Shield machine stuck body traction control system and method using omnidirectional traction force

Abstract

The present application relates to the technical field of shield machine escape, and particularly relates to a shield machine escape body traction control system and method applying omnidirectional traction force, comprising predicting the current propulsion resistance of the shield machine based on long short-term memory network according to historical shield construction data; the traction device is arranged at the front end, rear end, side and bottom of the shield machine by using distributed hydraulic cylinders, so that the shield machine has omnidirectional traction capability and realizes free traction in X-Y-Z three-axis directions. Based on the predicted propulsion resistance, the present application calculates the predicted total propulsion force by using force balance equation, and reasonably determines the distribution proportion of the total cylinder propulsion force and the total traction force, so as to ensure the stability and efficiency of the propulsion process. At the same time, the posture deviation of the shield machine is obtained in real time, the total traction force is decomposed into traction force components in X, Y and Z three-axis directions, the pulling force of the traction device is accurately controlled, the posture abnormality is timely corrected, and the accuracy of the escape tunneling direction is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of shield machine escape, in particular to a shield machine escape body traction control system and method using omnidirectional traction force. BACKGROUND

[0002] A shield machine is a special engineering equipment for tunneling, which integrates excavation, support, slag removal, and propulsion functions. Its core structure includes a cutter head (for cutting the ground), a shield body (for protecting construction safety), a propulsion system (provided by a hydraulic cylinder), and a segment assembly system. The shield machine breaks up rock and soil through a rotating cutter head, while the shield body supports the surrounding ground, and precast concrete segments are assembled synchronously at the rear to form a tunnel structure. It is widely used in subway, railway, highway, and water conservancy tunnel projects, especially in complex geological and densely populated urban areas, which can minimize ground subsidence and ensure construction safety.

[0003] Shield machine entrapment (commonly known as "shield jamming" or "machine jamming") is a serious engineering accident that can cause delays, cost increases, and even safety accidents. Common causes of shield machine entrapment include complex geological conditions, such as uneven hard and soft strata, encountering unexplored boulders, isolated stones, hard rock, or soft interlayers, resulting in abnormal cutter head torque or increased propulsion resistance, or clay or mudstone adhering to the cutter head, reducing tunneling efficiency, and unbalanced groundwater pressure causing water and sand inflow, which can wrap the shield body.

[0004] A shield machine escape method is disclosed in Chinese Patent No. CN111828026B, which includes the following steps: providing a propulsion cylinder, fixing one end of the propulsion cylinder to the shield machine, and abutting the other end against the ring surface of the newly assembled segment of the shield machine; providing a hinged cylinder, hinging the hinged cylinder inside the shield machine; providing a driving member, abutting one end of the driving member against the hinged cylinder, and abutting the other end against the ring surface of the newly assembled segment of the shield machine; and applying a pushing force to the shield machine through the driving member and the propulsion cylinder to escape the shield machine.

[0005] As in the above application, when the shield machine cannot provide sufficient pushing force to escape due to the limited pushing force of the propulsion cylinder, the existing shield machine generally adds a propulsion cylinder to increase the pushing force to escape the shield machine. However, it does not consider the attitude of the shield machine and the direction of the traction force. During the escape process, if the attitude adjustment is ignored, the shield machine may tilt, further exacerbating the entrapment situation, and even causing greater damage to the equipment and construction environment. SUMMARY

[0006] To solve the above problems, the present application provides a shield machine escape body traction control system and method using omnidirectional traction force.

[0007] The application adopts the following technical scheme, a shield machine escape body traction control method applying omnidirectional traction force, comprising:

[0008] According to historical shield construction data, the current thrust resistance of the shield machine is predicted based on a long short-term memory network.

[0009] A distributed hydraulic cylinder is arranged at the front end, rear end, side and bottom of the shield machine to arrange a traction device, so that the shield machine has omnidirectional traction capability. The traction device is connected to the shield machine through a hinged structure to realize free traction in X-Y-Z three-axis directions.

