A method, system and device for collaborative optimization of shield tunneling parameters in a soft and hard uneven stratum

Abstract

The application provides a shield tunneling parameter cooperative optimization method, system and equipment for uneven hard and soft strata, which comprises the following steps: obtaining stratum segmentation parameters and shield operation parameters of shield tunneling in a current control period; performing feature extraction on real-time operation parameters to obtain feature indexes of the shield in the current control period; determining a target tunneling working condition of the shield in the current control period based on the feature indexes and the stratum segmentation parameters; determining target tunneling parameters of the shield tunneling in a next control period based on the target tunneling working condition, initial operation parameters and a preset limiting function; determining an execution result of the shield after running based on the target tunneling parameters, and updating a current database based on the execution result to obtain an updated database for the next control period. The scheme provided by the application can improve the accuracy of stratum classification, and further improve the safety and efficiency of shield construction.

Description

Technical Field

[0001] This invention relates to the field of shield tunnel construction technology, and in particular to a method, system and equipment for collaborative optimization of shield tunneling parameters in uneven soft and hard strata. Background Technology

[0002] Shield tunneling has become the primary construction method for urban rail transit, municipal tunnels, integrated utility tunnels, river-crossing and sea-crossing passages, and coastal underground space construction. As urban tunnels extend into water-rich coastal areas, river-sea confluence zones, weathered rock residual soil areas, and areas with alternating layers of soft and hard soil, the number of instances where shield machines simultaneously cut through soft soil, sand layers, completely weathered rock, strongly weathered rock, or locally hard interlayers within the same excavation face is increasing. In these heterogeneous or complex strata, the stress state of the excavation face, the load state of the cutterhead, and the muck discharge state change rapidly as the shield advances. There is a clear coupling relationship between cutterhead torque, total thrust, penetration depth, advance speed, soil chamber pressure, screw conveyor torque, and the moisture content of the muck discharge.

[0003] In heterogeneous geological formations, the softer side is prone to over-excavation, disturbance, and instability, while the harder side is more susceptible to cutter impact, uneven cutter wear, uneven cutterhead load, and sudden torque increases. If the tunnel boring machine (TBM) operator relies solely on experience to increase thrust, decrease cutterhead speed, or adjust soil chamber pressure, it is often difficult to simultaneously ensure excavation face stability, equipment load, cutter life, and tunneling efficiency. This is especially true when traversing areas with varying degrees of hardness (soft on top, hard on the bottom, soft on the left, hard on the right), localized boulders, or inclined interfaces between soft and hard surfaces. The significant differences in cutting resistance across different areas of the cutterhead make TBM attitude control and parameter selection even more challenging, leading to problems such as fluctuating advance speed, unstable soil chamber pressure, discontinuous auger discharge, abnormal surface settlement, and uneven cutter wear.

[0004] While existing tunnel boring machine (TBM) construction methods can collect a considerable amount of operational data, such as cutterhead rotation speed, cutterhead torque, propulsion cylinder pressure, total thrust, propulsion speed, penetration depth, soil chamber pressure, screw conveyor speed and torque, and foam or bentonite injection volume, this data is typically scattered across the TBM control system or construction logs. On-site adjustments rely heavily on the experience of the operator and post-construction management personnel for parameter tuning. Existing technologies also include methods for geological formation identification, construction risk warning, and equipment load analysis based on tunneling parameters. However, these methods largely remain at the level of offline analysis, single-index identification, or data statistics, lacking a comprehensive engineering solution that directly translates the results of identifying uneven geological formation hardness into coordinated control recommendations for thrust, cutterhead rotation speed, penetration depth, soil chamber pressure, screw conveyor speed, and soil amendment dosage.

[0005] Currently, the following shortcomings still exist in the control of shield tunneling parameters in strata with uneven hardness:

[0006] (1) Existing construction parameter adjustments are mostly based on single-parameter experience. For example, when the torque increases, the propulsion speed is reduced; when the soil chamber pressure fluctuates, the screw conveyor speed is adjusted; and when the slag is dry and hard, foam or bentonite is added. However, there is a lack of coordinated calculation of the mutual influence between thrust, cutter head speed, penetration, soil chamber pressure, slag discharge speed and amendment dosage. This can easily lead to the problem that improving one parameter may exacerbate the risk of another.

