A method for joint control of U-shield tunnel boring machine attitude for prefabricated pipe gallery construction

Abstract

This application relates to the field of U-shield pipe-laying machine tunneling attitude control technology, specifically to a method for controlling the tunneling attitude of a U-shield pipe-laying machine for prefabricated pipe gallery construction. The method includes: collecting horizontal deviation, vertical deviation, roll deviation, and vibration intensity during the tunneling process of the U-shield pipe-laying machine; acquiring the horizontal and vertical disturbance degrees at each acquisition moment during the tunneling process; acquiring the vibration disturbance confidence level during the tunneling process, and then combining this with the data changes in the roll deviation to obtain the combined disturbance characteristic value of the tunneling process; predicting the combined disturbance characteristic value; and obtaining an anomaly ratio by comparing the predicted value with the combined disturbance characteristic value at the current acquisition moment, which is used to determine whether the tunneling attitude is abnormal, thereby enabling joint control of the U-shield pipe-laying machine's tunneling attitude. This application can improve the accuracy of U-shield pipe-laying machine tunneling attitude control.

Description

Technical Field

[0001] This application relates to the field of U-shield tunneling attitude control technology, specifically to a method for U-shield tunneling attitude control for prefabricated pipe gallery construction. Background Technology

[0002] U-shield pipe laying machine is a type of pipe gallery construction equipment that integrates functions such as tunneling, support, pipe section installation, subbase paving, and side joint backfilling. Through the coordinated control of multiple systems such as the guiding system, articulation system, and propulsion system, the tunneling posture of the U-shield pipe laying machine can be controlled in a coordinated manner, improving the construction quality and efficiency of prefabricated pipe gallery construction. At the same time, it also enhances the adaptability of the U-shield pipe laying machine 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 laying machine in the actual construction of prefabricated pipe galleries.

[0003] In existing technologies, the deviation between the current position of the U-shield tunneling machine and the tunnel's design axis, as well as the roller deviation, are collected in real time through a guidance system. Artificial intelligence algorithms are then used to analyze the collected deviation data, identify abnormalities in the tunneling posture of the U-shield tunneling machine, and adjust the tunneling posture through the articulation and propulsion systems, thus achieving coordinated control of the U-shield tunneling machine's tunneling posture. However, because the tunneling posture of the U-shield tunneling machine is affected by vibration during actual tunnel construction, existing technologies do not fully consider the complex impact of vibration on the tunneling posture. This results in the inability to adjust the tunneling posture of the U-shield tunneling machine in a timely manner, affecting the adaptability and stability of the U-shield tunneling machine during actual tunnel construction. Summary of the Invention

[0004] To address the aforementioned technical issues, this application provides a method for controlling the tunneling posture of a U-shield pipe-laying machine for prefabricated pipe gallery construction, thereby resolving the existing problems.

[0005] The U-shield tunneling machine attitude control method for prefabricated pipe gallery construction in this application adopts the following technical solution:

[0006] One embodiment of this application provides a method for controlling the attitude of a U-shield tunnel boring machine for prefabricated pipe gallery construction, including the following steps:

[0007] The horizontal deviation, vertical deviation, roll deviation, and vibration intensity of the U-shield pipe-laying machine during its tunneling process were collected.

[0008] By analyzing the abnormal situations and chaotic characteristics of the horizontal and vertical deviations of the U-shield pipe laying machine, the horizontal and vertical interference degrees at each acquisition time are obtained, and then the horizontal and vertical interference sequences at each acquisition time are obtained.

[0009] Based on the correlation between the vibration intensity and the horizontal and vertical interference sequences during the tunneling process of the U-shield pipe laying machine, as well as the similarity between the horizontal and vertical interference sequences, the vibration interference confidence level at each acquisition time is obtained. Then, combined with the data change of the roll deviation during the tunneling process of the U-shield pipe laying machine, the combined interference characteristic value at each acquisition time is obtained.

