Method for accurately and safely disassembling TBM (tunnel boring machine) in tunnel based on model driving

Abstract

The invention discloses an in-tunnel TBM precise and safe disassembling method based on model driving, and belongs to the technical field of engineering equipment disassembling. Aiming at the problems of large separation impact, high space interference risk, non-optimal disassembly sequence, difficulty in attitude control and the like in the traditional disassembly process, a'digital twinning 'framework comprising four technical modules is constructed: a main drive controllable separation model based on structural dynamics realizes low-impact flexible separation; a cutter head safe disassembly window model based on space analytic geometry ensures the space safety in the lifting process; generating a global optimal sequence on the basis of a graph theory topological sorting and multi-target evaluation disassembly sequence optimization model; a screw conveyor collaborative hoisting model based on multi-body system mechanics realizes accurate attitude control. According to the method, experience judgment is replaced by mathematical model driving, so that the safety, efficiency and adaptability of disassembly are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of engineering equipment dismantling technology, and in particular to a model-driven method for precise and safe dismantling of TBMs inside tunnels. Background Technology

[0002] TBMs (Tunnel Boring Machines), as core equipment in tunnel engineering, can weigh thousands of tons each and consist of dozens of key components, including the cutterhead, main drive, auger, and shield. After tunnel construction is completed, the TBM needs to be disassembled into modular components within the confined tunnel chamber and then lifted out of the tunnel using hoisting equipment. Traditional TBM disassembly methods rely on operator experience and lack quantitative model support, resulting in four major pain points: Uncontrollable separation dynamics: When disassembling heavy components such as the main drive, rigid traction is used, and the separation energy at the joint surface is released instantaneously, with impact acceleration reaching [missing value]. Far exceeding the allowable value ( This can easily cause deformation of components or damage to lifting equipment; Static lag in space planning: Space requirements are estimated based solely on the static length of components and the length of the chamber, without considering component swaying offsets during lifting (such as the cutterhead sway angle). At that time, the offset can reach This results in the actual space occupied exceeding the reserved value, causing interference between the cutter head and the cross brace; Local Optimum of Disassembly Sequence: The greedy algorithm selects the disassembly order of "easy first, difficult later" without considering global constraints. For example, if the shield tail top block is disassembled first and then the main drive is disassembled, the width of the hoisting path of the main drive will be insufficient (the remaining space width < the component width), and a second re-transfer will be required, which will increase the construction period and cost. Open-loop control of attitude change: slenderness ratio of screw conveyor (length ,diameter The attitude adjustment lacks closed-loop feedback, making it prone to deflection (which can reach up to) due to torque imbalance. The risk of colliding with the shield or cave wall is as high as .

[0003] While existing technologies offer some improvements for TBM dismantling (such as increasing the number of lifting points and optimizing the lifting device structure), none of them construct a global quantitative control system from a "model-driven" perspective, thus failing to fundamentally address the aforementioned pain points. Therefore, there is an urgent need to propose a TBM in-tunnel dismantling method that integrates multidisciplinary mathematical models to achieve precise control and global optimization throughout the entire process. Summary of the Invention

[0004] The purpose of this invention is to provide a model-driven method for the precise and safe dismantling of TBMs inside tunnels, which solves the problems of uncontrollable separation dynamics, static lag in spatial planning, failure to consider global constraints in dismantling sequence, and lack of closed-loop feedback in attitude adjustment.

[0005] To achieve the above objectives, this invention provides a model-driven method for precise and safe dismantling of TBMs inside tunnels, comprising the following steps: S1. Construct a TBM dismantling "digital twin" framework, which includes four major technical modules: controllable separation of main drive, safe dismantling window of cutter head, dismantling sequence optimization, and screw conveyor coordinated hoisting. Each module achieves quantitative control through corresponding mathematical models. S2. Based on the structural dynamics equations, a controllable separation model of the main drive is constructed. Through the flexible connection mechanism of the "main load-bearing - active control" dual system and damped vibration control, the low-impact separation of the main drive is achieved. S3. Construct a safe disassembly window for the cutterhead based on a spatial analytical geometric model, and introduce dynamic swing uncertainty compensation to ensure spatial safety during the disassembly process. S4. Based on graph theory topological sorting algorithm and multi-body objective evaluation function, construct disassembly sequence optimization model to generate globally optimal TBM component disassembly sequence; S5. Based on the force balance equation and kinematic synchronization equation of the multibody system, a collaborative hoisting model of the screw conveyor is constructed to achieve precise attitude control during the screw conveyor's pull-out and rotational leveling processes.

