoring.

[0251] Fig.12 Schematic diagram of the hardware design of the tail brush wear monitoring device in some embodiments of the present disclosure. Fig.12 As shown, the tail brush wear monitoring device includes a wear sensitive element, a wear signal acquisition module and a wear result signal transmission line.

[0252] The wear-sensitive element is surface-mounted or embedded on the tail brush guard plate. The wear-sensitive element wears together with the tail brush guard plate in the same direction. When the wear-sensitive element wears, the signal emitted by the wear-sensitive element changes.

[0253] The wear signal acquisition module is configured to collect the signal emitted by the wear sensitive element, determine the wear condition of the wear sensitive element; use the wear condition of the wear sensitive element as the wear condition of the tail brush guard plate; use the wear condition of the tail brush guard plate as a wear result signal, and send it to the shield tail sealing status monitoring device of the shield machine through the wear result signal transmission line.

[0254] In some embodiments of the present disclosure, the wear-sensitive element is installed on the tail brush guard plate, and the wear of the element can be regarded as the wear condition of the tail brush guard plate.

[0255] In some embodiments of the present disclosure, Fig.12 As shown, the wear sensitive element is installed on the front guard plate of the tail brush.

[0256] In some embodiments of the present disclosure, Fig.12 As shown, the wear-sensitive element may be a FPC (Flexible Printed Circuit) wear-sensing part.

[0257] In some embodiments of the present disclosure, the flexible circuit board is a highly reliable and extremely flexible printed circuit board made of polyimide or polyester film as a substrate. It has the characteristics of high wiring density, light weight, thin thickness, and good bendability. At present, mainstream FPC circuit board manufacturers can generally achieve a processing technology with a line width of 5 mil and a line spacing of 5 mil. The minimum spacing between two wires in the same wiring layer is 10 mil, which is equivalent to 0.254 mm, which can meet the wear monitoring accuracy requirements within 1 mm. Therefore, the above embodiments of the present disclosure use FPC circuit boards as wear-sensitive elements for high-precision dynamic wear of tail brushes.

[0258] In some embodiments of the present disclosure, Fig.12 The positional relationship between the wear sensitive element, the wear signal acquisition module, the tail brush front guard plate, the tail brush bottom plate and the tail brush upper cover plate is also given.

[0259] In some embodiments of the present disclosure, Fig.12 As shown, the wear signal acquisition module can be implemented as a tail brush wear signal acquisition and processing unit.

[0260] In some embodiments of the present disclosure, the present disclosure selects to use a single-chip microcomputer as the core device for loop on-off detection, and realizes loop on-off identification by detecting the input level state through the GPIO port. The specific implementation method is: the wire marked "1" is connected to the common terminal COM. The FPC is connected to the GPIO port of the MCU, and the FPC is attached to the tail brush guard plate and wears together with the tail brush. Before the wear occurs, P01 of the MCU is connected to the common terminal COM and connected to GND. At this time, the signal of P01 is low level. When the wire marked "1" breaks, it is disconnected from the common terminal COM, and P01 is disconnected from GND. Due to the presence of the internal pull-up resistor of the GPIO, after the connection is disconnected, the signal of P01 becomes high level. The MCU obtains the change of the P01 signal, and then knows that the wire "1" has broken, and judges that the wear has reached the wire "1". Further, the MCU obtains the P02 level signal, and judges whether the wear has reached the wire "2" according to whether the P02 level changes. Further, the MCU obtains the P03 level signal... and so on, and the current wear signal of the tail brush is obtained.

[0261] In some embodiments of the present disclosure, Figure 6 As shown, the shield tail gap automatic measuring device 514 can be configured to collect shield tail gap measurement data; and send the shield tail gap measurement data to the shield tail sealing state monitoring device of the shield machine.