[0010] The exponential smoothing prediction algorithm is used to predict the combined interference feature values. By comparing the predicted values ​​with the combined interference feature values ​​at the current acquisition time, the anomaly ratio is obtained, which is used to determine whether the tunneling posture is abnormal, so as to coordinate the tunneling posture of the U-shield pipe laying machine.

[0011] Preferably, the method for obtaining the horizontal interference at each acquisition time is as follows:

[0012] In the formula, Let be the level of disturbance during tunneling at the t-th acquisition time. Let be the number of abnormal window sequences in the horizontal deviation sequence at the t-th acquisition time. Let be the permutation entropy of the j-th abnormal window sequence in the horizontal deviation sequence at the t-th acquisition time. 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 time.

[0013] Preferably, the horizontal deviations within a preset time period at each acquisition time are arranged in chronological order to form a horizontal deviation sequence for each acquisition time. An anomaly detection algorithm is used to extract the anomaly points in the horizontal deviation sequence at each acquisition time, and an anomaly window sequence is obtained with each anomaly point in the horizontal deviation sequence as the center.

[0014] Preferably, the method for obtaining the horizontal interference sequence at each acquisition time is as follows: all tunneling horizontal interference levels within a preset time period before each acquisition time are arranged in chronological order to obtain the horizontal interference sequence at each acquisition time.

[0015] Preferably, the method for obtaining the confidence level of vibration interference at each acquisition time is as follows:

[0016] In the formula, Let be the confidence level of vibration interference at the i-th acquisition time. It is an exponential function with the natural constant as its base. Let be the mean of the mutual information between the vibration intensity sequence and the horizontal interference sequence and the vertical interference sequence at the t-th acquisition time. Let be the difference distance between the horizontal and vertical interference sequences at the t-th acquisition time. To avoid constants with a denominator of 0, the vibration intensity within a preset duration at each acquisition time is arranged in chronological order to form a vibration intensity sequence for each acquisition time.

[0017] Preferably, the vibration intensity sequence at each acquisition time, the horizontal interference sequence, and the vertical interference sequence are used as inputs to the mutual information algorithm, and the mutual information degree between the vibration intensity sequence at each acquisition time and the horizontal interference sequence and the vertical interference sequence is output.

[0018] Preferably, the method for obtaining the combined interference feature values ​​at each acquisition time is as follows:

[0019] In the formula, Let be the combined interference feature value at time t. For exponential normalization function, The number of elements in the roll-off deviation sequence. Let be the s-th element in the roll deviation sequence at acquisition time t. Let be the mean of the elements in the roll deviation sequence at time t.

[0020] Preferably, the rolling deviations within a preset duration at each acquisition time are arranged in chronological order to form a rolling deviation sequence for each acquisition time.

[0021] Preferably, the method for obtaining the anomaly ratio is as follows: the ratio between the predicted value of the combined interference at the next acquisition time and the characteristic value of the combined interference at the current acquisition time is used as the anomaly ratio.

[0022] Preferably, the method for determining whether the tunneling posture is abnormal, in order to coordinate the control of the tunneling posture of the U-shield pipelaying machine, further includes:

[0023] If the abnormality ratio is greater than 1, the tunneling posture of the U-shield pipe laying machine is abnormal, and the tunneling posture of the U-shield pipe laying machine will be controlled. Conversely, if the tunneling posture of the U-shield pipe laying machine is not abnormal, the tunneling posture of the U-shield pipe laying machine will not be controlled.