[0006] Preferably, the construction and implementation of the main drive controllable separation model in step S2 includes the following sub-steps: S21. Establish a dual system of "main load-bearing and active control": The main load-bearing system consists of the main hook of the bridge crane, which is pre-slack and does not participate in traction initially; the active control system consists of two sets of hand-operated hoists to provide controllable traction force. S22. Calculate the preload: The preload satisfies the equilibrium equation. ,in , The static friction coefficient of the steel-to-steel interface. For the normal force of the mating surface; S23. Apply preload and control tension deviation: Monitor the tension of the two sets of hoists using a tension sensor. ,satisfy After pre-tightening, maintain pressure and monitor the deformation of the lifting lugs; S24. Establish the differential equation of separation kinetics: The equation is as follows ; in, The traction force varies over time. For dynamic friction, Driven by quality For separation acceleration, For separation speed, It is the equivalent viscous damping coefficient; S25. Control the separation speed and provide real-time feedback: Control the separation speed to a constant value, monitor displacement, speed and acceleration in real time, and adjust the hoist release speed to bring the acceleration back to the control range.

[0007] Preferably, the dynamic friction force described in step S24 Satisfying the formula: ; in, The coefficient of kinetic friction is . The velocity damping coefficient, This refers to the separation speed.

[0008] Preferably, the construction and implementation of the cutterhead safety disassembly window in step S3 includes the following sub-steps: S31. Establish a three-dimensional rectangular coordinate system and define geometric parameters: with the center of the cavern floor as the origin. Vertically upwards Establish a coordinate system based on the axes and define the radius of the tool head. Horizontal brace bottom height Parameters such as static minimum clearance H; S32. Construct static safety constraint equations: The equations are as follows: ,in, This represents the initial height of the cutter head center. S33. Establish the swing angle and offset model: The height of the highest point of the top of the cutter head after swinging is... ,in This is the maximum swing angle; S34. Construct dynamic safety constraint equations and define a safety dismantling window: The equations are as follows: Satisfying the equation The value range is the safe dismantling window; S35. Adjust and verify the cutterhead posture: Adjust the level of the cutterhead and verify that the distance between the edge of the cutterhead and the cavity wall meets the safety requirements.

[0009] Preferably, the construction and implementation of the decomposition sequence optimization model in step S4 includes the following sub-steps: S41. Construct a directed graph of component dependencies: Define the directed graph. ,in, The vertex set composed of TBM components. An edge set representing component dependencies; S42. Establish a dependency adjacency matrix: Construct the adjacency matrix. The dependencies between components are represented by matrix elements; S43. Use Kahn's algorithm to generate a feasible decomposition sequence: calculate the in-degree of each vertex, initialize the queue, and take out the vertices in turn to generate a topological sequence. S44. Define a multi-objective comprehensive evaluation function: The function is... ,in These are the weighting coefficients. For the total construction period, Total transportation cost, For space congestion; S45. Select the optimal decomposition sequence: Find the sequence corresponding to the minimum value of the evaluation function and use it as the global optimal decomposition sequence.

[0010] Preferably, in step S44: Total construction period Disassembly time for a single component; Total transportation cost , The handling fee is per unit weight. For unit distance transportation fee, For component quality, For transport distance; Crowded space , for Temporary storage area volume at any time This represents the effective volume of the cavern.

[0011] Preferably, the construction and implementation of the screw conveyor collaborative hoisting model in step S5 includes the following sub-steps: S51. Set up the hoisting system and establish a coordinate system: Construct the "main hook and auxiliary hoists B and C" system and establish a dynamic coordinate system that moves with the center of gravity of the screw conveyor. S52. Establish the vertical force balance equation during the extraction stage: The equation is as follows: ,in Main hook tension, To assist the hoist's pulling force, For the quality of the screw press, It is the acceleration due to gravity. This is the axial frictional force; S53. Establish the moment balance equation to control the tilt angle: The equation is as follows: ,in, The distance from the center of gravity to the motor end. The distance from the center of gravity to the non-motor end; S54. Plan the motion trajectory during the rotation and leveling stage: Set a constant rotational angular velocity, plan the desired velocity of each lifting point, and establish a closed-loop feedback control model. S55. Correct the lifting point tension and monitor parameters: Consider dynamic load compensation to correct the lifting point tension, and monitor key parameters in real time to ensure that the safety threshold is met.

[0012] Preferably, in step S52, the axial friction force ,in, The coefficient of axial friction is 1. The radial positive pressure between the spiral mechanism and the shield body.