[0262] The inventor found through research that the shield tail gap refers to the distance between the surface of the tail shield and the outer surface of the formed segment. Due to the difference in the stroke of the shield propulsion cylinder, posture correction, and geological conditions, the shield tail gap will be different in all directions. If the difference is too large, it may cause accidents such as the tail shield jamming or the failure of the shield tail seal. If the shield tail gap is too large, the reverse pressure that the tail brush can withstand is reduced, which may cause the shield tail seal to fail and cause serious accidents such as water gushing; if the shield tail gap is too small, it is easy to crush the shield tail brush or even squeeze the segment, and it will also cause problems such as difficulty in assembling the next ring of segments. Therefore, the shield tail gap is a key parameter that needs to be obtained in real time during shield construction. The real-time perception of the tail shield posture plays a vital role in ensuring the safety of shield machine excavation and comprehensively controlling the shield machine excavation posture. At present, the main manual measurement method is used in the construction of related technologies. The measurement method is inefficient and has poor consistency. At the same time, it has certain safety hazards to workers under harsh construction conditions. With the rapid development of shield automation and intelligence, automatic measurement of the shield tail gap has become a rigid requirement for shield machine intelligence and shield tail sealing status monitoring.

[0263] Fig.13 Schematic diagram of the design of the automatic shield tail gap measurement device based on ultrasonic ranging in some embodiments of the present disclosure. Fig.13 As shown, the automatic shield tail gap measuring device includes a structural package, an ultrasonic ranging module (ultrasonic ranging unit) and a signal transmission cable groove, wherein the ultrasonic ranging module and the signal transmission cable groove are arranged in the structural package, and the automatic shield tail gap measuring device is embedded in the mounting hole of the tail shield for welding installation, and the mounting hole is formed by structural digging at the mounting point of the tail shield.

[0264] In some embodiments of the present disclosure, a structural hole may be dug at the tail shield installation point, and then the entire device may be embedded in the tail shield for welding and installation.

[0265] In some other embodiments of the present disclosure, the automatic shield tail gap measuring device may include an image-based shield tail gap measuring device and an image processing industrial computer, wherein: the image-based shield tail gap measuring device is configured to collect shield tail gap image data and transmit the shield tail gap image data to the image processing industrial computer; the image processing industrial computer is configured to perform shield tail gap solution on the shield tail gap image data to determine the shield tail gap measurement data; and send the shield tail gap measurement data to the shield tail sealing status monitoring device of the shield machine.

[0266] In some embodiments of the present disclosure, the data acquisition and transmission device 53 compares different sensor terminal signals (for example, the sensor signals of the tail brush chamber temperature and pressure monitoring sensor 511, the tail brush chamber water status monitoring sensor 512, the tail brush wear monitoring device 513, the shield tail gap automatic measuring device 514 and the shield tail mud pressure sensor 515), and adopts different data receiving technical means.

[0267] (1) The tail brush chamber temperature and pressure monitoring sensor 511 is a tail brush chamber temperature and pressure serially connected distributed sensor module. Due to the serially connected sensor distribution, a two-bus method is used for signal transmission. Fig.14 Schematic diagram of signal transmission of serially connected tail brush chamber temperature and pressure monitoring sensors in some embodiments of the present disclosure. Fig.14 As shown, the signal is converted into 485 signal through POWERBUS module and then connected to

[0268] (2) The tail shield mud pressure sensor 515 is a mud pressure monitoring sensor at the rear of the tail shield. It outputs a 4-20mA signal and is directly connected to the analog input module of the shield machine main control PLC.

[0269] (3) The tail brush chamber water status monitoring sensor 512 is connected to the water sensing module through two electrode leads, and the water content information is converted into analog quantity through the water sensing module and transmitted to the analog quantity input module of the PLC.

[0270] (4) The tail brush wear monitoring device 513 is a high-precision tail brush wear monitoring sensor device. The flexible circuit board is made of polyimide or polyester film as a substrate and is highly reliable and extremely flexible. It has the characteristics of high wiring density, light weight, thin thickness and good bendability. At present, mainstream FPC circuit board manufacturers can generally achieve a processing technology with a line width of 5 mil and a line spacing of 5 mil. The minimum spacing between two wires in the same wiring layer is 10 mil, which is equivalent to 0.254mm, which can meet the wear monitoring accuracy requirement within 1mm. Therefore, the FPC circuit board is used as a wear-sensitive element for high-precision dynamic wear of the tail brush. The wear sensing element transfers the wear data to the main control chip, and the main control chip sends the tail brush wear status data to the shield machine PLC;

[0271] (5) The shield tail gap automatic measuring device 514 adopts the shield tail gap automatic measurement.

