Inclined shaft TBM slag chute gate control method

Abstract

The invention discloses an inclined shaft TBM slag chute gate control method, and belongs to the technical field of tunneling machinery control. According to the method, the muck flow velocity and the muck layer height are monitored in real time by installing a millimeter-wave radar sensor on a gate slideway, and a pressure sensor is embedded in the back of a gate to detect muck side pressure; the PLC calculates the real-time slag quantity according to the flow velocity and the height signal, and outputs a control signal to drive the telescopic oil cylinder to extend or contract by comparing the real-time slag quantity with the target slag quantity so as to adjust the opening degree of the gate; when the flow velocity of the muck is suddenly reduced and the pressure exceeds a threshold value, the oil cylinder is controlled to alternately contract and extend to realize gate vibration unblocking; and when the flow velocity returns to zero and the pressure reaches a safety threshold value, the gate is triggered to be fully opened and sound-light alarm is triggered. According to the scheme, the problems that manual judgment of blockage of the slag sliding groove in inclined shaft construction lags behind, and the control precision is insufficient are solved, and the slag discharging stability and the anti-blocking efficiency are remarkably improved through multi-source sensing fusion and a grading response mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel boring machinery control, and in particular to a method for controlling a slag chute gate of a TBM (Tunnel Boring Machine) in an inclined shaft. Background Art

[0002] In inclined shaft projects such as pumped-storage power plants and mine tunnels, full-face tunnel boring machines (TBMs) require continuous delivery of crushed rock debris through a slag chute. The inclination of the inclined shaft is typically 25°-40°, and the debris easily accumulates and compacts within the chute under the influence of gravity. Traditional control relies on operators observing the slag flow and manually adjusting the gate opening.

[0003] When the dust concentration in an inclined shaft exceeds 200mg / m³, the naked eye cannot accurately identify changes in the thickness of the slag layer. Treatment often requires waiting until the chute is completely clogged before any action is taken, resulting in downtime for slag removal. During construction of an inclined shaft at a pumped-storage power station, this type of blockage resulted in an average daily downtime of 2.3 hours. Manual adjustment uses a 10% opening as the minimum unit, but the actual slag volume is affected by rock formation variations and requires a millimeter-level response. While a 40% opening in sandstone formation produces a moderate slag volume, switching to the same opening in mudstone formations results in a 35% excess slag volume, exacerbating the risk of blockage. Existing gates lack the ability to sense the incipient stages of blockage. When the slag flow slows to a critical point, no proactive intervention is taken, resulting in 78% of sudden blockages.

[0004] Some existing technologies use laser rangefinders to monitor slag layer height, but the water mist environment in inclined shafts causes laser refraction failure, resulting in a high false alarm rate. Other solutions propose pneumatic impact clearing, but this requires pre-buried piping and consumes three times the energy of hydraulic systems, making it difficult to popularize. Most gate control systems rely solely on preset opening program control, without integrating real-time slag flow parameters, resulting in poor adaptability to rock formation changes. For these reasons, there is an urgent need to develop an intelligent gate control method that adapts to the complex environment of inclined shafts, integrates multi-source sensing, and provides early warning capabilities. Summary of the Invention

[0005] The present invention overcomes the problems of delayed manual judgment and insufficient control accuracy in slag chute blockage during inclined shaft construction, and provides a method for controlling the gate of the slag chute of an inclined shaft TBM. Through multi-source sensor fusion and a graded response mechanism, it significantly improves slag discharge stability and anti-blockage efficiency.

[0006] In order to achieve the above object, the present invention adopts the following scheme: The slag chute gate control method for a TBM in an inclined shaft includes a slideway, a telescopic cylinder, and a gate. The slideway is fixed at the connection between the bottom shield and the slag chute. The gate is slidably connected to the bottom shield via the slideway. One end of the telescopic cylinder is connected to the bottom shield and the other end is connected to the gate to control the gate opening. The method includes: Millimeter-wave radar sensors are installed on the slideways on both sides of the gate to obtain the flow rate and slag layer height of the slag in the slag chute in real time. A pressure sensor is embedded on the surface of the gate facing away from the slag flow to obtain the lateral pressure of the slag on the gate in real time. The flow rate and height signals output by the millimeter-wave radar sensor and the pressure signal output by the pressure sensor are input into the PLC controller. The PLC controller calculates the real-time slag volume based on the flow rate signal and the height signal, and compares the real-time slag volume with the target slag volume. When the real-time slag volume is higher than the target slag volume, the PLC controller outputs a first control signal to the solenoid valve of the telescopic oil cylinder, driving the telescopic oil cylinder to extend and press down to reduce the gate opening. When the real-time slag volume is lower than the target slag volume, the PLC controller outputs a second control signal to the solenoid valve of the telescopic oil cylinder, driving the telescopic oil cylinder to retract and lift to increase the gate opening. The PLC controller continuously monitors the pressure value output by the pressure sensor and the flow rate signal output by the millimeter-wave radar sensor; when the flow rate of the slag drops by more than a preset proportion and the pressure value exceeds the preset pressure threshold, the PLC controller outputs a third control signal to the solenoid valve of the telescopic cylinder, driving the telescopic cylinder to alternately contract and extend three times within 5 seconds to vibrate and clear the blockage; when the flow rate of the slag continues to drop to zero and the pressure value reaches the preset safety threshold, the PLC controller outputs a fourth control signal to the solenoid valve of the telescopic cylinder, driving the telescopic cylinder to contract until the gate is at its maximum opening and triggering the sound and light alarm.

[0007] Preferably, the operation of driving the telescopic cylinder to alternately contract and extend three times within 5 seconds includes: The pressure change rate output by the pressure sensor is obtained in real time. If the pressure change rate does not exceed the preset pressure change rate threshold, the single stroke is maintained at 40% of the maximum stroke of the telescopic cylinder. If the pressure change rate exceeds the preset pressure change rate threshold, the single stroke is adjusted to 70% of the maximum stroke of the telescopic cylinder. Based on the set single stroke volume, the specific method of performing alternating contraction and extension operations is as follows: First, the telescopic cylinder is driven to retract to the current length minus the single stroke amount, and then the telescopic cylinder is driven to extend to the current length plus the single stroke amount. After completing three alternating actions, it returns to the opening before vibration.

[0008] Preferably, the target slag amount is generated by the following steps: The propulsion speed signal of the TBM control system is obtained through the MODBUS communication protocol. The current cutterhead cross-sectional area value is retrieved from the TBM equipment parameter library. The propulsion speed signal and the cutterhead cross-sectional area value are input into the multiplier module to calculate the theoretical slag volume. The slag flow rate and slag layer height in the slag chute detected by the millimeter-wave radar sensor are read in real time, and the slag flow rate is divided by the slag layer height to obtain the flow rate-height ratio; a slag type correspondence database is established, and the database includes a mapping table of flow rate-height ratios and density compensation coefficients under different rock formation geological conditions; the mapping table is queried and the corresponding density compensation coefficient is matched in the mapping table according to the current flow rate-height ratio; the theoretical slag amount is multiplied by the corresponding density compensation coefficient to generate the target slag amount. When the flow rate-height ratio does not match the data in the mapping table, the density compensation coefficient is maintained at the preset default value.