[0013] Preferably, in step S54, during the rotation and leveling stage, each lifting point is... The desired velocity in the direction is: Main hook: The negative sign indicates a decrease; Auxiliary hoist B (motor end): ; Auxiliary hoist C (non-motor end): ; in Angular velocity of rotation This is the distance from the center of rotation to the center of gravity.

[0014] Preferably, the method further includes step S6: adapting different types of components by adjusting the friction coefficient, moment of inertia, spatial geometric parameters, and component mass in the mathematical model. Disassembly scenarios with different chamber sizes and different component weights.

[0015] Therefore, the model-driven, precise and safe dismantling method for TBMs inside tunnels, based on the above structure, has the following beneficial effects: (1) Achieve low-impact safe separation of the main drive. Through a unique flexible connection and active control system, it can effectively absorb and buffer the huge impact energy generated at the moment of separation, completely avoid equipment damage that may be caused by rigid traction, and greatly ensure the structural integrity of the core components during the separation process of the main drive.

[0016] (2) Ensure spatial safety during the cutterhead disassembly process. By constructing a dynamic safety disassembly window, the disassembly position and posture of the cutterhead are precisely planned to provide an absolutely safe working space for its vertical lifting, effectively preventing interference with the support structure inside the tunnel, and placing the cutterhead disassembly in a scientific sequence to improve the overall process efficiency.

[0017] (3) Generate the globally optimal component disassembly sequence. By systematically analyzing the dependencies between components and comprehensively considering multiple objectives such as schedule, cost and space utilization, a scientific and reasonable disassembly sequence is generated to avoid process conflicts and secondary handling, thereby achieving high efficiency and smoothness throughout the disassembly process.

[0018] (4) Achieve precise and stable control during the hoisting process of the screw conveyor. A multi-point collaborative control system is adopted to ensure that the screw conveyor remains stable during the complex posture changes of pulling out and rotating and leveling through precise force and torque balance control, and always meets the key safety distance requirements to eliminate the risk of collision.

[0019] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall method framework for a model-driven method for precise and safe dismantling of a TBM inside a tunnel, as proposed in this invention. Figure 2 This is a schematic diagram of the main drive controllable separation of a model-driven method for precise and safe dismantling of a TBM inside a tunnel, according to the present invention. Figure 3 This is a schematic diagram of the cutterhead safety dismantling window in a model-driven, precise, and safe dismantling method for TBMs inside tunnels according to the present invention. Figure 4 This is a schematic diagram of the screw conveyor-assisted hoisting of a model-driven method for precise and safe dismantling of a TBM inside a tunnel, according to the present invention. Detailed Implementation

[0021] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0023] Example like Figure 1-4 As shown, this invention provides a model-driven method for precise and safe dismantling of TBMs inside tunnels, as detailed below: Step S1: Constructing the TBM Decomposition "Digital Twin" Framework: A "digital twin" framework comprising four major technical modules is built. Each module achieves quantitative control through mathematical models. The correspondence between module functions and the core model is as follows: Main drive controllable separation module: Based on the single-degree-of-freedom damped vibration equation, the goal is to control the separation acceleration to meet a preset threshold; Cutterhead safety disassembly window module: Based on spatial geometric constraint equations with uncertainty compensation, the goal is to ensure that the distance between the cutterhead and the cross brace meets safety requirements; Decomposition sequence optimization module: Based on directed graph topology sorting + multi-objective evaluation function, the objectives are to minimize total construction period, transportation cost and space congestion; Screw conveyor collaborative hoisting module: Based on the force balance of a multibody system and kinematic synchronization equations, the goal is to control the attitude deviation and displacement synchronization error to meet the preset threshold.

[0024] Step S2: Construct a main driver controllable separation model S21. Establish a dual system of "main load-bearing and active control": Main load-bearing system: Composed of the main hook of the bridge crane, it bears the static load. ( (Primary driving mass), wire rope pre-slack setting, initially not involved in traction; Active control system: Consists of two sets of manual chain hoists, providing controllable traction force. The equivalent viscous damping coefficient is introduced into the hoist chain. To achieve energy dissipation.

[0025] S22. Calculate the preload: The preload must overcome the maximum static friction at the mating surface; the equilibrium equation is: ; in, The formula for calculating the maximum static friction force at the mating surface is as follows: ; in, The static friction coefficient of the steel-to-steel interface is 0.15-0.2. The normal force at the mating surface is determined by the sum of the bolt preloads. , For the number of bolts, (Preload of a single bolt).