[0272] In some embodiments of the present disclosure, if the shield tail clearance is measured using an ultrasonic ranging method, the data can be transmitted to the PLC analog input module via a 4-20mA method.

[0273] In other embodiments of the present disclosure, if image-based shield tail gap measurement is used, the shield tail gap measurement device needs to be equipped with an image processing industrial computer. The image-based shield tail gap measurement device transmits the measurement signal to the industrial computer, and the industrial computer performs shield tail gap calculation and transmits the shield tail gap measurement value to the PLC through the industrial Internet.

[0274] In some embodiments of the present disclosure, Figure 6 The upper computer 55 shown can be implemented as a human-computer interaction device.

[0275] In some embodiments of the present disclosure, the human-computer interaction device is also deployed in the shield tail sealing state monitoring system (shield tail sealing state monitoring and safety warning system) of the shield machine, which is mounted on the upper computer industrial control computer. The shield tail sealing state monitoring method (shield tail sealing state monitoring and safety warning algorithm) outputs the shield tail sealing state and safety warning results obtained by multi-dimensional perception data processing, and displays them on the upper computer. At the same time, the algorithm outputs the shield tail sealing grease injection control signal, and writes the control signal to the corresponding grease injection control point of the PLC.

[0276] In some embodiments of the present disclosure, the human-computer interaction device can be divided into four human-computer interaction pages, wherein the first page is a shield tail sealing status data (sensor data) display page. Fig.15 This is a schematic diagram of the shield tail sealing status data display page of the host computer in some embodiments of the present disclosure. Fig.15 As shown, the upper left side of the data display page displays the data of the mud pressure sensor and the tail brush chamber pressure detection sensor; the lower left side displays the shield tail gap measurement data and the tail brush wear monitoring device data; the right side displays the data of the spatial position arrangement of the sensor case, and the mud pressure sensor data is also displayed on the right side.

[0277] Fig.16 This is a schematic diagram of a visual display page of the pressure status of the tail brush chamber in some embodiments of the present disclosure. The visual display page of the pressure status of the tail brush chamber is the second page of the human-computer interaction page. Fig.16 As shown, the four annular cavities represent four tail brush cavities; each cavity is divided into 64 small units divided according to angles; the colors of the small units where the 16 sensors are located are obtained by the Tan Na warning algorithm to obtain the warning level value 0-4, and the color is displayed to the host computer; the color display of the middle position of each pair of sensors is displayed by interpolating the color range values ​​of the two sensors. The above embodiment of the present disclosure adopts the above means to visualize the pressure state in the tail brush cavity, which is convenient for the operator (shield driver) to judge the pressure state of the tail brush cavity and provide guidance for the grease injection operation.

[0278] Fig.17 Schematic diagram of the warning status display page in some embodiments of the present disclosure. The warning status display page is the third page of the human-computer interaction page. Fig.17 As shown, the present disclosure determines the state of the tail brush chamber through a state discrimination algorithm based on the real-time measurement values ​​of 16 pressure sensors in each tail brush chamber and the pressure measurement values ​​of the corresponding positions of the adjacent chambers, combined with the multi-dimensional sensing measurement values ​​of the shield tail seal; assigns 0-4 to the small units where the 16 sensors are located according to the algorithm judgment results, and transmits the values ​​to the host computer, where 0-4 means as follows: Fig.18 shown. Fig.18 Schematic diagram of assigning values ​​to location cells in some embodiments of the present disclosure. Fig.18 As shown in the figure, 0-4 means normal, slightly abnormal, moderately abnormal, severely abnormal and seal failure. Fig.17 As shown, the host computer assigns values ​​to the display cells according to the algorithm to display the status colors, and the colors of the three cells between every two cells are interpolated according to the color gamut value.

