Tunneling posture joint control method of U shield pipe erecting machine for fabricated pipe gallery construction

Abstract

The invention relates to the technical field of joint control of tunneling postures of U-type shield pipe erecting machines, in particular to a joint control method of tunneling postures of U-type shield pipe erecting machines for assembly type pipe gallery construction, which comprises the following steps of: acquiring horizontal deviation, vertical deviation, rolling deviation and vibration intensity in the tunneling process of the U-type shield pipe erecting machines; respectively acquiring the horizontal interference degree and the vertical interference degree at each acquisition moment in the tunneling process of the U-type shield pipe erecting machine; the vibration interference confidence coefficient of the tunneling process of the U-type shield pipe erecting machine is obtained, and then the combined interference characteristic value of the tunneling process of the U-type shield pipe erecting machine is obtained by combining the data change condition of the rolling deviation of the tunneling process of the U-type shield pipe erecting machine; and predicting the combined interference characteristic value, and comparing a predicted value with the combined interference characteristic value at the current acquisition moment to obtain an abnormal ratio for judging whether the tunneling attitude is abnormal or not so as to perform joint control on the tunneling attitude of the U-type shield pipe jacking machine. The joint control accuracy of the tunneling posture of the U shield pipe erecting machine can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of U-shield pipe crane excavation posture joint control, and specifically to a U-shield pipe crane excavation posture joint control method for the construction of prefabricated pipe corridors. Background Art

[0002] The U-shield pipe-rack machine is a pipe gallery construction equipment that integrates functions such as tunneling, support, pipe segment installation, cushion paving, and side seam backfilling. Through the coordinated control of multiple systems such as the guide system, articulation system, and propulsion system, the U-shield pipe-rack machine's tunneling posture can be controlled jointly, thereby improving the construction quality and efficiency of prefabricated pipe gallery construction. At the same time, it also enhances the U-shield pipe-rack machine's adaptability to complex geological conditions and reduces the construction cost and risk of prefabricated pipe gallery construction, thereby ensuring the adaptability and stability of the U-shield pipe-rack machine in the actual construction of prefabricated pipe gallery.

[0003] In the existing technology, the deviation between the current position of the U-shield pipe crane and the tunnel's design axis and the roller deviation are collected in real time through a guidance system. This deviation data is then analyzed using an artificial intelligence algorithm to identify abnormalities in the U-shield pipe crane's excavation posture. The articulation system and propulsion system are then used to adjust the U-shield pipe crane's excavation posture, thereby achieving joint control of the U-shield pipe crane's excavation posture. However, since the excavation posture of the U-shield pipe crane can be affected by vibration interference during actual pipe corridor construction, the existing technology does not fully consider the complex effects of vibration interference on the excavation posture, resulting in the inability to adjust the U-shield pipe crane's excavation posture in a timely manner, affecting the adaptability and stability of the U-shield pipe crane during actual pipe corridor construction. Summary of the Invention

[0004] In order to solve the above technical problems, the present application provides a U-shield pipe machine excavation posture joint control method for the construction of prefabricated pipe corridors to solve the existing problems.

[0005] The U-shield pipe machine excavation posture joint control method for the construction of prefabricated pipe corridors in this application adopts the following technical solutions: One embodiment of the present application provides a method for controlling the tunneling posture of a U-shield pipe machine for the construction of an assembled pipe gallery, including the following steps: Collect the horizontal deviation, vertical deviation, rolling deviation and vibration intensity of the U-shield pipe crane during the excavation process; By analyzing the abnormalities of horizontal and vertical deviations during tunneling and the chaotic characteristics of abnormal changes during tunneling, the horizontal interference degree and vertical interference degree at each acquisition moment are obtained, and then the horizontal interference sequence and vertical interference sequence at each acquisition moment are obtained. Based on the correlation between the vibration intensity during the tunneling process of the U-shield pipe erector and the horizontal interference sequence, the vertical interference sequence, and the similarity between the horizontal interference sequence and the vertical interference sequence, the vibration interference confidence at each acquisition moment was obtained. Combined with the data changes of the roll deviation during the tunneling process of the U-shield pipe erector, the combined interference characteristic value at each acquisition moment was obtained. The exponential smoothing prediction algorithm is used to predict the combined interference eigenvalue. By comparing the predicted value with the combined interference eigenvalue at the current acquisition moment, the abnormality ratio is obtained to determine whether the excavation posture is abnormal, so as to jointly control the excavation posture of the U-shield pipe crane.