[0009] Preferably, during the use of the soil density compensation coefficient, the following simplified correction process is performed: After every 10 meters of excavation, an offline batch correction is performed. The correction operation includes: Retrieve the actual slag volume average value Q recorded by the millimeter wave radar sensor within the 10-meter section S , based on the average TBM advancement speed within the 10-meter segment and the cutter head cross-sectional area A D , calculate the theoretical slag mean ; Calculate the slag deviation rate ; If the absolute value of the slag deviation rate δ is greater than 15%, the current density compensation coefficient is increased or decreased by 0.1δ, the density compensation coefficient in the mapping table is updated, and a correction log including the deviation rate value and the new coefficient value is output to the human-computer interaction terminal.

[0010] Preferably, in the operation of obtaining the slag flow rate and slag layer height in real time in the slag chute, the following self-diagnosis method is adopted: A first millimeter-wave radar sensor and a second millimeter-wave radar sensor are symmetrically installed on the slideways on both sides of the gate, a first flow velocity signal and a first height signal of the first millimeter-wave radar sensor and a second flow velocity signal and a second height signal of the second millimeter-wave radar sensor are synchronously acquired, and a signal-to-noise ratio of the signal of the first millimeter-wave radar sensor and a signal-to-noise ratio of the signal of the second millimeter-wave radar sensor are calculated in real time; When the signal-to-noise ratio of any millimeter-wave radar sensor is lower than 0.5, the sensor is determined to be faulty; if the first millimeter-wave radar sensor fails, the data of the second millimeter-wave radar sensor is used as the valid signal; if the second millimeter-wave radar sensor fails, the data of the first millimeter-wave radar sensor is used as the valid signal; When both sensors fail, the system switches to backup control mode: The gate opening is fixed at 80% of the last valid value, and the sensor fault code F01 is sent to the human-computer interaction terminal; In the operation of obtaining the lateral pressure of the debris on the gate in real time, when the pressure value output by the pressure sensor jumps from less than 2MPa to more than 8MPa within 1 second, the pressure sensor data is marked invalid and the average pressure value of the last 10 seconds is used as the alternative value.

[0011] Preferably, when the PLC controller detects that the soil flow rate decrease rate exceeds a preset ratio and the pressure value exceeds a preset pressure threshold, the following operations are performed: Start the vibration motor at the bottom of the slag chute, set the vibration frequency to 20Hz, and simultaneously disable the opening adjustment function of the telescopic cylinder; monitor the rate of change of the slag flow rate after the vibration motor is started in real time. When the rate of change of the slag flow rate exceeds 0.15m / s per second, stop the vibration motor; A gate operation energy consumption assessment model was established to record the cumulative movement stroke of the telescopic cylinder within one hour. When the cumulative movement stroke exceeded 500 times the maximum stroke of the telescopic cylinder, the cylinder maintenance warning code E02 was sent to the human-computer interaction terminal. When the TBM entered the step-changing shutdown stage, the power supply of the millimeter-wave radar sensor and pressure sensor was turned off.

[0012] Preferably, when the vibration motor is started, the following preset vibration strategy is executed: Obtain the current rock formation type code from the TBM geological prediction system in real time and match the preset vibration parameters according to the rock formation type code: When the rock layer is coded as mudstone, the vibration frequency is set to 25 Hz and the duration is 30 seconds; when the rock layer is coded as sandstone, the vibration frequency is set to 18 Hz and the duration is 20 seconds; when the rock layer is coded as fault breccia, the vibration frequency is set to 22 Hz and the duration is 40 seconds; During the operation of the vibration motor, the hydraulic pressure value of the cylinder is monitored in real time. When the hydraulic pressure value exceeds 85% of the system rated pressure, the vibration motor is stopped immediately and the telescopic cylinder is driven to retract to 90% of the maximum opening of the gate and maintained for 60 seconds.

[0013] Preferably, the operations performed after the sound and light alarm is triggered include: Send a shutdown request signal with the highest priority to the TBM main control system via the CAN bus, continuously record the pressure value output by the pressure sensor, and calculate the pressure change rate per second; When the pressure drops to 60% of the preset safety threshold, the first stage of recovery is executed: the telescopic cylinder is driven to retract to 80% of the maximum opening and maintained at this opening for 120 seconds; Monitor the slag flow rate signal output by the millimeter-wave radar sensor in real time. When the slag flow rate recovers to 70% of the flow rate before the blockage is triggered and the pressure value fluctuation range is stable within the ±15% range of the preset pressure threshold, execute the second stage recovery: gradually increase the gate opening at a rate of 5% per second until the opening required for the real-time slag volume to match the target slag volume is reached; when the pressure value increases by more than 0.5 MPa per second during the opening adjustment process, suspend the increase in the opening and maintain the current state for 60 seconds; when the gate opening is stable and the pressure value does not exceed 80% of the preset pressure threshold for 300 seconds, the sound and light alarm is released.

[0014] Preferably, a vibration acceleration sensor is installed on the surface of the piston rod of the telescopic cylinder to collect the axial vibration frequency signal in real time, and the vibration frequency signal is input into the FFT analysis module to extract the vibration energy value in the 500Hz-1kHz frequency band; When the vibration energy value exceeds 180% of the baseline energy value for 10 consecutive seconds, the first level response is executed: a vibration warning code W01 is sent to the human-computer interaction terminal, limiting the single adjustment range of the gate to no more than 20% of the maximum stroke; When the vibration energy value exceeds 250% of the baseline energy value for three consecutive seconds, the second level response is executed: the gate opening adjustment function is frozen and a deceleration instruction is sent to the TBM main control system; A temperature sensor is embedded in the contact surface between the slide and the gate. When it is detected that the temperature value of the friction interface exceeds the temperature threshold, the slide lubrication device is started to spray a standard amount of grease.

[0015] Preferably, a first temperature sensor and a second temperature sensor are symmetrically installed at both ends of the contact surface between the slide and the gate, and the first temperature sensor value T1 and the second temperature sensor value T2 are obtained in real time; Take the effective friction temperature T as the average of T1 and T2. When the effective friction temperature T exceeds 90°C, start the slideway lubrication device to spray grease. The spraying time is set according to the following rules: If T≤100℃, the spraying time is set to 8 seconds; if 100℃<T≤120℃, the spraying time is set to 12 seconds; if T>120℃, the spraying time is set to 15 seconds; After the spraying is completed, the temperature drop rate is monitored in real time. When the temperature drop rate is lower than 0.25°C / second, the spraying operation is repeated once, and the duration of the repeated spraying is reduced by 4 seconds.

[0016] The present invention has at least the following beneficial effects: (1) Through the dual data fusion of millimeter wave radar and pressure sensor, dynamic closed-loop control of slag volume is realized, which significantly improves the slag discharge stability; the graded anti-blocking mechanism advances the identification of blockage risk to the embryonic stage; (2) the adaptive adjustment of vibration stroke driven by pressure change rate breaks through the limitation of fixed amplitude and improves the success rate of clearing blockage for sudden blockage; the cylinder opening is locked during vibration to avoid mechanical interference; (3) dual radar signal-to-noise ratio diagnosis and temperature dual sensor mean calculation eliminate dust interference and gravity temperature measurement deviation, and ensure control continuity under extreme working conditions; (4) slag volume target generation and segmented correction mechanism based on rock formation feature mapping significantly enhances the adaptability to geological variation working conditions; (5) vibration motor rock formation matching strategy and lubrication temperature control feedback synergistically reduce system energy consumption and extend the life of key components. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a structural principle diagram of the inclined shaft TBM slag chute gate of the present invention.