[0279] Fig.19 Schematic diagram of the grease injection control page in some embodiments of the present disclosure. The grease injection control page is the fourth page of the human-computer interaction page. Fig.19 As shown in the figure, grease injection control can be divided into manual control and automatic control. In manual control mode, the operator can set the grease injection port to be fully closed, fully open, cycle, etc., and can also open one or more grease injection ports separately according to the monitoring status of the tail brush chamber to give priority to grease injection at a certain point. In automatic control mode, the system automatically opens the grease injection port switch near the position with low pressure status according to the pressure monitoring data of the tail brush chamber, and performs grease injection operation on it. At the same time, through the real-time feedback of pressure monitoring, the change of grease injection operation is decided, that is, closed-loop automatic control of grease injection operation is realized.

[0280] The above-mentioned embodiments of the present invention are designed according to the characteristics of the shield tail sealing system of the shield machine, and a tail brush cavity temperature and pressure monitoring sensor, a tail brush cavity water content status monitoring sensor, a tail shield rear mud pressure monitoring sensor, a tail brush wear monitoring sensor device, a shield tail gap automatic measurement device, etc. are designed. Through multi-dimensional parameter perception, all data are processed collectively, and a multi-dimensional parameter coupling comprehensive analysis algorithm is designed and an intelligent judgment model is introduced. Based on the state judgment and early warning algorithm of multi-source information fusion, comprehensive state monitoring and safety early warning of the shield tail seal are realized. Through multi-point pressure feedback in the cavity, the opening and closing of the grease injection ports at corresponding points are controlled, thereby realizing closed-loop automatic control of the shield tail seal grease injection.

[0281] The above-mentioned embodiments of the present disclosure develop a variety of sensing hardware for monitoring the shield tail seal status, thereby achieving all-round monitoring of the comprehensive status of the shield tail seal. By comprehensively processing the shield tail seal status data and using intelligent algorithms, the shield tail seal status diagnosis and safety warning are achieved. At the same time, the above-mentioned embodiments of the present disclosure achieve closed-loop control of the shield tail seal grease injection based on the tail brush cavity state parameter characteristics, which can not only ensure the normal operation of the sealing system, but also achieve precise grease injection and avoid grease waste caused by open-loop grease injection.

[0282] The above-mentioned embodiments of the present disclosure propose a shield tail seal comprehensive status monitoring and safety warning, grease injection automatic control system and method, which solve the problems of lack of shield tail seal status monitoring, single shield tail seal status monitoring dimension, lack of warning of shield tail seal status, and lack of closed-loop control of shield tail seal grease injection in the construction of related technical projects.

[0283] According to another aspect of the present disclosure, a computer program product is provided, including a computer program, wherein when the computer program is executed by a processor, the method for monitoring the sealing status of the tail of a tunnel boring machine as described in any of the above embodiments is implemented.

[0284] According to another aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the method for monitoring the sealing status of the shield tail of a tunnel boring machine as described in any of the above embodiments of the present disclosure is implemented.

[0285] In some embodiments of the present disclosure, the computer-readable storage medium may be a non-transitory computer-readable storage medium.

[0286] The shield tail seal state monitoring and safety warning, grease injection automatic control method and system of the above-mentioned embodiment of the present disclosure can continuously monitor the pressure, temperature, moisture content and other state parameters in the shield tail seal cavity in real time at multiple points through the serial front-end sensing integration technology, and continuously monitor the shield tail brush wear state parameters at multiple points in real time. Combined with the real-time shield tail gap measurement data, the mud pressure value at the rear of the tail shield, the soil pressure value outside the shield, etc., a multi-dimensional parameter coupling comprehensive analysis algorithm is designed and an intelligent discrimination model is introduced, which can solve the technical problem that the shield tail brush wear and shield tail seal leakage cannot be predicted during the shield construction process, and realize the comprehensive safety warning function of the shield tail sealing system. At the same time, the above-mentioned embodiment of the present disclosure can realize the dynamic closed-loop control of the tail brush cavity grease injection system according to the real-time feedback of the monitoring parameters, and timely adjust the opening and closing of the grease injection port and the amount of grease injected into the cavity, thereby improving the economy of shield construction and providing all-round safety protection for shield construction.