[0007] (2) Existing shield tunneling control systems can usually display a large amount of real-time data, but they do not convert the real-time data into an interpretable state of uneven soft and hard strata. For example, it is not possible to determine which working condition is currently present, such as soft upper layer and hard lower layer, hard upper layer and soft lower layer, uneven soft and hard strata on both sides, local isolated hard interlayers, hard rock across the entire cross section, or soft soil across the entire cross section. It is also difficult to quantify the proportion of hard strata and the changing trend of the soft and hard interface.

[0008] (3) Existing parameter optimization methods mostly rely on construction experience tables or post-event statistical models, which cannot correspond in real time with the current ring, the current advance interval, and the current cutterhead load. When entering a new stratigraphic segment, the original parameter tables need to be manually re-judged, resulting in poor parameter mobility and delayed response.

[0009] (4) Even if existing stratum identification and risk warning methods can output risk levels, they often cannot provide further actionable parameter combinations. For example, they may only indicate "abnormal torque" or "increased hard rock ratio", but do not specify how to adjust the total thrust, cutterhead speed, penetration depth, target value of soil chamber pressure, screw conveyor speed and amount of soil conditioner added in the next control cycle.

[0010] (5) Existing automatic control schemes lack safety limits and manual confirmation mechanisms. If the control system directly and significantly changes the thrust or soil pressure in complex strata, it may cause instability of the working face, gushing, stratum loss or equipment overload; if it relies entirely on manual adjustment, it is difficult to respond in time to rapid changes in the soft and hard interface.

[0011] (6) Existing construction data has not been effectively converted into parameter databases for different strata, sections, and working conditions. After each link is completed, there is a lack of closed-loop verification between the actual strata, tunneling parameters, equipment response, and ground monitoring results, which means that subsequent similar strata still need to rely on experience for repeated exploration. Summary of the Invention

[0012] The technical problem to be solved by the present invention is to provide a method, system and equipment for collaborative optimization of shield tunneling parameters in uneven soft and hard strata, so as to improve the accuracy of strata type identification during shield tunneling, thereby improving the safety and efficiency of shield construction.

[0013] To address the aforementioned technical problems, embodiments of the present invention provide a method for collaborative optimization of shield tunneling parameters in unevenly textured strata, comprising:

[0014] Obtain the geological segment parameters and shield operation parameters of the tunnel boring machine (TBM) within the current control cycle; the TBM movement parameters include initial operation parameters and real-time operation parameters corresponding to each moment; the geological segment parameters and TBM operation parameters are stored in the corresponding data tables in the current database;

[0015] Feature extraction is performed on the real-time operating parameters to obtain the characteristic indicators of the shield tunneling machine within the current control cycle;

[0016] Based on the aforementioned characteristic indicators and the geological segmentation parameters, the target tunneling conditions for the shield tunneling machine within the current control cycle are determined; the target tunneling conditions include the target full-section hard strata, the target upper and lower uneven soft and hard strata, the target left and right uneven soft and hard strata, and the target local hard point strata.

[0017] Based on the target tunneling conditions, the initial operating parameters, and the preset limiting function, the target tunneling parameters for the shield tunneling in the next control cycle are determined.

[0018] The execution result of the tunnel boring machine (TBM) running based on the target tunneling parameters is determined, and the current database is updated based on the execution result to obtain an updated database for the next control cycle.

[0019] In one embodiment, the real-time operating parameters include current total thrust, current cutterhead torque, current shield attitude, current shield cylinder pressure, and current penetration depth; the characteristic indicators include specific thrust, specific torque, torque fluctuation coefficient, torque utilization rate, shield pitch change rate, shield yaw change rate, cylinder load imbalance coefficient, penetration depth reduction rate, and penetration depth benchmark value ratio.

[0020] Feature extraction is performed on the real-time operating parameters to obtain characteristic indicators of the tunnel boring machine within the current control cycle, including:

[0021] Based on the current total thrust, determine the specific thrust;

[0022] Based on the current cutter head torque, determine the specific torque, the torque fluctuation coefficient, and the torque utilization rate;

[0023] Based on the current shield attitude, determine the shield pitch rate and the shield yaw rate;

[0024] Based on the current shield cylinder pressure, determine the cylinder load imbalance coefficient;

[0025] Based on the current penetration depth, determine the penetration depth reduction rate and the ratio of the penetration depth baseline value.