[0018] In the figure: slide 1, telescopic cylinder 2, gate 3, bottom shield 4. DETAILED DESCRIPTION

[0019] The present invention will be described in further detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0020] The invention provides a method for controlling the gate of the inclined shaft TBM slag chute, such as Figure 1 As shown, the slag chute gate includes a slide 1, a telescopic cylinder 2 and a gate 3. The slide 1 is fixed at the connection between the bottom shield 4 and the slag chute. The gate 3 is slidably connected to the bottom shield 4 through the slide 1. One end of the telescopic cylinder 2 is connected to the bottom shield 4 and the other end is connected to the gate 3 for controlling the opening of the gate 3. The method includes: Millimeter-wave radar sensors are installed on the slideways 1 on both sides of the gate 3 to obtain the flow rate and slag layer height of the slag in the slag chute in real time. Pressure sensors are embedded on the surface of the gate 3 facing away from the slag flow direction to obtain the lateral pressure of the slag on the gate 3 in real time. The flow rate and height signals output by the millimeter-wave radar sensors and the pressure signal output by the pressure sensor are input into the PLC controller. The PLC controller calculates the real-time slag amount based on the flow rate signal and the height signal, and compares the real-time slag amount with the target slag amount. When the real-time slag amount is higher than the target slag amount, the PLC controller outputs a first control signal to the solenoid valve of the telescopic oil cylinder 2, driving the telescopic oil cylinder 2 to extend and press down to reduce the opening of the gate 3. When the real-time slag amount is lower than the target slag amount, the PLC controller outputs a second control signal to the solenoid valve of the telescopic oil cylinder 2, driving the telescopic oil cylinder 2 to retract and lift to increase the opening of the gate 3. The PLC controller continuously monitors the pressure value output by the pressure sensor and the flow rate signal output by the millimeter-wave radar sensor; when the flow rate of the slag drops by more than a preset ratio and the pressure value exceeds the preset pressure threshold, the PLC controller outputs a third control signal to the solenoid valve of the telescopic cylinder 2, driving the telescopic cylinder 2 to alternately contract and extend three times within 5 seconds to vibrate and clear the blockage; when the flow rate of the slag continues to drop to zero and the pressure value reaches the preset safety threshold, the PLC controller outputs a fourth control signal to the solenoid valve of the telescopic cylinder 2, driving the telescopic cylinder 2 to contract until the gate 3 is at its maximum opening and triggering the sound and light alarm.

[0021] The inclined shaft TBM slag chute gate is mechanically executed by a slide 1, a telescopic cylinder 2, and a gate 3. Slides 1 are rigid metal guide rails that are welded and fixed in pairs at the connection flanges between the TBM bottom shield and the slag chute. Their core function is to provide vertical sliding constraints for gate 3. Gate 3 is made of a wear-resistant steel plate structure, with polytetrafluoroethylene sliders embedded on both sides to precisely mesh with slide 1, and the slag chute outlet opening can be accurately adjusted by sliding up and down. Telescopic cylinder 2 uses a double-acting hydraulic cylinder, with the cylinder end hinged to the base of the bottom shield 4 and the piston rod end hinged to the top bracket of gate 3 to form a force transmission chain. When the cylinder is extended, the piston rod pushes gate 3 down along slide 1 to reduce the opening; when the cylinder is retracted, the piston rod pulls gate 3 up along slide 1 to increase the opening. The opening adjustment accuracy can reach millimeter level.

[0022] Millimeter-wave radar sensors are deployed in pairs on the slideways 1 on both sides of the gate 3, with the emission angle precisely aligned with the core area of the slag flow in the slag chute. Its working principle is based on the dust-penetrating properties of 77GHz millimeter waves: the slag flow velocity is analyzed through the Doppler effect, and the slag layer height is measured in combination with time-domain reflection. The sampling frequency is usually set to 5-10Hz to balance real-time performance and anti-interference requirements. The pressure sensor is embedded in the pressure plate on the side of the gate 3 facing away from the slag flow. It uses a piezoresistive sensing element to convert the lateral extrusion force of the slag into an electrical signal, and the measuring range can cover 0-20MPa working conditions. The PLC controller serves as the decision-making center. After receiving the flow rate / height signal and pressure signal from the radar, it performs weighted average filtering to effectively eliminate instantaneous disturbances caused by material impact.

[0023] Real-time slag volume calculation using physical model , where the flow velocity v and slag layer height h are derived from millimeter-wave radar, and the trough cross-section correction coefficient k is dynamically calibrated based on the chute inclination (e.g., k = 0.87 at a 30° inclination). The PLC refreshes the slag volume data at a 200ms cycle to ensure real-time control. The target slag volume can be derived from three sources: preset empirical values, manually input values, or dynamic algorithms described in other claims (e.g., adaptive rock formation models). Control decisions form a clear action chain: when the real-time slag volume is higher than the target value, the PLC outputs a first control signal to extend the cylinder, causing gate 3 to move downward by 5-10mm to reduce the opening; when the real-time slag volume is lower than the target value, the PLC outputs a second control signal to retract the cylinder, causing gate 3 to move upward by 5-10mm to increase the opening.

[0024] The anti-blockage warning system has a two-level response mechanism. The first-level warning is for mild blockage, triggered when the flow rate decrease rate exceeds a preset ratio (example range: 30%-50%) and the pressure value exceeds a preset threshold (example range: 5-10MPa). At this time, the PLC outputs a third control signal to drive the cylinder to complete three alternating contractions and extensions within 5 seconds. Gate 3 generates high-frequency vibrations with an amplitude of 50-100mm, effectively destroying the soil arch structure. The second-level response is for severe blockage. When the flow rate returns to zero and the pressure reaches the safety threshold (example value: 15MPa), the PLC outputs a fourth control signal to fully retract the cylinder, raising Gate 3 to its maximum opening to clear the channel, and simultaneously activating the audible and visual alarm (105dB buzzer and red warning light).

[0025] This solution significantly improves slag discharge stability through multi-source sensing and closed-loop control: millimeter-wave radar penetrates dust to capture the slag flow status in real time, allowing slag quantity control to be highly matched with the TBM advancement speed; the velocity-pressure coupling criterion triggers Gate 3 to vibrate and clear slag at the early stage of blockage, significantly reducing the risk of complete blockage of the chute; automated control replaces manual experience-based operation, effectively overcoming pain points such as harsh inclined shaft environment and delayed manual response.

[0026] In another technical solution, the operation of driving the telescopic cylinder 2 to alternately contract and extend three times within 5 seconds includes: The pressure change rate output by the pressure sensor is obtained in real time. If the pressure change rate does not exceed the preset pressure change rate threshold, the single stroke is maintained at 40% of the maximum stroke of the telescopic cylinder 2; if the pressure change rate exceeds the preset pressure change rate threshold, the single stroke is adjusted to 70% of the maximum stroke of the telescopic cylinder 2; Based on the set single stroke volume, the specific method of performing alternating contraction and extension operations is as follows: First, the telescopic cylinder 2 is driven to retract to the current length minus the single stroke amount, and then the telescopic cylinder 2 is driven to extend to the current length plus the single stroke amount. After completing three alternating actions, it returns to the opening before vibration.

[0027] The pressure sensor monitors the lateral pressure exerted on gate 3 in real time. The rate of pressure change it outputs reflects the accelerating trend of soil blockage. The pressure change rate is defined as the slope of the pressure rise per unit time (e.g., MPa / second). A preset pressure change rate threshold serves as the critical point for determining the rate of blockage progression. This threshold can be set within the range of 0.5-2 MPa / s (1.0 MPa / s is an example). If the pressure change rate does not exceed the threshold, it is considered a gradual blockage, and the single stroke is set to 40% of the maximum stroke of telescopic cylinder 2 (e.g., 80 mm for a maximum stroke of 200 mm). If the pressure change rate exceeds the threshold, it is considered an acute blockage, and the single stroke is increased to 70% of the maximum stroke (140 mm in the same example). This decision is implemented through the PLC's threshold comparison module, ensuring that the vibration intensity matches the severity of the blockage.

