A shield machine slagging device and a slagging quantity detection and regulation method thereof

Abstract

The application provides a shield machine slagging device and a slagging quantity detection and regulation method thereof, and the device comprises a shield unit, a PLC system, a communication module, a cloud platform module and a monitoring unit; the PLC system is electrically connected with the shield unit and the monitoring unit, is used for receiving and analyzing data detected by the monitoring unit, and transmits analysis results to the cloud platform module through the communication module; the monitoring unit comprises a soil tank pressure monitoring device, a spiral conveyor slag soil monitoring device, a slag soil flow monitoring device and a belt slag soil monitoring device. The application comprehensively monitors key parameters in the shield construction process by arranging multi-dimensional monitoring units, adopts a multi-source parameter collaborative control model, combines data such as soil tank pressure, slag volume, geological conditions and shield machine operation state, performs comprehensive analysis and regulation, and adjusts construction parameters in real time through a dynamic feedback mechanism, so that the flexibility and response capability of construction are ensured, and the precision and reliability of the regulation effect are significantly improved.

Description

Technical Field

[0001] This invention belongs to the field of tunnel boring machine (TBM) equipment technology, and relates to a TBM muck removal device and a method for detecting and controlling the muck removal volume. Background Technology

[0002] Shield tunneling is developing rapidly in my country, but large-scale shield tunnel construction faces many challenges. Among these, ground settlement during the construction of earth pressure balance (EPB) shield tunnels is a common and challenging engineering problem, especially in areas with soft soil layers, sand layers, or abundant groundwater. Ground settlement can pose serious safety hazards to surrounding buildings, roads, and underground pipelines. Research has found a positive correlation between the occurrence of these hazards and over-excavation during shield tunneling. The amount of excavated soil directly reflects the degree of surface settlement; therefore, controlling the amount of excavated soil to prevent over-excavation is crucial for ensuring the safety of surface buildings and structures.

[0003] Currently, the industry has made some progress in controlling the amount of slag discharged and the pressure in the earth pressure shield tunneling machine (EPS). For example, CN115898446A discloses a method for managing the amount of slag discharged during shield tunneling based on triple verification; CN119616519A discloses an adaptive control method for ground settlement with dual control of slag discharge volume and earth pressure; and CN118532180A specifically involves a shield tunneling controller. Although existing technologies have made some progress in controlling the amount of slag discharged and the pressure in the earth pressure, these two are usually controlled independently and cannot form an effective linkage. This makes it difficult to flexibly meet the needs of ground settlement control under complex and variable geological conditions. Especially when encountering complex geological conditions such as alternating soft soil and hard rock, and changes in aquifer thickness, the control of a single parameter is often insufficient to achieve precise control of ground settlement. Furthermore, the verification results lag behind the construction, failing to provide timely feedback on the excavation status at the tunnel face, which poses certain engineering risks.

[0004] Therefore, how to comprehensively consider the amount of slag discharge and the pressure of the soil chamber, and propose a more accurate and efficient method for the amount of slag discharged by the tunnel boring machine to adapt to tunnel construction under complex geological conditions, has become an urgent technical problem to be solved. Summary of the Invention

[0005] The present invention aims to provide a muck removal device for tunnel boring machines and a method for detecting and controlling the amount of muck removed, so as to solve the problems of weak adaptability of existing muck removal equipment, delayed monitoring results compared with construction, and inability to provide timely feedback on the excavation status of the tunnel face.

[0006] This invention provides a shield tunneling unit, a PLC system, a communication module, a cloud platform module, and a monitoring unit; The shield tunneling unit includes a shield main body and a screw conveyor and a belt conveyor installed on the shield main body; the screw conveyor and the belt conveyor are arranged in sequence, and the slag produced by the shield main body during the tunneling process is transported to the belt conveyor through the slag chute on the screw conveyor, and then transported out by the belt conveyor; a first slag weighing unit is also installed on the shield main body for weighing the slag transported by the screw conveyor. The PLC system is electrically connected to both the shield unit and the monitoring unit. It is used to receive and analyze the data detected by the monitoring unit and transmit the analysis results to the cloud platform module through the communication module. The cloud platform module displays the analysis results in a visual manner on the control console interface of the shield machine and issues corresponding control commands through the PLC system. The monitoring unit includes a soil chamber pressure monitoring device, a screw conveyor slag monitoring device, a slag flow monitoring device, and a belt conveyor slag monitoring device. The soil chamber pressure monitoring device is installed inside the soil chamber of the tunnel boring machine to monitor the pressure of the soil chamber in real time and feed it back to the PLC system; and the end of the soil chamber pressure monitoring device is electrically connected to the PLC system via an electrical signal, and the monitoring data is collected and processed in real time on the PLC system. The slag monitoring device for the screw conveyor is installed on the upper section of the first slag weighing unit. It calculates the weight of the slag conveyed by the screw conveyor based on the change in the length L of the first slag weighing device during normal tunneling. The end of the slag monitoring device is electrically connected to the PLC system via an electrical signal, and the monitoring data is collected and processed in real time on the PLC system. The slag flow monitoring device is arranged on the outer periphery of the lower section of the slag chute, and detects the slag flow in the slag chute in a non-contact manner; and the end of the slag flow monitoring device is electrically connected to the PLC system via an electrical signal, and the monitoring data is collected and processed on the PLC system in real time. The belt conveyor soil monitoring device is arranged on the belt conveyor and at a set distance from the opening of the slag chute to reduce the interference of the belt conveyor scale when the soil just falls onto it; and the end of the belt conveyor soil monitoring device is electrically connected to the PLC system via an electrical signal, and the monitoring data is collected and processed in real time on the PLC system.

[0007] Furthermore, the soil chamber pressure monitoring device is provided in at least three sets, with at least two components in each set, to form a structure for multi-point detection of soil chamber pressure.

[0008] Furthermore, the shield machine muck removal device also includes a foam system. The foam system is connected to the PLC system via a signal connection. The PLC system controls the foam system to inject a set amount of foam into the cutterhead, excavation chamber, screw conveyor, and muck hopper respectively to flush the cutterhead, excavation chamber, screw conveyor, and / or muck hopper.

[0009] As a further aspect of the present invention, the present invention also provides a method for detecting and controlling the slag discharge of a tunneling machine, comprising the following steps: Step 1: Assemble the shield tunneling machine muck removal device as described above; Step 2: Obtain actual monitoring data based on the monitoring units; Step 3: Based on the actual monitoring data obtained from the soil chamber pressure monitoring device, the screw conveyor slag monitoring device, the slag flow monitoring device, and the belt slag monitoring device, the slag discharge rate of the tunnel boring machine is judged. Step 4: Based on the judgment results of the muck discharge volume of the tunnel boring machine's muck discharge device, adaptively adjust the muck discharge strategy of the tunnel boring machine's muck discharge device.

