Inclined shaft TBM deslagging intelligent monitoring and coordination control system and control method thereof

Abstract

The invention discloses an inclined shaft TBM deslagging intelligent monitoring and coordination control system and a control method thereof.The system is installed on a TBM and a deslagging belt conveyor of the TBM and comprises a belt load monitoring module, a particle size analysis module, an environment sensing module, an abnormity early warning module and a linkage control unit; the control method comprises the steps of data monitoring, analysis and judgment, linkage adjustment, abnormity early warning, recovery and continuous monitoring. According to the intelligent monitoring and coordination control system and the control method thereof, belt load, particle size distribution and equipment environment data are collected in real time; transmitting the data to a linkage control unit for analysis and processing; when the data is in a normal range, running according to a preset strategy, and if an over-limit or abnormal trend occurs, automatically adjusting relevant parameters of the belt conveyor and the TBM so as to eliminate abnormity; and meanwhile, sound-light alarm and recording are carried out on abnormal conditions. According to the method, dynamic matching of the tunneling speed and the deslagging capacity can be achieved, potential faults are intervened in time, and continuous and stable inclined shaft TBM construction is ensured.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of tunnel excavation construction equipment, more specifically relates to an intelligent monitoring and coordinated control system for muck discharge of a tunnel boring machine (TBM) in a inclined shaft and a control method thereof. BACKGROUND

[0002] At present, full-face tunnel boring machines (TBMs) are increasingly widely used in long and large tunnel and mine inclined shaft construction due to their high excavation efficiency, reliable safety, excellent tunnel quality and high degree of automation.

[0003] The muck generated by TBM excavation is generally continuously discharged by a belt conveyor, which transports the excavated muck out of the tunnel. In particular, in the context of inclined shaft excavation, a high-power long-distance belt conveyor is usually used to transport the muck along the inclined ramp to the ground. However, due to the large inclination angle of the inclined shaft, there are some special challenges in the muck conveying process: on the one hand, the muck on the belt is prone to slip due to its own weight, not only reducing the muck discharge efficiency, but also causing serious blockage when the slipped muck accumulates at the machine head or along the line; on the other hand, the upward conveying needs to overcome a large gravity, requiring higher driving power and braking performance of the belt conveyor, resulting in large equipment operating load, accelerated wear and tear, and higher safety risks.

[0004] Real-time monitoring of the muck discharge process is crucial to avoid the above problems. However, existing TBM muck discharge systems mainly rely on manual monitoring and experience-based adjustments, lacking intelligent monitoring and coordinated control means, thus having the following shortcomings: Insufficient monitoring means and low integration: traditional muck discharge systems are independent in each link, such as the belt conveyor and TBM propulsion, usually only having basic sensor alarms such as belt deviation switches and emergency stop switches, without forming a centralized and unified monitoring platform. The operator needs to observe the TBM excavation parameters and belt conveyor operation separately, and cannot obtain the overall system operation situation, lacking real-time data integration and analysis capabilities.

[0005] Unable to timely predict faults: due to the lack of continuous monitoring of belt load, muck block size and equipment status, it is difficult to timely detect abnormal trends in the muck discharge process. For example, belt overload and large muck block jamming are often detected and handled after causing accidents or forced shutdown, which is a post-repair rather than a pre-prevention, seriously affecting construction continuity and equipment safety.

[0006] Low efficiency and poor reliability of manual adjustment: Currently, the TBM advancing speed and the slag belt speed are adjusted by manual experience. When the slag amount suddenly increases or abnormal conditions occur, the manual response is often delayed, which may miss the best adjustment opportunity. In addition, long-term manual control of the belt operation is labor-intensive and prone to misjudgment, affecting the tunneling efficiency. In the inclined shaft environment, the workers are scattered in various parts of the tunnel, and manual inspection is difficult to fully consider in time, which further increases the safety risk and management cost, and restricts the improvement of the tunneling efficiency.

[0007] In summary, there is a lack of an intelligent monitoring and coordinated control system for the inclined shaft TBM slagging process to monitor the belt conveyor load and slag particle size in real time, and automatically adjust the tunneling and slagging parameters to avoid overload and blockage, thereby ensuring safe and efficient inclined shaft tunneling construction. Therefore, it is necessary to provide a new technical solution to solve the above problems. SUMMARY

[0008] The present application discloses an inclined shaft TBM slagging intelligent monitoring and coordinated control system and its control method according to the deficiencies of the prior art. The purpose of the present application is to provide an inclined shaft TBM slagging intelligent monitoring and coordinated control system and its control method, which is suitable for an inclined shaft tunnel boring machine with a belt conveyor as the main slagging method.