[0026] In one embodiment, determining the target tunneling condition of the shield machine within the current control cycle based on the characteristic indicators and the geological segmentation parameters includes:

[0027] Based on the geological segmentation parameters and the current shield attitude in the real-time operation parameters, the predicted tunneling conditions of the shield in the current control cycle are determined; the predicted tunneling conditions include predicted full-section hard strata, predicted upper and lower uneven soft and hard strata, predicted left and right uneven soft and hard strata, and predicted local hard point strata.

[0028] Based on the aforementioned characteristic indicators, the predicted tunneling conditions are verified to determine the target tunneling conditions for the shield tunneling machine within the current control cycle.

[0029] In one embodiment, based on the geological segmentation parameters and the current shield attitude in the real-time operating parameters, the predicted tunneling condition of the shield within the current control cycle is determined, including:

[0030] Based on the current ring number in the stratum segmentation parameters and the current shield attitude, the exploration profile in the stratum segmentation parameters is projected onto the current excavation face of the shield within the current control cycle;

[0031] Based on the proportion of hard strata area at the current excavation face, the predicted tunneling conditions of the shield tunneling machine within the current control cycle are determined.

[0032] In one embodiment, determining the predicted tunneling conditions of the shield tunneling machine within the current control cycle based on the proportion of hard strata area at the current excavation face includes:

[0033] The current excavation face is divided into regions to determine the target area of ​​the current excavation face; the target area includes an upper half, a lower half, a left half, and a right half, and the target area corresponds to the position of the shield tunneling machine's propulsion cylinder;

[0034] The computational region corresponding to the current excavation face is divided into grids, and the area of ​​each grid and the hardness ratio of the grid within each target region are determined.

[0035] Based on the number of grids in each target area, the area of ​​each grid in each target area, and the hardness ratio of that grid, the hardness ratio of each target area is determined.

[0036] Based on the proportion of hard strata area in each target region, the predicted tunneling conditions of the shield tunneling machine in the current control cycle are determined.

[0037] In one embodiment, the predicted tunneling condition is verified based on the characteristic indicators to determine the target tunneling condition of the shield tunneling machine within the current control cycle, including:

[0038] Within the current control cycle, if at least two effective time windows simultaneously satisfy the following conditions: the relative thrust increment and the relative torque increment are both greater than or equal to a first threshold, the penetration reduction rate is greater than or equal to a second threshold, and the torque fluctuation coefficient is less than the second threshold and the cylinder load imbalance coefficient is less than the first threshold, then the predicted full-section hard stratum is determined as the target full-section hard stratum; the relative thrust increment is determined by the specific thrust, and the relative torque increment is determined by the specific torque;

[0039] During the current control cycle, when the upper and lower cylinder load imbalance coefficients in the cylinder load imbalance coefficients are greater than or equal to the third threshold, and the shield pitch change rate is greater than or equal to the fourth threshold, the predicted upper and lower uneven soft and hard strata are determined as the target upper and lower uneven soft and hard strata.

[0040] During the current control cycle, when the left and right cylinder load imbalance coefficients in the cylinder load imbalance coefficients are greater than or equal to the fifth threshold, and the shield yaw change rate is greater than or equal to the sixth threshold, the predicted left and right soft and hard uneven strata are determined as the target left and right soft and hard uneven strata.

[0041] Within the current control cycle, if the torque fluctuation coefficient is greater than or equal to the seventh threshold, the torque utilization rate is greater than or equal to the eighth threshold, and the penetration benchmark value ratio is less than or equal to the ninth threshold, the predicted local hard point formation is identified as the target local hard point formation within the same effective time window.

[0042] In one embodiment, determining the target tunneling parameters for the tunnel boring machine in the next control cycle based on the target tunneling condition, the initial operating parameters, and the preset limiting function includes:

[0043] Based on the hard material ratio, soft-hardness unevenness index, torque fluctuation coefficient, pressure deviation value of the upper, middle and lower parts of the soil chamber under the target tunneling condition, and the initial operating parameters, the tunneling parameter correction amount is determined;

[0044] The target tunneling parameters are determined based on the preset amplitude limiting function and the tunneling parameter correction amount.

[0045] In one embodiment, the preset limiting function is expressed as: Where x represents the correction amount of the tunneling parameters; This represents the minimum permissible value for the correction of the tunneling parameters; This indicates the maximum permissible value for the correction amount of the tunneling parameters;

[0046] Based on the preset amplitude limiting function and the tunneling parameter correction amount, the target tunneling parameters are determined, including:

[0047] When the tunneling parameter correction amount x is less than the minimum allowable value When the time comes, the tunneling parameter correction amount x is determined as the target tunneling parameter;

[0048] When the tunneling parameter correction amount x is greater than the maximum allowable value When the time comes, the tunneling parameter correction amount x is determined as the target tunneling parameter;

[0049] When the tunneling parameter correction value x is at the minimum allowable value With the maximum allowed value When the time interval is reached, the tunneling parameter correction amount x is determined as the target tunneling parameter.