[0006] Preferably, the method for obtaining the horizontal interference degree at each acquisition moment is: Where, is the horizontal interference degree of tunneling at the tth acquisition moment, is the number of abnormal window sequences in the horizontal deviation sequence at the t-th acquisition moment, is the permutation entropy of the jth abnormal window sequence in the horizontal deviation sequence at the tth acquisition moment, It is the mean of the absolute values ​​of all elements in the first-order difference sequence of the j-th abnormal window sequence in the horizontal deviation sequence at the t-th acquisition moment.

[0007] Preferably, the horizontal deviations within a preset time period at each acquisition moment are arranged in chronological order to form a horizontal deviation sequence at each acquisition moment, and an abnormal point in the horizontal deviation sequence at each acquisition moment is extracted using an abnormality detection algorithm, and each abnormal window sequence is obtained with each abnormal point in the horizontal deviation sequence as the center.

[0008] Preferably, the method for acquiring the horizontal interference sequence at each acquisition moment is: arranging all the horizontal interference degrees of tunneling within a preset time period before each acquisition moment in time sequence to obtain the horizontal interference sequence at each acquisition moment.

[0009] Preferably, the method for obtaining the vibration interference confidence at each acquisition moment is: Where, is the vibration disturbance confidence at the i-th acquisition moment, is an exponential function with a natural constant as base, is the mean of the mutual information between the vibration intensity sequence at the tth acquisition moment and the horizontal interference sequence and vertical interference sequence, is the difference distance between the horizontal interference sequence and the vertical interference sequence at the t-th acquisition moment, In order to avoid a constant with a denominator of 0, the vibration intensities within a preset time period at each collection moment are arranged in chronological order to form a vibration intensity sequence at each collection moment.

[0010] Preferably, the vibration intensity sequence at each acquisition moment and the horizontal interference sequence and the vertical interference sequence are respectively used as inputs of the mutual information algorithm, and the mutual information between the vibration intensity sequence at each acquisition moment and the horizontal interference sequence and the vertical interference sequence is output.

[0011] Preferably, the method for obtaining the combined interference characteristic value at each acquisition moment is: Where, is the combined interference characteristic value at the tth acquisition moment, is the exponential normalization function, is the number of elements in the rollover deviation sequence, is the sth element in the roll deviation sequence at the tth acquisition moment, is the mean of the elements in the rolling deviation sequence at the tth acquisition moment.

[0012] Preferably, the roll deviations within a preset time period at each acquisition moment are arranged in chronological order to form a roll deviation sequence at each acquisition moment.

[0013] Preferably, the method for obtaining the abnormal ratio is: taking the ratio between the combined interference prediction value at the next acquisition moment and the combined interference characteristic value at the current acquisition moment as the abnormal ratio.

[0014] Preferably, the method for determining whether the excavation posture is abnormal so as to jointly control the excavation posture of the U-shield pipe erecting machine further includes: If the abnormal ratio is greater than 1, the U-shield pipe machine excavation posture has an abnormal situation, and the U-shield pipe machine excavation posture is jointly controlled; otherwise, the U-shield pipe machine excavation posture has no abnormal situation, and the U-shield pipe machine excavation posture joint control is not performed.