[0024] This application has at least the following beneficial effects:

[0025] This application considers that the tunneling posture of the U-shield pipe-laying machine during actual construction of the utility tunnel is affected by vibration, making it impossible to adjust the tunneling posture in a timely manner, thus affecting the adaptability and stability of the U-shield pipe-laying machine during actual construction. Therefore, this application uses an anomaly detection algorithm to set an anomaly window, accurately extracting the interference features in the horizontal and vertical directions of the U-shield pipe-laying machine's tunneling, and more clearly showing the deviation interference when the tunneling posture is affected during the tunneling process;

[0026] Furthermore, by combining the effects of vibration interference in the horizontal and vertical directions of the U-shield pipe laying machine's tunneling, the degree of certainty of the vibration interference on the tunneling posture of the U-shield pipe laying machine can be measured, which can effectively eliminate the interference on the tunneling posture of the U-shield pipe laying machine caused by other factors such as poor equipment performance and improper operation by the operator.

[0027] This application fully considers the impact of vibration disturbance on the tunneling posture and the influence of roll deviation characteristics on the tunneling posture. It extracts features of the combined interference between the roll deviation characteristics and vibration influence characteristics of the U-shield pipe laying machine, and determines the anomaly ratio based on the combined interference characteristics and the combined interference prediction results to determine whether the tunneling posture of the U-shield pipe laying machine has become abnormal. This allows for timely and accurate joint control of the tunneling posture of the U-shield pipe laying machine, improving the adaptability and stability of the U-shield pipe laying machine in the actual construction of the pipe gallery. Attached Figure Description

[0028] To more clearly illustrate the technical solutions and advantages in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 A flowchart illustrating the steps of the U-shield pipe-laying machine tunneling attitude control method for prefabricated pipe gallery construction provided in this application. Detailed Implementation

[0030] To further illustrate the technical means and effects adopted by this application to achieve the intended purpose of the invention, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of the U-shield tunneling attitude control method for prefabricated pipe gallery construction proposed in this application. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0031] Unless otherwise defined, terms such as “comprising,” “including,” or any other variations thereof are intended to cover a non-exclusive inclusion, such that a circuit structure, article, or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase “comprising one…” does not exclude the presence of other identical elements in the article or device that includes said element. Furthermore, the term “and / or” as used herein includes any and all combinations of one or more of the associated listed items. All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0032] The following description, in conjunction with the accompanying drawings, details the specific scheme of the U-shield pipe-laying machine tunneling attitude control method for prefabricated pipe gallery construction provided in this application.

[0033] This application provides an embodiment of a method for controlling the tunneling posture of a U-shield tunnel boring machine for prefabricated utility tunnel construction. For details, please refer to [link to relevant documentation]. Figure 1 This includes the following steps:

[0034] S1: Collect the horizontal deviation, vertical deviation, roll deviation, and vibration intensity during the tunneling process of the U-shield pipe laying machine.

[0035] When using a U-shield pipe-laying machine for prefabricated pipe gallery construction, in order to effectively improve the adaptability of the U-shield pipe-laying machine to complex geological conditions during the tunneling process, it is necessary to fully consider the complex impact of vibration interference on the tunneling posture and make timely and accurate adjustments to the tunneling posture of the U-shield pipe-laying machine.

[0036] The U-shield tunneling machine includes a guiding system, an articulation system, a propulsion system, an insertion plate system, and a pusher plate system. The guiding system is equipped with a total station, a laser target, and vibration sensors. The total station and laser target in the guiding system collect and calculate the horizontal, vertical, and roll deviations of the U-shield tunneling machine from the tunnel's design axis in real time. The vibration sensors in the guiding system collect the vibration intensity of the U-shield tunneling machine in real time. In this embodiment, the sampling rate for data acquisition is 100Hz. The implementer can adaptively select the sampling rate to ensure a reliable data basis for adjusting the tunneling posture of the U-shield tunneling machine.

[0037] The articulation system and the pushing system are used to actively adjust the tunneling attitude of the U-shield pipe laying machine, while the insert plate system and the push plate system are used to assist in adjusting the horizontal attitude of the U-shield pipe laying machine and to assist in adjusting its pitch attitude.