[0010] Based on the thrust resistance, the predicted total thrust is obtained according to the force balance equation, and the distribution ratio of the total cylinder thrust and the total traction force is determined based on the total thrust.

[0011] The attitude deviation of the shield machine is obtained, the total traction force is decomposed into three axial X, Y and Z traction force components, and the tension of the traction device is controlled based on the obtained total traction force decomposed into three axial X, Y and Z traction force components.

[0012] Further description of the above technical scheme: the method for predicting the current thrust resistance of the shield machine based on the historical shield construction data and the long short-term memory network comprises:

[0013] The historical shield construction data is obtained from the database of the shield machine, the historical shield construction data includes geological conditions, construction parameters and historical recorded thrust resistance, and the thrust resistance training set and the thrust resistance test set are constructed based on the historical shield construction data.

[0014] A regression network model is constructed, the geological conditions and the construction parameters in the thrust resistance training set are taken as the input data of the regression network model, the historical recorded thrust resistance in the thrust resistance training set is taken as the output data of the regression network model, the regression network model is trained, and an initial coefficient prediction regression network is obtained.

[0015] The initial coefficient prediction regression network is verified by the thrust resistance test set, and the initial coefficient prediction regression network with a prediction error less than or equal to a preset error threshold is output as a thrust resistance prediction model; the regression network model is specifically a long short-term memory network model.

[0016] The geological conditions and the construction parameters of the current shield machine are collected and input into the trained thrust resistance prediction model, and the thrust resistance is output.

[0017] As a further description of the above technical solution: the geological conditions include stratum characteristics and the strength, density and water content corresponding to the stratum characteristics; the stratum characteristics include soft soil, sandy soil, clay and rock categories, wherein the geological conditions are directly obtained through drilling, sampling and testing; the construction parameters of the shield machine are obtained, and the construction parameters include the specifications of the shield machine, the cutter head diameter and the cutter configuration.

[0018] As a further description of the above technical solution: the method for determining the distribution ratio of the total oil cylinder thrust and the total traction based on the total thrust includes:

[0019] A three-dimensional modeling software is used to create a geometric model of the shield machine, and the geometric model includes key components, wherein the key components include a cutter head, a main machine, a thrust system and a traction device;

[0020] Based on a preset grid density, the geometric model is divided into grid units for finite element analysis, and the calculation accuracy and efficiency are balanced;

[0021] Material properties are set for each key component in the geometric model, and the material properties include elastic modulus, Poisson's ratio and density, and it should be noted that setting material properties for each key component ensures consistency with actual material characteristics;

[0022] According to the actual construction situation, the boundary conditions of the geometric model are set, and the boundary conditions include fixed supports and free surfaces;

[0023] The ratio of the thrust and the total traction in the geometric model is adjusted, different thrust and total traction combinations are input, and the deformation and escape time of the shield machine under different combinations are evaluated.

[0024] As a further description of the above technical solution: the method for evaluating the deformation and escape time of the shield machine under different combinations includes:

[0025] A deformation threshold is preset, the thrust and total traction combination below the deformation threshold is obtained, and the obtained thrust and total traction combination is sequentially sorted according to the length of the escape time, a parameter set is established, and the arrangement order in the parameter set is sequentially sorted according to the increase of the escape time;

[0026] Based on the maximum thrust of the shield machine and the maximum traction of the traction device, the optimal thrust and total traction combination is obtained.

[0027] As a further description of the above technical solution: the method for obtaining the optimal thrust and total traction combination includes:

[0028] Step 1, obtaining the thrust and total traction combination corresponding to the shortest escape time in the parameter set;

[0029] Step 2, compare the values in the combination of the propulsion force and the total traction force with the maximum propulsion force of the shield machine and the maximum traction force of the traction device, when one of the values exceeds, abandon the combination of the propulsion force and the total traction force, eliminate the combination of the propulsion force and the total traction force from the parameter set;

[0030] Step 3, repeat the above step 1 until the values in the combination of the propulsion force and the total traction force corresponding to the shortest escape time are all less than the maximum propulsion force of the shield machine and the maximum traction force of the traction device, at this time, the combination of the propulsion force and the total traction force is recorded as the optimal combination of the propulsion force and the total traction force.