[0009] The present application is achieved by the following technical solutions:

[0010] The inclined shaft TBM slagging intelligent monitoring and coordinated control system is installed on the TBM and its slagging belt conveyor, characterized by comprising a belt load monitoring module, a particle size analysis module, an environment sensing module, an abnormal early warning module and a linkage control unit; wherein:

[0011] The belt load monitoring module is used to detect the load change of the slag soil on the slagging belt conveyor in real time;

[0012] The particle size analysis module is used to collect and analyze the particle size distribution of the slag soil on the belt conveyor;

[0013] The environment sensing module is used to monitor the vibration, temperature, speed and environmental state parameters around the belt conveyor and its driving device;

[0014] The abnormal early warning module is used to control and issue an audible and visual alarm signal and record abnormal event logs when the slagging system load is abnormal, the particle size is out of limit or the blockage trend is abnormal;

[0015] The linkage control unit is connected with the belt load monitoring module, the particle size analysis module, the environment sensing module and the abnormal early warning module, obtains real-time monitoring data, and automatically adjusts the transmission speed of the belt conveyor, the advancing speed of the TBM host and the cutter head rotating speed according to the monitoring data results, so that the tunneling and the residue discharging process are coordinated and synchronized.

[0016] The belt load monitoring module further comprises a load cell installed below the belt conveyor for detecting the instantaneous weight of the residue on the belt, or a tension sensor installed at the tensioning part of the belt conveyor for detecting the belt tension to reflect the load change.

[0017] The particle size analysis module further comprises an industrial camera and an image processing unit for obtaining the image of the residue on the belt conveyor and calculating the particle size distribution, or a laser scanning measurement device for detecting the particle size of the residue by laser ranging. The particle size analysis module collects the residue image by the industrial camera, calculates the particle size and distribution of the residue by the image processing algorithm, or performs ranging imaging analysis on the passing residue by the laser scanning measurement device. The particle size analysis module can identify oversized large residue stones and evaluate the overall particle size range of the residue.

[0018] The environment sensing module further comprises a vibration sensor, a temperature sensor and a speed sensor. The vibration sensor is installed on the driving motor or the rack of the belt conveyor for monitoring the vibration state of the device. The temperature sensor is installed at the driving motor or the bearing of the belt conveyor for monitoring the operating temperature. The speed sensor is installed on the drum of the belt conveyor for monitoring the running speed and the slipping condition of the belt. The environment sensing module can install vibration sensors and temperature sensors at important parts of the belt conveyor, such as the driving motor, the speed reducer, the roller support, etc., to collect the vibration amplitude and the bearing temperature of the device in real time. At the same time, the speed sensor is configured on the belt or the drum to monitor the running speed of the belt to determine whether there is a slipping or abnormal deceleration phenomenon.

[0019] The abnormal early warning module further comprises an audible and visual alarm device and a log recording unit. The audible and visual alarm device is used to issue a warning signal when the residue discharging system load is abnormal, the particle size is out of limit or the blocking trend is abnormal. The log recording unit stores and records the information of the abnormal condition. When the abnormal condition exceeds the set safety threshold, the linkage control unit triggers the emergency interlock control shutdown or deceleration through the abnormal early warning module.

[0020] Specifically, when the belt load abnormally rises above the safety threshold, large-size oversized particles are detected, or the trend of slag accumulation and blockage occurs, the abnormal early warning module immediately sends a warning signal through the sound and light alarm device, reminding the on-site operator to pay attention to processing. At the same time, the control system stores and records the time, parameter value and other information of the abnormal occurrence, forms a log for post-analysis. The early warning module can also execute interlocking control measures according to the degree of abnormality, such as automatic deceleration or emergency shutdown in the case of serious overload or blockage danger, to avoid the expansion of the accident.

[0021] Further, the linkage control unit is connected to the propulsion control system of the TBM host machine, the cutterhead drive system and the drive controller of the belt conveyor through signal communication; the linkage control unit pre-stores the safety threshold of each monitoring parameter of the slag removal system, and is configured with a control strategy, when the monitoring data approaches or exceeds the safety threshold, the linkage control unit automatically executes the corresponding control strategy to reduce the deviation or risk.

