Inclined shaft TBM slag intelligent monitoring and coordinated control system and control method thereof

Abstract

This invention discloses an intelligent monitoring and coordination control system and its control method for muck discharge from an inclined shaft TBM. The system is installed on the TBM and its muck discharge belt conveyor and 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. The control method includes data monitoring, analysis and judgment, linkage adjustment, anomaly early warning, recovery, and continuous monitoring. The intelligent monitoring and coordination control system and its control method of this invention collect belt load, particle size distribution, and equipment environmental data in real time; transmit the data to the linkage control unit for analysis and processing; when the data is within the normal range, it operates according to a preset strategy; if exceeding limits or an abnormal trend occurs, it automatically adjusts the relevant parameters of the belt conveyor and TBM to eliminate the anomaly; simultaneously, it provides audible and visual alarms for abnormal situations and records them. The method of this invention can achieve dynamic matching between tunneling speed and muck discharge capacity, intervene in potential faults in a timely manner, and ensure the continuous and stable construction of the inclined shaft TBM.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel boring construction equipment, and more particularly relates to an intelligent slag discharge monitoring and coordinated control system suitable for inclined shaft Tunnel Boring Machine (hereinafter referred to as TBM) and a control method thereof. Background Art

[0002] At present, full-face Tunnel Boring Machine (TBM) has been more and more widely used in the construction of long large tunnels and mine inclined shafts by virtue of its advantages of extremely high boring efficiency, reliable safety, excellent tunnel forming quality and high degree of mechanical automation.

[0003] Slag generated by TBM boring is generally discharged continuously through a belt conveyor, which transports the excavated slag out of the tunnel. Especially in the inclined shaft boring scenario, a high-power long-distance belt conveyor is usually used to transport the slag to the surface along the inclined ramp. However, due to the large inclination angle of the inclined shaft, there are some special challenges in the slag transportation process: on one hand, the slag is prone to slip on the belt due to its own weight, which not only reduces the slag discharge efficiency, but also the slipped slag accumulated at the head of the machine or along the line will cause serious blockage; on the other hand, upward transportation needs to overcome large gravity, which puts higher requirements on the driving power and braking performance of the belt conveyor, resulting in large operating load, increased wear of the equipment, and also brings high safety risks.

[0004] Real-time monitoring of the slag discharge process is crucial to avoiding the above problems. However, the existing TBM slag discharge system mainly relies on manual monitoring and empirical adjustment, and lacks intelligent monitoring and linked control means, so it has the following deficiencies: Insufficient monitoring means and low integration: all links of the traditional slag discharge system, such as the belt conveyor and TBM propulsion, are independent of each other. Usually, there are only basic sensor alarms, such as belt deviation switches and emergency stop switches, and a centralized and unified monitoring platform has not been formed. Operators need to observe TBM boring parameters and the operation of the belt conveyor separately, and cannot obtain the overall operation situation of the system, resulting in the lack of real-time data integration and analysis capabilities.

[0005] Failure cannot be predicted in time: due to the lack of continuous monitoring of belt load, slag particle size and equipment status, it is difficult to detect abnormal trends in the slag discharge process in time. For example, hidden dangers such as belt overload and jamming by large slag stones are often detected and handled only after an accident is caused or forced shutdown occurs, which is post-accident remediation rather than pre-accident prevention, and seriously affects construction continuity and equipment safety.

[0006] Manual adjustment is inefficient and unreliable: Currently, the TBM advance speed and muck conveyor speed are adjusted manually based on experience. When the muck volume suddenly increases or abnormal situations occur, manual response is often delayed, potentially missing the optimal adjustment opportunity. Furthermore, prolonged manual monitoring of the conveyor belt operation is labor-intensive and prone to misjudgment, impacting tunneling efficiency. In inclined shaft environments, workers are scattered throughout the tunnel, making timely and comprehensive manual inspections difficult, further increasing safety risks and management costs, and hindering improvements in tunneling efficiency.