[0031] As a further description of the above technical solution: the method of decomposing the total traction force into three axial X, Y, Z traction force components includes:

[0032] Based on the control system of the shield machine and the pre-set shield route, the current yaw angle and pitch angle of the shield machine are obtained, wherein the yaw angle is the left and right deflection angle of the shield machine in the horizontal direction, and the pitch angle is the deflection angle of the shield machine in the vertical direction;

[0033] Based on the yaw angle calculation, the total traction force component in the X-axis direction is obtained;

[0034] Based on the pitch angle calculation, the total traction force component in the Y-axis direction is obtained;

[0035] Based on the total traction force component in the X-axis direction, the total traction force component in the Y-axis direction and the total traction force calculation, the total traction force component in the Z-axis direction is obtained.

[0036] As a further description of the above technical solution: further includes:

[0037] Real-time attitude parameters of the shield machine are obtained, and the attitude parameters are analyzed, when the shield machine has an abnormal attitude, an escape adjustment instruction is generated, and the distribution of the traction force and the propulsion force is recalculated based on the escape adjustment instruction.

[0038] As a further description of the above technical solution: the method of generating the escape adjustment instruction includes:

[0039] Real-time attitude parameters of the shield machine are obtained by using an attitude sensor, and the attitude parameters include a pitch angle and a yaw angle;

[0040] The real-time attitude parameters are compared with standard attitude parameters to obtain an attitude deviation, and if the attitude deviation exceeds the allowable range, it is determined that there is an attitude abnormality.

[0041] The shield machine escape body traction control system for applying omnidirectional traction force is used to implement the shield machine escape body traction control method for applying omnidirectional traction force, and the system includes:

[0042] A resistance prediction module predicts the current resistance of the shield machine based on historical shield construction data and a long short-term memory network;

[0043] An omnidirectional traction design module arranges traction devices at the front end, rear end, side, and bottom of the shield machine using distributed hydraulic cylinders to provide omnidirectional traction capability, and the traction devices are connected to the shield machine through a hinged structure to achieve free traction in X-Y-Z three-axis directions.

[0044] A propulsion force distribution module obtains a predicted total propulsion force based on a force balance equation and a distribution ratio of total cylinder propulsion force and total traction force based on the total propulsion force.

[0045] A traction force distribution module obtains an attitude deviation of the shield machine, decomposes the total traction force into traction force components in three axial directions X, Y, and Z, and controls the pulling force of the traction device based on the obtained traction force components in the three axial directions X, Y, and Z.

[0046] Beneficial effects:

[0047] The shield machine escape body traction control system and method provided by the application apply the force balance equation to calculate the predicted total propulsion force based on the predicted propulsion resistance, reasonably determine the distribution ratio of the total cylinder propulsion force and the total traction force, ensure the stability and efficiency of the propulsion process, obtain the attitude deviation of the shield machine in real time, decompose the total traction force into traction force components in X, Y, and Z three axial directions, accurately control the pulling force of the traction device, timely correct the attitude abnormality, and ensure the accuracy of the escape excavation direction. In summary, the method significantly improves the autonomous escape and attitude adjustment capability of the shield machine in complex environments through the organic combination of intelligent prediction, omnidirectional traction, and accurate control.