[0010] Furthermore, the specific method for making judgments based on the actual monitoring data detected by the soil chamber pressure monitoring device in step three is as follows: Let the average pressure data obtained from the three sets of soil chamber pressure monitoring devices be . ; Assume that the pressure value range monitored by each group of soil chamber pressure monitoring devices is as follows: ,and Greater than the maximum water and soil pressure of the proposed project ; Let the threshold value of each group of soil chamber pressure monitoring devices be . ; When the actual monitored value of the soil chamber pressure monitoring device If the slag discharge is normal, then the slag discharge is normal; otherwise, it indicates abnormal slag discharge. The actual monitored value of the soil chamber pressure monitoring device is At that time, it was determined that there was under-excavation or delayed drainage; The actual monitored value of the soil chamber pressure monitoring device is At that time, it was determined that over-excavation had occurred.

[0011] Furthermore, the specific method for making judgments based on the actual monitoring data detected by the screw conveyor slag monitoring device in step three is as follows: Assume the weight range monitored by the screw conveyor slag monitoring device is as follows: ,in: This refers to the no-load monitoring data for the screw conveyor. For monitoring data of the screw conveyor under full load; Set the threshold value for the slag monitoring device of the screw conveyor as follows: When the actual monitoring value is If the slag discharge is normal, then the slag discharge is normal; otherwise, it indicates abnormal slag discharge. Assume the normal excavation muck weight of the tunnel boring machine is... When the actual monitoring value of the slag monitoring device of the screw conveyor If the actual monitoring value of the screw conveyor's slag monitoring device is [not specified], it is determined that there is under-excavation or delayed discharge; At that time, it was determined that over-excavation had occurred.

[0012] Furthermore, the specific process of making a judgment based on the actual monitoring data detected by the slag flow monitoring device in step three is as follows: Let the monitoring range of the aforementioned slag flow monitoring device be: ,in: When the slag chute is at 80% capacity plus a safety threshold Real-time monitoring data; When the slag chute is at 100% slag throughput + safety threshold Real-time monitoring data; The theoretically designed slag flow rate; Let the threshold value set for the aforementioned slag flow monitoring device be... When the monitoring value If the slag discharge is normal, then the slag discharge is normal; otherwise, it indicates abnormal slag discharge. The actual monitoring of the slag flow rate by the slag flow monitoring device If so, it is determined that there is under-excavation or delayed drainage; The actual monitoring of the slag flow rate by the slag flow monitoring device If so, it is determined that over-excavation has occurred; The converted slag weight The actual weight of slag discharged as monitored by the slag flow monitoring device, of which, The total weight of slag discharged as monitored by the slag flow monitoring device. This represents the actual weight of the additive in the upper section of the slag chute.

[0013] Furthermore, the specific process of making a judgment based on the actual monitoring data detected by the conveyor belt slag monitoring device in step three is as follows: The weight range that the conveyor belt slag monitoring device can monitor is: ,in: This refers to the no-load monitoring data for belt conveyors. For full-load monitoring data of belt conveyors; The threshold value set for the conveyor belt spoil monitoring device is: When the monitoring value If the slag discharge is normal, then the slag discharge is normal; otherwise, it indicates abnormal slag discharge. The actual monitoring value of the conveyor belt slag monitoring device If so, it is determined that there is under-excavation or delayed drainage; The actual monitoring value of the conveyor belt slag monitoring device If so, it is determined that over-excavation has occurred.

[0014] Furthermore, adaptive control methods for the muck removal device of the tunnel boring machine include pressure control within the excavation chamber, screw weight control, muck flow control, and belt weight control.

[0015] Furthermore, the specific process for pressure regulation within the excavation chamber is as follows: ① When the actual monitored value of the soil chamber pressure monitoring device is At that time, check whether the cutterhead torque of the tunnel boring machine continuously exceeds the set torque value; If so, it means that there is slag buildup in the excavation chamber or mud cake on the cutterhead. In this case, the foam system is controlled to increase the amount of foam injected into the cutterhead, excavation chamber, screw conveyor and / or slag hopper respectively to increase the flushing degree in the excavation chamber until the actual monitoring value of the soil chamber pressure monitoring device returns to the threshold range. If not, it indicates that there is under-excavation. In this case, the amount of compressed air injected into the excavation chamber and the advance speed of the tunnel boring machine during the excavation process are controlled until the actual monitoring value of the soil chamber pressure monitoring device returns to the threshold range. ② When the actual monitoring value of the soil chamber pressure monitoring device If the error occurs, it indicates that there is over-excavation or mud cake consolidation on the cutterhead. In this case, check whether the cutterhead torque continuously exceeds the set torque value. If so, it indicates that there is over-excavation of the cutterhead or solidified mud cake. In this case, the foam system is controlled to increase the amount of foam injected into the cutterhead, excavation chamber, screw conveyor and / or slag hopper, respectively, to increase the flushing degree of the cutterhead and reduce the cutterhead speed until the actual monitoring value of the soil chamber pressure monitoring device returns to the threshold range. If not, it means that the rest of the tunneling is normal. Then, increase the amount of foam injected into the cutterhead, excavation chamber, screw conveyor and / or slag hopper by controlling the foam system, and increase the screw conveyor speed and the pressure relief valve of the excavation chamber until the actual monitoring value of the soil chamber pressure monitoring device returns to the threshold range.

[0016] Furthermore, the specific process of helical weight control is as follows: ① When the actual monitoring value of the slag monitoring device of the screw conveyor If this occurs, it is determined that there is under-digging or sluggish discharge. At this time, the PLC system checks whether the cutter head torque continuously exceeds the set torque value. If so, it is determined that the excavated soil in the excavation chamber is stuck. Then, the pressure control command issued by the PLC system is to increase the amount of foam injection and increase the speed of the screw conveyor until the weight returns to normal. If otherwise, the cutterhead is deemed to be under-digging, and the PLC system will then issue a spiral weight control command to increase the amount of foam injected and the speed of the cutterhead until the weight returns to normal. ② When the actual monitoring value of the slag monitoring device of the screw conveyor If this occurs, it is determined that over-excavation has occurred. At this time, the PLC system checks whether the cutterhead torque continuously exceeds the set torque value, or whether the monitoring pressure in the excavation chamber remains excessively high within the set time. ; If so, it is determined to be over-excavation. The PLC system then issues a pressure control command to increase the amount of foam injection and reduce the speed of the cutter head until the weight returns to normal. If otherwise, it is determined that the screw conveyor speed has increased, and the PLC system will then issue a screw weight control command to increase the foam injection volume and decrease the screw conveyor speed until the weight returns to normal.