[0287] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, devices, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer-usable non-transient storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0288] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each process and / or block in the flowchart and / or block diagram and the combination of processes and / or blocks in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0289] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0290] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0291] The shield tail sealing status monitoring device, status data acquisition module, sealing status control module, data processing device, host computer, shield tail sealing grease injection control device, signal acquisition device, signal processing device, signal output and host computer display device, signal acquisition unit, tail brush wear signal acquisition and processing unit and ultrasonic ranging module described above can be implemented as a general processor, programmable logic controller (PLC), digital signal processor (DSP), application specific integrated circuit (ASIC), field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component or any appropriate combination thereof for performing the functions described in this application.

[0292] So far, the present disclosure has been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed here.

[0293] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by instructing the relevant hardware through a program, and the program may be stored in a non-transitory computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0294] The description of the present disclosure is given for the purpose of illustration and description, and is not intended to be exhaustive or to limit the present disclosure to the disclosed form. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present disclosure, and to enable those of ordinary skill in the art to understand the present disclosure and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. A method for monitoring the sealing status of a shield tail of a shield machine, comprising: Acquire the shield tail sealing status data of the shield machine in real time, wherein the shield tail sealing status data includes at least one of the moisture content of the tail brush chamber and the shield tail wear status parameter; The shield tail sealing state of the shield machine is controlled according to the shield tail sealing state data.

2. The shield tail sealing status monitoring method of a shield machine according to claim 1, wherein: The controlling of the shield tail sealing state of the shield machine according to the shield tail sealing state data comprises at least one of the following steps: Determining the shield tail sealing state of the shield machine according to the shield tail sealing state data; According to the shield tail sealing status data, an early warning is issued for the shield tail sealing status of the shield machine; According to the shield tail sealing state data, the shield tail sealing grease injection of the shield machine is automatically controlled.

3. The shield tail sealing status monitoring method of a shield machine according to claim 2, wherein: The controlling the shield tail sealing state of the shield machine according to the shield tail sealing state data comprises: Control the opening and closing of the grease injection port in the tail brush cavity; Controls the amount of grease injected into the tail brush cavity.

4. The shield tail sealing status monitoring method of a shield machine according to any one of claims 1 to 3, wherein: The controlling the shield tail sealing state of the shield machine according to the shield tail sealing state data comprises: According to the moisture content of the tail brush cavity, determine whether there is water in the tail brush cavity; When there is water in the tail brush cavity, an alarm will be given for the leakage point in the cavity; Determine the grease injection port near the water leakage point in the water-containing cavity; Control the grease injection port near the water leakage point in the water-containing cavity to inject grease.

5. The shield tail sealing status monitoring method of a shield machine according to any one of claims 1 to 3, wherein: The controlling the shield tail sealing state of the shield machine according to the shield tail sealing state data comprises: Determining whether the shield tail wear state parameter is abnormal; In the case where the shield tail wear state parameter is abnormal, determining the abnormal degree of shield tail wear; Determining whether the abnormality level is the first level and affects safe excavation; When the abnormality level is the first level and affects safe excavation, it is prompted that the tail brush is failed and a tail brush replacement operation is performed.

6. The shield tail sealing status monitoring method of a shield machine according to claim 5, wherein: The controlling the shield tail sealing state of the shield machine according to the shield tail sealing state data further includes: When the abnormality level is not the first level, or the abnormality level does not affect safe excavation, prompting that the tail brush is abnormal and indicating that the abnormality level is the second level, wherein the abnormality level of the second level is lower than the abnormality level of the first level; Control the grease injection port near the abnormal point of the tail brush to be always open; Grease is injected into the grease injection port near the abnormal point of the tail brush to maintain the pressure in the nearby cavity greater than the first predetermined pressure.