[0028] Based on the set single stroke length, telescopic cylinder 2 is controlled to perform three alternating retraction and extension operations. Using the cylinder's current length, L0, as a reference, the cylinder is first retracted to L0 minus the single stroke length (e.g., L0 - 80mm), rapidly lifting gate 3. The cylinder is then extended to L0 plus the single stroke length (e.g., L0 + 80mm), pressing gate 3 downward to reset. A single retraction-extension cycle takes approximately 1.67 seconds (completed three times within 5 seconds), causing gate 3 to vibrate at a high frequency. After three cycles, the cylinder precisely returns to its pre-vibration length, L0, ensuring the opening remains unchanged. A solenoid valve receives pulse signals from the PLC to control oil flow direction, and the hydraulic system pressure is maintained at 20 MPa to ensure a fast response time.

[0029] This alternating motion causes gate 3 to move back and forth vertically. Its core clearing mechanism incorporates two physical effects: first, a mechanical shock effect. Gate 3's momentary upward movement pulls attached slag, while its downward movement shears the slag arch structure. Second, a dynamic turbulence effect. Periodic variations in the gate opening create pressure fluctuations within the slag chute, disrupting the static frictional balance of the slag. A 40% stroke produces medium-amplitude vibration, suitable for loose slag deposits. A 70% stroke produces a high-amplitude, strong impact that can break up compacted slag. In practice, an 8%-15% drop in pressure has been observed after vibration (for example), restoring continuity to the slag flow.

[0030] Through the adaptive stroke adjustment of the pressure change rate, the targetedness of vibration clearing is significantly improved, avoiding clearing failure caused by insufficient amplitude or mechanical damage caused by excessive amplitude; the opening is accurately reset after alternating motion to ensure continuous and stable operation of the main control circuit; high-frequency mechanical vibration and fluid disturbance work together to effectively break down various types of debris blockage.

[0031] In another technical solution, the target slag amount is generated by the following steps: The propulsion speed signal of the TBM control system is obtained through the MODBUS communication protocol. The current cutterhead cross-sectional area value is retrieved from the TBM equipment parameter library. The propulsion speed signal and the cutterhead cross-sectional area value are input into the multiplier module to calculate the theoretical slag volume. The slag flow rate and slag layer height in the slag chute detected by the millimeter-wave radar sensor are read in real time, and the slag flow rate is divided by the slag layer height to obtain the flow rate-height ratio; a slag type correspondence database is established, and the database includes a mapping table of flow rate-height ratios and density compensation coefficients under different rock formation geological conditions; the mapping table is queried and the corresponding density compensation coefficient is matched in the mapping table according to the current flow rate-height ratio; the theoretical slag amount is multiplied by the corresponding density compensation coefficient to generate the target slag amount. When the flow rate-height ratio does not match the data in the mapping table, the density compensation coefficient is maintained at the preset default value.

[0032] A real-time data link is established with the TBM's main control system via the MODBUS communication protocol, continuously acquiring the advance speed signal (unit: meters per minute). This signal represents the instantaneous forward speed of the cutterhead, with a sampling frequency typically between 1 and 5 Hz (2 Hz is an example). The cutterhead cross-sectional area value (a fixed constant, such as a 6-meter diameter circular cutterhead with a cross-sectional area of 28.3 square meters) is also retrieved from the TBM equipment parameter library. The advance speed signal and the cutterhead cross-sectional area are input into the PLC's built-in multiplier module for scalar multiplication, outputting the theoretical slag volume (unit: cubic meters per minute). For example, at a advance speed of 3.2 meters per minute, the theoretical slag volume is calculated to be 3.2 × 28.3 = 90.56 cubic meters per minute. This process is refreshed every 200 milliseconds to ensure real-time data.

[0033] Millimeter-wave radar sensors collect real-time data on the flow velocity (in meters per second) and the height (in meters) of the slag layer within the chute. The programmable logic controller (PLC) calculates the velocity-to-height ratio (velocity / height), which reflects the flow characteristics of the slag. For example, a low ratio (<0.4) indicates highly cohesive slag, while a high ratio (>1.0) indicates loose slag. A pre-established database of slag type relationships stores typical characteristics of different rock formations. For example, the ratio for granite formations ranges from 0.6 to 0.8, with a density compensation factor of 1.05; the ratio for mudstone formations ranges from 0.3 to 0.5, with a factor of 0.92. The PLC compares the measured ratio with the database entries. If the ratio falls within a certain rock formation range, the corresponding density compensation factor is applied. If a match does not occur (for example, a ratio of 0.25 or 1.2), a preset default factor (ranging from 0.8 to 1.2, with a typical value of 1.0) is used.

[0034] The theoretical slag volume is multiplied by the matching density compensation coefficient to generate the final target slag volume. For example, multiplying the theoretical slag volume of 90.56 cubic meters / minute by the granite coefficient of 1.05 yields a target slag volume of 95.09 cubic meters / minute. If database matching fails, a default coefficient is used to ensure continuous system operation: theoretical slag volume × 1.0, which directly uses the theoretical value as the target. In practice, differences in target slag volumes have been observed for different rock formations: for granite, the target value is approximately 3-8% higher than the theoretical value, while for mudstone, it is 5-10% lower (for example). The PLC sends the updated target slag volume to the control core every 5 seconds to control the opening adjustment of Gate 3.

[0035] By adaptively generating target slag volume based on rock formation characteristics, control deviations caused by geological changes can be effectively overcome; a dual-track mechanism of database matching and default values ensures system robustness under extreme working conditions; and a real-time data processing process significantly improves the matching accuracy between slag output and formation characteristics.

[0036] When using the soil density compensation coefficient, perform the following simplified correction process: After every 10 meters of excavation, an offline batch correction is performed. The correction operation includes: Retrieve the actual slag volume average value Q recorded by the millimeter wave radar sensor within the 10-meter section S , based on the average TBM advancement speed within the 10-meter segment and the cutter head cross-sectional area A D , calculate the theoretical slag mean ; Calculate the slag deviation rate ; If the absolute value of the slag deviation rate δ is greater than 15%, the current density compensation coefficient is increased or decreased by 0.1δ, the density compensation coefficient in the mapping table is updated, and a correction log including the deviation rate value and the new coefficient value is output to the human-computer interaction terminal.

[0037] Every time 10 meters of excavation progress is completed (corresponding to about 30-50 minutes of TBM operation time), offline batch correction is automatically triggered. The PLC retrieves the actual slag volume data stream recorded by the millimeter-wave radar sensor in the section, removes outliers, and calculates the mean value QS. Simultaneously, the mean advance speed V of the section is obtained. T With fixed cutter head cross-sectional area A D , where V T Eliminate step-change pause interference through sliding average filtering. For example, a segment V T =3.2 m / min, A D =28.3 square meters, calculate the theoretical slag volume mean Q L =V T ×A D = 90.56 cubic meters. This process is performed during the TBM's downtime during step change, and the duration is controlled within 20 seconds to avoid affecting tunneling efficiency.