[0015] This application has at least the following beneficial effects: This application takes into account that the excavation posture of the U-shield pipe machine during the actual construction of the pipe gallery will be affected by vibration interference, resulting in the inability to adjust the excavation posture of the U-shield pipe machine in a timely manner, affecting the adaptability and stability of the U-shield pipe machine during the actual construction of the pipe gallery. Therefore, this application uses an anomaly detection algorithm to set an anomaly window to accurately extract the interference features in the horizontal and vertical directions of the U-shield pipe machine's excavation, and more clearly show the deviation interference when the excavation posture is affected during the excavation process; Furthermore, by combining the influence of vibration interference on the horizontal and vertical directions of the U-shield pipe-erector-mounted machine's excavation posture, the degree of certainty of vibration interference on the U-shield pipe-erector-mounted machine's excavation posture is measured. This can effectively eliminate the interference of other factors on the U-shield pipe-erector-mounted machine's excavation posture due to poor equipment performance, improper operator control, etc. This application fully considers the influence of vibration interference on the excavation posture, and considers the influence of the roll deviation characteristics on the excavation posture, extracts the characteristics of the combined interference between the roll deviation characteristics and the vibration influence characteristics of the U-shield pipe-mounted machine, and determines the abnormality ratio based on the combined interference characteristics and the combined interference prediction results to judge whether the excavation posture of the U-shield pipe-mounted machine has an abnormal condition, so as to timely and accurately control the excavation posture of the U-shield pipe-mounted machine, and improve the adaptability and stability of the U-shield pipe-mounted machine in the actual construction of the pipeline corridor. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] Figure 1 This application provides a flowchart of the steps of the U-shield pipe crane excavation posture joint control method for the construction of prefabricated pipe corridors. DETAILED DESCRIPTION

[0018] To further illustrate the technical means and effectiveness of this application to achieve the intended invention objectives, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effectiveness of the U-shield pipe-lifting machine excavation posture joint control method for prefabricated pipe corridor construction proposed in this application. In the following description, different references to "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

[0019] Unless otherwise defined, terms such as "comprises," "comprising," or any other variants thereof are intended to encompass non-exclusive inclusion, such that a circuit structure, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such article or device. In the absence of further restrictions, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the article or device comprising the element. In addition, the term "and\or" as used herein includes any and all combinations of one or more related listed items. All technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains.

[0020] The specific scheme of the U-shield pipe machine excavation posture joint control method for the construction of prefabricated pipe corridors provided in this application is described in detail below with reference to the accompanying drawings.

[0021] An embodiment of the present application provides a method for controlling the tunneling posture of a U-shield pipe machine for the construction of an assembled pipe gallery. For details, please refer to Figure 1 , including the following steps: S1: Collect the horizontal deviation, vertical deviation, rolling deviation and vibration intensity of the U-shield pipe crane during the excavation process.

[0022] When using U-shield pipe-erecting machines for the construction of prefabricated pipe corridors, in order to effectively improve the adaptability of the U-shield pipe-erecting machines to complex geological conditions during the excavation process, it is necessary to fully consider the complex influence of vibration interference on the excavation posture and accurately adjust the excavation posture of the U-shield pipe-erecting machines in a timely manner.

[0023] The U-shield pipe-erecting machine includes a guide system, an articulation system, a propulsion system, a plug-in system, and a push-plate system. The guide system is equipped with a total station, a laser target, and a vibration sensor. The horizontal deviation, vertical deviation, and roll deviation of the U-shield pipe-erecting machine at the current position and the tunnel design axis are collected and calculated in real time through the total station and laser target in the guide system. The vibration intensity of the U-shield pipe-erecting machine is collected in real time through the vibration sensor in the guide system. In this embodiment, the sampling rate of data collection is 100 Hz. The implementer can adaptively select the sampling rate to ensure that a reliable data basis is provided for adjusting the excavation posture of the U-shield pipe-erecting machine.

[0024] Among them, the articulation system and the pushing system are used to actively adjust the excavation posture of the U-shield pipe crane, and the plug-in system and the pushing plate system are used to assist in adjusting the horizontal posture of the U-shield pipe crane and the pitch posture of the U-shield pipe crane.

[0025] Furthermore, to analyze the complex effects of vibration on tunneling posture over different time periods, the various deviation and vibration intensity data within a preset time period before each acquisition moment are arranged in chronological order to obtain the horizontal deviation sequence, vertical deviation sequence, roll deviation sequence, and vibration intensity sequence for each acquisition moment. In this example, the preset time period is 3 minutes.

