Man-machine cooperative control system and method for shield pushing and splicing synchronization

Abstract

The invention discloses a man-machine cooperative control system and method for shield pushing and splicing synchronization, and belongs to the field of shield tunnel engineering. The control system comprises a shield tunneling machine PLC module, an edge calculation module and a visualization module. The shield tunneling machine PLC module is connected with the shield tunneling machine and the edge calculation module for data transmission; the edge calculation module comprises a thrust redistribution unit and a processing unit, the thrust redistribution unit carries out thrust redistribution calculation on the oil cylinders according to the target propulsion parameters and the operation data, and speed parameters and thrust parameters of the grouped oil cylinders are obtained; the processing unit converts the parameters into control instructions and updates operation data of the shield tunneling machine; a shield tunneling machine digital twin model is stored in the visualization module, and according to the updated operation data, the oil cylinder working and segment assembling process of the shield tunneling machine and the segment ring posture are displayed. A plug-and-play system for pushing and splicing synchronization is constructed, effective transmission of various instructions and thrust distribution calculation results in the pushing and splicing synchronization process is achieved, and state visualization of the shield tunneling machine is achieved.

Description

Technical Field

[0001] The present invention belongs to the field of shield tunnel engineering, and more specifically, relates to a human-machine collaborative control system and method for synchronous shield pushing and splicing. Background Art

[0002] Shield construction is a very common method in tunnel engineering. The traditional shield construction method is to alternate between shield machine advancement and segment assembly. Therefore, after the shield machine has excavated a certain distance, the entire machine needs to be stopped to assemble the segments. In the traditional construction method, when the segments are assembled, the corresponding group of cylinders will retract to leave space for the assembly of the segments, and the remaining group of cylinders will stop advancing. This construction method needs to be further improved in terms of construction efficiency.

[0003] The shield machine push-and-splice synchronization method can realize the parallel advancement of the shield machine and segment assembly. Its working mode is as follows: In the full-cylinder propulsion mode, all cylinders will advance forward at a certain speed. When assembling the segments, the corresponding group of cylinders will retract, and the remaining group of cylinders will advance at a lower speed relative to the full-cylinder propulsion mode, and compensate for the thrust loss caused by the retracted cylinders to ensure that the shield machine will not become unstable. Therefore, this construction method needs to solve the problem of thrust redistribution when some cylinders are missing during the push-and-splice synchronization process, and ensure that various instructions are accurately transmitted when executing the push-and-splice synchronization process.

[0004] Since the traditional shield machine's grouped cylinder propulsion mode requires operators to adjust the oil pressure of each group, the feedback speed cannot effectively meet the needs of push-and-splice synchronization, and this method heavily relies on the operator's subjective experience and judgment, so the traditional operation and driving mode needs to be changed and improved. In addition, general shield machines do not integrate the push-and-splice synchronization function, and lack a visual interface for operators to refer to. Therefore, to achieve push-and-splice synchronization, it is necessary to pre-integrate the push-and-splice synchronization algorithm and the upper computer operation interface, which involves the modification of the upper computer and, if necessary, adjust the lower computer control method. How to achieve the push-and-splice synchronization of the segments or part of the segments, provide visual analysis, and reduce the cost of equipment modification and software updates under the premise of micro-modification of the shield machine is an engineering problem that needs to be solved urgently. Summary of the invention

[0005] In view of the defects of the related technology, the purpose of the present invention is to provide a human-machine collaborative control system and method for shield pushing and splicing synchronization, aiming to solve the problems that traditional shield machines do not have integrated pushing and splicing synchronization functions, lack a visual interface, and have high costs for transformation and upgrading.