[0007] In summary, there is a lack of an intelligent monitoring and coordination control system for the muck removal process of inclined shaft TBMs to monitor belt conveyor load and muck particle size in real time, and to automatically adjust tunneling and muck removal parameters to avoid overload and blockage, thereby ensuring the safe and efficient progress of inclined shaft tunneling. Therefore, it is necessary to provide a new technical solution to address the above problems. Summary of the Invention

[0008] This invention discloses an intelligent monitoring and coordinated control system and its control method for muck discharge from inclined shaft TBMs, addressing the shortcomings of existing technologies. The purpose of this invention is to provide an intelligent monitoring and coordinated control system and its control method for muck discharge from inclined shaft TBMs, applicable to inclined shaft tunnel boring machines that primarily use belt conveyors for muck discharge.

[0009] This invention is achieved through the following technical solution:

[0010] A smart monitoring and coordination control system for slag discharge from an inclined shaft TBM is installed on the TBM and its slag discharge belt conveyor. Its features include: a belt load monitoring module, a particle size analysis module, an environmental sensing module, an anomaly early warning module, and a linkage control unit; wherein:

[0011] The belt load monitoring module is used to detect changes in the load of slag on the slag belt conveyor in real time.

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

[0013] The environmental sensing module is used to monitor the vibration, temperature, speed, and environmental parameters around the belt conveyor and its drive unit.

[0014] 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.

[0015] 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.

[0016] Furthermore, 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.

[0017] The particle size analysis module further 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 to detect the particle size of the slag using laser ranging. The particle size analysis module acquires images of the slag using an industrial camera and calculates the particle size and distribution of the slag using image processing algorithms; or it uses a laser scanning measurement device to perform ranging and imaging analysis on the passing slag. The particle size analysis module can identify oversized slag stones and assess the overall particle size range of the slag.

[0018] The environmental sensing module further 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 roller of the belt conveyor to monitor the belt speed and slippage. The environmental sensing module can install vibration and temperature sensors on key parts of the belt conveyor, such as the drive motor, gearbox, and idler supports, to collect real-time data on equipment vibration amplitude and bearing temperature. Simultaneously, speed sensors are configured on the belt or roller to monitor the belt speed and determine if slippage or abnormal deceleration occurs.

[0019] Furthermore, the abnormal 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, excessive particle size, or abnormal blockage trend in the slag discharge system, and the log recording unit stores and records the information of the abnormal situation; when the abnormal situation exceeds the set safety threshold, the linkage control unit triggers an emergency interlock control to stop or slow down the machine through the abnormal warning module.

[0020] Specifically, when the belt load abnormally increases beyond the safety threshold, large pieces of slag exceeding the limit size are detected, or there is a trend of slag accumulation and blockage, the anomaly early warning module immediately issues a warning signal through the audible and visual alarm device to remind on-site operators to pay attention and handle the situation. Simultaneously, the control system stores and records information such as the time of the anomaly and parameter values, forming a log for later analysis. The early warning module can also execute interlocking control measures based on the severity of the anomaly, such as automatically slowing down or urgently stopping the machine in cases of severe overload or blockage danger, to prevent the accident from escalating.

[0021] Furthermore, 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 deviations or risks.

[0022] The linkage control unit, as the core control module, automatically adjusts key parameters such as the belt conveyor's operating speed, the TBM's advance rate, and the cutterhead's rotation speed based on real-time data acquired by various monitoring modules, achieving coordinated operation of the tunneling and muck removal processes. The linkage control unit has a built-in industrial control computer or programmable logic controller (PLC) with pre-stored safety thresholds for various parameters. When the monitored data is within the normal range, the system operates in coordination according to the set rate; when the belt load is detected to be increasing and approaching the upper limit, the control unit can appropriately reduce the TBM's advance speed or increase the belt conveyor speed to prevent overload; when the muck load decreases, it can increase the tunneling speed or decrease the belt speed to optimize efficiency. Furthermore, when an oversized muck block is detected that may cause blockage, the control unit can slow down the advance and interlock the deceleration belt, providing processing time. The linkage control unit is connected to the TBM's propulsion and cutterhead drive control systems and the belt conveyor drive system via communication interfaces, thereby coordinating the control of each actuator.