[0048] Further, by monitoring and adjusting the attitude of the shield machine in real time, the designed trajectory is ensured to be excavated, the deviation is reduced, the attitude abnormality is discovered and corrected in time, the risk of escape is prevented from increasing due to deviation accumulation, the safety of the construction process is ensured, the distribution of the propulsion and traction forces is automatically adjusted in real time, manual intervention is reduced, and the safety and effectiveness of the escape operation are improved. BRIEF DESCRIPTION OF DRAWINGS

[0049] The application will be further explained in conjunction with the drawings and examples:

[0050] Figure 1 The flowchart of the shield machine escape body traction control method provided by the application for example 1 applies omnidirectional traction force;

[0051] Figure 2 The flowchart of the method for predicting the current propulsion resistance of the shield machine based on the long short-term memory network provided by the application for example 1.

[0052] Figure 3 The flow chart of the method for obtaining the optimal combination of propulsion force and total traction force provided for the embodiment 1 of the present application;

[0053] Figure 4 The module connection diagram of the shield machine escape body traction control system provided for the embodiment 3 of the present application. DETAILED DESCRIPTION

[0054] In order to make the technical means, creative features, purposes and effects realized by the present application easy to understand, the present application is further described below in combination with specific drawings. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0055] Embodiment 1:

[0056] Please refer to Figures 1-3 The embodiment of the present application provides a technical solution: a shield machine escape body traction control method using omnidirectional traction force, which is used to provide accurate multi-dimensional force control through an omnidirectional adjustable traction force system, so that the shield machine can obtain stable pulling force in different directions and realize smooth escape, and the control method comprises:

[0057] According to historical shield construction data, the current propulsion resistance of the shield machine is predicted based on a long short-term memory network.

[0058] The method for predicting the current propulsion resistance of the shield machine according to historical shield construction data based on a long short-term memory network comprises:

[0059] The historical shield construction data is obtained from a database of the shield machine, the historical shield construction data includes geological conditions, construction parameters and historically recorded propulsion resistance, and a propulsion resistance training set and a propulsion resistance test set are constructed based on the historical shield construction data.

[0060] It should be noted that the historical shield construction data is the basis for model learning, and there is an inherent relationship between the geological conditions (stratum characteristics and the strength, density and water content corresponding to the stratum characteristics) and the construction parameters (such as the specifications of the shield machine, the diameter of the cutter head, and the cutter configuration) and the propulsion resistance. These relationships can be mined through historical data to construct a prediction model.

[0061] The obtained historical shield construction data can also be cleaned, including checking missing values in the data. For a small amount of missing values, the mean, median or mode can be filled. For a large number of missing values, consider deleting, and the amount of missing values and outliers can affect the training effect of the model, leading to the model learning the wrong pattern. Cleaning the data can improve the data quality, so that the model can better learn the true relationship in the data, and the geological condition parameters and construction parameters are standardized, such as using Z-score standardization to convert the data to a distribution with a mean of 0 and a standard deviation of 1. Standardization can eliminate the influence of dimensions, so that the model can treat each feature equally, and improve the convergence speed and stability of the model.

[0062] The propulsion resistance training set and the propulsion resistance test set can be divided according to the ratio of 8:2 or 7:3. The propulsion resistance training set is used for parameter learning of the model, and the propulsion resistance test set is used for evaluating the performance of the model on unseen data. By dividing the data set, overfitting of the model can be avoided, and the generalization ability of the model can be ensured.

[0063] A regression network model is constructed, the geological conditions and construction parameters in the propulsion resistance training set are used as input data of the regression network model, the historical recorded propulsion resistance in the propulsion resistance training set is used as output data of the regression network model, the regression network model is trained, and an initial coefficient prediction regression network is obtained.

[0064] It should be noted that the shield construction process is a continuous process, and the changes of the geological conditions and the construction parameters at different time points will affect the propulsion resistance. The memory unit of the long short-term memory network (LSTM) can remember the past information, thereby better predicting the current propulsion resistance.

[0065] The initial coefficient prediction regression network is verified by using the propulsion resistance test set, and the initial coefficient prediction regression network with a prediction error less than or equal to a preset error threshold is output as a propulsion resistance prediction model. The regression network model is specifically a long short-term memory network model.