[0006] To achieve the above-mentioned purpose, in a first aspect, the present invention provides a human-machine collaborative control system for synchronous shield pushing and splicing, comprising: a shield machine PLC module, an edge computing module and a visualization module;

[0007] The shield machine PLC module is connected to the shield machine and the edge computing module, and is used to receive the operation data of the shield machine and transmit it to the edge computing module, and is also used to receive the control instructions of the edge computing module to control the operation state of the shield machine;

[0008] The edge computing module includes a thrust redistribution unit and a processing unit. The thrust redistribution unit is used to perform thrust redistribution calculation on the cylinders of the shield machine according to the target propulsion parameters and the operating data of the shield machine to obtain the speed parameters and thrust parameters of the grouped cylinders; the processing unit is used to convert the speed parameters and thrust parameters of the grouped cylinders into control instructions and send them to the PLC module of the shield machine, and is also used to update the operating data of the shield machine according to the speed parameters and thrust parameters of the grouped cylinders, and transmit them to the visualization module; wherein the target propulsion parameters include the center point position of the resultant force of the grouped cylinders, the propulsion speed of the shield machine and the total thrust of the grouped cylinders;

[0009] The visualization module stores the digital twin model of the shield machine corresponding to the shield machine connected to the system. The visualization module is used to input the updated operating data of the shield machine into the digital twin model of the shield machine, and display the working process of the shield machine's cylinder, as well as the segment assembly process and the segment ring posture.

[0010] Optionally, the control system further includes an external device connected to the edge computing module;

[0011] The external device includes a handle and a thruster. The handle is used to adjust the position of the center point of the combined force of the grouped cylinders, and the thruster is used to adjust the thrust speed of the shield machine and the total thrust of the grouped cylinders.

[0012] Optionally, the shield machine PLC module is also used to select the shield machine working mode, and the shield machine working mode includes a full-cylinder propulsion mode and a push-and-assemble synchronization mode. The full-cylinder propulsion mode is an operation mode in which excavation and assembly are carried out in steps.

[0013] Optionally, when the shield machine is in the pushing and assembling synchronous mode, the cylinder includes a retraction cylinder and a remaining cylinder. The retraction cylinder retracts toward the shield machine to leave an assembly working space between the assembled segment rings; the remaining cylinder continues to move forward according to the speed parameters and thrust parameters of the grouped cylinders calculated by the thrust redistribution unit.

[0014] Optionally, the edge computing module adopts one of the Modbus protocol, Ethernet / IP protocol, Profinet protocol, CAN bus protocol, and Profibus protocol.

[0015] Optionally, the thrust redistribution unit takes the minimization of the sum of squares of target thrust increments of the grouped cylinders as the objective function, takes the target total thrust balance of the grouped cylinders and the thrust of the grouped cylinders being between the designed maximum thrust and the minimum thrust as the constraint conditions, and establishes an optimization model, the optimization model being:

[0016] min‖F t -F t+1 ‖ 2

[0017]

[0018] Among them, the objective function is expressed as:

[0019] ‖F t -F t+1 ‖ 2 =(F t -F t+1 ) T (F t -F t+1 ),

[0020]

[0021] Among them, F t Represents the column vector of the actual thrust of the grouped cylinders working at time t, Represents the column vector of the target thrust of the grouped cylinders working at time t+1; in the constraints: 1 = [1,…,1] 1×n is a row vector of all 1s, whose length is the number of remaining cylinders, i.e. n = card(J); r x =[x i ] i∈J ,r y =[y i ] i∈J They are row vectors consisting of the x and y coordinates of the remaining cylinders.

[0022] In a second aspect, the present invention further provides a human-machine collaborative control method for shield pushing and splicing synchronization, which is implemented based on the control system described in any one of the first aspects, and includes:

[0023] Obtaining operation data of the shield machine and determining the working mode of the shield machine;

[0024] If the shield machine is in full cylinder propulsion mode, the shield machine's cylinder working process, segment assembly process, and segment ring posture are displayed through the shield machine digital twin model based on the shield machine's operating data;

[0025] If the shield machine is in the push-and-spin synchronous mode, perform the following steps:

[0026] S1. receiving target propulsion parameters through an external device;

[0027] S2. Calculate thrust redistribution of the cylinders of the shield machine according to the target propulsion parameters and the operation data of the shield machine to obtain speed parameters and thrust parameters of the grouped cylinders;

[0028] S3. Generate control instructions according to the speed parameters and thrust parameters of the grouped cylinders, and control the operating status of the shield machine through the shield machine PLC module; at the same time, update the operating data of the shield machine according to the speed parameters and thrust parameters of the grouped cylinders, and display the cylinder working process corresponding to the updated shield machine operating data, as well as the segment assembly process and segment ring posture through the shield machine digital twin model.