[0026] S23. Apply preload and control deviation: The tension of the two sets of hoists is monitored in real time using a tension sensor. , , must meet Pre-tightening and pressure holding Monitoring the deformation of the lifting lugs (Elastic deformation range).

[0027] S24. Establish the separation dynamic differential equation: The main driving separation process is damped vibration, and the dynamic equation is: ; In the formula: The traction force varies over time (controlled by the release speed of the hoist); For dynamic friction, satisfying ( The coefficient of kinetic friction is 0.12-0.15. The velocity damping coefficient, ; (for separation speed) For separation acceleration; Separation speed; Equivalent viscous damping coefficient ( (This is due to the superposition of the damping from the hoist chain and the damping from structural deformation).

[0028] S25. Controlling Separation Speed ​​and Real-time Feedback: Controlling the separation speed to a constant value. ,at this time The equation simplifies to Displacement is monitored using a laser rangefinder. Calculation speed and acceleration ,like Reduce the release speed of the gourd Regression control range.

[0029] Step S3: Construct a safe disassembly window for the cutter head S31. Establish a coordinate system and define parameters: with the center of the tunnel floor as the origin. Vertically upwards Establish a three-dimensional rectangular coordinate system ; Definition: The cutter head is simplified to its radius. The disk, center coordinates Height of the highest point at the top ; Bottom height of the cross brace (Total station measurement, accuracy) Static minimum clearance (Consider measurement errors and structural deformation).

[0030] S32. Construct the static safety constraint equation: Under ideal no-oscillation conditions, the safety condition for the cutterhead lifting is: Substitution The initial height constraint of the cutter head center is obtained: .

[0031] S33. Establish the swing angle and offset model: Maximum swing angle during cutter head lifting. ( (Determined by the crane's operating precision), the height of the highest point after swinging is: ; Geometric meaning: The oscillation increases the "effective radius" of the cutter head, and the safety window needs to be expanded through model compensation.

[0032] S34. Construct dynamic safety constraint equations and define the safety window: The enhanced safety conditions for considering oscillation are: The target height of the cutter head center is obtained through careful planning: The range of Z_1 values ​​that satisfy the above formula is defined as the "safe dismantling window". The position of the cutter head is adjusted by the TBM propulsion system so that Z_1 falls into the window.

[0033] S35. Adjust and verify the cutter head posture: Adjust the cutter head level using a laser level. ,satisfy After adjustment, verify the distance between the cutter head edge and the cavity wall. ; in, The horizontal offset of the cutter head ( ); D is the diameter of the cavern.

[0034] Step S4: Construct the decomposition sequence optimization model S41. Construct a directed graph of component dependencies: Define the directed graph. Vertex set ( For TBM components, such as cutter heads Main drive (etc.); edge set :like Demolition is The prerequisite for hoisting is that... (from point to The edge weight is 1 (indicating strong dependency).

[0035] S42. Establish a dependency adjacency matrix: Construct the adjacency matrix. The element is defined as: ; Example (5 parts): .

[0036] S43. Use Kahn's algorithm to generate feasible sequences: calculate the in-degree of each vertex. (Point to (Number of edges); Initialize the queue ,join in vertex; loop: from Extract the vertex join sequence traversal Adjacent vertices And update ,like Then add Until If empty, generate a feasible topological sequence. .

[0037] S44. Define a multi-objective comprehensive evaluation function: For each feasible sequence S, calculate the comprehensive evaluation index: ; In the formula: These are weighting coefficients (summing up to 1, adjustable according to project requirements, such as prioritizing schedule). ); ( (for component disassembly time). ( The handling fee is per unit weight. For unit distance transportation fee, (for transport distance) ( This refers to the volume of the temporary storage area. (This refers to the effective volume of the cavern).

[0038] S45. Select the optimal decomposition sequence: Solve for the sequence corresponding to the minimum value of the evaluation function, i.e.: ; Example: A certain project Among the three feasible sequences The smallest, therefore, is selected. This is the optimal sequence.

[0039] Step S5: Construct a model for collaborative hoisting of the screw conveyor. S51. Construct a hoisting system and establish a coordinate system: Build a "main hook + double auxiliary hoist" system and establish a dynamic coordinate system that moves with the center of gravity of the screw conveyor. ( (Axis vertically upward) Definition: Main hook ( Point coordinates (Loading center of gravity); Auxiliary gourd 1 ( Point, motor end) coordinates ( )( (distance from the center of gravity to the motor end). Auxiliary gourd 2 ( Point (non-motor end) coordinates ( )( (distance from the center of gravity to the non-motor end). Total length of the screw conveyor ,quality Moment of inertia ( (Diameter).