[0038] Calculate the slag deviation rate δ=(Q L -Q S ) / Q L ×100% (Example: Q S =85 cubic meters (δ = (90.56 - 85) / 90.56 × 100% = 6.14%)). Set the absolute deviation threshold, typically between 10% and 20%. For example, if 15% is used, coefficient correction is initiated when |δ| > 15%. If δ is positive, indicating insufficient slag, the current density compensation coefficient is increased by 0.1 × |δ|. If δ is negative, indicating excessive slag, the coefficient is reduced by 0.1 × |δ|. For example, if δ = -18%, the coefficient is reduced by 0.1 × 18 = 0.018. A step size of 0.1 balances convergence speed and stability. The updated coefficient immediately overwrites the original database value. If |δ| ≤ 15%, the coefficient remains unchanged.

[0039] After the coefficient is updated, the PLC sends a structured correction log to the human-machine interface terminal. This log contains key parameters: the excavation mileage interval (e.g., 1020-1030 meters), the delta value (e.g., -18%), the old coefficient value (e.g., 1.05), and the new coefficient value (e.g., 1.032). The log is also written to an SD card for backup to support later stratum analysis. Typical correction scenarios observed during implementation include: δ in sandstone sections is often -12% to -20%, with the coefficient gradually decreasing; δ in fault zones can reach +25%, with the coefficient increasing in steps. System data is used to generate coefficient change curves after every 100 meters of excavation, assisting in verifying the accuracy of stratigraphic delineation.

[0040] Periodic offline correction significantly reduces the computing power burden of online calculations and adapts to the intermittent operation characteristics of TBMs; the deviation rate threshold mechanism avoids control oscillations caused by over-correction; the log system provides data support for geological inversion, forming a closed loop of control-geology collaborative optimization.

[0041] In another technical solution, the following self-diagnosis method is used in the operation of obtaining the slag flow rate and slag layer height in the slag chute in real time: A first millimeter-wave radar sensor and a second millimeter-wave radar sensor are symmetrically installed on the slide 1 on both sides of the gate 3, and a first flow velocity signal and a first height signal of the first millimeter-wave radar sensor and a second flow velocity signal and a second height signal of the second millimeter-wave radar sensor are synchronously acquired, and a signal-to-noise ratio of the signal of the first millimeter-wave radar sensor and a signal-to-noise ratio of the signal of the second millimeter-wave radar sensor are calculated in real time; When the signal-to-noise ratio of any millimeter-wave radar sensor is lower than 0.5, the sensor is determined to be faulty; if the first millimeter-wave radar sensor fails, the data of the second millimeter-wave radar sensor is used as the valid signal; if the second millimeter-wave radar sensor fails, the data of the first millimeter-wave radar sensor is used as the valid signal; When both sensors fail, the system switches to backup control mode: Fix the gate 3 opening to 80% of the last valid value and send the sensor fault code F01 to the human-computer interaction terminal; In the operation of obtaining the lateral pressure of the debris on gate 3 in real time, when the pressure value output by the pressure sensor jumps from less than 2MPa to more than 8MPa within 1 second, the pressure sensor data is marked as invalid and the average pressure value of the last 10 seconds is used as the alternative value.

[0042] Two sets of independent millimeter-wave radar sensors, including the first sensor and the second sensor, are symmetrically installed on the slide 1 on both sides of the gate 3 to form a coordinated redundant monitoring architecture. Each set of sensors synchronously collects the flow velocity signal and the slag layer height signal in the core area of the slag flow, and the sampling frequency is set to 5-10Hz (the example value is 8Hz). The signal-to-noise ratio (SNR) of each sensor is calculated in real time. This indicator reflects the transmission quality of electromagnetic waves in a dusty environment. The normal SNR range of industrial radar is 1.0-3.0. When the SNR of any sensor is lower than the failure threshold (reference range 0.3-0.7, typical value 0.5) for 3 seconds, it is judged to be failed. For example, high concentration of dust (>300mg / m 3 ) causes the first radar's SNR to drop to 0.4. The PLC immediately marks this sensor as failed and switches to the second radar data. Data from both sensors is transmitted in parallel via the CAN bus, with a switching delay of less than 50 milliseconds.

[0043] If a single sensor fails (such as the first radar), the system seamlessly switches to data from a healthy sensor (the second radar), ensuring uninterrupted control of the control core. If both sensors fail simultaneously (e.g., if both SNRs are < 0.5 for 5 seconds), the PLC activates a backup control mode: locking the opening of Gate 3 to 80% of the last valid opening value (e.g., 48% if the original opening was 60%). This lock maintains the minimum slag discharge rate and simultaneously sends a standard fault code, F01 (definition: "Radar System Failure"), to the human-machine interface (HMI) terminal, triggering a red pop-up window and a beeping alarm. Maintenance personnel can manually override the opening value through the terminal menu until the sensor is repaired. In practice, this mode can last up to two hours without causing a blockage.

[0044] Pressure sensor data is refreshed every 100 milliseconds. If the pressure value jumps from a low pressure state (<2 MPa) to a high pressure state (>8 MPa) within 1 second (for example, from 1.8 MPa to 9.3 MPa in 0.5 seconds), it is considered a signal anomaly (a physically impossible pressure change). The PLC automatically marks the data as invalid and uses the average pressure value of the last 10 seconds in the historical data buffer as a substitute value (for example, a 10-second average of 5.2 MPa). The substitute value remains in use until the sensor status is manually confirmed, during which time the control algorithm continues to operate normally. This mechanism effectively mitigates signal glitches caused by hydraulic shock, minimizing false positives.

[0045] The dual-radar redundant architecture significantly improves monitoring reliability in dusty environments, and the signal-to-noise ratio diagnostic mechanism accurately isolates failed sensors. The graded response strategy ensures the system's continued operation capability under extreme working conditions. Pressure mutation detection and historical data replacement effectively eliminate the interference of signal anomalies on control.

[0046] In another technical solution, when the PLC controller detects that the rate of decrease of the soil flow rate exceeds a preset ratio and the pressure value exceeds a preset pressure threshold, the following operations are performed: Start the vibration motor at the bottom of the slag chute, set the vibration frequency to 20Hz, and simultaneously disable the opening adjustment function of the telescopic cylinder 2; monitor the rate of change of the slag flow rate after the vibration motor is started in real time. When the rate of change of the slag flow rate exceeds 0.15m / s per second, stop the vibration motor; A gate movement energy consumption assessment model was established to record the cumulative movement stroke of telescopic cylinder 2 within one hour. When the cumulative movement stroke exceeded 500 times the maximum stroke of telescopic cylinder 2, the cylinder maintenance warning code E02 was sent to the human-computer interaction terminal. When the TBM entered the step-changing shutdown stage, the power supply of the millimeter-wave radar sensor and pressure sensor was turned off.

[0047] When the PLC detects that the rate of decrease in the slag flow rate exceeds a preset ratio (preset value controlled within 30%-50%) and the pressure exceeds a preset pressure threshold (threshold range of 8-12 MPa), it immediately activates the vibration motor at the bottom of the slag chute. The vibration frequency is fixed at 20 Hz, which is more effective in resonating with the slag in the inclined shaft. Simultaneously, the PLC sends a lock command to the solenoid valve of telescopic cylinder 2, disabling its opening adjustment function to prevent conflicting movements. The vibration motor generates a vertical excitation force through an eccentric rotor, with an adjustable amplitude range of 2-5 mm (3 mm is used as an example). The vibration wave is transmitted along the chute floor into the slag mass. The rate of change of the slag flow rate after the vibration is activated is monitored in real time. When the rate of change exceeds 0.15 meters per second, the blockage is determined to be cleared successfully, and the vibration motor is immediately deactivated. This process typically lasts 10-30 seconds.