[0029] Compared with the prior art, the above technical solution conceived by the present invention can achieve the following beneficial effects:

[0030] 1. The present invention provides a human-machine collaborative control system for shield pushing and splicing synchronization. The read and write permissions of the shield machine PLC module are obtained through the edge computing module, and "plug and play" can be realized on any shield machine without the need to integrate the algorithm into the shield machine PLC in advance, which greatly saves the cost of equipment modification and software update. Through the edge computing module, the shield machine PLC module and the visualization module, the synchronous operation of shield pushing and splicing and segment assembly is realized, and the operating status of the shield machine is displayed in real time through the digital twin model of the shield machine in the visualization module. Under the premise of realizing the effective transmission of various operating instructions of the shield machine, it is only necessary to open the shield machine PLC interface to connect the edge computing module in the present invention, and a real-time calculation module for force redistribution can be provided for the center position of the combined force set by the driver, and the working status of the shield machine can be synchronized to the digital twin model of the shield machine, providing auxiliary decision-making and auxiliary driving functions for the shield machine driver. The effective transmission and mechanical calculation of various instructions of the operator and the shield machine PLC operating system are realized, and the real-time status of the shield machine is synchronized to ensure the stable operation of the shield machine push and splice synchronization process.

[0031] 2. The present invention provides a human-machine collaborative control system for shield pushing and splicing synchronization. Through edge computing modules and external devices, it adopts a two-way interactive mechanism of "algorithm recommendation + manual confirmation and adjustment", which not only maintains the driver's final decision-making power on propulsion parameters, but also reduces the operating error rate through real-time thrust distribution suggestions. At the same time, the deterministic network communication architecture built based on the Profinet protocol realizes 10ms-level real-time transmission of control instructions and feedback data, ensuring that the time synchronization error between the digital twin model and the physical equipment is less than 1 PLC scan cycle.

[0032] 3. The present invention provides a human-machine collaborative control system for synchronous shield pushing and assembly. The redistribution algorithm adopted by the thrust redistribution unit is based on the minimum failure probability, which can achieve the minimum amplitude adjustment of the cylinder thrust under the constraints, thereby ensuring the stability of the shield machine operation. At the same time, the zone pressure protection constraint is set to ensure the assembly quality of the pipe segment and prevent it from rupture due to excessive cylinder pressure. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of a human-machine collaborative control system for synchronous shield pushing and splicing provided by the present invention;

[0034] Figure 2 It is a flow chart of the operation of the synchronous process of segment ring pushing and splicing according to the present invention. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0036] The contents involved in the above embodiment are described below in conjunction with a preferred embodiment.

[0037] Embodiment 1

[0038] like Figure 1 As shown, the present invention provides a human-machine collaborative control system for shield pushing and splicing synchronization, including: a shield machine PLC module, an edge computing module and a visualization module;

[0039] The shield machine PLC module is connected to the shield machine and the edge computing module, and is used to receive the operation data of the shield machine and transmit it to the edge computing module, and is also used to receive the control instructions of the edge computing module to control the operation state of the shield machine;

[0040] The edge computing module includes a thrust redistribution unit and a processing unit. The thrust redistribution unit is used to perform thrust redistribution calculation on the cylinders of the shield machine according to the target propulsion parameters and the operating data of the shield machine to obtain the speed parameters and thrust parameters of the grouped cylinders; the processing unit is used to convert the speed parameters and thrust parameters of the grouped cylinders into control instructions and send them to the PLC module of the shield machine, and is also used to update the operating data of the shield machine according to the speed parameters and thrust parameters of the grouped cylinders, and transmit them to the visualization module; wherein the target propulsion parameters include the center point position of the resultant force of the grouped cylinders, the propulsion speed of the shield machine and the total thrust of the grouped cylinders;

[0041] The visualization module stores the digital twin model of the shield machine corresponding to the shield machine connected to the system. The visualization module is used to input the updated operating data of the shield machine into the digital twin model of the shield machine, and display the working process of the shield machine's cylinder, as well as the segment assembly process and the segment ring posture.