[0026] S2: By analyzing the abnormalities of the horizontal and vertical deviations of the U-shield pipe erector during tunneling and the chaotic characteristics of abnormal changes, the horizontal interference degree and vertical interference degree at each acquisition moment are obtained, and then the horizontal interference sequence and vertical interference sequence at each acquisition moment are obtained.

[0027] Due to the complexity of geological conditions during the construction of prefabricated pipe corridors, such as uneven soft and hard strata, curved sections, or discounted turns, the U-shield pipe crane is prone to strong vibration during excavation. The U-shield pipe crane's excavation posture is affected by the complex influence of vibration interference, which affects the adaptability and stability of the U-shield pipe crane during actual pipe corridor construction. In order to accurately adjust the U-shield pipe crane's excavation posture in a timely manner, it is necessary to analyze the abnormal conditions caused by the interference of the horizontal and vertical deviations of the U-shield pipe crane.

[0028] Taking the analysis of the horizontal deviation between the measurement position of a U-shield pipe erector and the tunnel design axis as an example, the horizontal deviation sequence at each acquisition moment is used as the input of the Local Outlier Factor algorithm. The preset neighborhood parameter in the algorithm is 15, and the outlier ratio is 0.2. The Local Outlier Factor algorithm outputs all abnormal points in the horizontal deviation sequence at each acquisition moment. The Local Outlier Factor algorithm is a well-known technology and will not be elaborated on in detail.

[0029] Generally speaking, if there are more abnormal data of horizontal deviation and vertical deviation in the time period before a certain acquisition time, and the more chaotic the changes in the excavation posture when the abnormal data of horizontal deviation and vertical deviation appear, the more it can highlight the abnormal characteristics of the horizontal deviation and vertical deviation being affected by interference.

[0030] Therefore, with each abnormal point in the horizontal deviation sequence as the center, an abnormal window of size 1×100 is set, and all horizontal deviations within the abnormal window of each abnormal point are combined into each abnormal window sequence of the horizontal deviation sequence.

[0031] Through the above analysis, the horizontal interference degree of tunneling at each acquisition moment is calculated: Where, is the horizontal interference degree of tunneling at the tth acquisition moment, is the number of abnormal window sequences in the horizontal deviation sequence at the t-th acquisition moment, is the permutation entropy of the jth abnormal window sequence in the horizontal deviation sequence at the tth acquisition moment, is the mean of the absolute values ​​of all elements in the first-order difference sequence of the j-th abnormal window sequence in the horizontal deviation sequence at the t-th acquisition moment. The calculation of permutation entropy is a well-known technique and will not be described in detail.

[0032] The excavation horizontal interference reflects the horizontal deviation interference when the excavation posture of the U-shield pipe crane is affected. The greater the affected horizontal deviation interference, the more unfavorable it is to maintain the accuracy of the excavation direction and the adaptability and stability of the excavation process. At this time, it is necessary to accurately adjust the excavation posture of the U-shield pipe crane in a timely manner.

[0033] Similarly, according to the calculation method of tunneling horizontal interference degree, the local outlier factor algorithm is used to extract each abnormal window sequence in the vertical deviation sequence at each acquisition moment, and the tunneling vertical interference degree at each acquisition moment is calculated.

[0034] Furthermore, in this embodiment, the horizontal interference degree and vertical interference degree of excavation calculated within one minute before each acquisition moment are arranged in chronological order to obtain the horizontal interference sequence and vertical interference sequence at each acquisition moment, which can reflect the changes in the horizontal deviation and vertical deviation affected by interference during the excavation process over a period of time, which is conducive to the subsequent timely joint control of the excavation posture of the U-shield pipe crane.

[0035] S3: Based on the correlation between the vibration intensity during the tunneling process of the U-shield pipe erector and the horizontal interference sequence, the vertical interference sequence, and the similarity between the horizontal interference sequence and the vertical interference sequence, the vibration interference confidence at each acquisition moment is obtained. Combined with the data changes of the roll deviation during the tunneling process of the U-shield pipe erector, the combined interference characteristic value at each acquisition moment is obtained.