[0017] Furthermore, the specific process for controlling the flow rate of construction waste is as follows: ① When the slag flow monitoring device actually monitors If the system detects an under-excavation or sluggish discharge, it determines that there is an issue. In this case, the PLC system checks whether the cutterhead torque continuously exceeds the set torque value, or whether the weight of the excavated material from the screw conveyor remains consistently low within a set time. ; If so, it is determined that there is stagnation in the excavation chamber or solidified mud cake on the cutterhead. The PLC system then issues a soil flow control command to increase the foam injection volume, increase the cutterhead flushing, and increase the screw conveyor speed until the flow rate returns to normal. If otherwise, it is determined that the cutterhead is under-dug, and the PLC system will then issue a soil flow control command to increase the amount of foam injection and increase the cutterhead speed until the flow rate returns to normal. ② When the slag flow monitoring device actually monitors If this occurs, it is determined that over-excavation has occurred. Subsequently, the PLC system issues a slag flow control command to increase the foam injection volume, reduce the cutter head speed and the screw conveyor speed, until the flow rate returns to normal.

[0018] Furthermore, the specific process for adjusting the belt weight is as follows: ① When the actual monitoring value of the conveyor belt slag monitoring device If this occurs, it indicates that there is under-excavation or sluggish discharge. In this case, the PLC system checks whether the cutterhead torque continuously exceeds the set torque value, or whether the weight of the excavated soil on the screw conveyor remains consistently low within a set time. ; If so, it is determined that the excavation chamber is stagnant. The PLC system then issues a belt weight control command to increase the foam injection volume and the screw conveyor speed until the flow rate returns to normal. If otherwise, it is determined that the cutterhead is under-dug, and the PLC system will then issue a belt weight control command to increase the amount of foam injection, increase the cutterhead speed and the screw conveyor speed until the weight returns to normal. ② When the actual monitoring value of the conveyor belt slag monitoring device If over-excavation occurs, the PLC system will issue a belt weight control command to increase the foam injection volume, reduce the cutter head speed and the screw conveyor speed until the weight returns to normal.

[0019] The method for detecting and controlling the amount of slag discharged from a tunneling machine according to the present invention further includes the following steps: Step 5: Evaluation of the regulation effect; Step Six: The tunnel boring machine resumes normal muck removal and tunneling, and the muck removal volume of the tunnel boring machine is detected and controlled.

[0020] Furthermore, the specific process of step five is as follows: After adaptive control, based on the data monitored in real time by the soil chamber pressure monitoring device, the screw conveyor slag monitoring device, the slag flow monitoring device and the belt slag monitoring device, it is determined whether it is within the corresponding threshold range. If so, the control is deemed normal, and step six, normal slag removal and tunneling, is executed. If not, the control is deemed abnormal, and the PLC system immediately issues an early warning signal, entering manual intervention mode.

[0021] Compared with the prior art, the present invention has the following beneficial effects: (1) Precise control and real-time dynamic regulation: This invention comprehensively monitors key parameters during shield tunneling by deploying multi-dimensional monitoring units. It adopts a multi-source parameter collaborative control model to combine data such as soil chamber pressure, slag discharge volume, geological conditions, and shield machine operating status for comprehensive analysis and regulation. Furthermore, it adjusts construction parameters in real time through a dynamic feedback mechanism, ensuring the flexibility and responsiveness of construction and significantly improving the accuracy and reliability of the control effect.

[0022] (2) Automatic early warning and manual intervention guarantee: This invention sets a safety threshold. When the PLC system detects that the soil chamber pressure, the amount of slag discharged from the screw conveyor, or other critical parameters exceed the safe range, it immediately and automatically issues a warning signal. Simultaneously, the PLC system also provides a manual intervention option. This dual protection mechanism of automatic control and manual intervention further enhances the safety during construction and the equipment's adaptability to different geological formations.

[0023] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0024] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a flowchart illustrating a shield tunneling machine muck removal device and a method for detecting and controlling the amount of muck removed, as described in an embodiment of the present invention. Figure 2 This is a schematic diagram of the system composition in a shield tunneling machine muck removal device and muck removal quantity detection and control method according to an embodiment of the present invention; Figure 3 yes Figure 2 Schematic diagram of the deployment of the monitoring unit; Figure 4 yes Figure 2 A schematic diagram of the first slag weighing device in China.

[0025] in: 1. Shield tunneling unit; 101. Shield main unit; 102. Screw conveyor; 103. Belt conveyor; 1011. First muck weighing unit; 1021. Muck chute. 2. PLC system; 3. Communication module; 4. Cloud platform module; 5. Monitoring Units: 501. Soil Chamber Pressure Monitoring Device; 502. Screw Conveyor Slag Monitoring Device; 503. Slag Flow Monitoring Device; 504. Belt Conveyor Slag Monitoring Device. L. Set the length of the first muck weighing device during normal tunneling; Set the installation angle of the screw conveyor during normal tunneling (in this case, it is set to 24°). Detailed Implementation

[0026] To make the above-mentioned objectives, features, and advantages of the present invention clearer and easier to understand, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the accompanying drawings of the present invention are all in a simplified form and use non-precise proportions, and are only used to facilitate and clearly assist in illustrating the implementation of the present invention; the "several" mentioned in the present invention are not limited to the specific number shown in the examples in the accompanying drawings; the orientations or positional relationships indicated by terms such as "front," "middle," "rear," "left," "right," "up," "down," "top," "bottom," and "center" mentioned in the present invention are all based on the orientations or positional relationships shown in the accompanying drawings of the present invention, and do not indicate or imply that the device or component referred to must have a specific orientation, nor should they be construed as limitations on the present invention.