[0042] The data received by the edge computing module from the shield machine PLC module include: the actual stroke of the grouped cylinders; the actual thrust of the grouped cylinders; the extension and retraction status of the cylinders; the assembly status of the segments; the posture data of the shield machine; the shield tail clearance data and the working mode switching instructions. The shield machine PLC module is also used to select the working mode of the shield machine, which includes the full cylinder propulsion mode and the push-and-segment synchronization mode.

[0043] The data received by the shield machine PLC module from the edge computing module include: target thrust of the grouped cylinders, that is, target thrust of the grouped cylinders in the synchronous state of pushing and splicing; center point of the combined force; propulsion speed of the shield machine; and total thrust of the grouped cylinders.

[0044] The thrust redistribution unit on the edge computing module means that the edge computing module can load the thrust redistribution algorithm and perform calculations based on the read shield machine PLC module data. The processing unit builds a local area network between the edge computing module and the local end device through an external network cable, and transmits data to the local shield machine digital twin model and the shield machine PLC module. Among them, the edge computing module adopts one of the Modbus protocol, Ethernet / IP protocol, Profinet protocol, CAN bus protocol, and Profibus protocol.

[0045] Furthermore, the PLC module of the shield machine includes the PLC of the shield machine and the operation interface of the PLC host computer. The PLC module of the shield machine is the programmable logic controller on the shield machine. The key controls on the operation interface of the host computer of the shield machine include: the switching state of the thrust and push-to-splice synchronization mode of the shield machine's full cylinder; the actual stroke of the grouped cylinders and the actual thrust of the grouped cylinders; the extension and retraction instructions of the grouped cylinders, that is, the extension and retraction state of the cylinders; the target thrust of the grouped cylinders, the actual thrust of the grouped cylinders and the center position of the combined force; the whole machine shutdown command; the status data of the shield machine: total thrust, thrust speed, and the posture data of the shield machine; the segment assembly instructions, that is, the segment assembly state.

[0046] The thrust redistribution unit of the edge computing module includes a host computer operation interface and a thrust redistribution calculation module. The thrust redistribution unit can receive data transmitted by the shield machine PLC module, which includes: mode switching instructions (i.e., the switching status of the shield machine's full cylinder propulsion and push-to-splitting synchronization mode); the actual thrust of the grouped cylinders; the actual total thrust of the grouped cylinders; and the actual propulsion speed of the shield machine.

[0047] Optionally, the control system further includes an external device connected to the edge computing module;

[0048] The external device includes a handle and a thruster. The handle is used to adjust the position of the center point of the combined force of the grouped cylinders, and the thruster is used to adjust the thrust speed of the shield machine and the total thrust of the grouped cylinders.

[0049] Among them, the thrusters are dual thrusters, which control the speed and thrust separately.

[0050] The thrust redistribution unit receives target propulsion parameters transmitted by external devices (handle and thruster): target point of the center of combined force; target propulsion speed of the shield machine; target total thrust of the grouped cylinders.

[0051] The upper computer operation interface control of the thrust redistribution unit includes the target total thrust of the grouped cylinders, the target point of the combined force center, the actual thrust of the grouped cylinders, the target thrust of the grouped cylinders, and the position of the combined force center of the grouped cylinders. The thrust distribution calculation module is used to calculate the target thrust of the grouped cylinders after the redistribution of the target total thrust of the grouped cylinders in the push-to-spin synchronization mode. Among them, the position of the combined force center of the grouped cylinders refers to the coordinates of the combined force position formed by the thrust of the remaining group of cylinders when a single group of cylinders retracts; the combined force center target point received by the thrust redistribution unit refers to the coordinates of the combined force point adjusted by the operator through an external device.