[0050] Embodiments of the present invention also provide a collaborative optimization system for shield tunneling parameters in unevenly textured strata, comprising:

[0051] The data acquisition module is used to acquire the geological segment parameters and shield operation parameters of the tunnel boring machine (TBM) during the current control cycle. The TBM movement parameters include initial operation parameters and real-time operation parameters corresponding to each moment. The geological segment parameters and TBM operation parameters are stored in the corresponding data tables in the current database.

[0052] The data processing module is used to extract features from the real-time operating parameters to obtain the characteristic indicators of the shield tunneling machine within the current control cycle; based on the characteristic indicators and the stratum segmentation parameters, the target tunneling condition of the shield tunneling machine within the current control cycle is determined; the target tunneling condition includes the target full-section hard stratum, the target upper and lower uneven soft and hard stratum, the target left and right uneven soft and hard stratum, and the target local hard point stratum; based on the target tunneling condition, the initial operating parameters, and the preset amplitude limiting function, the target tunneling parameters of the shield tunneling machine within the next control cycle are determined;

[0053] The feedback correction module is used to determine the execution result of the shield tunneling machine after it runs based on the target tunneling parameters, and update the current database based on the execution result to obtain an updated database for the next control cycle.

[0054] Embodiments of the present invention also provide a computing device, comprising: a memory for storing one or more programs; and one or more processors for executing the one or more programs to implement the method described above.

[0055] The above-described solution of the present invention has at least the following beneficial effects:

[0056] 1. This invention extracts characteristic indicators based on real-time operating parameters, including specific thrust, specific torque, torque fluctuation coefficient, torque utilization rate, shield pitch change rate, shield yaw change rate, cylinder load imbalance coefficient, penetration reduction rate, and the ratio of penetration benchmark value. Based on these characteristic indicators and stratum segmentation parameters, it identifies and verifies the working conditions. Compared with the existing method of simply observing torque or thrust, it can accurately identify the proportion of hard strata, the orientation of the soft-hard interface, and the trend of stratum abrupt change, thereby accurately reflecting the comprehensive construction status under uneven soft-hard strata and providing an accurate basis for subsequent shield tunneling adjustments.

[0057] 2. This invention transforms the working condition identification results within the current shield tunneling control cycle into specific target tunneling parameters for the next control cycle. On the one hand, it can control the safety and efficiency of shield tunneling construction in the next cycle; on the other hand, it solves the problem that existing early warning methods can only indicate risks but cannot guide operations. Furthermore, it includes target tunneling parameters such as thrust, cutterhead speed, penetration depth, soil chamber pressure, screw conveyor speed, foam injection ratio, and mud injection ratio, so that the adjustment of shield tunneling parameters can take into account tunneling efficiency, cutter load, excavation face stability, and muck removal continuity, thereby improving shield tunneling efficiency and safety.

[0058] 3. This invention feeds back and corrects the database based on the execution results after the target tunneling parameters are run. At the same time, it records each recommendation, execution and construction effect in the database, so that the database can be continuously updated as the project progresses, reducing repeated trial and error in similar strata and improving the transferability of shield tunneling construction parameters.

[0059] It should be understood that the implementation of any embodiment of the present invention does not mean that it will simultaneously possess or achieve multiple or all of the above-mentioned beneficial effects. Attached Figure Description

[0060] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0061] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0062] Figure 1This is a flowchart illustrating the method for collaborative optimization of shield tunneling parameters in uneven soft and hard strata provided in an embodiment of the present invention.