[0023] Furthermore, the belt load monitoring module and particle size analysis module are sequentially arranged along the conveying path of the belt conveyor, and the monitoring data collected by each module are transmitted to the linkage control unit for centralized processing via wired or wireless means.

[0024] This invention also provides a method for intelligent monitoring and coordinated control of slag discharge from inclined shaft TBMs based on the above system, comprising the following steps:

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] This invention's control method collects real-time data on belt load, particle size distribution, and equipment environment; transmits the data to the linkage control unit for analysis and processing; operates according to a preset strategy when the data is within the normal range; if exceeding limits or exhibiting abnormal trends, it automatically adjusts the relevant parameters of the belt conveyor and TBM to eliminate the anomaly; simultaneously, it provides audible and visual alarms and records any abnormal situations. Through this invention, dynamic matching of tunneling speed and muck removal capacity can be achieved, allowing for timely intervention in potential faults and ensuring the continuous and stable operation of inclined shaft TBM construction.

[0032] The advantages of this invention are as follows:

[0033] Real-time monitoring and data fusion: The system integrates and collects multi-source information such as belt load, slag particle size, and equipment status to achieve real-time online monitoring of the entire slag discharge process. Centralized data analysis enables the early detection and identification of abnormal conditions, unlike traditional discrete monitoring methods that rely on manual inspections.

[0034] Automatic coordination control improves efficiency: The linkage control unit automatically adjusts the operating status of the TBM and conveyor belt based on monitoring results, maximizing muck removal efficiency while ensuring safety. By dynamically matching the tunneling rate and muck removal capacity, the system reduces waiting or overload shutdowns caused by incoordination, achieving synchronous optimization of tunneling and muck removal operations and improving construction efficiency.

[0035] Timely early warning to prevent accidents: When signs of belt overload, excessive slag, or blockage appear, the system can immediately issue audible and visual alarms and interlock controls to prevent minor faults from escalating into serious accidents. Compared to existing post-incident manual handling methods, early warning and intervention significantly reduce the probability of belt conveyor breakage, jamming, and other accidents, ensuring construction safety.

[0036] Reduced labor intensity and costs: This invention replaces extensive manual monitoring and operational adjustments with real-time machine monitoring and intelligent control, reducing labor intensity and minimizing human error. The system's automated coordination control and fault prevention capabilities reduce unplanned downtime and maintenance frequency, thereby extending equipment lifespan and lowering construction, operation, and maintenance costs. In summary, this invention improves the safety, reliability, and economic efficiency of inclined shaft TBM excavation and muck removal systems. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the intelligent monitoring and coordinated control system for slag removal from a TBM in inclined shafts according to the present invention. The diagram illustrates the installation layout of the TBM main unit, belt conveyor, and various monitoring modules and control units.

[0038] Figure 2 This is a control flowchart of the linkage control unit of the present invention. It illustrates the working process of the system in acquiring data, analyzing and making decisions, executing control, and issuing alarms for abnormalities.