[0052] Furthermore, the center point of the resultant force formed by the thrust of the remaining group of cylinders and the target point of the resultant force center adjusted by the external device are coordinates on the same two-dimensional plane. The two-dimensional plane is located on the plane where the center distribution circle of the front ball joint of the shield machine propulsion cylinder is located, and the origin of the coordinate system coincides with the center of the plane where the center distribution circle of the front ball joint of the shield machine propulsion cylinder is located.

[0053] Optionally, the thrust redistribution unit takes the minimization of the sum of squares of target thrust increments of the grouped cylinders as the objective function, takes the target total thrust balance of the grouped cylinders and the thrust of the grouped cylinders being between the designed maximum thrust and the minimum thrust as the constraint conditions, and establishes an optimization model, the optimization model being:

[0054] min‖F t -F t+1 ‖ 2

[0055]

[0056] Among them, the objective function is expressed as:

[0057] ‖F t -F t+1 ‖ 2 =(F t -F t+1 ) T (Ft -F t+1 ),

[0058]

[0059] Among them, F t Represents the column vector of the actual thrust of the grouped cylinders working at time t, Represents the column vector of the target thrust of the grouped cylinders working at time t+1; in the constraints: 1 = [1,…,1] 1×n is a row vector of all 1s, whose length is the number of cylinders that are not retracted and are working and extending, that is, n = card (J); r x =[x i ] i∈J ,r y =[y i ] i∈J They are row vectors composed of the x and y coordinates of the cylinder that has not been retracted and is working and extending.

[0060] The edge computing module can use SpeedGoat SN10619 real-time simulation and as an edge computing module. The main data types, names and explanations are as follows:

[0061]

[0062]

[0063] The visualization module is an external computer, which stores a variety of shield machine digital twin models. After the shield machine PLC module is connected to the shield machine, the corresponding shield machine digital twin model is called according to the connected shield machine. The shield machine digital twin model mainly includes: shield machine cutter head components, shield machine hydraulic cylinder components, shield machine shield shell components and lining segment components. The visualization module receives instructions and data from the edge computing module and inputs them into the shield machine digital twin model for synchronous display. The visualization module receives instructions and data from the shield machine PLC module, including: shield machine posture data; actual stroke of grouping cylinders; segment assembly status. Among them, the shield machine digital twin model is implemented based on the Malab Simscape module.

[0064] Optionally, when the shield machine is in the pushing and assembling synchronous mode, the cylinder includes a retraction cylinder and a remaining cylinder. The retraction cylinder retracts toward the shield machine to leave an assembly working space between the assembled segment rings; the remaining cylinder continues to move forward according to the speed parameters and thrust parameters of the grouped cylinders calculated by the thrust redistribution unit.

[0065] Among them, the working space threshold for segment assembly is generally determined by the width of the segment and the assembly method. It is necessary to ensure that the segment can be inserted smoothly. In this embodiment, the working space threshold is set to 1-1.5 times the segment width.

[0066] In the embodiment of the present invention, the read and write permissions of the shield machine PLC module are obtained through the edge computing module, so that "plug and play" can be realized on any shield machine without the need to integrate the algorithm into the shield machine PLC in advance, which greatly saves the cost of equipment transformation and software update. The thrust redistribution unit calculates the respective operating parameters of the retracting cylinder and the remaining cylinder in the push-and-splice synchronization process in real time, and the shield machine PLC module performs accurate and fast parameter control. The shield machine digital twin model in the visualization module displays the operating status of the shield machine in real time to achieve the synchronization of shield push-and-splice and segment assembly. It solves the problem that the traditional shield machine does not integrate the push-and-splice synchronization function, lacks a visual interface, and has high cost for transformation and upgrading. A plug-and-play module for push-and-splice synchronization is constructed, which realizes the effective transmission of various instructions and thrust distribution calculation results in the push-and-splice synchronization process, provides a shield machine visualization interface, and changes the traditional shield machine driving mode; it can establish an efficient collaborative relationship with the shield machine driver to ensure the stability and safety of the push-and-splice synchronization process.