[0027] Example 1: See Figures 1 to 3 As shown, the shield tunneling machine muck removal device provided by the present invention includes a shield unit 1, a PLC system 2, a communication module 3, a cloud platform module 4, and a monitoring unit 5; The shield tunneling unit includes a shield main unit 101 and a screw conveyor 102 and a belt conveyor 103 installed on the shield main unit 101. The screw conveyor 102 and the belt conveyor 103 are arranged in sequence. The slag generated by the shield main unit 101 during the tunneling process is transported to the belt conveyor 103 via the slag discharge pipe 1021 on the screw conveyor 102, and then transported out by the belt conveyor 103. The PLC system 2 is electrically connected to both the shield unit 1 and the monitoring unit 5. It is used to receive and analyze the data detected by the monitoring unit 5, and transmit the analysis results to the cloud platform module 4 through the communication module 3. The cloud platform module 4 displays the analysis results in a visual manner on the control console interface of the shield machine, and issues corresponding control commands through the PLC system 2. The monitoring unit 5 includes a soil chamber pressure monitoring device 501, a screw conveyor slag monitoring device 502, a slag flow monitoring device 503, and a belt conveyor slag monitoring device 504. The soil chamber pressure monitoring device 501 is installed in the soil chamber (excavation chamber) of the tunnel boring machine to monitor the pressure of the soil chamber in real time and feed it back to the PLC system 2; and the end of the soil chamber pressure monitoring device 501 is electrically connected to the PLC system 2 via an electrical signal, and the monitoring data is collected and processed in real time on the PLC system 2. The screw conveyor slag monitoring device 502 is installed on the upper section of the first slag weighing unit 1011. It calculates the weight of the slag conveyed by the screw conveyor 102 based on the change in the length L of the first slag weighing device during normal tunneling. The end of the screw conveyor slag monitoring device 502 is electrically connected to the PLC system 2 via an electrical signal, and the monitoring data is collected and processed in real time on the PLC system 2. The slag flow monitoring device 503 is arranged on the outer periphery of the lower section of the slag chute 1021 to detect the slag flow in the slag chute in a non-contact manner; and the end of the slag flow monitoring device 503 is electrically connected to the PLC system 2 via an electrical signal, and the monitoring data is collected and processed in real time on the PLC system 2. The belt conveyor slag monitoring device 504 is arranged on the belt conveyor 103 and at a set distance from the opening of the slag chute 1021 to reduce the interference of slag falling onto the belt conveyor. The end of the belt conveyor slag monitoring device 504 is electrically connected to the PLC system 2 via an electrical signal, and the monitoring data is collected and processed in real time on the PLC system 2.

[0028] Preferably, the shield host 101 is also provided with a first slag weighing unit 1011 for weighing the slag conveyed by the screw conveyor 102.

[0029] Preferably, the soil chamber pressure monitoring device 501 is provided in at least three sets, with at least two devices in each set, to form a structure for multi-point detection of soil chamber pressure. Specifically, in this embodiment, multiple soil chamber pressure monitoring devices 501 are respectively arranged in the upper, middle and lower parts of the excavation chamber, and at least two points are provided in each of the upper, middle and lower parts of the excavation chamber. The two points are preferably arranged symmetrically along the center point of the excavation chamber.

[0030] More preferably, the soil chamber pressure monitoring device 501 is configured as a pressure sensor.

[0031] Preferably, the slag monitoring device 502 for the screw conveyor is configured as a weighing sensor.

[0032] In a further preferred embodiment, the length of the first muck weighing device during normal tunneling is set to 350mm.

[0033] Preferably, the slag flow monitoring device 503 is configured as a slag flow meter.

[0034] Preferably, the conveyor belt slag monitoring device 504 is configured as a conveyor belt scale.

[0035] As a further embodiment, the soil chamber pressure monitoring device 501 is designed as a back-mounted structure, which can be inspected and replaced under normal pressure after the front bulkhead of the shield body. The front of the screw conveyor 102 is connected to the shield host 101 by a ball joint, which ensures sealing performance while allowing the screw conveyor 102 to swing within a set angle along the axial direction of the shield host 101 in the vertical direction. °, where the initial angle is set to ).

[0036] As a further embodiment, the shield machine muck removal device also includes a foam system. The foam system is connected to the PLC system 2 via a signal connection. The PLC system 2 controls the foam system to inject a set amount of foam into the cutterhead, excavation chamber, screw conveyor, and muck hopper respectively to flush the cutterhead, excavation chamber, screw conveyor, and / or muck hopper.

[0037] Example 2: See Figure 4 As shown, the present invention provides a method for detecting and controlling the amount of slag discharged from a tunneling machine, comprising the following steps: Step 1: Deploy monitoring unit 5; The specific process is as follows: A set of soil pressure monitoring devices 501 are installed on the upper, middle and lower parts of the inner wall of the excavation chamber. Each set of soil pressure monitoring devices 501 includes two devices symmetrically arranged along the center point of the excavation chamber. A set of screw conveyor slag monitoring devices 502 are installed in the upper section of the first slag weighing unit 1011. A set of slag flow monitoring devices 503 are installed on the outer periphery of the lower section of the slag chute 1021; A set of belt slag monitoring devices 504 are installed on the belt conveyor 103.

[0038] Step 2: Obtain the data detected by monitoring unit 5, and preprocess the raw data to obtain the actual monitoring data; The specific process is as follows: The raw data monitored in real time by monitoring unit 5 is transmitted to the PLC system. The PLC system preprocesses the raw data to transform it into visual information.

[0039] Preferably, preprocessing includes data cleaning, storage, and analysis.

[0040] The following is a further preferred method for preprocessing the data collected by the screw conveyor slag monitoring device 502: The monitoring values ​​of the slag and soil monitoring device 502 of the screw conveyor are standardized and compared with the set threshold to determine whether the fluctuation range of slag and soil weight in the screw conveyor is normal, and an instruction is prepared to be issued.

[0041] A further preferred method for preprocessing the data collected by the slag flow monitoring device 503 is as follows: The monitoring values ​​of the 503 soil and waste flow monitoring device are standardized and compared with the set threshold to determine whether the fluctuation range of soil and waste flow is normal, and preparations are made to issue instructions.

[0042] The following is a further preferred method for preprocessing the data collected by the conveyor belt spoil monitoring device 504: The monitoring value of the conveyor belt slag monitoring device 504 is standardized and compared with the set threshold to determine whether the fluctuation range of slag weight on the conveyor belt is normal, and an instruction is prepared to be issued.

[0043] Step 3: Based on the actual monitoring data obtained by monitoring unit 5, determine the amount of slag discharged by the slag discharge device of the tunnel boring machine.

[0044] Preferably, the specific process for judging the muck discharge volume of the tunnel boring machine's muck discharge device based on the actual monitoring data detected by the soil chamber pressure monitoring device 501 is as follows: Let the average pressure data obtained by the three sets of soil chamber pressure monitoring devices 501 be . ; Assume that the pressure range that each set of soil chamber pressure monitoring device 501 can monitor is: ,and Greater than the maximum water and soil pressure of the proposed project (Specifically, in this embodiment,) ,Right now ); Let the threshold value of each group of soil chamber pressure monitoring device 501 be... ; When the actual monitored value of the soil chamber pressure monitoring device 501 When the slag discharge is normal, module 4 of the cloud platform displays normal slag discharge; otherwise, slag discharge is abnormal. The actual monitored value of the soil chamber pressure monitoring device 501 is At that time, it was determined that there was under-excavation or delayed drainage; The actual monitored value of the soil chamber pressure monitoring device 501 is At that time, it was determined that over-excavation had occurred.