[0022] As the core control module, the linkage control unit can automatically adjust the running speed of the belt conveyor, the propulsion rate of the TBM and the rotation speed of the cutterhead and other key parameters according to the real-time data obtained by each monitoring module, to realize the coordinated operation of the tunneling and slag removal process. The linkage control unit is built-in with an industrial control computer or a programmable logic controller (PLC), and pre-stores the safety threshold of each parameter. When the monitoring data is in the normal range, the system runs in coordination according to the set rate; when the belt load increases close to the upper limit, the control unit can appropriately reduce the TBM propulsion speed or increase the belt conveyor speed to prevent overload; when the slag load decreases, the tunneling speed can be increased or the belt speed can be reduced to optimize efficiency. In addition, when it is detected that oversized slag blocks may cause blockage, the control unit can slow down the propulsion and interlock the belt to give processing time. The linkage control unit is connected to the propulsion and cutterhead drive control system of the TBM host machine and the belt conveyor drive system through a communication interface, thereby coordinating the control of each actuator.

[0023] Further, the belt load monitoring module and the particle size analysis module are arranged along the conveying path of the belt conveyor in sequence, and the monitoring data collected by each module is transmitted to the linkage control unit for centralized processing in a wired or wireless manner.

[0024] The application also provides an inclined shaft TBM slag removal intelligent monitoring and coordinated control method based on the above-mentioned system, comprising the following steps:

[0025] S1, data monitoring: during the TBM tunneling and slag removal process, real-time acquisition of load data on the belt conveyor, slag particle size distribution data and environmental state data such as belt conveyor vibration, temperature and speed, and transmission of the data to the linkage control unit;

[0026] S2, analysis and judgment: the collected data are analyzed by the linkage control unit, compared with the preset threshold value to judge whether the current slag removal system running state is normal; if all parameters are in the normal range, continue to monitor the operation, if any parameter exceeds the threshold value or abnormal trend occurs, it is determined that there is a potential abnormality;

[0027] S3, linkage adjustment: when it is determined that there is an abnormality or an over-limit trend, the linkage control unit automatically executes a coordinated control strategy, adjusts the running speed of the belt conveyor and / or the advancing speed of the TBM, the cutter head rotating speed, to reduce the abnormal influence; wherein when detecting that the belt load is too high, the TBM advancing rate is reduced or the belt machine speed is increased, when detecting that the slag block is too large, the TBM excavation is slowed down or paused, when detecting that the equipment vibration or temperature is abnormal, the corresponding equipment load is reduced;

[0028] S4, abnormal early warning: while executing the above adjustment, the abnormal early warning module is triggered to issue an audible and light alarm to prompt the on-site personnel, and records the abnormal event log; for serious abnormal conditions, emergency interlocking speed reduction or shutdown measures are executed;

[0029] S5, recovery and continuous monitoring: when the abnormal condition is eliminated or controlled, the linkage control unit is released from interlocking, the normal excavation and slag removal speed is restored, and the real-time monitoring is continued to return to step S1, so that the whole excavation and slag removal process forms a closed loop automatic control.

[0030] The preset threshold value in the step S2 includes the upper limit threshold value of the belt conveyor load, the upper limit threshold value of the slag particle size and the equipment running vibration / temperature threshold value; the amplitude of adjusting the belt machine and TBM parameters in the step S3 is automatically calculated according to the deviation degree, and the adjustment sensitivity can be set by the operation personnel through the man-machine interface of the linkage control unit; the data recorded by the log recording unit in the step S4 includes the abnormal occurrence time, the specific monitoring value, the adjustment measures taken by the linkage control unit and the processing results.

[0031] The control method of the application collects the belt load, particle size distribution and equipment environment data in real time; the data are transmitted to the linkage control unit for analysis and processing; when the data are in the normal range, the preset strategy is run, if the over-limit or abnormal trend occurs, the belt conveyor and TBM related parameters are automatically adjusted to eliminate the abnormality; at the same time, the abnormal condition is audibly and visually alarmed and recorded. Through the method of the application, dynamic matching of the excavation speed and the slag removal capacity can be realized, potential faults can be intervened in time, and the continuous and stable construction of the inclined shaft TBM is ensured.