[0067] Embodiment 2

[0068] The present invention also provides a human-machine collaborative control method for shield pushing and splicing synchronization, which is implemented based on the control system described in any one of the first embodiments, and includes:

[0069] Obtaining operation data of the shield machine and determining the working mode of the shield machine;

[0070] If the shield machine is in full cylinder propulsion mode, the shield machine's cylinder working process, segment assembly process, and segment ring posture are displayed through the shield machine digital twin model based on the shield machine's operating data;

[0071] If the shield machine is in the push-and-spin synchronous mode, perform the following steps:

[0072] S1. receiving target propulsion parameters through an external device;

[0073] S2. Calculate thrust redistribution of the cylinders of the shield machine according to the target propulsion parameters and the operation data of the shield machine to obtain speed parameters and thrust parameters of the grouped cylinders;

[0074] S3. Generate control instructions according to the speed parameters and thrust parameters of the grouped cylinders, and control the operating status of the shield machine through the shield machine PLC module; at the same time, update the operating data of the shield machine according to the speed parameters and thrust parameters of the grouped cylinders, and display the cylinder working process corresponding to the updated shield machine operating data, as well as the segment assembly process and segment ring posture through the shield machine digital twin model.

[0075] The operating modes of the shield machine include full-cylinder propulsion mode and push-splitting synchronization mode, and the operator can select the mode through the shield machine PLC module.

[0076] The operator switches the full cylinder propulsion to the push-and-splice synchronization mode through the shield machine PLC module, and issues the target cylinder retraction command. Among them: the shield machine PLC module includes PLC and PLC host computer operation interface. PLC adopts Siemens S7-1500, and the main design controls associated with the PLC host computer operation interface and push-and-splice synchronization include: the actual stroke of the grouped cylinder, the grouped cylinder number, the actual thrust of the grouped cylinder, the mode switching command, the cylinder retraction mark, and the target thrust of the grouped cylinder calculated and processed by the thrust redistribution unit, the center point of the combined force, the shield machine propulsion speed and the total thrust of the grouped cylinder.

[0077] The target cylinder refers to the cylinder group number corresponding to the segment to be assembled. When the retraction command is executed, the thrust of the target cylinder group will gradually decrease to 0 and begin to retract, leaving space for segment assembly.

[0078] The edge computing module realizes read and write communication with the shield machine PLC module based on the Profinet protocol. The edge computing module reads the shield machine operation data from the shield machine PLC module and writes the target thrust of the grouped cylinders, the center point of the resultant force, the shield machine propulsion speed and the total thrust of the grouped cylinders obtained by the thrust redistribution calculation unit.

[0079] The edge computing module transmits the received data to the digital twin model of the shield machine and the thrust redistribution unit in parallel. The digital twin model of the shield machine is implemented based on the Malab Simscape module and deployed on the local side. At the same time, the digital twin model of the shield machine on the local side communicates with the edge computing module through the Ethernet of the network cable based on the UDP protocol and only reads the data in the edge computing module.

[0080] The digital twin model of the shield machine initializes the virtual push-to-spin synchronization process, and the thrust redistribution unit starts the initial thrust calculation. The thrust redistribution unit receives the actual thrust of the grouped cylinders, the actual total thrust of the grouped cylinders, the actual thrust speed of the shield machine and the target point of the center of force, the target thrust speed of the shield machine, and the target total thrust of the grouped cylinders, and starts to calculate the thrust of the remaining group cylinders after redistribution; the thrust redistribution unit converts the calculation results into control instructions through the processing unit, and controls the connected shield machine through the shield machine PLC module. The shield machine PLC module controls the lower computer according to the target thrust of the grouped cylinders, and the actual thrust of the grouped cylinders and the actual thrust speed of the shield machine change. At the same time, the upper computer interface of the shield machine PLC synchronously displays the thrust changes. The digital twin model of the shield machine receives the actual stroke of the grouped cylinders, the retraction cylinder group begins to retract, and the remaining cylinder groups begin to extend, and the model is visualized.

[0081] When the target group of cylinders (retraction cylinders) begins to retract, the other groups of cylinders (remaining cylinders) begin to advance at 0.5-1 times the original speed.