[0048] The PLC's built-in stroke accumulator records the travel distance of telescopic cylinder 2, calculating the cumulative stroke over a continuous hour. When the cumulative value exceeds 500 times the cylinder's maximum stroke (for example, a threshold of 100 meters for a maximum cylinder stroke of 0.2 meters), an early warning code E02 (predefined code meaning "cylinder fatigue warning") is sent to the human-machine interface terminal. A yellow warning bar appears on the interface, and the fault timestamp is stored. Maintenance personnel use this information to schedule preventive maintenance to avoid hydraulic leaks caused by seal failure. The average daily stroke of a cylinder in hard rock formations is approximately 60 meters, and this threshold corresponds to a maintenance cycle of 7-10 days.

[0049] When the TBM enters the step-change shutdown phase, the main propulsion cylinder retracts, the cutterhead stops, and the PLC automatically shuts off the power to the millimeter-wave radar sensor and pressure sensor. This design prevents measurement distortion caused by dust settling and covering the sensor probes during stationary operation. A restart signal is linked to the TBM propulsion system: when the main propulsion cylinder pressure exceeds 5 MPa, sensor power is restored within 0.5 seconds. This power management extends sensor life by approximately 40% and significantly reduces failure rates.

[0050] The interlocking mechanism between vibration slag cleaning and cylinder action completely eliminates the risk of mechanical interference. The early warning system based on actual wear realizes visual management and control of the life of key components. The dynamic management of sensor power supply greatly improves the measurement reliability in high dust environments.

[0051] When the vibration motor is started, the following preset vibration strategies are executed: Obtain the current rock formation type code from the TBM geological prediction system in real time and match the preset vibration parameters according to the rock formation type code: When the rock layer is coded as mudstone, the vibration frequency is set to 25 Hz and the duration is 30 seconds; when the rock layer is coded as sandstone, the vibration frequency is set to 18 Hz and the duration is 20 seconds; when the rock layer is coded as fault breccia, the vibration frequency is set to 22 Hz and the duration is 40 seconds; During the operation of the vibration motor, the hydraulic pressure value of the cylinder is monitored in real time. When the hydraulic pressure value exceeds 85% of the system rated pressure, the vibration motor is stopped immediately, and the telescopic cylinder 2 is driven to retract to 90% of the maximum opening of the gate 3 and maintained for 60 seconds.

[0052] The current rock formation type code (e.g., NYY - mudstone, SY - sandstone, DJ - fault breccia) is obtained in real time from the TBM geological prediction system. A pre-stored vibration parameter mapping table is available within the PLC: mudstone matches a 25Hz frequency and a 30-second duration (primarily for highly viscous soil); sandstone matches an 18Hz frequency and a 20-second duration (primarily for low-cohesion soil); and fault breccia matches a 22Hz frequency and a 40-second duration (primarily for large-grained rock). These parameters are calibrated through field testing. For example, 25Hz vibration in a mudstone section improves soil fluidity by approximately 70%. The code refresh cycle is 1-3 seconds (dynamically updated as the TBM advances), allowing for seamless switching of vibration parameters as the rock formation changes.

[0053] While the vibration motor is running, the hydraulic pressure of telescopic cylinder 2 is read in real time. When the pressure exceeds 85% of the system's rated pressure of 31.5 MPa (i.e., 26.8 MPa), an overload risk is detected. The PLC immediately initiates a two-stage protection phase: first, it shuts off the vibration motor's power supply, causing it to come to an emergency stop (response time < 0.1 seconds). Then, it drives telescopic cylinder 2 to retract, raising gate 3 to 90% of its maximum opening (e.g., maintaining 90% opening at 100%). This state is maintained for 60 seconds to release system pressure. During this period, the pressure drops to a safe range (< 22 MPa) before the protection phase is released.

[0054] If the rock formation changes suddenly (e.g., from sandstone to mudstone) after vibration is initiated, the system prioritizes completing the current vibration cycle before switching parameters. If a protective shutdown (e.g., overpressure) occurs simultaneously with a rock formation switch, vibration is restarted using the new rock formation parameters after a reset. In a typical scenario, the pressure in a sandstone section remains stable at 20-24 MPa at 18 Hz vibration; in a mudstone section, the pressure peaks at 28 MPa (near the protective threshold) at 25 Hz vibration.

[0055] Vibration parameter matching driven by geological forecast significantly improves the targeted slag cleaning, the cylinder hydraulic multiple protection mechanism effectively prevents equipment damage, and the complex working condition processing logic ensures the system's adaptability to all formations.

[0056] In another technical solution, the operations performed after the sound and light alarm is triggered include: Send a shutdown request signal with the highest priority to the TBM main control system via the CAN bus, continuously record the pressure value output by the pressure sensor, and calculate the pressure change rate per second; When the pressure drops to 60% of the preset safety threshold, the first stage of recovery is executed: the telescopic cylinder 2 is driven to retract to 80% of the maximum opening and maintained at this opening for 120 seconds; Monitor the slag flow rate signal output by the millimeter-wave radar sensor in real time. When the slag flow rate recovers to 70% of the flow rate before the blockage is triggered and the pressure value fluctuation range is stable within the ±15% range of the preset pressure threshold, execute the second stage recovery: gradually increase the opening of gate 3 at a rate of 5% per second until the opening required for the real-time slag volume to match the target slag volume is reached; when the pressure value increases by more than 0.5 MPa per second during the opening adjustment process, suspend the increase in the opening and maintain the current state for 60 seconds; when the opening of gate 3 is stable and the pressure value does not exceed 80% of the preset pressure threshold for 300 seconds, the sound and light alarm is released.

[0057] In another technical solution, a vibration acceleration sensor is installed on the surface of the piston rod of the telescopic cylinder 2 to collect the axial vibration frequency signal in real time. The vibration frequency signal is input into the FFT analysis module to extract the vibration energy value in the 500Hz-1kHz frequency band; When the vibration energy value exceeds 180% of the baseline energy value for 10 consecutive seconds, the first level response is executed: a vibration warning code W01 is sent to the human-computer interaction terminal, and the single adjustment range of gate 3 is limited to no more than 20% of the maximum stroke; When the vibration energy value exceeds 250% of the baseline energy value for three consecutive seconds, the second level response is executed: the gate opening adjustment function is frozen and a deceleration instruction is sent to the TBM main control system; A temperature sensor is embedded in the contact surface between the slideway 1 and the gate 3. When it is detected that the temperature value of the friction interface exceeds the temperature threshold, the slideway lubrication device is started to spray a standard amount of grease.

[0058] A vibration accelerometer (range ±50g) is installed on the surface of the piston rod of the telescopic cylinder 2 to collect axial vibration signals in real time. The signal is processed by the FFT analysis module (sampling frequency 5kHz) to extract the vibration energy value in the 500Hz-1kHz frequency band. This frequency band focuses on the characteristic frequency of mechanical wear, and the baseline energy value is determined by no-load calibration (e.g. 0.05g 2 / Hz). When the energy value exceeds 180% of the benchmark for 10 consecutive seconds (e.g. 0.09g 2 / Hz), it is determined to be early wear. The PLC sends a warning code W01 (yellow warning) to the human-machine interface terminal and limits the single adjustment range of gate 3 to ≤ 20% of the maximum stroke (for example, the limit is 40mm for a stroke of 200mm).