[0036] Generally speaking, the excavation posture of the U-shield pipe-erecting machine is affected by external interference in a complex manner. In addition to being affected by external vibration interference, the excavation posture of the U-shield pipe-erecting machine may also be disturbed by poor equipment performance or improper control by the operator.

[0037] Therefore, to accurately analyze the degree of certainty regarding vibration interference with the U-shield pipe-erector-mounted machine's tunneling posture, the vibration intensity sequence at each acquisition moment, along with the horizontal and vertical interference sequences, serves as the input to a mutual information algorithm (MI). The MI algorithm outputs the mutual information between the vibration intensity sequence at each acquisition moment and the horizontal and vertical interference sequences, respectively. Mutual information algorithms are well-known and will not be described in detail. The MI reflects the degree to which the horizontal and vertical deviation interferences during the U-shield pipe-erector-mounted machine's tunneling process depend on vibration intensity. A higher MI indicates a higher degree of certainty regarding vibration interference with the U-shield pipe-erector-mounted machine's tunneling posture.

[0038] At the same time, if the characteristics of the horizontal deviation interference and the vertical deviation interference in the U-shield pipe-erecting machine are more similar, it can more clearly reflect the simultaneity of the vibration interference on the horizontal deviation and the vertical deviation during the excavation process of the U-shield pipe-erecting machine, and can more clearly determine the abnormal characteristics of the U-shield pipe-erecting machine's excavation posture being disturbed by vibration.

[0039] Through the above analysis, the vibration interference confidence at each acquisition moment is calculated: ; Where, is the vibration disturbance confidence at the i-th acquisition moment, is an exponential function with a natural constant as base, is the mean of the mutual information between the vibration intensity sequence at the tth acquisition moment and the horizontal interference sequence and vertical interference sequence, is the difference distance between the horizontal interference sequence and the vertical interference sequence at the t-th acquisition moment, To avoid a constant with a denominator of 0, the value range is (0.01, 0.1). In this embodiment, the value is 0.05.

[0040] It should be noted that the measurement method of the difference distance may be Euclidean distance, Mahalanobis distance or dynamic programming distance. Preferably, in this embodiment, Euclidean distance is used to measure the difference distance.

[0041] Among them, the vibration interference confidence reflects the degree of certainty that the excavation posture of the U-shield pipe crane is affected by vibration interference, eliminating the interference of other factors on the excavation posture of the U-shield pipe crane such as poor equipment performance and improper operator control. This is conducive to fully considering the complex influence of vibration interference on the excavation posture in the future, so as to timely adjust the excavation posture of the U-shield pipe crane.

[0042] Furthermore, this embodiment takes into account that the roll deviation of the U-shield pipe-mounted machine will affect the directional deviation between the excavation direction and the design axis of the tunnel. When the degree of certainty of the excavation direction of the U-shield pipe-mounted machine being disturbed by vibration is high and the change difference of the roll deviation of the U-shield pipe-mounted machine is large, then the combined interference effect of the roll deviation characteristic and the vibration characteristic of the U-shield pipe-mounted machine on the excavation direction of the U-shield pipe-mounted machine is greater.

[0043] Therefore, the combined interference characteristic value at each acquisition moment is calculated: ; Where, is the combined interference characteristic value at the tth acquisition moment, is the exponential normalization function, is the number of elements in the rollover deviation sequence, is the sth element in the roll deviation sequence at the tth acquisition moment, is the mean of the elements in the rolling deviation sequence at the tth acquisition moment.

[0044] Among them, the combined interference characteristic value reflects the combined interference effect between the roll deviation characteristic and the vibration influence characteristic on the excavation posture of the U-shield pipe machine. The larger the combined interference characteristic value, the more prominent the abnormal condition of the excavation posture of the U-shield pipe machine is, and the more necessary it is to accurately control the excavation posture of the U-shield pipe machine in a timely manner to avoid serious adverse effects on the adaptability and stability of the U-shield pipe machine.

[0045] S4: Use the exponential smoothing prediction algorithm to predict the combined interference characteristic value. By comparing the predicted value with the combined interference characteristic value at the current acquisition moment, the abnormality ratio is obtained to determine whether the excavation posture is abnormal, so as to jointly control the excavation posture of the U-shield pipe crane.