[0038] Furthermore, to analyze the complex impact of vibration disturbance on the tunneling posture at different time periods, various deviation data 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 embodiment, the preset time period is 3 minutes.

[0039] S2: By analyzing the abnormal situations and chaotic characteristics of the horizontal and vertical deviations of the U-shield pipe laying machine, the horizontal and vertical interference degrees at each acquisition time are obtained, and then the horizontal and vertical interference sequences at each acquisition time are obtained.

[0040] Due to the complexity of geological conditions during the construction of prefabricated utility tunnels, such as uneven strata, curved sections, or sharp turns, U-shield tunneling machines are prone to strong vibrations during excavation. The complex influence of these vibrations on the excavation posture of the U-shield tunneling machine can affect its adaptability and stability during actual tunnel construction. To accurately adjust the excavation posture of the U-shield tunneling machine in a timely manner, it is necessary to analyze the abnormal conditions caused by disturbances affecting the horizontal and vertical deviations of the machine.

[0041] Taking the horizontal deviation between the measured position of the U-shield pipe laying machine and the tunnel design axis as an example, the horizontal deviation sequence at each acquisition time 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 outliers in the horizontal deviation sequence at each acquisition time. The Local Outlier Factor algorithm is a well-known technology and will not be elaborated further.

[0042] Generally, if there are many abnormal data in the horizontal and vertical deviations within a certain time period before a certain data collection time, and the more chaotic the changes in the tunneling posture are at the time when the abnormal data in the horizontal and vertical deviations appear, the more the abnormal characteristics of the horizontal and vertical deviations being affected by interference can be highlighted.

[0043] Therefore, taking each outlier in the horizontal deviation sequence as the center, an outlier window of size 1×100 is set, and all horizontal deviations within the outlier window of each outlier point are combined to form the outlier window sequence of the horizontal deviation sequence.

[0044] Based on the above analysis, the tunneling horizontal interference degree at each acquisition time is calculated:

[0045] In the formula, Let be the level of disturbance during tunneling at the t-th acquisition time. Let be the number of abnormal window sequences in the horizontal deviation sequence at the t-th acquisition time. Let be the permutation entropy of the j-th abnormal window sequence in the horizontal deviation sequence at the t-th acquisition time. Let be the mean of the absolute values ​​of all elements within the first-order difference sequence of the j-th abnormal window sequence in the horizontal deviation sequence at the t-th acquisition time. The calculation of permutation entropy is a well-known technique and will not be elaborated upon further.

[0046] The horizontal disturbance degree of tunneling reflects the horizontal deviation disturbance when the tunneling posture of the U-shield pipe laying machine is affected. The greater the horizontal deviation disturbance, the less conducive it is to maintaining the accuracy of the tunneling direction and the adaptability and stability of the tunneling process. At this time, it is necessary to make timely and accurate adjustments to the tunneling posture of the U-shield pipe laying machine.

[0047] Similarly, following the calculation method for tunneling horizontal interference, the local outlier factor algorithm is used to extract each abnormal window sequence in the vertical deviation sequence at each acquisition time, and the tunneling vertical interference at each acquisition time is calculated.

[0048] Furthermore, in this embodiment, the horizontal and vertical interference degrees calculated within one minute before each acquisition time are arranged in chronological order to obtain the horizontal interference sequence and vertical interference sequence at each acquisition time. This can reflect the changes in the horizontal and vertical deviations affected by interference during the tunneling process over a period of time, which is beneficial for timely joint control of the tunneling attitude of the U-shield pipe laying machine.

[0049] S3: Based on the correlation between the vibration intensity of the U-shield pipe laying machine during tunneling and the horizontal and vertical interference sequences, as well as the similarity between the horizontal and vertical interference sequences, the vibration interference confidence level at each acquisition time is obtained. Then, combined with the data change of the roll deviation during the U-shield pipe laying machine tunneling process, the combined interference characteristic value at each acquisition time is obtained.