[0059] When the vibration energy exceeds 250% of the standard for 3 consecutive seconds (such as 0.125g 2 When the energy level drops below 150% of the baseline, the secondary response is triggered. The PLC immediately freezes the gate 3 opening adjustment function (locking the solenoid valve in the neutral position) and sends a command to the TBM master control system via the Profinet bus to slow down the excavation (e.g., reduce the advance speed to 30% of the original value). The freeze state persists until the energy value drops below 150% of the baseline, during which time the operator can manually release it. Tests have shown that freezing can reduce vibration energy by 40-60%.

[0060] A K-type thermocouple temperature sensor (range 0-200°C) is embedded in the slideway-gate friction surface. When the temperature exceeds a threshold (reference value 80-100°C, typical 90°C), the slideway lubrication device activates and sprays a standard amount of grease (e.g., 20ml per spray). The spray duration is fixed at 8 seconds, covering the 1.2-meter length of slideway 1. The temperature is refreshed every 30 seconds and is not triggered repeatedly within the same lubrication cycle.

[0061] Frequency-band focused vibration analysis improves early wear identification, the coordinated protection of freezing and deceleration tunneling avoids equipment damage, and simplified temperature and lubrication control enhances system robustness.

[0062] A first temperature sensor and a second temperature sensor are symmetrically installed at both ends of the contact surface between the slide 1 and the gate 3, and the first temperature sensor value T1 and the second temperature sensor value T2 are obtained in real time; Take the effective friction temperature T as the average of T1 and T2. When the effective friction temperature T exceeds 90°C, start the slideway lubrication device to spray grease. The spraying time is set according to the following rules: If T≤100℃, the spraying time is set to 8 seconds; if 100℃<T≤120℃, the spraying time is set to 12 seconds; if T>120℃, the spraying time is set to 15 seconds; After the spraying is completed, the temperature drop rate is monitored in real time. When the temperature drop rate is lower than 0.25°C / second, the spraying operation is repeated once, and the duration of the repeated spraying is reduced by 4 seconds.

[0063] Dual PT100 temperature sensors (accuracy ±0.5°C) are symmetrically installed at the slag inlet and outlet ends of the slideway-gate interface. Real-time temperature readings T1 and T2 are acquired at both ends, and the effective friction temperature T = (T1 + T2) / 2 is calculated. This design eliminates uneven temperature distribution in the inclined shaft caused by gravity (measured single-point temperature differences can reach 15°C). For example, if T1 = 98°C and T2 = 82°C, T = 90°C is used. The temperature sampling frequency is 1Hz, and the data is filtered using a sliding average.

[0064] When the effective temperature (T) exceeds 90°C, the lubrication device activates the spraying mechanism. Spray duration is controlled in three levels: 8 seconds for temperatures ≤ 100°C (covering normal overheating); 12 seconds for temperatures 100°C < 120°C (responding to moderate heat buildup); and 15 seconds for temperatures above 120°C (protecting against extreme operating conditions). For example, a 12-second spray trigger at 115°C consumes 30ml of grease. Spray pressure is maintained at a constant 0.8 MPa to ensure uniform grease coverage.

[0065] After the injection is complete, the temperature drop rate (°C / second) is calculated in real time. If the rate is less than 0.25°C / second (e.g., 0.2°C / second), lubrication is considered insufficient and a repeat injection is triggered: the duration is reduced by 4 seconds compared to the previous injection (e.g., 12 seconds previously, 8 seconds this time). Repeat injection is performed a maximum of once to avoid over-lubrication. When the temperature drop rate meets the target (≥0.25°C / second), the lubrication parameter profile is updated to optimize subsequent injection strategies.

[0066] The dual-sensor averaging effectively overcomes the temperature measurement deviation in inclined wells, the step duration control realizes precise thermal management, and the temperature drop feedback mechanism dynamically optimizes lubrication efficiency.

[0067] It should be noted that although the steps are described above in a specific order, this does not necessarily mean that the steps must be performed in this specific order. In fact, some of these steps can be performed concurrently or even in a different order, as long as the required functions can be achieved. The number of devices and processing scales described here are intended to simplify the description of the present invention. Applications, modifications, and variations of the present invention will be apparent to those skilled in the art.

[0068] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A method for controlling a slag chute gate of a TBM in an inclined shaft, characterized in that: The slag chute gate includes a slide, a telescopic cylinder, and a gate. The slide is fixed at the connection between the bottom shield and the slag chute. The gate is slidably connected to the bottom shield through the slide. One end of the telescopic cylinder is connected to the bottom shield and the other end is connected to the gate to control the opening of the gate. The method includes: Millimeter-wave radar sensors are installed on the slideways on both sides of the gate to obtain the flow rate and slag layer height of the slag in the slag chute in real time. A pressure sensor is embedded on the surface of the gate facing away from the slag flow to obtain the lateral pressure of the slag on the gate in real time. The flow rate and height signals output by the millimeter-wave radar sensor and the pressure signal output by the pressure sensor are input into the PLC controller. The PLC controller calculates the real-time slag volume based on the flow rate signal and the height signal, and compares the real-time slag volume with the target slag volume. When the real-time slag volume is higher than the target slag volume, the PLC controller outputs a first control signal to the solenoid valve of the telescopic oil cylinder, driving the telescopic oil cylinder to extend and press down to reduce the gate opening. When the real-time slag volume is lower than the target slag volume, the PLC controller outputs a second control signal to the solenoid valve of the telescopic oil cylinder, driving the telescopic oil cylinder to retract and lift to increase the gate opening. The PLC controller continuously monitors the pressure value output by the pressure sensor and the flow rate signal output by the millimeter-wave radar sensor; when the flow rate of the slag drops by more than a preset proportion and the pressure value exceeds the preset pressure threshold, the PLC controller outputs a third control signal to the solenoid valve of the telescopic cylinder, driving the telescopic cylinder to alternately contract and extend three times within 5 seconds to vibrate and clear the blockage; when the flow rate of the slag continues to drop to zero and the pressure value reaches the preset safety threshold, the PLC controller outputs a fourth control signal to the solenoid valve of the telescopic cylinder, driving the telescopic cylinder to contract until the gate is at its maximum opening and triggering the sound and light alarm.

2. The inclined shaft TBM slag chute gate control method according to claim 1 is characterized in that: The operation of driving the telescopic cylinder to alternately retract and extend three times within 5 seconds includes: The pressure change rate output by the pressure sensor is obtained in real time. If the pressure change rate does not exceed the preset pressure change rate threshold, the single stroke is maintained at 40% of the maximum stroke of the telescopic cylinder. If the pressure change rate exceeds the preset pressure change rate threshold, the single stroke is adjusted to 70% of the maximum stroke of the telescopic cylinder. Based on the set single stroke volume, the specific method of performing alternating contraction and extension operations is as follows: First, the telescopic cylinder is driven to retract to the current length minus the single stroke amount, and then the telescopic cylinder is driven to extend to the current length plus the single stroke amount. After completing three alternating actions, it returns to the opening before vibration.