[0039] Explanation of reference numerals in the attached drawings: 1-Tunnel Boring Machine (TBM) main unit, 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. Specific Implementation

[0040] The present invention will be further described below with reference to specific embodiments. These specific embodiments are further explanations of the principles of the present invention and are not intended to limit the present invention in any way. Any technology that is the same as or similar to the present invention does not exceed the scope of protection of the present 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, comprising multiple sub-sensors, is arranged along the frame and drive section of the belt conveyor 2 to monitor the equipment's operating status. Preferably, vibration sensors are installed on the bases of the belt drive motor and the gearbox to detect the three-axis vibration of the motor and gearbox, determining whether the equipment operates smoothly. Temperature sensors are installed on the motor stator windings, gearbox bearing housings, and other locations to measure the motor winding temperature and critical bearing temperature in real time, preventing equipment damage due to overheating. Furthermore, a speed sensor is installed at the drive roller or tension roller of the belt conveyor to monitor the belt speed. By comparing the actual belt speed with the motor speed command value, it can be determined whether abnormalities such as belt slippage or speed drop due to overload have occurred. The vibration, temperature, and speed data obtained by the environmental sensing module 5 are also aggregated and sent to the linkage control unit 6.

[0047] The linkage control unit 6, typically composed of an industrial control computer or PLC, serves as the system's central processor and control center. It connects to the monitoring modules 3, 4, and 5 via a wired or wireless industrial communication bus to collect data and connects to the drive control systems of the TBM host 1 and the belt conveyor 2 to send control commands. Specifically, the control unit 6 runs software programs for slag discharge coordination control, including functional units such as a data acquisition module, a status judgment module, and a control strategy module. During normal system operation, the control unit 6 continuously receives and updates real-time data from each sensor module.

[0048] Data Synthesis and Judgment: The control unit first performs a comprehensive analysis of data such as belt load, particle size, vibration temperature, etc. For example, it determines whether the current slag discharge is close to the belt conveyor's maximum carrying capacity based on the trend of belt load changes; it determines whether there are abnormally large rocks mixed in by analyzing the slag particle size distribution; and it determines whether the belt conveyor is operating smoothly by combining vibration and speed data. Benefically, different sensor information can be cross-validated to improve the accuracy of the judgment (for example, a sudden increase in vibration and a sharp drop in belt speed may indicate slag blockage ahead). The control unit compares this information with preset threshold parameters (thresholds are stored in the control unit's database, such as maximum allowable load, maximum particle size, etc.). When all monitored data are within the normal range, the system determines that the slag discharge process is stable.

[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, coordinating the work at the predetermined tunneling speed and muck discharge speed.

[0050] When monitoring indicates an abnormal trend or a threshold is reached, the control unit immediately activates the corresponding adjustment strategy to achieve coordinated control of tunneling and slag removal.

[0051] ① Load Coordination: If the belt load monitoring value continuously rises to near its rated load capacity (e.g., reaching over 90% of the threshold), the control unit reduces the propulsion speed of the TBM propulsion cylinder and / or the rotation speed of the cutterhead 8 to decrease the muck generation rate. Simultaneously, the motor speed of the belt conveyor 2 can be increased to appropriately accelerate muck transportation, quickly clearing accumulated muck and preventing belt overload and material accumulation. Conversely, when the belt load remains at a low level for an extended period and the geological conditions ahead permit, the control unit can instruct the TBM to appropriately increase its propulsion speed and cutterhead rotation speed to improve tunneling efficiency, while the belt speed can be adjusted accordingly to ensure timely muck removal without stagnation. Through this closed-loop adjustment, the TBM's muck discharge rate and belt transport capacity are dynamically balanced.

[0052] ② Handling of Oversized Particles: When the particle size analysis module 4 reports the presence of oversized slag (particle size exceeding the preset upper limit), the control unit determines that the slag may increase the risk of blockage. It immediately reduces the TBM's advance rate or even suspends tunneling, while simultaneously slowing down the belt conveyor speed to allow on-site personnel time to handle large pieces (e.g., manually or mechanically breaking up large rocks). Only after the oversized slag has been confirmed and removed will the system resume normal tunneling speed to prevent belt blockage accidents caused by large rocks.