[0050] Under normal circumstances, the tunneling posture of a U-shield pipe laying machine is affected by external interference in a complex way. In addition to being affected by external vibration interference, the tunneling posture of the U-shield pipe laying machine can also be affected by poor equipment performance or improper operation by the operator.

[0051] Therefore, in order to accurately analyze the degree of determinism of vibration disturbance affecting the tunneling posture of the U-shield pipelaying machine, the vibration intensity sequence, horizontal disturbance sequence, and vertical disturbance sequence at each acquisition time are used as inputs to the Mutual Information (MI) algorithm. The MI algorithm outputs the mutual information degree between the vibration intensity sequence at each acquisition time and the horizontal and vertical disturbance sequences, respectively. The MI algorithm is a well-known technique and will not be elaborated further. The mutual information degree reflects the dependence of horizontal and vertical deviation disturbances on vibration intensity during the tunneling process of the U-shield pipelaying machine. The higher the mutual information degree, the higher the degree of determinism of vibration disturbance affecting the tunneling posture of the U-shield pipelaying machine.

[0052] Meanwhile, the more similar the characteristics of horizontal deviation interference and vertical deviation interference in the U-shield pipe laying machine, the more it can reflect the simultaneity of the vibration phenomenon interfering with the horizontal and vertical deviations during the tunneling process of the U-shield pipe laying machine, and can more accurately determine the abnormal characteristics of the U-shield pipe laying machine's tunneling posture being disturbed by vibration.

[0053] Based on the above analysis, the confidence level of vibration interference at each acquisition time is calculated:

[0054] ;

[0055] In the formula, Let be the confidence level of vibration interference at the i-th acquisition time. It is an exponential function with the natural constant as its base. Let be the mean of the mutual information between the vibration intensity sequence and the horizontal interference sequence and the vertical interference sequence at the t-th acquisition time. Let be the difference distance between the horizontal and vertical interference sequences at the t-th acquisition time. To avoid constants with a denominator of 0, the value range is (0.01, 0.1), and in this embodiment, the value is 0.05.

[0056] It should be noted that the method for measuring dissimilarity distance can be Euclidean distance, Mahalanobis distance, or dynamic programming distance. Preferably, in this embodiment, Euclidean distance is used to measure dissimilarity distance.

[0057] Among them, the vibration interference confidence level reflects the degree of certainty that the tunneling posture of the U-shield pipe laying machine is affected by vibration interference. It eliminates the interference of other factors such as poor equipment performance and improper operation by the operator on the tunneling posture of the U-shield pipe laying machine. This is conducive to fully considering the complex impact of vibration interference on the tunneling posture in the future, so as to adjust the tunneling posture of the U-shield pipe laying machine in a timely manner.

[0058] Furthermore, this embodiment considers that the roll deviation of the U-shield pipe laying machine will affect the directional deviation between the tunneling direction and the tunnel design axis. When the certainty of the vibration interference on the tunneling direction of the U-shield pipe laying machine is high, and the variation of the roll deviation of the U-shield pipe laying machine is large, then the combined interference between the roll deviation characteristics and vibration characteristics of the U-shield pipe laying machine on the tunneling direction is greater.

[0059] Therefore, the combined interference characteristic value at each acquisition time is calculated:

[0060] ;

[0061] In the formula, Let be the combined interference feature value at time t. For exponential normalization function, The number of elements in the roll-off deviation sequence. Let be the s-th element in the roll deviation sequence at acquisition time t. Let be the mean of the elements in the roll deviation sequence at time t.

[0062] Among them, the combined interference characteristic value reflects the combined interference effect between the roll deviation characteristic and the vibration influence characteristic of the U-shield pipe laying machine's tunneling posture. The larger the combined interference characteristic value, the more prominent the abnormal situation of the U-shield pipe laying machine's tunneling posture is, and the more necessary it is to accurately control the tunneling posture of the U-shield pipe laying machine in a timely manner to avoid serious adverse effects on the adaptability and stability of the U-shield pipe laying machine.