3. The inclined shaft TBM slag chute gate control method according to claim 1 is characterized in that: The target slag volume is generated by the following steps: The propulsion speed signal of the TBM control system is obtained through the MODBUS communication protocol. The current cutterhead cross-sectional area value is retrieved from the TBM equipment parameter library. The propulsion speed signal and the cutterhead cross-sectional area value are input into the multiplier module to calculate the theoretical slag volume. The slag flow rate and slag layer height in the slag chute detected by the millimeter-wave radar sensor are read in real time, and the slag flow rate is divided by the slag layer height to obtain the flow rate-height ratio; a slag type correspondence database is established, and the database includes a mapping table of flow rate-height ratios and density compensation coefficients under different rock formation geological conditions; the mapping table is queried and the corresponding density compensation coefficient is matched in the mapping table according to the current flow rate-height ratio; the theoretical slag amount is multiplied by the corresponding density compensation coefficient to generate the target slag amount. When the flow rate-height ratio does not match the data in the mapping table, the density compensation coefficient is maintained at the preset default value.

4. The inclined shaft TBM slag chute gate control method according to claim 3 is characterized in that: When using the soil density compensation coefficient, perform the following simplified correction process: After every 10 meters of excavation, an offline batch correction is performed. The correction operation includes: Retrieve the actual slag volume average value Q recorded by the millimeter wave radar sensor within the 10-meter section S , based on the average TBM advancement speed within the 10-meter segment and the cutter head cross-sectional area A D , calculate the theoretical slag mean ; Calculate the slag deviation rate ; If the absolute value of the slag deviation rate δ is greater than 15%, the current density compensation coefficient is increased or decreased by 0.1δ, the density compensation coefficient in the mapping table is updated, and a correction log including the deviation rate value and the new coefficient value is output to the human-computer interaction terminal.

5. The inclined shaft TBM slag chute gate control method according to claim 1 is characterized in that: In the operation of obtaining the slag flow rate and slag layer height in real time in the slag chute, the following self-diagnosis method is used: A first millimeter-wave radar sensor and a second millimeter-wave radar sensor are symmetrically installed on the slideways on both sides of the gate, a first flow velocity signal and a first height signal of the first millimeter-wave radar sensor and a second flow velocity signal and a second height signal of the second millimeter-wave radar sensor are synchronously acquired, and a signal-to-noise ratio of the signal of the first millimeter-wave radar sensor and a signal-to-noise ratio of the signal of the second millimeter-wave radar sensor are calculated in real time; When the signal-to-noise ratio of any millimeter-wave radar sensor is lower than 0.5, the sensor is determined to be faulty; if the first millimeter-wave radar sensor fails, the data of the second millimeter-wave radar sensor is used as the valid signal; if the second millimeter-wave radar sensor fails, the data of the first millimeter-wave radar sensor is used as the valid signal; When both sensors fail, the system switches to backup control mode: The gate opening is fixed at 80% of the last valid value, and the sensor fault code F01 is sent to the human-computer interaction terminal; In the operation of obtaining the lateral pressure of the debris on the gate in real time, when the pressure value output by the pressure sensor jumps from less than 2MPa to more than 8MPa within 1 second, the pressure sensor data is marked invalid and the average pressure value of the last 10 seconds is used as the alternative value.

6. The inclined shaft TBM slag chute gate control method according to claim 1, characterized in that: When the PLC controller detects that the soil flow rate decrease rate exceeds the preset ratio and the pressure value exceeds the preset pressure threshold, it performs the following operations: Start the vibration motor at the bottom of the slag chute, set the vibration frequency to 20Hz, and simultaneously disable the opening adjustment function of the telescopic cylinder; monitor the rate of change of the slag flow rate after the vibration motor is started in real time. When the rate of change of the slag flow rate exceeds 0.15m / s per second, stop the vibration motor; A gate operation energy consumption assessment model was established to record the cumulative movement stroke of the telescopic cylinder within one hour. When the cumulative movement stroke exceeded 500 times the maximum stroke of the telescopic cylinder, the cylinder maintenance warning code E02 was sent to the human-computer interaction terminal. When the TBM entered the step-changing shutdown stage, the power supply of the millimeter-wave radar sensor and pressure sensor was turned off.

7. The inclined shaft TBM slag chute gate control method according to claim 6, characterized in that: When the vibration motor is started, the following preset vibration strategies are executed: Obtain the current rock formation type code from the TBM geological prediction system in real time and match the preset vibration parameters according to the rock formation type code: When the rock layer is coded as mudstone, the vibration frequency is set to 25 Hz and the duration is 30 seconds; when the rock layer is coded as sandstone, the vibration frequency is set to 18 Hz and the duration is 20 seconds; when the rock layer is coded as fault breccia, the vibration frequency is set to 22 Hz and the duration is 40 seconds; During the operation of the vibration motor, the hydraulic pressure value of the cylinder is monitored in real time. When the hydraulic pressure value exceeds 85% of the system rated pressure, the vibration motor is stopped immediately and the telescopic cylinder is driven to retract to 90% of the maximum opening of the gate and maintained for 60 seconds.

8. The inclined shaft TBM slag chute gate control method according to claim 1, characterized in that: The operations performed after the sound and light alarm is triggered include: Send a shutdown request signal with the highest priority to the TBM main control system via the CAN bus, continuously record the pressure value output by the pressure sensor, and calculate the pressure change rate per second; When the pressure drops to 60% of the preset safety threshold, the first stage of recovery is executed: the telescopic cylinder is driven to retract to 80% of the maximum opening and maintained at this opening for 120 seconds; Monitor the slag flow rate signal output by the millimeter-wave radar sensor in real time. When the slag flow rate recovers to 70% of the flow rate before the blockage is triggered and the pressure value fluctuation range is stable within the ±15% range of the preset pressure threshold, execute the second stage recovery: gradually increase the gate opening at a rate of 5% per second until the opening required for the real-time slag volume to match the target slag volume is reached; when the pressure value increases by more than 0.5 MPa per second during the opening adjustment process, suspend the increase in the opening and maintain the current state for 60 seconds; when the gate opening is stable and the pressure value does not exceed 80% of the preset pressure threshold for 300 seconds, the sound and light alarm is released.

9. The inclined shaft TBM slag chute gate control method according to claim 1, characterized in that: A vibration acceleration sensor is installed on the piston rod surface of the telescopic cylinder to collect the axial vibration frequency signal in real time. The vibration frequency signal is input into the FFT analysis module to extract the vibration energy value in the 500Hz-1kHz frequency band. When the vibration energy value exceeds 180% of the baseline energy value for 10 consecutive seconds, the first level response is executed: a vibration warning code W01 is sent to the human-computer interaction terminal, limiting the single adjustment range of the gate to no more than 20% of the maximum stroke; When the vibration energy value exceeds 250% of the baseline energy value for three consecutive seconds, the second level response is executed: the gate opening adjustment function is frozen and a deceleration instruction is sent to the TBM main control system; A temperature sensor is embedded in the contact surface between the slide and the gate. When it is detected that the temperature value of the friction interface exceeds the temperature threshold, the slide lubrication device is started to spray a standard amount of grease.

10. The inclined shaft TBM slag chute gate control method according to claim 9, characterized in that: A first temperature sensor and a second temperature sensor are symmetrically installed at both ends of the contact surface between the slide and the gate, and the first temperature sensor value T1 and the second temperature sensor value T2 are obtained in real time; Take the effective friction temperature T as the average of T1 and T2. When the effective friction temperature T exceeds 90°C, start the slideway lubrication device to spray grease. The spraying time is set according to the following rules: If T≤100℃, the spraying time is set to 8 seconds; if 100℃<T≤120℃, the spraying time is set to 12 seconds; if T>120℃, the spraying time is set to 15 seconds; After the spraying is completed, the temperature drop rate is monitored in real time. When the temperature drop rate is lower than 0.25°C / second, the spraying operation is repeated once, and the duration of the repeated spraying is reduced by 4 seconds.

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