[0046] In order to accurately control the tunneling posture of the U-shield pipe crane in a timely manner, the sequence of combined interference characteristic values ​​calculated within one minute before the current acquisition time is used as the input of the exponential smoothing prediction algorithm. The smoothing factor is set in the algorithm. The exponential smoothing prediction algorithm outputs the combined interference prediction value at the next acquisition moment. The exponential smoothing prediction algorithm is a well-known technology and will not be described in detail.

[0047] Furthermore, the ratio between the combined interference prediction value at the next acquisition moment and the combined interference characteristic value at the current acquisition moment is recorded as the abnormal ratio. If the abnormal ratio is greater than 1, it means that the excavation posture of the U-shield pipe machine at the next acquisition moment is greatly affected by the interference of the combined factors, and the excavation posture of the U-shield pipe machine has an abnormal condition. At this time, the excavation posture of the U-shield pipe machine needs to be jointly controlled; conversely, if the abnormal ratio is less than or equal to 1, it means that the excavation posture of the U-shield pipe machine at the next acquisition moment has no abnormal condition, and the excavation posture of the U-shield pipe machine does not need to be jointly controlled.

[0048] Preferably, the joint control of the excavation posture includes horizontal deviation control, vertical deviation control and roll angle control, wherein the stroke difference of the articulated cylinder and the stroke difference of the propulsion cylinder are adjusted by the articulation system and the pushing system, and the horizontal posture and pitch posture of the U-shield pipe crane are assisted by the plug plate system and the push plate system to correct the horizontal deviation and vertical deviation of the U-shield pipe crane, thereby realizing the horizontal deviation control and vertical deviation control of the excavation posture of the U-shield pipe crane; at the same time, by directing the U-shield pipe crane to under-dig on the side with a lower bottom surface and over-dig on the side with a higher bottom surface, the roll angle control of the excavation posture of the U-shield pipe crane is realized.

[0049] It is understood that references to "one embodiment" or "some embodiments" in the present specification mean that one or more embodiments of the present application include a particular feature, structure, or characteristic described in conjunction with that embodiment. Thus, if "in one embodiment," "in some embodiments," "in other embodiments," or "in other embodiments" appear in different places in this specification, they do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and their variations all mean "including but not limited to," unless otherwise specifically emphasized.

[0050] It should be noted that the above-mentioned sequence of the embodiments of the present application is for description only and does not represent the advantages and disadvantages of the embodiments. The above description is of a specific embodiment of this specification. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multi-tasking and parallel processing are also possible or may be advantageous. At the same time, the size of the sequence number of each step in the embodiment does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments in this specification.

[0051] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A U-shield pipe-lifting machine excavation posture joint control method for the construction of prefabricated pipe corridors is characterized by: The following steps are involved: Collect the horizontal deviation, vertical deviation, rolling deviation and vibration intensity of the U-shield pipe crane during the excavation process; By analyzing the abnormalities of horizontal and vertical deviations during tunneling and the chaotic characteristics of abnormal changes during tunneling, the horizontal interference degree and vertical interference degree at each acquisition moment are obtained, and then the horizontal interference sequence and vertical interference sequence at each acquisition moment are obtained. Based on the correlation between the vibration intensity during the tunneling process of the U-shield pipe erector and the horizontal interference sequence, the vertical interference sequence, and the similarity between the horizontal interference sequence and the vertical interference sequence, the vibration interference confidence at each acquisition moment was obtained. Combined with the data changes of the roll deviation during the tunneling process of the U-shield pipe erector, the combined interference characteristic value at each acquisition moment was obtained. The exponential smoothing prediction algorithm is used to predict the combined interference eigenvalue. By comparing the predicted value with the combined interference eigenvalue at the current acquisition moment, the abnormality ratio is obtained to determine whether the excavation posture is abnormal, so as to jointly control the excavation posture of the U-shield pipe crane.