[0066] The current geological conditions and construction parameters of the shield machine are collected and input into the trained propulsion resistance prediction model, and the propulsion resistance is output.

[0067] The geological conditions include stratum characteristics and corresponding strength, density and water content of the stratum characteristics; the stratum characteristics include soft soil, sandy soil, clay and rock types, wherein the geological conditions are directly obtained by drilling, sampling and testing; the construction parameters of the shield machine are obtained, and the construction parameters include the specifications of the shield machine, the cutter diameter and the cutter configuration.

[0068] wherein the specifications of the shield tunneling machine include weight, length, maximum thrust and rated torque, the above data are all related to the propulsion resistance, and the cutter configuration includes a center fish tail cutter, a cutting cutter, a peripheral scraper and a profiling cutter.

[0069] The distributed hydraulic cylinders are arranged at the front end, rear end, side and bottom of the shield tunneling machine to make the shield tunneling machine have omnidirectional traction capability, and the traction device is connected with the shield tunneling machine through a hinged structure to realize free traction in X-Y-Z three-axis directions.

[0070] According to a force balance equation, the total propulsion force is obtained based on the propulsion resistance, and the distribution ratio of the total cylinder propulsion force and the total traction force is determined based on the total propulsion force.

[0071] It should be noted that when the shield tunneling machine is in trouble, the propulsion cylinder and the traction device on the shield tunneling machine need to jointly generate a propulsion force to propel the shield tunneling machine forward and get out of trouble, that is, the total propulsion force is equal to the total cylinder propulsion force plus the total traction propulsion force.

[0072] According to the force balance equation, the method for calculating the predicted total propulsion force comprises:

[0073] The expression of the force balance equation is: , wherein is the total propulsion force, is the propulsion resistance, a is the acceleration of the shield tunneling machine, is the mass of the shield tunneling machine, and it should be noted that when the propulsion is uniform, a = 0;

[0074] The method for determining the distribution ratio of the total cylinder propulsion force and the total traction force based on the total propulsion force comprises:

[0075] A detailed geometric model of the shield tunneling machine is created using a three-dimensional modeling software (such as SolidWorks), and the geometric model includes all key components, wherein the key components include a cutter head, a main machine, a propulsion system and a traction device;

[0076] Based on a preset grid density, the geometric model is divided into grid units required for finite element analysis, and the calculation accuracy and efficiency are balanced;

[0077] Material properties are set for each key component in the geometric model, and the material properties include elastic modulus, Poisson's ratio and density, and it should be noted that setting the material properties for each key component ensures consistency with the actual material properties.

[0078] According to the actual construction situation, the boundary conditions of the geometric model are set, and the boundary conditions include fixed supports and free surfaces, for example: for the fixed parts in the model, such as the base of the shield tunneling machine or the part in contact with the ground, a fixed constraint is applied to limit the displacement in a specific direction.

[0079] Adjust the proportion of the propulsion force and the total traction force in the geometric model systematically, input different propulsion force and total traction force combinations, and evaluate the deformation and the escape time of the shield machine under different combinations;

[0080] A preset deformation threshold is obtained, the propulsion force and the total traction force combination below the deformation threshold is obtained, and the obtained propulsion force and the total traction force combination are sequentially sorted according to the length of the escape time, a parameter set is established, and the arrangement order in the parameter set is sequentially sorted according to the increase of the escape time;

[0081] Based on the maximum propulsion force of the shield machine and the maximum traction force of the traction device, the optimal propulsion force and total traction force combination is obtained.

[0082] Specifically, by finite element analysis, the response of the shield machine under different propulsion force and total traction force combinations is simulated, the optimal force distribution scheme can be found, thereby enhancing the escape ability of the shield machine under complex geological conditions, and by reasonably distributing the propulsion force and the total traction force, the deformation and the escape time of the shield machine can be reduced, the construction efficiency can be improved, and the engineering cost can be reduced. Through the deformation and stress analysis of the shield machine under different force combinations, it is ensured that the selected force distribution scheme will not cause damage to the structure of the shield machine, and the construction safety is ensured.