[0045] Preferably, the specific process for judging the amount of slag discharged by the tunnel boring machine's slag discharge device based on the actual monitoring data obtained from the slag monitoring device 502 of the screw conveyor is as follows: The weight range that the screw conveyor slag monitoring device 502 can monitor is: ,in: The weight reduction is calculated based on the screw conveyor being unloaded (without slag or when the screw conveyor is newly installed), plus the maximum negative offset of the screw conveyor during tunnel boring, plus a safety threshold. (Time) monitoring data; For a fully loaded screw conveyor (100% fill rate of excavated soil + maximum positive offset weight gain of screw conveyor during shield tunneling + safety threshold) (Time) monitoring data; The threshold value of the screw conveyor slag monitoring device 502 is set as follows: (85% fill rate of excavated soil + weight gain due to maximum positive offset of screw conveyor during shield tunneling + safety threshold) (when), when the actual monitored value The cloud platform module shows normal slag output; otherwise, slag output is abnormal. Assume the normal excavation muck weight of the tunnel boring machine is... When the actual monitoring value of the screw conveyor slag monitoring device 502 If the actual monitoring value of the screw conveyor slag monitoring device 502 is then detected, it is determined that there is under-excavation or delayed discharge; At that time, it was determined that over-excavation had occurred.

[0046] Preferably, the specific process for judging the muck discharge volume of the tunnel boring machine's muck discharge device based on the actual monitoring data detected by the muck flow monitoring device 503 is as follows: Let the monitoring range of the aforementioned slag flow monitoring device 503 be... ,in: The monitoring data is based on 80% slag throughput in the slag chute pipeline plus the safety threshold k0. The monitoring data is based on the slag chute pipeline at 100% slag throughput plus the safety threshold k0. Let the threshold value set by the aforementioned slag flow monitoring device 503 be... (and converted into slag weight via PLC system) ), the For the theoretically designed slag flow rate, this case uses a value of 600 m³ / h. 3 / h and when When the slag chute is at 90% capacity plus a safety threshold When the monitoring value When the slag discharge is normal, the cloud platform module displays normal slag discharge; otherwise, the slag discharge is abnormal. The actual monitoring of the slag flow rate by the slag flow monitoring device 503 If so, it is determined that there is under-excavation or delayed drainage; The actual monitoring of the slag flow rate by the slag flow monitoring device 503 If so, it is determined that over-excavation has occurred; The converted slag weight The actual weight of slag discharged as monitored by the slag flow monitoring device 503, of which, The total weight of slag discharged as monitored by the slag flow monitoring device 503. The actual weight of additives (such as water, foam, etc.) in the upper section of the slag chute (slag hopper) to plasticize the slag discharged by the screw conveyor.

[0047] Preferably, the specific process for judging the muck discharge volume of the tunnel boring machine's muck discharge device based on the actual monitoring data detected by the belt muck monitoring device 504 is as follows: The belt conveyor slag monitoring device 504 can monitor a weight range of... ,in: For belt conveyors under no-load conditions (no slag + safety threshold) (Time) monitoring data; For belt conveyors to be fully loaded (100% soil and waste transport rate + safety threshold) (Time) monitoring data; The threshold value set by the conveyor belt slag monitoring device 504 is: (95% transport rate of construction waste + safety threshold) (Time), when the monitored value When the slag discharge is normal, the cloud platform module displays normal slag discharge; otherwise, the slag discharge is abnormal. The actual monitoring value of the conveyor belt slag monitoring device 504 If so, it is determined that there is under-excavation or delayed drainage; The actual monitoring value of the conveyor belt slag monitoring device 504 If so, it is determined that over-excavation has occurred.

[0048] Step 4: Based on the judgment results of the slag discharge volume of the shield machine's slag discharge device, adaptively adjust the slag discharge strategy of the screw conveyor 102 and the belt conveyor 103.

[0049] Specifically, the adaptive control methods for the muck removal device of the tunnel boring machine include pressure control in the excavation chamber, screw weight control, muck flow control, and belt weight control.

[0050] Preferably, the specific process for regulating the pressure inside the excavation chamber is as follows: ① When the actual monitoring value of the soil chamber pressure monitoring device 501 is For example, the duration of the cutterhead torque of the tunnel boring machine is the actual monitored pressure value in the excavation chamber within 5 minutes, and the monitored value... If the torque of the cutterhead of the tunnel boring machine continuously exceeds the set torque value, then check whether the torque of the cutterhead continuously exceeds the set torque value. If so, it indicates that there is slag buildup in the excavation chamber or mud cake formation on the cutterhead. In this case, the foam system is controlled to increase the amount of foam injected into the cutterhead, excavation chamber, screw conveyor, and / or slag hopper to increase the flushing effect in the excavation chamber until the actual monitoring value of the soil chamber pressure monitoring device 501 returns to the threshold range (i.e., the pressure in the excavation chamber returns to normal). If not, it indicates that there is under-excavation. In this case, the amount of compressed air injected into the excavation chamber is controlled to increase the advance speed of the tunnel boring machine during the excavation process until the actual monitoring value of the soil chamber pressure monitoring device 501 returns to the threshold range (i.e., the pressure in the excavation chamber returns to normal).

[0051] ② When the actual monitoring value of the soil chamber pressure monitoring device 501 Time (e.g., within a set time of 5 minutes, and) If the result is negative, it indicates that there is over-excavation or mud cake consolidation on the cutterhead. In this case, check whether the cutterhead torque continuously exceeds the set torque value. If so, it indicates that there is over-excavation of the cutterhead or solidified mud cake. The problem can be solved by controlling the foam system to increase the amount of foam injected into the cutterhead, excavation chamber, screw conveyor and / or slag hopper, increasing the flushing degree of the cutterhead and reducing the cutterhead speed, until the actual monitoring value of the soil chamber pressure monitoring device 501 returns to the threshold range (i.e. the pressure in the excavation chamber returns to normal). If not, it means that the rest of the tunneling is normal. Then, the problem is solved by controlling the foam system to increase the amount of foam injected into the cutterhead, excavation chamber, screw conveyor and / or slag hopper, as well as increasing the screw conveyor speed and the pressure relief valve of the excavation chamber, until the actual monitoring value of the soil chamber pressure monitoring device 501 returns to the threshold range (i.e. the pressure in the excavation chamber returns to normal).