[0040] S52. Establish the vertical force balance equation during the extraction stage: The total lifting force needs to overcome gravity and axial friction. The balance equation is: ; In the formula: Main hook tension (bearing) Total load); To assist the hoist's pulling force (each bears) Total load); For the quality of the screw press ( ); The acceleration due to gravity ( ); For axial friction, the calculation formula is: ; ( The coefficient of axial friction is 1. ; It is radial positive pressure. ).

[0041] S53. Establishing the torque balance equation to control the tilt angle: Taking the center of gravity of the screw conveyor as the moment center, the torque balance equation is: ; By adjusting and The ratio ( Ensure the screw conveyor axis is horizontal and the inclination angle is correct. .

[0042] S54. Planning the motion trajectory during the rotation and leveling phase: Setting rotation parameters: Around constant angular velocity of axis Rotation angle range (Horizontal → Vertical); Expected speed of planned lifting point: main hook (The negative sign indicates a decrease), auxiliary gourd Auxiliary gourd ( The distance from the center of rotation to the center of gravity. ); Closed-loop feedback control: Real-time monitoring of the distance between the tail end and the end wall ( This is the initial spacing. ; (for real-time rotation angle), if , reduce Extend the rotation time.

[0043] S55. Correct the lifting point tension and monitor parameters: Considering the centrifugal inertial force during rotation, the corrected main hook tension is: ; Real-time monitoring of tension (error) at lifting points ), screw conveyor inclination angle ( ,error Tail end spacing (error) ) and rotational angular velocity (error) ), to ensure that the safety threshold is met.

[0044] Step S6: Adjust model parameters to adapt to different scenarios The method can be adapted to different engineering scenarios by adjusting the following parameters: Hard Rock TBMs and Tunnel Boring Machines: Adjusting the Friction Coefficient (Hard Rock TBMs) tunnel boring machine ), Moment of inertia (increases by 20%-30% for tunnel boring machine I); Different chamber sizes: Modifying the spatial constraint equations (Horizontal brace height) (Diameter of the tunnel), recalculate the safe dismantling window; Different component weights: Update parameters such as mass m and length L, and automatically adapt the torque balance and force balance equations.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A model-driven-based accurate and safe disassembly method for a TBM in a tunnel, characterized in that, Comprising the following steps: S1, constructing a TBM disassembly "digital twin" framework, which includes four technical modules of main drive controllable separation, cutterhead safe disassembly window, disassembly sequence optimization and screw machine cooperative lifting, each module realizes quantitative control through corresponding mathematical model; S2, constructing a main drive controllable separation model based on structural dynamics equation, realizing low-impact separation of main drive through flexible connection mechanism and damping vibration control of "main bearing-main control" dual system; S3, constructing a cutterhead safe disassembly window based on spatial analytic geometry model, introducing dynamic swing uncertainty compensation to ensure spatial safety during cutterhead disassembly; S4, constructing a disassembly sequence optimization model based on graph theory topological sorting algorithm and multi-body objective evaluation function, generating globally optimal TBM component disassembly sequence; S5, constructing a screw machine cooperative lifting model based on multi-body system force balance equation and kinematics synchronization equation, realizing precise attitude control of screw machine during pulling-out and rotating and flattening process.

2. The model-driven precision safety disassembly method of a TBM in a hole according to claim 1, characterized in that, The construction and implementation of the main drive controllable separation model in step S2 include the following sub-steps: S21, building a "main bearing-main control" dual system: the main bearing system is composed of a bridge crane main hook, which is pre-relaxed and does not participate in traction initially; the active control system is composed of two groups of hand-operated hoists, which are used to provide controllable traction force; S22, calculate the pre-tightening force: the pre-tightening force satisfies the balance equation wherein , is the static friction coefficient of the steel-steel joint surface, is the normal pressure of the joint surface; S23, apply pre-tightening force and control tension deviation: monitor the tension of the two groups of hoists through the tension sensor , meet , keep pressure after pre-tightening and monitor the deformation of the lifting lugs; S24, establishing separation dynamics differential equation: the equation is ； wherein is the traction force as a function of time, is the dynamic friction force, is the primary driving mass, is the separation acceleration, is the separation velocity, is the equivalent viscous damping coefficient; S25, controlling separation speed and real-time feedback: controlling the separation speed to be a constant value, real-time monitoring displacement, speed and acceleration, and adjusting the hoist release speed to make the acceleration return to the control range.