[0083] Based on the maximum propulsion force of the shield machine and the maximum traction force of the traction device, the steps for obtaining the optimal propulsion force and total traction force combination are as follows:

[0084] Step 1, obtaining the propulsion force and total traction force combination corresponding to the shortest escape time in the parameter set;

[0085] Step 2, comparing whether the values in the propulsion force and total traction force combination exceed the maximum propulsion force of the shield machine and the maximum traction force of the traction device, when one of the values exceeds, discarding the propulsion force and total traction force combination, and removing the propulsion force and total traction force combination from the parameter set;

[0086] Step 3, repeating the above step 1 until the values in the propulsion force and total traction force combination corresponding to the shortest escape time do not exceed the maximum propulsion force of the shield machine and the maximum traction force of the traction device, at this time, the propulsion force and total traction force combination is recorded as the optimal propulsion force and total traction force combination.

[0087] Obtaining the attitude deviation of the shield machine, and decomposing the total traction force into traction force components in three axial directions X, Y and Z;

[0088] The method for decomposing the total traction force into traction force components in three axial directions X, Y and Z includes:

[0089] Based on the control system of the shield tunneling machine and the preset shield tunneling route, a current yaw angle and a pitch angle of the shield tunneling machine are obtained, wherein the yaw angle is a left-right deflection angle of the shield tunneling machine in a horizontal direction, and the pitch angle is a deflection angle of the shield tunneling machine in a vertical direction;

[0090] Based on the yaw angle calculation, a total traction component in an X-axis direction is obtained;

[0091] A calculation formula of the total traction component in the X-axis direction is as follows: ;

[0092] wherein, is the total traction component decomposed in the X-axis direction, is the yaw angle, is a degree representing a deviation of the shield tunneling machine in the horizontal direction, is a total traction;

[0093] Based on the pitch angle calculation, a total traction component in a Y-axis direction is obtained;

[0094] A calculation formula of the total traction component in the Y-axis direction is as follows: ;

[0095] wherein, is the total traction component decomposed in the Y-axis direction, is the pitch angle, is a degree representing a deviation of the shield tunneling machine in the vertical direction, is the total traction;

[0096] Based on the total traction component in the X-axis direction, the total traction component in the Y-axis direction and the total traction calculation, a total traction component in a Z-axis direction is obtained;

[0097] A calculation formula of the total traction component in the Z-axis direction is as follows: ;

[0098] wherein, is the total traction component decomposed in the Z-axis direction, is the total traction.

[0099] It should be noted that the total traction Both the propulsion requirement and the deviation correction are met, so the component positively correlated with the deviation angle is extracted by using a sine function (for deviation correction), and the remaining component is obtained by using a cosine function, when the deviation angle is large, more traction is needed for correction (X, Y directions), and the component in the propulsion direction naturally decreases; when the deviation angle is small, most of the traction can be used for propulsion (Z axis), so as to achieve the best deviation correction and propulsion effect. Through this decomposition method based on the attitude deviation, the total traction can be effectively distributed to the three axial directions, ensuring that the shield machine has enough propulsion force and can correct the left and right and up and down deviations in time during construction, ensuring the stability and safety of the entire construction process.

[0100] Based on the obtained traction force components decomposed to the three axial directions X, Y and Z, the tension of the traction device is controlled.

[0101] Specifically, the attitude deviation of the shield machine is obtained in real time, the traction force components decomposed to the three axial directions X, Y and Z are obtained, the tension of the traction device is accurately controlled, and the attitude anomaly is corrected in time, so as to ensure the accuracy of the escape excavation direction.

[0102] In this embodiment, through the integration of advanced prediction technology and omnidirectional traction system, the autonomous escape and attitude control of the shield machine under complex geological conditions are realized. First, the long short-term memory network (LSTM) is used to learn the geological conditions, construction parameters and historical shield construction data, and the current propulsion resistance is accurately predicted, providing a scientific basis for subsequent force distribution.