7. The shield tail sealing state monitoring method of a shield machine according to any one of claims 1 to 3, wherein: The shield tail sealing status data also includes shield tail clearance measurement data; The controlling the shield tail sealing state of the shield machine according to the shield tail sealing state data comprises: Determining whether the shield tail clearance measurement data is within a normal range; When the shield tail clearance measurement data is not within the normal range, an abnormal shield tail posture alarm is issued, and a prompt is given to adjust the excavation direction.

8. The shield tail sealing status monitoring method of a shield machine according to any one of claims 1 to 3, wherein: The shield tail sealing status data also includes the pressure in the tail brush cavity; The controlling the shield tail sealing state of the shield machine according to the shield tail sealing state data comprises: determining a position in the tail brush chamber where the pressure is lower than a second predetermined pressure; Determine a grease injection port near a position where the pressure in the tail brush cavity is lower than a second predetermined pressure; Turning on the grease injection port switch near the position, and performing grease injection operation on the grease injection port near the position; The change in grease injection operation is determined through real-time feedback of the pressure monitoring in the tail brush cavity.

9. The shield tail sealing status monitoring method of a shield machine according to claim 8, wherein: The shield tail sealing status data also includes the mud pressure at the rear of the tail shield; The controlling the shield tail sealing state of the shield machine according to the shield tail sealing state data further includes: Determine whether the pressure state, the pressure difference between cavities, and the first pressure difference are normal, wherein the first pressure difference is the difference between the mud pressure at the shield tail and the pressure in the tail brush cavity, and the pressure difference between cavities is the pressure difference between every two tail brush cavities; When at least one of the pressure state, the pressure difference between cavities, and the first pressure difference is abnormal, determining a grease injection port near the abnormal point of the pressure state or the pressure difference; Control the pressure state or the grease injection port near the abnormal pressure difference point to inject grease.

10. The shield tail sealing state monitoring method of a shield machine according to any one of claims 1 to 3, wherein: The shield tail sealing status data also includes the temperature in the tail brush cavity; The controlling the shield tail sealing state of the shield machine according to the shield tail sealing state data comprises: Determine whether the temperature in the tail brush cavity is normal; In case of abnormal temperature in the tail brush cavity, it is indicated to change the grease type or adjust the grease ratio.

11. A shield tail sealing status monitoring device for a shield machine, comprising: A status data acquisition module is configured to acquire the shield tail sealing status data of the shield machine in real time, wherein the shield tail sealing status data includes at least one of the moisture content of the tail brush chamber and the shield tail wear status parameter; The sealing state control module is configured to control the sealing state of the shield tail of the shield machine according to the shield tail sealing state data.

12. A shield tail sealing status monitoring device for a shield machine, comprising: a memory configured to store instructions; The processor is configured to execute the instruction so that the shield tail sealing state monitoring device of the shield machine implements the shield tail sealing state monitoring method of the shield machine as described in any one of claims 1-10.

13. A shield tail sealing status monitoring system for a shield machine, comprising: The shield tail sealing status monitoring device of a shield machine as claimed in claim 11 or 12; The sensing device is configured to measure the shield tail sealing status data of the shield machine in real time; and send the shield tail sealing status data to the shield tail sealing status monitoring device of the shield machine.

14. The shield tail sealing status monitoring system of the shield machine according to claim 13, wherein: The sensing device includes at least one of a tail brush chamber water status monitoring sensor and a tail brush wear monitoring device, wherein: The tail brush chamber moisture status monitoring sensor is configured to collect the moisture content of the tail brush chamber; and send the moisture content of the tail brush chamber to the shield tail sealing status monitoring device of the shield machine; The tail brush wear monitoring device is configured to collect the shield tail wear state parameters; and send the shield tail wear state parameters to the shield tail sealing state monitoring device of the shield machine.