3. The model-driven precision safety disassembly method of a TBM in a hole according to claim 2, characterized in that, The dynamic friction force in step S24 satisfies the formula: ； wherein is the dynamic friction coefficient, is the velocity damping coefficient, is the separation velocity.

4. The model-driven precision safety disassembly method of a TBM in a hole according to claim 1, characterized in that, The construction and implementation of the cutterhead safe disassembly window in step S3 include the following sub-steps: S31, establish three-dimensional rectangular coordinate system and define geometric parameters: take the center of the chamber floor as the origin , vertically upward as axis to establish the coordinate system, define the cutter head radius , cross support bottom height , static minimum clearance H and other parameters; S32, constructing static security constraint equation: the equation is wherein, is the initial height of the center of the cutter head; S33, establish the swing angle and offset model: the highest point height of the swing cutterhead top is wherein is the maximum swing angle; S34, constructing dynamic security constraint equation and defining security disassembly window: the equation is , the value range of the satisfying the equation is the security disassembly window; S35, adjusting the cutterhead attitude and verifying: adjusting the cutterhead levelness, and verifying that the distance between the cutterhead edge and the hole wall meets the safety requirements.

5. The model-driven precision safety disassembly method of a TBM in a hole according to claim 1, characterized in that, The construction and implementation of the disassembly sequence optimization model in step S4 include the following sub-steps: S41, constructing a component dependency directed graph: defining a directed graph wherein, is a vertex set consisting of TBM components, is an edge set representing component dependency; S42, dependency relationship adjacency matrix is established: the adjacency matrix is constructed The dependency relationship between components is represented by matrix elements; S43, generating feasible disassembly sequence using Kahn algorithm: calculating the in-degree of each vertex, initializing the queue and taking out the vertices in turn to generate topological sequence; S44, defining a multi-objective comprehensive evaluation function: the function is wherein is a weight coefficient, is a total construction period, is a total transportation cost, is a space congestion degree; S45, selecting optimal disassembly sequence: solving the sequence corresponding to the minimum value of the evaluation function as the globally optimal disassembly sequence.

6. The model-driven precision safety disassembly method of a TBM in a hole according to claim 5, characterized in that, In step S44: Total duration Time to disassemble as individual components; total handling cost , handling cost per unit weight, handling cost per unit distance, component mass, handling distance; Space congestion , is the volume of the temporary storage area at the moment, is the effective volume of the chamber.

7. The model-driven precision safety disassembly method of a TBM in a hole according to claim 1, characterized in that, The construction and implementation of the screw machine cooperative lifting model in step S5 include the following sub-steps: S51, building lifting system and establishing coordinate system: building "main hook and auxiliary hoists B, C" system, and establishing dynamic coordinate system moving with the screw machine gravity center; S52, establish the pull-out stage vertical force balance equation: the equation is wherein is the main hook tension, is the auxiliary cage tension, is the screw machine mass, is the gravitational acceleration, is the axial friction force; S53, establish a moment balance equation to control the tilt angle: the equation is wherein, is the distance from the center of gravity to the motor end, is the distance from the center of gravity to the non-motor end; S54, planning motion trajectory in rotating and flattening stage: setting constant angular velocity, planning expected velocity of each lifting point, and establishing closed-loop feedback control model; S55, correcting lifting point tension and monitoring parameters: considering dynamic load compensation to correct lifting point tension, and real-time monitoring key parameters to ensure that safety threshold is met.

8. The model-driven precision safety disassembly method of a TBM in a hole according to claim 7, characterized in that, the axial friction force in step S52 wherein, is the axial friction coefficient, is the radial positive pressure of the screw machine and the shield body.

9. The model-driven precision safety disassembly method of a TBM in a hole according to claim 7, characterized in that, In the rotation and flattening phase of step S54, each lifting point is in The desired speed in the direction of the arrow is: Main hook: , negative sign means decrease; Auxiliary gourd B (motor end): ; Auxiliary gourd C (non-motor end): ; wherein is the rotational angular velocity, is the distance from the center of rotation to the center of gravity.

10. The model-driven precision safety disassembly method of a TBM in a hole according to claim 1, characterized in that, Also included is a step S6 of adapting the disassembly scenarios of different types , different chamber sizes and different component weights by adjusting the friction coefficients, moments of inertia, spatial geometry parameters and component masses in the mathematical model.

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