[0032] The application has the following advantages:

[0033] Real-time monitoring and data fusion: The system integrates the collection of multi-source information such as belt load, slag particle size and equipment status, realizes real-time online monitoring of the whole slagging process. The centralized analysis of data enables the early discovery and identification of abnormal conditions, which is different from the traditional discrete monitoring method relying on manual inspection.

[0034] Automatic coordinated control improves efficiency: The linkage control unit automatically adjusts the running state of the TBM and the belt according to the monitoring results, maximizes the slagging efficiency under the premise of ensuring safety. The system dynamically matches the tunneling rate with the slagging capacity, reduces the waiting or overload downtime caused by uncoordination, realizes the synchronous optimization of tunneling and slagging operation, and improves the construction efficiency.

[0035] Timely early warning to prevent accidents: When there are signs of belt overload, slag blockage or blockage, the system can issue an audible and visual alarm and interlock control in the first time to prevent small faults from evolving into serious accidents. Compared with the existing post-treatment manual method, early warning and intervention can greatly reduce the probability of belt conveyor breakage, jamming and other accidents, ensuring construction safety.

[0036] Reduce labor intensity and cost: The invention replaces a large number of manual monitoring and operation adjustment with real-time machine monitoring and intelligent control, reduces labor intensity and reduces manual misjudgment. The system's automatic coordinated control and fault prevention capabilities can reduce unplanned downtime and maintenance frequency, thereby extending the service life of the equipment, reducing construction operation and maintenance costs. In summary, the invention improves the safety, reliability and economic benefits of the inclined shaft TBM tunneling and slagging system. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 The figure is a structural schematic diagram of the inclined shaft TBM slagging intelligent monitoring and coordinated control system of the invention. The installation layout relationship of the TBM main machine, belt conveyor and each monitoring module and control unit is shown.

[0038] Figure 2 The figure is a control flow chart of the linkage control unit of the invention. The working process of data collection, analysis and decision-making, execution control and abnormal alarm of the system is shown.

[0039] Reference signs: 1-tunnel boring machine (TBM) main machine, 2-belt conveyor, 3-belt load monitoring module, 4-particle size analysis module, 5-environmental sensing module, 6-linkage control unit, 7-abnormal early warning module, 8-TBM cutterhead, 9-belt drive motor. DETAILED EMBODIMENTS

[0040] The invention will be further described below in conjunction with the specific embodiments, which are further illustrations of the principles of the invention and do not limit the invention in any way. The same or similar technology as the invention does not exceed the scope of the invention.

[0041] Example:

[0042] like Figure 1 As shown, an intelligent monitoring and coordination control system for muck removal from an inclined shaft TBM is applied at the construction site of an inclined shaft tunnel boring machine. The TBM main unit 1 is located inside the inclined shaft of the tunnel, and a belt conveyor 2 is connected behind it to transport the muck out of the tunnel. Various sensor modules are installed along key parts of the belt conveyor 2 to monitor the status parameters of the muck removal process in real time.

[0043] The specific configuration is as follows:

[0044] A belt load monitoring module 3, comprising a weighing sensor and a related signal conditioning unit, is installed below the receiving section of belt conveyor 2. When excavated soil falls onto the belt and passes through this location, the weighing sensor measures the instantaneous weight of the excavated soil carried by the belt. The control system can calculate the amount of excavated soil discharged per unit time (e.g., in tons / hour) through cumulative calculation, thereby gaining real-time insight into the load changes of the belt conveyor. If the inclined shaft has a large slope, a tension sensor can also be installed at the belt conveyor tensioning device to indirectly estimate the belt load by measuring changes in belt tension. These weight / tension data are continuously sent to the linkage control unit 6 for monitoring.

[0045] A particle size analysis module 4 is installed above a section of the belt conveyor 2. In this embodiment, module 4 includes an industrial digital camera and a high-brightness LED light source. The camera captures images of the slag passing over the belt from above. The captured images are analyzed by an image processing unit using algorithms to identify the outline size of each piece of slag, thereby obtaining statistical information on the particle size distribution of the slag. If any particle size exceeds a preset threshold (e.g., a large rock exceeding a certain proportion of the belt width), the system will mark it as an oversized slag piece. As an alternative, the particle size analysis module 4 can also use a laser scanning measurement method: for example, using a line laser to project onto the cross-section of the slag pile on the belt, and using a distance sensor to obtain the cross-sectional outline, thereby calculating the particle size and pile shape. Regardless of whether a visual method or a laser method is used, the obtained particle size data will be transmitted to the linkage control unit 6 for evaluation.