[0052] Preferably, the specific process for adjusting the helical weight is as follows: ① When the actual monitoring value of the slag monitoring device 502 of the screw conveyor... Time (e.g., within a set time of 5 minutes, and the monitored value) (This may result in under-digging or delayed excavation. In this case, the PLC system checks whether the cutter head torque continuously exceeds the set torque value.) If so, it is determined that the excavated soil in the excavation chamber is stuck. The PLC system then issues pressure control commands to solve the problem by increasing the amount of foam injection and increasing the speed of the screw conveyor, until the weight returns to normal. If otherwise, it is determined that the cutterhead is under-dug, and the PLC system will then issue a screw weight control command to solve the problem by increasing the amount of foam injection and increasing the speed of the cutterhead, until the weight is restored to normal. ② When the actual monitoring value of the screw conveyor slag monitoring device 502 Time (e.g., within a set time of 5 minutes, and the monitored value) Over-excavation may occur. In this case, the PLC system checks whether the cutterhead torque continuously exceeds the set torque value, or whether the monitoring pressure in the excavation chamber remains excessively high within the set time. ; If so, it is determined to be over-excavation. The PLC system then issues pressure control commands to solve the problem by increasing the amount of foam injection and reducing the speed of the cutter head, until the weight returns to normal. If otherwise, it is determined that the screw conveyor speed has increased. Subsequently, the PLC system issues screw weight control commands to address the problem by increasing the foam injection volume and reducing the screw conveyor speed, until the weight returns to normal.

[0053] The preferred process for controlling the flow rate of construction waste is as follows: ① When the slag flow monitoring device 503 actually monitors When this happens, under-digging or delayed excavation may occur. In this case, the PLC system checks whether the cutterhead torque is continuous (e.g., within a set time of 5 minutes, and the monitored value is within a certain range). The torque value exceeds the set value, or the weight of the slag conveyor remains low for a set period of time. ; If so, it is determined that there is stagnation in the excavation chamber or solidified mud cake on the cutterhead. The PLC system then issues a slag flow control command to address the problem by increasing the foam injection volume, increasing the cutterhead flushing, and increasing the screw conveyor speed, until the flow rate returns to normal. If otherwise, it is determined that the cutterhead is under-dug, and the PLC system will then issue a soil flow control command to solve the problem by increasing the foam injection volume and increasing the cutterhead speed, until the flow returns to normal. ② When the slag flow monitoring device 503 actually monitors In case of over-excavation, the PLC system will issue a control command for the excavated soil flow rate, which will be implemented to address the problem by increasing the amount of foam injected, reducing the speed of the cutter head and the screw conveyor, etc., until the flow rate returns to normal.

[0054] Preferably, the specific process for adjusting the belt weight is as follows: ① When the actual monitoring value of the conveyor belt slag monitoring device 504 Time (e.g., within a set time of 5 minutes, and the monitored value) Under-excavation or delayed discharge may occur. In this case, the PLC system checks whether the cutterhead torque continuously exceeds the set torque value, or whether the weight of the excavated soil on the screw conveyor remains low for a set time. ; If so, it is determined to be a blockage in the excavation chamber. The PLC system then issues a belt weight control command to increase the foam injection volume, screw conveyor speed, and other measures to solve the problem until the flow rate returns to normal. If otherwise, it is determined that the cutterhead is under-dug. The PLC system then issues a belt weight control command to increase the amount of foam injection, increase the cutterhead speed, and increase the screw conveyor speed to solve the problem until the weight returns to normal. ② When the actual monitoring value of the conveyor belt slag monitoring device 504 In case of over-excavation, the PLC system will issue a belt weight control command to solve the problem by increasing the amount of foam injection, reducing the speed of the cutter head and the screw conveyor, until the weight returns to normal.

[0055] Step 5: Evaluation of the regulation effect; The specific process is as follows: The PLC system performs adaptive control in step four. After issuing corresponding control commands through the PLC system to control the key monitoring system / position and multi-dimensional linkage control, the effect is evaluated to see if it has returned to the set threshold range. If so, the control is determined to be normal, and step six, normal slag removal and tunneling, is executed. If otherwise, the control is determined to be abnormal, and the PLC will immediately issue an early warning signal and enter manual intervention mode. If the soil chamber pressure regulation is abnormal, it may indicate that the geological survey of the proposed tunnel is inaccurate or that the soil chamber pressure monitoring device 501 is malfunctioning. It is necessary to manually reset the pressure threshold or repair the soil chamber pressure monitoring device 501 according to the actual situation until the pressure returns to normal, the abnormal warning is eliminated, and then proceed to step six. If the screw weight control is abnormal, the initial weight threshold may be inaccurate or the screw conveyor slag monitoring device 502 may malfunction. It is necessary to manually reset the screw weight threshold or repair the screw conveyor slag monitoring device 502 according to the actual situation until the weight returns to normal, the abnormal warning is eliminated, and then proceed to step six. If the control of the construction waste flow rate is abnormal, the initial flow rate threshold may be inaccurate or the construction waste flow rate monitoring device 503 may malfunction. It is necessary to manually reset the construction waste flow rate threshold or repair the construction waste flow rate monitoring device 503 according to the actual situation until the flow rate returns to normal, the abnormal warning is eliminated, and then proceed to step six. If the belt weight control is abnormal, the initial weight threshold may be inaccurate or the belt slag monitoring device 504 may malfunction. It is necessary to manually reset the slag flow threshold or the belt slag monitoring device 504 according to the actual situation until the weight returns to normal, the abnormal warning is eliminated, and then proceed to step six. Step Six: Normal muck removal and tunneling; The specific method is as follows: After the PLC system evaluates the control effect in step five and eliminates abnormal warning signals, the tunnel boring machine resumes normal muck discharge and tunneling, completing the detection and control of the muck discharge volume of the tunnel boring machine.