[0063] S4: The exponential smoothing prediction algorithm is used to predict the combined interference feature value. By comparing the predicted value with the combined interference feature value at the current acquisition time, the anomaly ratio is obtained, which is used to determine whether the tunneling posture is abnormal, so as to control the tunneling posture of the U-shield pipe laying machine.

[0064] To enable timely and accurate control of the U-shield tunneling machine's attitude, the sequence of combined disturbance feature values ​​calculated within one minute prior to the current acquisition time, arranged chronologically, is used as input to the exponential smoothing prediction algorithm. A smoothing factor is set within the algorithm. The exponential smoothing prediction algorithm outputs the combined interference prediction value at the next acquisition time. The exponential smoothing prediction algorithm is a well-known technology and will not be elaborated further.

[0065] Furthermore, the ratio between the predicted combined interference value at the next acquisition time and the characteristic value of the combined interference at the current acquisition time is recorded as the anomaly ratio. If the anomaly ratio is greater than 1, it indicates that the tunneling posture of the U-shield pipe laying machine at the next acquisition time is greatly affected by the combined factors, and the tunneling posture of the U-shield pipe laying machine is in an abnormal state. At this time, it is necessary to control the tunneling posture of the U-shield pipe laying machine. Conversely, if the anomaly ratio is less than or equal to 1, it indicates that the tunneling posture of the U-shield pipe laying machine at the next acquisition time is not in an abnormal state, and it is not necessary to control the tunneling posture of the U-shield pipe laying machine.

[0066] Preferably, the tunneling attitude control includes horizontal deviation control, vertical deviation control, and roll angle control. Specifically, the horizontal and vertical deviations of the U-shield pipelaying machine are corrected by adjusting the stroke difference between the articulation cylinder and the propulsion cylinder through the articulation system and the thrusting system, and by adjusting the horizontal and pitch attitudes of the U-shield pipelaying machine through the insertion plate system and the push plate system. This achieves horizontal and vertical deviation control of the tunneling attitude of the U-shield pipelaying machine. At the same time, the roll angle of the tunneling attitude of the U-shield pipelaying machine is controlled by directing the U-shield pipelaying machine to under-excavate on the side with a lower bottom surface and over-excavate on the side with a higher bottom surface.

[0067] It is understood that references to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include the specific features, structures, or characteristics described in connection with that embodiment. Therefore, the appearance of phrases such as "in one embodiment," "in some embodiments," "in other embodiments," or "in still other embodiments" in different parts of this specification does not necessarily refer to the same embodiment, but rather means "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0068] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, the above description focuses on specific embodiments of this specification. Additionally, the processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired results. In some implementations, multitasking and parallel processing are possible or may be advantageous. Moreover, the sequence numbers of the steps in the embodiments do not imply a specific 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.