[0046] An environmental sensing module 5 is arranged along the frame and drive section of the belt conveyor 2, which includes multiple sub-sensors to monitor the equipment operating state. Preferably, vibration sensors are installed on the base of the belt drive motor and the reduction gearbox respectively, to detect the three-axis vibration of the motor and the reduction machine, and determine whether the equipment is running smoothly. Temperature sensors are installed at the motor stator winding, reduction gearbox bearing seat and other parts, to measure the motor winding temperature and key bearing temperature in real time, and prevent equipment damage caused by overheating. In addition, a rotational speed sensor is provided at the drive drum or tension drum of the belt conveyor, to monitor the belt running speed. By comparing the actual belt speed with the motor speed command value, it can be determined whether there is an abnormality such as speed drop caused by belt slip or excessive load. The vibration, temperature, speed and other data obtained by the environmental sensing module 5 are also sent to the linkage control unit 6.

[0047] The linkage control unit 6 is usually composed of an industrial control computer or PLC, which is the central processor and control center of the system. The linkage control unit 6 is connected to each monitoring module 3, 4, 5 through a wired or wireless industrial communication bus to collect data, and is connected to the TBM host 1 and the drive control system of the belt conveyor 2 to send control instructions. Specifically, the control unit 6 runs a software program for coordinated control of slag tapping, including data acquisition module, state judgment module and control strategy module, etc. When the system is running normally, the control unit 6 continuously receives and refreshes the real-time data transmitted by each sensing module.

[0048] Data synthesis and judgment: the control unit first analyzes the data of belt load, particle size, vibration temperature, etc. For example, according to the change trend of the belt load, it is determined whether the current slag tapping amount is close to the upper limit of the belt carrying capacity; through the particle size distribution of the slag, it is determined whether there are abnormally large rocks mixed in; combined with the vibration and speed data, it can be determined whether the belt conveyor is running smoothly. Advantageously, different sensing information can also be cross-verified to improve the accuracy of the judgment (for example, sudden increase in vibration and sudden drop in belt speed may indicate that the front is blocked with slag). The control unit compares these information with the preset threshold parameters (the threshold values are stored in the database of the control unit, such as the maximum allowed load, the maximum particle size, etc.). When all the monitoring data are within the normal range, the system determines that the slag tapping process is smooth.

[0049] Linkage control strategy execution: under normal circumstances, the control unit 6 operates the TBM and belt system according to the set target speed command, to coordinate the work at the predetermined tunneling speed and slag tapping speed.

[0050] When an abnormal trend is detected or the threshold value is reached, the control unit immediately starts the corresponding adjustment strategy to realize the linkage control of tunneling and slag tapping:

[0051] ① Load coordination: If the belt load monitoring value continues to rise close to its rated load capacity (e.g. more than 90% of the threshold value), the control unit reduces the propulsion speed of the TBM propulsion cylinder and / or the rotation speed of the cutterhead 8, reduces the rate of slag production; At the same time, the motor speed of the belt conveyor 2 can be increased to speed up the slag transportation, so as to quickly empty the accumulated slag and avoid belt overload. On the contrary, when the belt load is low for a long time and the geological conditions in front of the tunneling allow, the control unit can instruct the TBM to appropriately increase the propulsion speed and the rotation speed of the cutterhead to improve the tunneling efficiency, and the belt speed can be adjusted accordingly to ensure that the slag is transported out in time and not accumulated. Through the above closed-loop adjustment, the slag production rate of the TBM is dynamically balanced with the belt transportation capacity.

[0052] ② Particle size out-of-limit processing: When the particle size analysis module 4 reports the presence of oversized slag blocks (particle size exceeding the preset upper limit), the control unit determines that the risk of blockage of the slag block is increased, and immediately reduces the propulsion speed of the TBM or even suspends the tunneling, and slows down the speed of the belt conveyor, to give the site personnel time to process large blocks (such as manual or mechanical crushing of large stones). Only after the oversized slag block is removed and confirmed, the system will resume normal tunneling speed to prevent belt jamming caused by large stone blockage.