[0063] Figure 2 This is a flowchart of feedback correction based on target tunneling parameters provided in an optional embodiment of the present invention;

[0064] Figure 3 This is a schematic diagram of the connection between the collaborative optimization system and the existing tunnel boring machine provided in an optional embodiment of the present invention;

[0065] Figure 4 This is a schematic diagram illustrating the specific workflow of a collaborative optimization system provided in an optional embodiment of the present invention;

[0066] Figure 5 This is a schematic block diagram of a shield tunneling parameter collaborative optimization system for uneven soft and hard strata provided in an embodiment of the present invention;

[0067] Figure 6 This is a schematic block diagram of an electronic device provided in an embodiment of the present invention; and

[0068] Figure 7 This is a schematic block diagram of a computing device provided in an embodiment of the present invention. Detailed Implementation

[0069] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0070] It should be understood that the terms "comprising / including," "consisting of," or any other variations are intended to cover non-exclusive inclusion, such that a product, apparatus, process, or method that comprises a list of elements includes not only those elements but may also include, where necessary, other elements not expressly listed, or elements inherent to such a product, apparatus, process, or method. Without further limitation, an element defined by the phrases "comprising / including," "consisting of," does not exclude the presence of additional identical elements in the product, apparatus, process, or method that includes said element.

[0071] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0072] like Figure 1 As shown, an embodiment of the present invention proposes a method for collaborative optimization of shield tunneling parameters in uneven soil strata, specifically including the following steps:

[0073] Step 11: Obtain the geological segment parameters and shield operation parameters of the tunnel boring machine (TBM) within the current control cycle; the TBM motion parameters include the initial operation parameters and the corresponding real-time operation parameters at each moment; the geological segment parameters and TBM operation parameters are stored in the corresponding data tables in the current database;

[0074] Step 12: Extract features from real-time operating parameters to obtain the characteristic indicators of the tunnel boring machine within the current control cycle;

[0075] Step 13: Based on the characteristic indicators and the stratum segmentation parameters, determine the target tunneling conditions of the shield tunneling machine within the current control cycle; the target tunneling conditions include the target full-section hard stratum, the target upper and lower uneven soft and hard stratum, the target left and right uneven soft and hard stratum, and the target local hard point stratum.

[0076] Step 14: Based on the target tunneling conditions, initial operating parameters, and preset limiting function, determine the target tunneling parameters for the shield tunneling in the next control cycle;

[0077] Step 15: Determine the execution result of the shield tunneling operation based on the target tunneling parameters, and update the current database based on the execution result to obtain the updated database for the next control cycle.

[0078] In this embodiment, the stratigraphic segmentation parameters can be stored in the stratigraphic segmentation table in the current database. The stratigraphic segmentation table is used to record the geological prior boundary. The corresponding stratigraphic segmentation parameters may specifically include the starting ring number, ending ring number, main stratigraphic layers, soft soil thickness, hard soil thickness, soft-hard interface orientation, groundwater level, rock and soil unit weight γ, effective unit weight γ', internal friction angle φ, cohesion c, and risk remarks.

[0079] Initial operating parameters can be stored in the baseline parameter table in the current database. This baseline parameter table is used to record the initial baseline parameters of the shield tunnel determined in the test section or similar projects, which are also the initial operating parameters. Specifically, the initial operating parameters may include the baseline total thrust F0, the baseline cutterhead rotation speed n0, the baseline penetration depth P0, the baseline advance speed V0, the baseline soil chamber pressure Pc0, the baseline auger speed Ns0, the baseline foam injection ratio FIR0, the baseline foam expansion ratio FER0, and the baseline bentonite injection ratio BIR0.

[0080] The real-time operating parameters of the current control cycle correspond to the real-time data collected at each sampling moment within the current control cycle. That is, the real-time operating parameters correspond to a sampling timestamp. These real-time operating parameters can be stored in the real-time acquisition table in the current database. Specifically, they can include the current total thrust, current cutterhead torque, current shield attitude, current shield cylinder pressure, current penetration depth, current advance speed, current pressure in the upper, middle and lower parts of the soil chamber, current screw conveyor speed, current gate opening, current foam injection volume, current bentonite injection volume, and the timestamp and tunneling ring number corresponding to the current real-time operating parameters.

[0081] The feature indicators extracted from real-time operating parameters can be stored in the feature indicator table in the current database. This feature indicator table also stores the sliding window number and the number of valid data points. The feature indicators can specifically include specific thrust, specific torque, torque fluctuation coefficient, torque utilization rate, shield pitch change rate, shield yaw change rate, cylinder load imbalance coefficient, penetration reduction rate, and penetration benchmark value ratio. Among them, specific thrust represents the thrust required per unit excavation area and is used to eliminate the influence of shield diameter differences on total thrust. An increase in specific thrust indicates an increase in propulsion resistance. This feature indicator is an important criterion for an increase in the proportion of hard material or an increase in shield shell friction. Specific torque is used to eliminate the influence of shield diameter and excavation area differences on cutterhead torque. An increase in this value indicates an increase in cutterhead rotation cutting resistance and can be used to identify risks of hard strata, boulders, cutter wear, or mud cake formation. The torque fluctuation coefficient is used to evaluate the relative fluctuation degree of cutterhead torque.