[0103] In terms of structure design, the traction device is arranged at the front end, rear end, side and bottom of the shield machine by using distributed hydraulic cylinders, and is connected with the shield machine through a hinged structure, realizing free traction in the X, Y and Z axial directions, and giving the shield machine omnidirectional traction capability. This design enables the shield machine to autonomously adjust through multi-directional traction force when encountering complex geological conditions or attitude deviation, thereby enhancing the escape capability.

[0104] Based on the predicted propulsion resistance, the predicted total propulsion force is calculated by using the force balance equation, and the distribution ratio of the total cylinder propulsion force and the total traction force is reasonably determined, so as to ensure the stability and efficiency of the propulsion process. At the same time, the attitude deviation of the shield machine is obtained in real time, the traction force components decomposed to the three axial directions X, Y and Z are obtained, the tension of the traction device is accurately controlled, and the attitude anomaly is corrected in time, so as to ensure the accuracy of the escape excavation direction. In summary, through the organic combination of intelligent prediction, omnidirectional traction and accurate control, the autonomous escape and attitude adjustment capability of the shield machine under complex environment is significantly improved, which is superior to the traditional propulsion system.

[0105] Embodiment 2

[0106] The embodiment of the application provides a technical scheme: real-time acquisition of attitude parameters of a shield machine, analysis of the attitude parameters, generation of a escape adjustment instruction when the shield machine has an abnormal attitude, recalculation of distribution of traction force and propulsion force based on the escape adjustment instruction;

[0107] The method for generating the escape adjustment instruction comprises:

[0108] Real-time attitude parameters of the shield machine are acquired by using an attitude sensor (such as a gyroscope or an accelerometer), and the attitude parameters comprise a pitch angle and a yaw angle.

[0109] The real-time attitude parameters are compared with standard attitude parameters to obtain an attitude deviation, and if the attitude deviation exceeds an allowable range, it is determined that there is an abnormal attitude.

[0110] It should be noted that the standard attitude parameters are determined by engineers in a tunnel design stage according to geological conditions, a line direction and construction requirements, and the engineers determine a tunneling track of the shield machine, which comprises a plane and a longitudinal position of each link and corresponding pitch and yaw angles. When a difference between the real-time collected attitude parameters and the standard attitude parameters is greater than a preset deviation threshold, it is determined that there is an abnormal attitude.

[0111] When the abnormal attitude occurs, the escape adjustment instruction is generated.

[0112] It should be noted that when the escape adjustment instruction is generated, the above-mentioned shield machine escape body traction control method for applying omnidirectional traction force of embodiment 1 is repeated again to reacquire a distribution ratio of total propulsion force, total cylinder propulsion force and total traction force and traction force components of the total traction force decomposed to three axial directions X, Y and Z.

[0113] In the embodiment, the attitude of the shield machine is monitored and adjusted in real time to ensure that the shield machine tunnels according to the designed track, reduces deviation, discovers and corrects the abnormal attitude in a timely manner, prevents an increase in escape risks caused by deviation accumulation, guarantees the safety of the construction process, reduces manual intervention by automatically generating adjustment instructions and adjusting the distribution of propulsion and traction force in real time, and improves the safety and effectiveness of the escape operation.

[0114] Embodiment 3

[0115] Please refer to Figure 4 The shield machine escape body traction control system for applying omnidirectional traction force is used to implement the shield machine escape body traction control method for applying omnidirectional traction force, and the system comprises:

[0116] A resistance prediction module predicts the propulsion resistance currently borne by the shield machine based on a long short-term memory network according to historical shield construction data.

[0117] The omnidirectional traction design module adopts distributed hydraulic cylinders to arrange traction devices at the front end, rear end, side and bottom of the shield machine, so that the shield machine has omnidirectional traction capability, and the traction devices are connected with the shield machine through a hinged structure to realize free traction in X-Y-Z three-axis directions.