[0082] The operator adjusts the target point of the center of combined force and the target total thrust of the grouped cylinders based on the shield machine posture monitoring data; the adjustment method is adjusted through external devices, including a joystick for adjusting the target point of the center of combined force, and a thruster for adjusting the target total thrust of the grouped cylinders and the target propulsion speed of the shield machine. The joystick can adjust the target point of the center of combined force by moving in different directions. The result of the thrust redistribution calculation needs to ensure that the calculated center of combined force coincides with the manually adjusted target point of the center of combined force. The thruster includes two thrust rods, which are used to adjust the target total thrust of the grouped cylinders and the target propulsion speed of the shield machine respectively. The thrust redistribution unit calculates the thrust combination that meets the target posture according to the adjusted target point of the center of combined force, the target total thrust of the grouped cylinders, and the target propulsion speed of the shield machine, and displays it synchronously on the upper computer interface of the shield machine PLC module and the thrust redistribution unit.

[0083] When the retraction cylinder reaches the segment assembly working space threshold, the operator executes a stop retraction command from the shield machine PLC module and issues a segment assembly command. The segment assembly command refers to the segment assembly command corresponding to the retraction cylinder group. In this embodiment, the working space threshold is set to 1-1.5 times the segment width. At the same time, the shield machine digital twin model receives the stop retraction command and executes the segment assembly operation process simulation.

[0084] After the segment assembly is completed, the operator switches to the full-cylinder propulsion mode through the mode switching command; the operator issues a retraction cylinder extension command from the shield machine PLC module; the retraction cylinder extends until it contacts the segment, restoring the thrust, entering the full-cylinder propulsion mode, and propulsion at normal speed.

[0085] In a specific embodiment, the method for switching the shield machine between the full-cylinder propulsion mode and the push-splitting synchronization mode specifically includes:

[0086] t1. Under suitable ground conditions and shield machine posture, switch the full-cylinder propulsion mode to the push-and-spin synchronization mode.

[0087] Among them, the conditions for suitable strata and shield machine posture refer to: small strata changes and no serious posture deviation and position deviation of the shield machine.

[0088] t2, oil cylinder corresponding to the retracted segment block.

[0089] t3. Adjust the target point of the combined force center, the target total thrust of the grouped cylinders, and the target propulsion speed of the shield machine

[0090] t4. When the space for assembly is freed, stop retracting the segment ring and start assembling the segment ring.

[0091] Among them, while starting the segment ring assembly, the remaining groups of cylinders continue to maintain the propulsion state.

[0092] t5. After assembly, extend the cylinder until it contacts the pipe segment and switch to full cylinder propulsion mode.

[0093] In this embodiment, the shield machine is judged to be in full-cylinder propulsion mode or push-and-splice synchronization mode through its operating data, and the operator can quickly switch the working state and working parameters of the connected shield machine through the shield machine PLC module; when switching from full-cylinder propulsion mode to push-and-splice synchronization mode, the thrust redistribution calculation is performed according to the current operating data and target propulsion parameters, and each group of cylinder parameters is controlled through the shield machine PLC module, and the calculated cylinder parameters are transmitted to the shield machine digital twin model, showing the real-time cylinder working process of the shield machine, as well as the segment assembly process and segment ring posture. Quickly and accurately adjust the parameters of each group of cylinders, accurately perform push-and-splice synchronization operations, and provide auxiliary decision-making and auxiliary driving functions for shield machine drivers.