[0056] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A muck removal device for a tunnel boring machine, characterized in that, It includes a shield tunneling unit (1), a PLC system (2), a communication module (3), a cloud platform module (4), and a monitoring unit (5); The shield tunneling unit includes a shield host (101) and a screw conveyor (102) and a belt conveyor (103) installed on the shield host (101). The screw conveyor (102) and the belt conveyor (103) are arranged in sequence. The slag generated by the shield host (101) during the tunneling process is transported to the belt conveyor (103) via the slag chute (1021) on the screw conveyor (102) and then transported out by the belt conveyor (103). A first slag weighing unit (1011) is also provided on the shield host (101) for weighing the slag transported by the screw conveyor (102). The PLC system (2) is electrically connected to the shield unit (1) and the monitoring unit (5) to receive and analyze the data detected by the monitoring unit (5), and transmit the analysis results to the cloud platform module (4) through the communication module (3). The cloud platform module (4) displays the analysis results on the control console interface of the shield machine in a visual manner, and issues corresponding control commands through the PLC system (2). The monitoring unit (5) includes a soil chamber pressure monitoring device (501), a screw conveyor slag monitoring device (502), a slag flow monitoring device (503), and a belt slag monitoring device (504). The soil chamber pressure monitoring device (501) is installed in the soil chamber of the tunnel boring machine to monitor the pressure of the soil chamber in real time and feed it back to the PLC system (2); and the end of the soil chamber pressure monitoring device (501) is electrically connected to the PLC system (2) through an electrical signal, and the monitoring data is collected and processed in real time on the PLC system (2). The screw conveyor slag monitoring device (502) is installed on the upper section of the first slag weighing unit (1011). The weight of the slag conveyed by the screw conveyor (102) is calculated based on the change in the length L of the first slag weighing device during normal tunneling. The end of the screw conveyor slag monitoring device (502) is electrically connected to the PLC system (2) via an electrical signal, and the monitoring data is collected and processed in real time on the PLC system (2). The slag flow monitoring device (503) is arranged on the outer periphery of the lower section of the slag chute (1021) to detect the slag flow in the slag chute in a non-contact manner; and the end of the slag flow monitoring device (503) is electrically connected to the PLC system (2) through an electrical signal, and the monitoring data is collected and processed in real time on the PLC system (2). The belt conveyor soil monitoring device (504) is arranged on the belt conveyor (103) and is set at a distance from the pipe opening of the slag chute (1021) to reduce the interference of the belt conveyor scale when the slag just falls onto the belt conveyor; and the end of the belt conveyor soil monitoring device (504) is electrically connected to the PLC system (2) through an electrical signal, and the monitoring data is collected and processed in real time on the PLC system (2).

2. The shield machine muck removal device according to claim 1, characterized in that, The soil chamber pressure monitoring device (501) is provided with at least three sets, each set having at least two components, to form a structure for multi-point detection of soil chamber pressure.

3. The shield machine muck removal device according to claim 1 or 2, characterized in that, The shield machine slag removal device also includes a foam system. The foam system is connected to the PLC system (2) by a signal. The PLC system (2) controls the foam system to inject a set amount of foam into the cutterhead, excavation chamber, screw conveyor and slag hopper respectively to flush the cutterhead, excavation chamber, screw conveyor and / or slag hopper.

4. A method for detecting and controlling the amount of slag discharged from a tunneling machine, characterized in that, Includes the following steps: Step 1: Assemble the shield tunneling machine muck removal device as described in claim 3; Step 2: Obtain actual monitoring data based on monitoring unit (5); Step 3: Based on the actual monitoring data obtained from the soil chamber pressure monitoring device (501), the screw conveyor slag monitoring device (502), the slag flow monitoring device (503), and the belt slag monitoring device (504), the slag discharge of the shield machine is judged. Step 4: Based on the judgment results of the muck discharge volume of the tunnel boring machine's muck discharge device, adaptively adjust the muck discharge strategy of the tunnel boring machine's muck discharge device.

5. The method for detecting and controlling the amount of slag discharged by a tunneling machine according to claim 4, characterized in that, The specific method for making judgments based on the actual monitoring data detected by the soil chamber pressure monitoring device (501) in step three is as follows: Let the average pressure data obtained by the three sets of soil chamber pressure monitoring devices (501) be . ; Assume that the pressure value range monitored by each group of soil chamber pressure monitoring devices (501) is as follows: ,and Greater than the maximum water and soil pressure of the proposed project ; Let the threshold value of each group of soil chamber pressure monitoring devices (501) be... ; When the actual monitored value of the soil chamber pressure monitoring device (501) If the slag discharge is normal, then the slag discharge is normal; otherwise, it indicates abnormal slag discharge. The actual monitoring value of the soil chamber pressure monitoring device (501) is At that time, it was determined that there was under-excavation or delayed drainage; The actual monitoring value of the soil chamber pressure monitoring device (501) is At that time, it was determined that over-excavation had occurred.

6. The method for detecting and controlling the amount of slag discharged by a tunneling machine according to claim 4, characterized in that, The specific method for making judgments based on the actual monitoring data detected by the screw conveyor slag monitoring device (502) in step three is as follows: The weight range monitored by the screw conveyor slag monitoring device (502) is as follows: ,in: This refers to the no-load monitoring data for the screw conveyor. For monitoring data of the screw conveyor under full load; The threshold value set for the screw conveyor slag monitoring device (502) is: When the actual monitoring value is If the slag discharge is normal, then the slag discharge is normal; otherwise, it indicates abnormal slag discharge. Assume the normal excavation muck weight of the tunnel boring machine is... When the actual monitoring value of the screw conveyor slag monitoring device (502) If the actual monitoring value of the screw conveyor slag monitoring device (502) is then detected, it is determined that there is under-excavation or sluggish discharge; At that time, it was determined that over-excavation had occurred.

7. The method for detecting and controlling the amount of slag discharged by a tunneling machine according to claim 4, characterized in that, The specific process of making a judgment based on the actual monitoring data detected by the slag flow monitoring device (503) in step three is as follows: Let the monitoring range of the aforementioned slag flow monitoring device (503) be as follows: ,in: When the slag chute is at 80% capacity plus a safety threshold Real-time monitoring data; When the slag chute is at 100% slag throughput + safety threshold Real-time monitoring data; The theoretically designed slag flow rate; Let the threshold value set by the aforementioned slag flow monitoring device (503) be... When the monitoring value If the slag discharge is normal, then the slag discharge is normal; otherwise, it indicates abnormal slag discharge. The actual monitoring of the slag flow rate by the slag flow monitoring device (503) If so, it is determined that there is under-excavation or delayed drainage; The actual monitoring of the slag flow rate by the slag flow monitoring device (503) If so, it is determined that over-excavation has occurred; The converted slag weight The actual weight of slag discharged as monitored by the slag flow monitoring device (503), of which, The total weight of slag discharged is monitored by the slag flow monitoring device (503). This represents the actual weight of the additive in the upper section of the slag chute.

8. The method for detecting and controlling the amount of slag discharged by a tunneling machine according to claim 4, characterized in that, The specific process of making a judgment based on the actual monitoring data detected by the conveyor belt slag monitoring device (504) in step three is as follows: The belt conveyor slag monitoring device (504) can monitor a weight range of [missing information]. ,in: This refers to the no-load monitoring data for belt conveyors. For full-load monitoring data of belt conveyors; The threshold value set by the conveyor belt slag monitoring device (504) is: When the monitoring value If the slag discharge is normal, then the slag discharge is normal; otherwise, it indicates abnormal slag discharge. The actual monitoring value of the conveyor belt slag monitoring device (504) If so, it is determined that there is under-excavation or delayed drainage; The actual monitoring value of the conveyor belt slag monitoring device (504) If so, it is determined that over-excavation has occurred.