[0082] The target tunneling parameters are stored in the parameter adjustment rule table of the current database. Specifically, they may include target thrust (used to overcome excavation face resistance, shield friction, post-support resistance, and attitude adjustment resistance), target cutterhead speed (used to control the cutting frequency of the cutter and the intensity of soil mixing), target penetration (representing the depth of the cutterhead into the stratum per revolution), target soil chamber pressure (used to balance the water and soil pressure at the excavation face and control stratum loss), target auger speed (used to control the amount of slag discharged and the rate of soil chamber pressure release), target foam injection ratio (representing the ratio of foam volume to excavated soil volume), and target mud injection ratio (representing the ratio of air volume in the foam to foaming agent solution volume). It should be understood that the types and standards of target tunneling parameters adjusted under different tunneling conditions are not the same. Based on the target tunneling conditions, the corresponding target tunneling parameters are determined, which realizes the targeted adjustment of parameters under different conditions, ensures the accuracy of parameter adjustment, and improves the efficiency of shield tunneling.

[0083] In this embodiment, feature indicators extracted based on real-time operating parameters are combined with stratum segmentation parameters for working condition identification. Compared with the existing method of simply observing torque or thrust, this method can accurately identify the proportion of hard strata, the orientation of the soft-hard interface, and the trend of abrupt changes in strata. This accurately reflects the comprehensive construction status under uneven soft-hard strata, providing an accurate basis for subsequent shield tunneling adjustments. Furthermore, the working condition identification results within the current shield control cycle are transformed into specific target tunneling parameters for the next control cycle. On the one hand, this can control the safety and efficiency of shield construction in the next cycle; on the other hand, it solves the problem that existing early warning methods can only indicate risks but cannot guide operations. Target tunneling parameters including thrust, cutterhead speed, penetration depth, soil chamber pressure, screw conveyor speed, foam injection ratio, and mud injection ratio are included, allowing the adjustment of shield tunneling parameters to take into account tunneling efficiency, cutter load, excavation face stability, and muck removal continuity, thereby improving shield tunneling efficiency.

[0084] like Figure 2 As shown, after determining the target tunneling parameters, the shield tunneling machine is controlled to execute according to the target tunneling parameters, and the equipment response and construction feedback after execution (execution results after operation) are collected to generate an effect score. The database is further corrected based on the effect score. At the same time, the database records each recommendation, execution and construction effect, so that the database can be continuously updated as the project progresses, reducing repeated trial and error in similar strata in the future, improving the transferability of shield tunneling construction parameters, and solving the problem that the empirical parameter table cannot adapt to rapid changes in strata.

[0085] In an optional embodiment of the present invention, the real-time operating parameters may include the current total thrust, the current cutterhead torque, the current shield attitude, the current shield cylinder pressure, and the current penetration; the characteristic indicators may include specific thrust, specific torque, torque fluctuation coefficient, torque utilization rate, shield pitch change rate, shield yaw change rate, cylinder load imbalance coefficient, penetration decrease rate, and penetration reference value ratio.

[0086] Step 12 above may specifically include:

[0087] Step 121: Determine the specific thrust based on the current total thrust;

[0088] Step 122: Based on the current cutter head torque, determine the specific torque, torque fluctuation coefficient, and torque utilization rate;

[0089] Step 123: Based on the current shield attitude, determine the shield pitch rate and shield yaw rate.

[0090] Step 124: Determine the cylinder load imbalance coefficient based on the current shield cylinder pressure;

[0091] Step 125: Based on the current penetration depth, determine the penetration depth reduction rate and the penetration depth baseline value ratio.

[0092] In this embodiment, the real-time operating parameters within the current control cycle can first be divided into sliding windows according to time windows or tunneling distance windows. For example, a time window can be formed every 60s to 120s (the number of valid data points in this window is the number of valid sampling points participating in the calculation within the sliding window), or a distance window can be formed every 0.20m to 0.50m of tunneling. The real-time operating parameters within each window form a whole, and each window corresponds to a window number. This window number is used to mark the time period, ring number, and mileage range corresponding to the statistical real-time operating parameters of this group. The reason for using sliding windows is that the shield torque, thrust, and soil chamber pressure all have instantaneous fluctuations. Directly using a single sampling point is prone to misjudgment, while window statistics can reflect the stable trend in a continuous tunneling process.