15. The shield tail sealing status monitoring system of the shield machine according to claim 14, wherein: The tail brush cavity water status monitoring sensor includes dual electrodes, a signal transmission cable and an electrical signal receiving device, wherein the dual electrode sheet is in the shape of a long strip and is fixed to the surface of the tail brush bottom plate of the shield in the tail brush cavity through an insulating base; the signal transmission cable is led out along the longitudinal groove through the axial longitudinal groove of the tail shield to the shield body operating space to connect to the signal acquisition device.

16. The shield tail sealing status monitoring system of a shield machine according to claim 14, wherein: The tail brush wear monitoring device includes a wear sensitive element, a wear signal acquisition module and a wear result signal transmission line, wherein: The wear-sensitive element is mounted on the surface or embedded in the tail brush guard plate, and the wear-sensitive element wears together with the tail brush guard plate, and the wear direction is consistent; when the wear-sensitive element wears, the signal emitted by the wear-sensitive element changes; The wear signal acquisition module is configured to collect the signal emitted by the wear sensitive element, determine the wear condition of the wear sensitive element; use the wear condition of the wear sensitive element as the wear condition of the tail brush guard plate; use the wear condition of the tail brush guard plate as a wear result signal, and send it to the shield tail sealing status monitoring device of the shield machine through the wear result signal transmission line.

17. The shield tail sealing status monitoring system of a shield machine according to claim 14, wherein: The sensing device also includes: The shield tail gap automatic measuring device is configured to collect shield tail gap measurement data; and send the shield tail gap measurement data to the shield tail sealing state monitoring device of the shield machine.

18. The shield tail sealing status monitoring system of the shield machine according to claim 17, wherein: The automatic shield tail gap measuring device includes a structural package, an ultrasonic ranging module and a signal transmission cable groove, wherein the ultrasonic ranging module and the signal transmission cable groove are arranged in the structural package, and the automatic shield tail gap measuring device is embedded in the mounting hole of the tail shield for welding installation, and the mounting hole is formed by structural digging at the tail shield installation point.

19. The shield tail sealing status monitoring system of the shield machine according to claim 17, wherein: The shield tail gap automatic measuring device comprises: An image-based shield tail gap measuring device is configured to collect shield tail gap image data and transmit the shield tail gap image data to an image processing industrial computer; The image processing industrial computer is configured to perform shield tail gap calculation on the shield tail gap image data to determine shield tail gap measurement data; and send the shield tail gap measurement data to the shield tail sealing status monitoring device of the shield machine.

20. The shield tail sealing status monitoring system of a shield machine according to claim 17, wherein: The sensing device also includes: A tail brush chamber temperature and pressure monitoring sensor is configured to collect the pressure and temperature in the tail brush chamber; and send the pressure and temperature in the tail brush chamber to the shield tail sealing state monitoring device of the shield machine; The tail brush cavity temperature and pressure monitoring sensor is a serially connected tail brush cavity temperature and pressure monitoring sensor.

21. The shield tail sealing status monitoring system of a shield machine according to claim 20, wherein: The tail brush cavity temperature and pressure monitoring sensor is a ring-shaped, serially connected tail brush cavity temperature and pressure monitoring sensor; The tail brush chamber temperature and pressure monitoring sensor is arranged in the tail brush chamber, wherein the tail brush chamber is a circular ring-shaped closed grease chamber.

22. The shield tail sealing status monitoring system of the shield machine according to claim 20, wherein: The sensing device also includes: The tail mud pressure sensor is configured to collect the mud pressure at the rear of the tail shield and send the rear mud pressure of the tail shield to the shield tail sealing state monitoring device of the shield machine; The shield tail mud pressure sensor is arranged between the shield tail brush and the mud stop plate. The shield tail mud pressure sensor is integrated with the hollow stud, which is used to fix the mud stop plate at the tail of the tail shield and fix the shield tail mud pressure sensor to the tail of the tail shield through a threaded connection.

23. A computer-readable storage medium, wherein: The computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the shield tail sealing status monitoring method of a shield machine according to any one of claims 1 to 10 is implemented.

24. A computer program product comprising a computer program, wherein: When the computer program is executed by a processor, the shield tail sealing status monitoring method of a shield machine as described in any one of claims 1 to 10 is implemented.

Images