[0094] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A human-machine collaborative control system for synchronous shield pushing and assembly, characterized in that: include: Tunnel boring machine PLC module, edge computing module and visualization module; The shield machine PLC module is connected to the shield machine and the edge computing module, and is used to receive the operation data of the shield machine and transmit it to the edge computing module, and is also used to receive the control instructions of the edge computing module to control the operation state of the shield machine; The edge computing module includes a thrust redistribution unit and a processing unit. The thrust redistribution unit is used to perform thrust redistribution calculation on the cylinders of the shield machine according to the target propulsion parameters and the operating data of the shield machine to obtain the speed parameters and thrust parameters of the grouped cylinders; the processing unit is used to convert the speed parameters and thrust parameters of the grouped cylinders into control instructions and send them to the PLC module of the shield machine, and is also used to update the operating data of the shield machine according to the speed parameters and thrust parameters of the grouped cylinders, and transmit them to the visualization module; wherein the target propulsion parameters include the center point position of the resultant force of the grouped cylinders, the propulsion speed of the shield machine and the total thrust of the grouped cylinders; The visualization module stores the digital twin model of the shield machine corresponding to the shield machine connected to the system. The visualization module is used to input the updated operating data of the shield machine into the digital twin model of the shield machine, and display the working process of the shield machine's cylinder, as well as the segment assembly process and the segment ring posture.

2. The control system according to claim 1, characterized in that: The control system also includes an external device connected to the edge computing module; The external device includes a handle and a thruster. The handle is used to adjust the position of the center point of the combined force of the grouped cylinders, and the thruster is used to adjust the thrust speed of the shield machine and the total thrust of the grouped cylinders.

3. The control system according to claim 1, characterized in that: The PLC module of the shield machine is also used to select the working mode of the shield machine. The working modes of the shield machine include a full-cylinder propulsion mode and a push-and-assemble synchronization mode. The full-cylinder propulsion mode is an operation mode in which excavation and assembly are performed step by step.

4. The control system according to claim 3, characterized in that: When the shield machine is in the pushing and assembling synchronous mode, the cylinder includes a retraction cylinder and a remaining cylinder. The retraction cylinder retracts toward the shield machine to leave an assembly working space between the assembled segment rings; the remaining cylinder continues to move forward according to the speed parameters and thrust parameters of the grouped cylinders calculated by the thrust redistribution unit.

5. The control system according to claim 1, characterized in that: The edge computing module adopts one of the Modbus protocol, Ethernet / IP protocol, Profinet protocol, CAN bus protocol, and Profibus protocol.

6. The control system according to claim 1, characterized in that: The thrust redistribution unit takes the minimization of the sum of squares of target thrust increments of the grouped cylinders as the objective function, takes the target total thrust balance of the grouped cylinders and the thrust of the grouped cylinders being between the designed maximum thrust and the minimum thrust as the constraint conditions, and establishes an optimization model. The optimization model is: min‖F t -F t+1 ‖ 2 Among them, the objective function is expressed as: ‖F t -F t+1 ‖ 2 =(F t -F t+1 ) T (F t -F t+1 ), Among them, F t Represents the column vector of the actual thrust of the grouped cylinders working at time t, Represents the column vector of the target thrust of the grouped cylinders working at time t+1; in the constraints: 1 = [1,…,1] 1×n is a row vector of all 1s, whose length is the number of remaining cylinders, i.e. n = card(J); r x =[x i ] i∈J ,r y =[y i ] i∈J They are row vectors consisting of the x and y coordinates of the remaining cylinders.

7. A human-machine collaborative control method for synchronous shield pushing and assembly, characterized in that: Based on the implementation of the control system according to any one of claims 1 to 6, including: Obtaining operation data of the shield machine and determining the working mode of the shield machine; If the shield machine is in full cylinder propulsion mode, the shield machine's cylinder working process, segment assembly process, and segment ring posture are displayed through the shield machine digital twin model based on the shield machine's operating data; If the shield machine is in the push-and-spin synchronous mode, perform the following steps: S1. receiving target propulsion parameters through an external device; S2. Calculate thrust redistribution of the cylinders of the shield machine according to the target propulsion parameters and the operation data of the shield machine to obtain speed parameters and thrust parameters of the grouped cylinders; S3. Generate control instructions according to the speed parameters and thrust parameters of the grouped cylinders, and control the operating status of the shield machine through the shield machine PLC module; at the same time, update the operating data of the shield machine according to the speed parameters and thrust parameters of the grouped cylinders, and display the cylinder working process corresponding to the updated shield machine operating data, as well as the segment assembly process and segment ring posture through the shield machine digital twin model.

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