[0093] When determining the specific thrust (SF), the average thrust is first determined based on the current total thrust and the number of valid data points at each sampling time within the sliding window. ;in Let N be the current total thrust at the i-th valid sampling point, and N be the number of valid sampling points; if the average thrust... An increase in thrust and a decrease in penetration usually indicate increased propulsion drag or a higher proportion of hardened material; preferably, the specific thrust SF can be expressed as: ,in, D is the shield excavation diameter. Furthermore, based on the specific thrust SF, the relative specific thrust increment can be determined. , This represents the reference specific thrust, where the reference specific torque is... It can be that multiple specific thrusts from the same stratum segmented stable test tunneling data are arranged from smallest to largest, and the median of the arrangement is taken as the benchmark specific thrust. Using the median value can reduce the impact of individual thrust peaks or short-term anomalies on the benchmark value.

[0094] When determining the specific torque ST, the average torque is first determined based on the current cutterhead torque and the number of valid data points at each sampling time within the sliding window. ,in The current cutter head torque at the i-th valid sampling point; average torque An increase typically indicates hardening of the formation, mud cake formation on the cutterhead, cutter wear, soil adhesion, or the entry of localized hard interlayers into the cutterhead; preferably, the corresponding specific torque ST can be expressed as: , The torque fluctuation coefficient CT can be expressed as: ,in The standard deviation of the cutter head torque is represented by the torque utilization rate UT, which can be expressed as: ,in This indicates the maximum allowable torque of the cutter head. Furthermore, based on the specific torque, the relative specific torque increment can be determined. , This represents the reference specific torque. It can be multiple specific torques from the same stratum segmented stable test tunneling data arranged from smallest to largest, and the median of the arrangement is taken as the benchmark specific torque.

[0095] Determining the shield tunnel pitch change rate and shield yaw rate At that time, the pitch angle and yaw angle (starting pitch angle) corresponding to the starting point and ending point are read from the sliding window corresponding to the current shield attitude. End point pitch angle Starting yaw angle End point yaw angle and the distance advanced within the window Preferably, the shield pitch variation rate It can be represented as: Shield tunnel yaw rate of change It can be represented as: .

[0096] Because the number of propulsion cylinders or the effective piston area may differ in the upper, lower, left, and right groups of the tunnel boring machine, the simple average values ​​of the pressure gauges for each group cannot be directly compared. To determine the cylinder load imbalance coefficient, the current shield pressure corresponding to each cylinder is first multiplied by the effective area of ​​that cylinder to obtain the calculated thrust of that cylinder. Then, the calculated thrusts of all cylinders within the same group are added together to obtain the total calculated thrust for that group. To enable comparison between different groups, the total calculated thrust of that group is divided by the total effective area of ​​the cylinders in that group to obtain the normalized load for the four groups of cylinders (upper, lower, left, and right). , , and Therefore, the load imbalance coefficient between the upper and lower cylinder groups can be calculated. and the load imbalance coefficient of the left and right hydraulic cylinders .

[0097] Preferably, the penetration reduction rate It can be represented as: ,in, The average penetration within the sliding window can be expressed as: , among which, among which Let i be the current penetration degree of the i-th valid sampling point. , This represents the current rotational speed of the cutter head at the i-th valid sampling point. This represents the current rotational speed of the cutter head at the i-th valid sampling point.

[0098] In an optional embodiment of the present invention, step 13 above may specifically include:

[0099] Step 131: Based on the current shield attitude in the stratum segmentation parameters and real-time operation parameters, determine the predicted tunneling conditions of the shield in the current control cycle; the predicted tunneling conditions include predicting hard strata across the entire cross section, predicting upper and lower uneven soft and hard strata, predicting left and right uneven soft and hard strata, and predicting local hard point strata.

[0100] Specifically, step 131 above may include:

[0101] Step 1311: Based on the current ring number and current shield attitude in the stratum segmentation parameters, project the exploration profile in the stratum segmentation parameters onto the current excavation face of the shield within the current control cycle.

[0102] Step 1312: Based on the area ratio of hard strata at the current excavation face, determine the predicted tunneling conditions of the shield tunneling machine within the current control cycle.