[0053] ③ Equipment state adjustment: If the environmental sensing module 5 detects that the equipment vibrates violently or the temperature abnormally rises, for example, the temperature of the belt drive roller bearing exceeds the standard, the control unit will slow down the operation speed or torque load of the related equipment, and issue a maintenance prompt to prevent the fault from expanding. At the same time, if the belt is found to be out of alignment or slipping (which can be judged by the change of speed and tension), the control unit can automatically stop or slow down and tension the belt, and start the correction device (if any) to correct it.

[0054] Abnormality warning and interlock: Once any of the monitoring data exceeds the safety threshold or shows a trend that may cause an accident, the linkage control unit 6 will trigger the abnormality warning module 7 to act to remind and protect the double mechanism. In this embodiment, the abnormality warning module 7 includes an audible and visual alarm unit and a log recording unit. The audible and visual alarm unit is arranged in the TBM operation room and at a conspicuous position along the belt, and when triggered, it will light up the warning light and emit a buzzing or alarm sound to send a warning signal to the on-site personnel. For example, when the belt load far exceeds the set upper limit or the belt shows a trend of blocking and stagnation, an alarm will be prompted immediately; when foreign matter blocking is detected to cause a sudden increase in belt vibration, an alarm will also be prompted. At the same time, the log recording unit writes the information of the abnormal event into the memory, including the time of the abnormality, the specific parameter value and the measures taken by the system, etc. This facilitates the management personnel to query and analyze afterwards, find out the fault cause and optimize the operation strategy. In some serious cases (such as the belt is about to tear or the equipment temperature reaches a dangerous value), the linkage control unit will issue an interlock control instruction through the warning module to automatically shut down or reduce the system operation to a safe state, protecting the safety of personnel and equipment, and urging prompt repair and handling through the alarm.

[0055] Through the coordinated operation of the above-mentioned modules, the inclined shaft TBM slag intelligent monitoring and coordinated control system can realize real-time supervision and autonomous adjustment of the tunneling and slag removal process under unmanned or less manned operation. For example, in actual application, the system successfully avoided multiple belt overload accidents caused by sudden increase of slag: when the tunneling machine encounters sudden surge of slag during tunneling in poor geological section, the system timely senses the sudden increase of belt load, automatically slows down the tunneling and speeds up the belt operation, ensuring that the belt conveyor does not stop due to overload; for example, during a tunneling, a large stone block larger than the width of the belt falls in front, the particle size analysis module detects it immediately and alarms and interlocks to stop the TBM advancing, and the operator removes the large block in time according to this, avoiding a serious belt blocking accident. The system of the present application can realize dynamic matching and efficient operation of the inclined shaft TBM tunneling and slag removal under the premise of safety.

Claims

1. An intelligent monitoring and coordination control system for slag discharge from an inclined shaft TBM, the system being installed on the TBM and its slag discharge belt conveyor, characterized in that: It includes a belt load monitoring module, a particle size analysis module, an environmental sensing module, an anomaly early warning module, and a linkage control unit; among which: The belt load monitoring module is used to detect changes in the load of slag on the slag belt conveyor in real time. The particle size analysis module is used to collect and analyze the particle size distribution of the slag on the belt conveyor. The environmental sensing module is used to monitor the vibration, temperature, speed, and environmental parameters around the belt conveyor and its drive unit. The abnormality early warning module is used to control and issue audible and visual alarm signals and record abnormal event logs when there are abnormal loads, excessive particle sizes, or abnormal clogging trends in the slag discharge system. The linkage control unit is connected to the aforementioned belt load monitoring module, particle size analysis module, environmental sensing module, and abnormal early warning module to acquire real-time monitoring data and automatically adjust the transmission speed of the belt conveyor, the propulsion rate of the TBM host, and the cutterhead speed based on the monitoring data results, so that the tunneling and slag removal processes are coordinated and synchronized.

2. The intelligent monitoring and coordination control system for slag removal from the inclined shaft TBM according to claim 1, characterized in that: The belt load monitoring module includes: a weighing sensor installed below the belt conveyor to detect the instantaneous weight of the slag on the belt; or a tension sensor installed at the tensioning part of the belt conveyor to detect the belt tension to reflect load changes.

3. The intelligent monitoring and coordination control system for slag removal from the inclined shaft TBM according to claim 1, characterized in that: The particle size analysis module includes: an industrial camera and an image processing unit, used to acquire images of the slag on the belt conveyor and calculate the particle size distribution; or, a laser scanning measurement device, used to detect the particle size of the slag by laser ranging.