2. The method for controlling the excavation posture of a U-shield pipe machine for the construction of an assembled pipe gallery according to claim 1 is characterized in that: The method for obtaining the horizontal interference degree at each acquisition moment is: Where, is the horizontal interference degree of tunneling at the tth acquisition moment, is the number of abnormal window sequences in the horizontal deviation sequence at the t-th acquisition moment, is the permutation entropy of the jth abnormal window sequence in the horizontal deviation sequence at the tth acquisition moment, It is the mean of the absolute values ​​of all elements in the first-order difference sequence of the j-th abnormal window sequence in the horizontal deviation sequence at the t-th acquisition moment.

3. The method for controlling the excavation posture of a U-shield pipe machine for the construction of an assembled pipe gallery according to claim 2 is characterized in that: The horizontal deviations within the preset time period of each acquisition moment are arranged in chronological order to form a horizontal deviation sequence of each acquisition moment. The anomaly detection algorithm is used to extract the abnormal points in the horizontal deviation sequence of each acquisition moment, and each abnormal window sequence is obtained with each abnormal point in the horizontal deviation sequence as the center.

4. The method for controlling the excavation posture of a U-shield pipe-lifting machine for the construction of an assembled pipe gallery according to claim 1 is characterized in that: The method for obtaining the horizontal interference sequence at each acquisition moment is: arranging all the horizontal interference degrees of tunneling within a preset time period before each acquisition moment in time sequence to obtain the horizontal interference sequence at each acquisition moment.

5. The method for controlling the excavation posture of a U-shield pipe-lifting machine for the construction of an assembled pipe gallery according to claim 1 is characterized in that: The method for obtaining the vibration interference confidence at each acquisition moment is: Where, is the vibration disturbance confidence at the i-th acquisition moment, is an exponential function with a natural constant as base, is the mean of the mutual information between the vibration intensity sequence at the tth acquisition moment and the horizontal interference sequence and vertical interference sequence, is the difference distance between the horizontal interference sequence and the vertical interference sequence at the t-th acquisition moment, In order to avoid a constant with a denominator of 0, the vibration intensities within a preset time period at each collection moment are arranged in chronological order to form a vibration intensity sequence at each collection moment.

6. The method for controlling the excavation posture of a U-shield pipe-lifting machine for the construction of an assembled pipe gallery according to claim 5 is characterized in that: The vibration intensity sequence at each acquisition moment and the horizontal interference sequence and the vertical interference sequence are respectively used as the input of the mutual information algorithm, and the mutual information between the vibration intensity sequence at each acquisition moment and the horizontal interference sequence and the vertical interference sequence is output.

7. The method for controlling the excavation posture of a U-shield pipe-lifting machine for the construction of an assembled pipe gallery according to claim 1 is characterized in that: The method for obtaining the combined interference characteristic value at each acquisition moment is: Where, is the combined interference characteristic value at the tth acquisition moment, is the exponential normalization function, is the number of elements in the rollover deviation sequence, is the sth element in the roll deviation sequence at the tth acquisition moment, is the mean of the elements in the rolling deviation sequence at the tth acquisition moment.

8. The method for controlling the excavation posture of a U-shield pipe-lifting machine for the construction of an assembled pipe gallery according to claim 7 is characterized in that: The roll deviations within a preset time period at each acquisition moment are arranged in chronological order to form a roll deviation sequence at each acquisition moment.

9. The method for controlling the excavation posture of a U-shield pipe-lifting machine for the construction of an assembled pipe gallery according to claim 1, wherein: The method for obtaining the abnormal ratio is: taking the ratio between the combined interference prediction value at the next acquisition moment and the combined interference characteristic value at the current acquisition moment as the abnormal ratio.

10. The method for controlling the excavation posture of a U-shield pipe-lifting machine for the construction of an assembled pipe gallery according to claim 1, wherein: The method for determining whether the excavation posture is abnormal so as to jointly control the excavation posture of the U-shield pipe erecting machine further includes: If the abnormal ratio is greater than 1, the U-shield pipe machine excavation posture has an abnormal situation, and the U-shield pipe machine excavation posture is jointly controlled; otherwise, the U-shield pipe machine excavation posture has no abnormal situation, and the U-shield pipe machine excavation posture joint control is not performed.

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