[0069] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for controlling the attitude of a U-shield tunneling machine for prefabricated pipe gallery construction, characterized in that: Includes the following steps: The horizontal deviation, vertical deviation, roll deviation, and vibration intensity of the U-shield pipe-laying machine during its tunneling process were collected. By analyzing the abnormal situations and chaotic characteristics of the horizontal and vertical deviations of the U-shield pipe laying machine, the horizontal and vertical interference degrees at each acquisition time are obtained, and then the horizontal and vertical interference sequences at each acquisition time are obtained. Based on the correlation between the vibration intensity and the horizontal and vertical interference sequences during the tunneling process of the U-shield pipe laying machine, as well as the similarity between the horizontal and vertical interference sequences, the vibration interference confidence level at each acquisition time is obtained. Then, combined with the data change of the roll deviation during the tunneling process of the U-shield pipe laying machine, the combined interference characteristic value at each acquisition time is obtained. The exponential smoothing prediction algorithm is used to predict the combined interference feature value. By comparing the predicted value with the combined interference feature value at the current acquisition time, the anomaly ratio is obtained, which is used to determine whether the tunneling posture is abnormal, so as to control the tunneling posture of the U-shield pipe laying machine. The method for obtaining the horizontal interference at each acquisition time is as follows: In the formula, Let be the level of disturbance during tunneling at the t-th acquisition time. Let be the number of abnormal window sequences in the horizontal deviation sequence at the t-th acquisition time. Let be the permutation entropy of the j-th abnormal window sequence in the horizontal deviation sequence at the t-th acquisition time. 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 time. The method for obtaining the vibration interference confidence level at each acquisition time is as follows: In the formula, Let be the confidence level of vibration interference at the i-th acquisition time. It is an exponential function with the natural constant as its base. Let be the mean of the mutual information between the vibration intensity sequence and the horizontal interference sequence and the vertical interference sequence at the t-th acquisition time. Let be the difference distance between the horizontal and vertical interference sequences at the t-th acquisition time. To avoid constants with a denominator of 0, the vibration intensity within a preset duration at each acquisition time is arranged in chronological order to form a vibration intensity sequence for each acquisition time. The method for obtaining the combined interference feature values ​​at each acquisition time is as follows: In the formula, Let be the combined interference feature value at time t. For exponential normalization function, The mean of the elements in the rollover bias sequence. Let be the s-th element in the roll deviation sequence at acquisition time t. Let be the mean of the elements in the roll deviation sequence at time t.

2. The method for joint control of U-shield tunnel boring machine attitude for prefabricated pipe gallery construction as described in claim 1, characterized in that, The horizontal deviations within a preset time period at each acquisition time are arranged in chronological order to form a horizontal deviation sequence for each acquisition time. Anomaly detection algorithms are used to extract anomalies in the horizontal deviation sequence at each acquisition time, and anomaly window sequences are obtained with each anomaly in the horizontal deviation sequence as the center.

3. The method for joint control of U-shield tunnel boring machine attitude for prefabricated pipe gallery construction as described in claim 1, characterized in that, The method for obtaining the horizontal interference sequence at each acquisition time is as follows: all tunneling horizontal interference levels within a preset time period before each acquisition time are arranged in chronological order to obtain the horizontal interference sequence at each acquisition time.

4. The method for joint control of U-shield tunnel boring machine attitude for prefabricated pipe gallery construction as described in claim 1, characterized in that, The vibration intensity sequence at each acquisition time, along with the horizontal interference sequence and the vertical interference sequence, are used as inputs to the mutual information algorithm. The algorithm outputs the mutual information degree between the vibration intensity sequence at each acquisition time and the horizontal interference sequence and the vertical interference sequence, respectively.

5. The method for joint control of U-shield tunnel boring machine attitude for prefabricated pipe gallery construction as described in claim 1, characterized in that, The rolling deviations within a preset duration at each acquisition time are arranged in chronological order to form a rolling deviation sequence for each acquisition time.

6. The method for joint control of U-shield tunnel boring machine attitude for prefabricated pipe gallery construction as described in claim 1, characterized in that, The method for obtaining the anomaly ratio is as follows: the ratio between the predicted value of the combined interference at the next acquisition time and the characteristic value of the combined interference at the current acquisition time is taken as the anomaly ratio.

7. The method for joint control of U-shield tunnel boring machine attitude for prefabricated pipe gallery construction as described in claim 1, characterized in that, The method for determining whether the tunneling posture is abnormal, in order to coordinate the control of the tunneling posture of the U-shield pipe laying machine, further includes: If the abnormality ratio is greater than 1, the tunneling posture of the U-shield pipe laying machine is abnormal, and the tunneling posture of the U-shield pipe laying machine will be controlled. Conversely, if the tunneling posture of the U-shield pipe laying machine is not abnormal, the tunneling posture of the U-shield pipe laying machine will not be controlled.

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