9. The method for detecting and controlling the amount of slag discharged by a tunneling machine according to any one of claims 5-8, characterized in that, The adaptive control methods for the muck removal device of the tunnel boring machine include pressure control in the excavation chamber, screw weight control, muck flow control, and belt weight control.

10. The method for detecting and controlling the amount of slag discharged by a tunneling machine according to claim 9, characterized in that, The specific process for pressure regulation inside the excavation chamber is as follows: ① When the actual monitoring value of the soil chamber pressure monitoring device (501) is At that time, check whether the cutterhead torque of the tunnel boring machine continuously exceeds the set torque value; If so, it indicates that there is slag retention in the excavation chamber or mud cake on the cutterhead. In this case, the foam system is controlled to increase the amount of foam injected into the cutterhead, excavation chamber, screw conveyor and / or slag hopper respectively to increase the flushing degree in the excavation chamber until the actual monitoring value of the soil chamber pressure monitoring device (501) returns to the threshold range. If not, it indicates that there is under-excavation. In this case, the amount of compressed air injected into the excavation chamber and the advance speed of the tunnel boring machine during the excavation process are controlled until the actual monitoring value of the soil chamber pressure monitoring device (501) returns to the threshold range. ② When the actual monitoring value of the soil chamber pressure monitoring device (501) If the error occurs, it indicates that there is over-excavation or mud cake consolidation on the cutterhead. In this case, check whether the cutterhead torque continuously exceeds the set torque value. If so, it indicates that there is over-excavation of the cutterhead or solidified mud cake. In this case, the foam system is controlled to increase the amount of foam injected into the cutterhead, excavation chamber, screw conveyor and / or slag hopper respectively, thereby increasing the flushing degree of the cutterhead and reducing the cutterhead speed until the actual monitoring value of the soil chamber pressure monitoring device (501) returns to the threshold range. If not, it means that the rest of the tunneling is normal. Then, the foam system is controlled to increase the amount of foam injected into the cutterhead, excavation chamber, screw conveyor and / or slag hopper respectively, and the screw conveyor speed and the excavation chamber pressure relief valve are increased until the actual monitoring value of the soil chamber pressure monitoring device (501) returns to the threshold range.

11. The method for detecting and controlling the amount of slag discharged by a tunneling machine according to claim 9, characterized in that, The specific process of adjusting the screw weight is as follows: ① When the actual monitoring value of the screw conveyor slag monitoring device (502) If this occurs, it is determined that there is under-digging or sluggish discharge. At this time, the PLC system checks whether the cutter head torque continuously exceeds the set torque value. If so, it is determined that the excavated soil in the excavation chamber is stuck. Then, the pressure control command issued by the PLC system is to increase the amount of foam injection and increase the speed of the screw conveyor until the weight returns to normal. If otherwise, the cutterhead is deemed to be under-digging, and the PLC system will then issue a spiral weight control command to increase the amount of foam injected and the speed of the cutterhead until the weight returns to normal. ② When the actual monitoring value of the screw conveyor slag monitoring device (502) If this occurs, it is determined that over-excavation has occurred. At this time, the PLC system checks whether the cutterhead torque continuously exceeds the set torque value, or whether the monitoring pressure in the excavation chamber remains excessively high within the set time. ; If so, it is determined to be over-excavation. The PLC system then issues a pressure control command to increase the amount of foam injection and reduce the speed of the cutter head until the weight returns to normal. If otherwise, it is determined that the screw conveyor speed has increased, and the PLC system will then issue a screw weight control command to increase the foam injection volume and decrease the screw conveyor speed until the weight returns to normal.

12. The method for detecting and controlling the amount of slag discharged by a tunneling machine according to claim 9, characterized in that, The specific process of controlling the flow rate of construction waste is as follows: ① When the slag flow monitoring device (503) actually monitors If the system detects an under-excavation or sluggish discharge, it determines that there is an issue. In this case, the PLC system checks whether the cutterhead torque continuously exceeds the set torque value, or whether the weight of the excavated material from the screw conveyor remains consistently low within a set time. ; If so, it is determined that there is stagnation in the excavation chamber or solidified mud cake on the cutterhead. The PLC system then issues a soil flow control command to increase the foam injection volume, increase the cutterhead flushing, and increase the screw conveyor speed until the flow rate returns to normal. If otherwise, it is determined that the cutterhead is under-dug, and the PLC system will then issue a soil flow control command to increase the amount of foam injection and increase the cutterhead speed until the flow rate returns to normal. ② When the slag flow monitoring device (503) actually monitors If this occurs, it is determined that over-excavation has occurred. Subsequently, the PLC system issues a slag flow control command to increase the foam injection volume, reduce the cutter head speed and the screw conveyor speed, until the flow rate returns to normal.

13. The method for detecting and controlling the amount of slag discharged by a tunneling machine according to claim 9, characterized in that, The specific process for adjusting the belt weight is as follows: ① When the actual monitoring value of the conveyor belt slag monitoring device (504) If this occurs, it indicates that there is under-excavation or sluggish discharge. In this case, the PLC system checks whether the cutterhead torque continuously exceeds the set torque value, or whether the weight of the excavated soil on the screw conveyor remains consistently low within a set time. ; If so, it is determined that the excavation chamber is stagnant. The PLC system then issues a belt weight control command to increase the foam injection volume and the screw conveyor speed until the flow rate returns to normal. If otherwise, it is determined that the cutterhead is under-dug, and the PLC system will then issue a belt weight control command to increase the amount of foam injection, increase the cutterhead speed and the screw conveyor speed until the weight returns to normal. ② When the actual monitoring value of the conveyor belt slag monitoring device (504) If over-excavation occurs, the PLC system will issue a belt weight control command to increase the foam injection volume, reduce the cutter head speed and the screw conveyor speed until the weight returns to normal.

14. The method for detecting and controlling the amount of slag discharged by a tunneling machine according to any one of claims 10-13, characterized in that, It also includes the following steps: Step 5: Evaluation of the regulation effect; Step Six: The tunnel boring machine resumes normal muck removal and tunneling, and the muck removal volume of the tunnel boring machine is detected and controlled.

15. The method for detecting and controlling the amount of slag discharged by a tunneling machine according to claim 14, characterized in that, The specific process of step five is as follows: After adaptive control, based on the data obtained in real time by the soil pressure monitoring device (501), the screw conveyor slag monitoring device (502), the slag flow monitoring device (503), and the belt slag monitoring device (504), it is determined whether it is within the corresponding threshold range. If so, the control is deemed normal, and step six, normal slag removal and tunneling, is executed. If not, the control is determined to be abnormal, and the PLC system (2) will then issue an early warning signal and enter the manual intervention mode.

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