4. The intelligent monitoring and coordination control system for slag removal from the inclined shaft TBM according to claim 1, characterized in that: The environmental sensing module includes a vibration sensor, a temperature sensor, and a speed sensor. The vibration sensor is installed on the drive motor or frame of the belt conveyor to monitor the vibration status of the equipment. The temperature sensor is installed on the drive motor or bearing of the belt conveyor to monitor the operating temperature. The speed sensor is installed on the drum of the belt conveyor to monitor the belt speed and slippage.

5. The intelligent monitoring and coordination control system for slag removal from the inclined shaft TBM according to claim 1, characterized in that: The abnormality early warning module includes an audible and visual alarm device and a log recording unit. The audible and visual alarm device is used to issue a warning signal when there is an abnormal load on the slag discharge system, excessive particle size, or abnormal blockage trend. The log recording unit stores and records the information of the abnormality. When the abnormality exceeds the set safety threshold, the linkage control unit triggers an emergency interlock control to stop or slow down the machine through the abnormality early warning module.

6. The intelligent monitoring and coordination control system for slag removal from the inclined shaft TBM according to claim 1, characterized in that: The linkage control unit is connected to the propulsion control system, cutterhead drive system and belt conveyor drive controller of the TBM host via signal communication. The linkage control unit has pre-stored safety thresholds for various monitoring parameters of the slag discharge system and is configured with control strategies. When the monitoring data approaches or exceeds the safety threshold, the linkage control unit automatically executes the corresponding control strategy to reduce deviation or risk.

7. The intelligent monitoring and coordination control system for slag removal from the inclined shaft TBM according to claim 1, characterized in that: The belt load monitoring module and particle size analysis module are sequentially arranged along the conveying path of the belt conveyor. The monitoring data collected by each module is transmitted to the linkage control unit for centralized processing via wired or wireless means.

8. A method for intelligent monitoring and coordinated control of slag discharge from a deviated shaft TBM, characterized in that: The intelligent monitoring and coordination control system according to any one of claims 1 to 7 is used to control the muck removal process of the inclined shaft tunnel boring machine, comprising the following steps: S1. Data monitoring: During the TBM tunneling and muck removal process, load data, muck particle size distribution data, and environmental status data such as belt conveyor vibration, temperature, and speed are collected in real time and transmitted to the linkage control unit. S2. Analysis and Judgment: The linkage control unit analyzes the collected data and compares it with the preset threshold to determine whether the current slag discharge system is operating normally. If all parameters are within the normal range, the monitoring operation continues. If any parameter exceeds the threshold or shows an abnormal trend, it is determined that there is a potential abnormality. S3. Linkage Adjustment: When an abnormality or over-limit trend is detected, the linkage control unit automatically executes the coordinated control strategy to adjust the running speed of the belt conveyor and / or the advance speed of the TBM and the cutterhead speed to reduce the impact of the abnormality; when the belt load is detected to be too high, the TBM advance rate is reduced or the belt conveyor speed is increased; when an oversized slag block is detected, the TBM tunneling is slowed down or suspended; when equipment vibration or abnormal temperature is detected, the load of the corresponding equipment is reduced. S4. Abnormal Warning: While performing the above adjustments, the abnormal warning module is triggered to issue an audible and visual alarm to notify on-site personnel and record the abnormal event log; for serious abnormal situations, emergency interlock deceleration or shutdown measures are implemented. S5. Recovery and Continuous Monitoring: When the abnormal situation is eliminated or brought under control, the linkage control unit releases the interlock, restores the normal tunneling and muck removal speed, and continues to return to step S1 for real-time monitoring, so that the entire tunneling and muck removal process forms a closed-loop automatic control.

9. The intelligent monitoring and coordinated control method for slag discharge from inclined shaft TBMs according to claim 8, characterized in that: The preset thresholds in step S2 include the upper limit threshold for belt conveyor load, the upper limit threshold for slag particle size, and the equipment operation vibration / temperature threshold; in step S3, the adjustment range of belt conveyor and TBM parameters is automatically calculated based on the degree of deviation, and the adjustment sensitivity can be set by the operator through the human-machine interface of the linkage control unit; in step S4, the data recorded by the log recording unit includes the time of abnormality occurrence, specific monitoring values, adjustment measures taken by the linkage control unit, and processing results.

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