[0053] ③ Equipment Status Adjustment: If the environmental sensor module 5 detects severe equipment vibration or abnormal temperature rise, such as excessive temperature of the belt-driven roller bearing, the control unit will reduce the operating speed or torque load of the relevant equipment and issue a maintenance prompt to prevent the fault from escalating. At the same time, if belt misalignment or slippage is detected (which can be judged by a combination of speed and tension changes), the control unit can automatically stop the machine or reduce speed and tension the belt, and activate the correction device (if any) to correct the misalignment.

[0054] Anomaly Warning and Interlocking: If any monitored data exceeds a safety threshold or shows a trend that may lead to an accident, the linkage control unit 6 will trigger the anomaly warning module 7 to respond with a dual mechanism of alert and protection. In this embodiment, the anomaly warning module 7 includes an audible and visual alarm unit and a log recording unit. The audible and visual alarm unit is installed in a conspicuous location in the TBM control room and along the belt. When triggered, it will illuminate a warning light and emit a buzzer or alarm sound to warn on-site personnel. For example, when the belt load far exceeds the set upper limit or the belt shows a tendency to block and stop, an alarm will be sounded immediately; when a foreign object is detected causing a sudden increase in belt vibration, an alarm will also be sounded. At the same time, the log recording unit writes information about abnormal events into the memory, including the time of the abnormality, specific parameter values, and the measures taken by the system. This facilitates post-event analysis by management personnel to identify the cause of the fault and optimize operating strategies. In certain severe situations (such as when the belt is about to tear or the equipment temperature reaches a dangerous value), the linkage control unit will issue an interlocking control command through the warning module to automatically shut down the machine or reduce the system operation to a safe state, protecting the safety of personnel and equipment while urging prompt maintenance and repair through alarms.

[0055] Through the coordinated operation of the aforementioned modules, the intelligent monitoring and coordination control system for muck removal in inclined shaft TBMs can achieve real-time monitoring and autonomous adjustment of the tunneling and muck removal process under unmanned or minimally staffed conditions. For example, in practical applications, this system has successfully prevented several belt overload accidents caused by a sudden increase in muck volume: when the tunneling machine encounters a sudden muck surge in a section with poor geological conditions, the system promptly senses the surge in belt load, automatically slows down the tunneling and accelerates the belt operation, ensuring that the belt conveyor does not stop due to overload; another example is when a large rock exceeding the width of the belt fell in front of the machine during tunneling, the particle size analysis module detected it, immediately alarmed, and interlocked to stop the TBM's advance, allowing the operators to promptly break up and remove the large rock, preventing a serious belt blockage accident. This invention's system can achieve dynamic matching and efficient operation of inclined shaft TBM tunneling and muck removal while ensuring 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 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. The particle size analysis module is used to collect and analyze the particle size distribution of the slag on the belt conveyor. 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. An environmental sensing module is used to monitor the vibration, temperature, and speed environmental parameters around the belt conveyor and its drive unit. 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 equipment's vibration status. 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 rollers of the belt conveyor to monitor the belt speed and slippage. The anomaly warning module is used to control and issue audible and visual alarm signals and record abnormal event logs when abnormal load, excessive particle size, or abnormal clogging trend occurs in the slag discharge system. The anomaly warning module includes an audible and visual alarm device and a log recording unit. The audible and visual alarm device issues warning signals when abnormal load, excessive particle size, or abnormal clogging trend occurs in the slag discharge system, and the log recording unit stores and records information about the abnormal situation. When the abnormal situation exceeds the set safety threshold, the linkage control unit triggers an emergency interlock control to stop or reduce speed through the anomaly warning module. 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 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.

3. 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.

4. A method for intelligent monitoring and coordinated control of slag discharge from inclined shaft TBMs, characterized in that: The intelligent monitoring and coordination control system according to any one of claims 1 to 3 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, real-time data on load on the belt conveyor, muck particle size distribution data, and belt conveyor vibration, temperature, speed, and environmental status data are collected 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.

5. The intelligent monitoring and coordinated control method for slag discharge from inclined shaft TBMs according to claim 4, 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 operating vibration and / or temperature thresholds; 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.

Images