[0118] The propulsion force distribution module obtains the predicted total propulsion force according to a force balance equation based on the propulsion resistance, and determines the distribution proportion of the total cylinder propulsion force and the total traction force based on the total propulsion force.

[0119] The traction force distribution module obtains the attitude deviation of the shield machine, decomposes the total traction force into traction force components in three axial directions X, Y and Z, and controls the tension of the traction device based on the traction force components in the three axial directions X, Y and Z.

[0120] The above shows and describes the basic principles, main features and advantages of the present application. It should be understood by those skilled in the art that the present application is not limited to the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

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5. The method of claim 4, wherein, The method for obtaining the optimal propulsion force and total traction force combination comprises: Step 1: obtaining the propulsion force and total traction force combination corresponding to the shortest escape time in the parameter set; Step 2: comparing whether the values in the propulsion force and total traction force combination exceed the maximum propulsion force of the shield machine and the maximum traction force of the traction device, and when one of the values exceeds, discarding the propulsion force and total traction force combination, and removing the propulsion force and total traction force combination from the parameter set; Step 3: repeating step 1 until the values in the propulsion force and total traction force combination corresponding to the shortest escape time do not exceed the maximum propulsion force of the shield machine and the maximum traction force of the traction device, and at this time, the propulsion force and total traction force combination are recorded as the optimal propulsion force and total traction force combination.

6. The method of claim 1, wherein, The method for decomposing the total traction force into traction force components in three axial directions X, Y and Z comprises: Based on the control system of the shield machine and the pre-set shield route, the current yaw angle and pitch angle of the shield machine are obtained, wherein the yaw angle is the left-right deflection angle of the shield machine in the horizontal direction, and the pitch angle is the deflection angle of the shield machine in the vertical direction; Based on the yaw angle calculation, the total traction force component in the X-axis direction is obtained; Based on the pitch angle calculation, the total traction force component in the Y-axis direction is obtained; Based on the total traction force component in the X-axis direction, the total traction force component in the Y-axis direction and the total traction force, the total traction force component in the Z-axis direction is calculated and obtained.

7. The method of claim 1, wherein, Further comprising: Real-time acquisition of the attitude parameters of the shield machine, analysis of the attitude parameters, generation of an escape adjustment instruction when the shield machine has an abnormal attitude, and recalculation of the distribution of the traction force and the propulsion force based on the escape adjustment instruction.

8. The method of claim 7, wherein, The method for generating the escape adjustment instruction comprises: Using an attitude sensor to obtain real-time attitude parameters of the shield machine, the attitude parameters including the pitch angle and the yaw angle; Comparing the real-time attitude parameters with the standard attitude parameters to obtain an attitude deviation, and determining that there is an attitude abnormality if the attitude deviation exceeds the allowable range.

9. A shield machine stuck body traction control system for applying omnidirectional traction, for implementing the shield machine stuck body traction control method for applying omnidirectional traction according to any one of claims 1-8, characterized in that, The system comprises: A resistance prediction module for predicting the propulsion resistance currently suffered by the shield machine based on historical shield construction data and a long short-term memory network; An omnidirectional traction design module for arranging traction devices at the front end, rear end, side and bottom of the shield machine using distributed hydraulic cylinders to enable the shield machine to have omnidirectional traction capability, and for connecting the traction devices to the shield machine through a hinged structure to realize free traction in the X-Y-Z three-axis directions; A propulsion force distribution module for obtaining a predicted total propulsion force based on the propulsion resistance according to a force balance equation, and determining the distribution ratio of the total cylinder propulsion force and the total traction force based on the total propulsion force; A traction force distribution module for obtaining an attitude deviation of the shield machine, decomposing the total traction force into traction force components in three axial directions X, Y and Z, and controlling the pulling force of the traction device based on the obtained traction force components in the three axial directions X, Y and Z.

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