[0103] In this embodiment, the stratigraphic segmentation table also includes a survey report, which records the predicted stratigraphic conditions at the borehole location and is documented in the form of drawings (survey profiles) as a basic document for the shield tunneling construction organization design. At the current moment of shield tunneling, the reference mileage S of that ring can be found on the tunnel design centerline based on the current ring number. r In addition, the fixed axial distance L of the tunnel boring machine from the reference section of the ring to the cutterhead excavation face. ref The excavation mileage S of the cutterhead excavation face is obtained. f :S f =S r +L ref Here, L ref The parameters are fixed equipment parameters determined by the overall dimensions of the shield machine; further reading of the horizontal offset, vertical offset, pitch angle, yaw angle and roll angle in the current shield attitude is used to correct the design centerline position and obtain the actual spatial position of the cutterhead center (that is, the current excavation face).

[0104] It should be understood that the current excavation face is not simply a vertical plane at the ring number position, but a circular plane passing through the actual cutterhead center and perpendicular to the current shield axis. This allows for consideration of the difference between the strata actually cut by the cutterhead and the design centerline section after the shield tilts up, tilts down, or shifts left or right. After determining the actual spatial position of the cutterhead center, the corresponding exploration profile can be matched from the stratum segmentation table. The matching process also includes parameters such as the associated exploration borehole or profile number, control point mileage, the lateral position of the control point relative to the tunnel centerline, the elevation of the top and bottom interfaces of each stratum, the interface dip and dip angle, the stratum name, and risk remarks.

[0105] Furthermore, with the center O of the cutter head face Using the origin as the coordinate system, establish horizontal coordinates y and vertical coordinates z within the current excavation face. Viewed from the tail of the tunnel boring machine (TBM) towards the tunneling direction, the positive and negative y-axis correspond to the right and left sides of the current excavation face, respectively, while the positive and negative z-axis correspond to the top and bottom sides, respectively. The local coordinates of any point within the current excavation face can be represented as (y, z), satisfying y² + z² ≤ (D / 2)². Based on the current pitch, yaw, and roll attitude of the TBM, this point can be converted into engineering coordinates. Here, local coordinates that rotate with the TBM's attitude are used to ensure that "top, bottom, left, and right" always correspond to the actual grouping directions of the cutterhead and propulsion cylinders.

[0106] If the current excavation face is located between two exploration control points, and the geological interface between the two points changes gently, then linear interpolation should be performed based on mileage. For example, if the previous control point is at mileage 1000m with a hard rock top elevation of -20m, the next control point is at mileage 1020m with a hard rock top elevation of -18m, and the current excavation face is at mileage 1010m, then the interpolated elevation of the hard rock top at the current mileage is -19m. If the exploration data shows that the interface has faults, abrupt changes, or significant curvature, then the interface should be established separately for each geological segment; a straight line should not be used for interpolation across abrupt changes. When there are many control points, segmented planes, triangular meshes, or existing three-dimensional geological models can be used to represent the geological interface. If there is data on boreholes, cross sections, or interface dip and dip angles on the left and right sides of the tunnel, then the elevation change of the soft and hard interface from left to right at the same mileage should be calculated based on this data to obtain the intersection line between the inclined interface and the current excavation face. If only the longitudinal profile of the tunnel centerline is available, without cross-section, left and right side borehole or interface orientation data, then only the hard material ratio of the entire cross section, the upper half and the lower half can be reliably calculated, and the actual left and right differences cannot be inferred from a single longitudinal profile.

[0107] Furthermore, the survey profile corresponding to the actual spatial position of the cutterhead center is projected onto the current excavation face. Specifically, first, the elevation of the soft and hard interface at the current mileage is determined based on the front and rear survey holes. Then, the interface is determined to be inclined from left to right based on the survey holes or interface inclination on the left and right sides. Finally, the soft and hard dividing line is drawn on the circular cutterhead plane.

[0108] Furthermore, based on the area ratio of hard strata corresponding to the current excavation face, the predicted tunneling conditions of the shield tunneling machine on the current excavation face within the current control cycle are determined; here, the area ratio of hard strata may include R, which represents the proportion of the area of ​​hard strata in the current excavation face to the total area of ​​the current excavation face. geo The proportion of hard surface area R in the upper half of the excavation face u The proportion of hard surface area R in the lower half of the excavation face d The proportion of hard surface area R in the left half of the excavation face l The ratio of the hard surface area to the right half of the excavation face, R r The proportions of these five hard areas are all numbers between 0 and 1, for example, R. geo =0.40, indicating that approximately 40% of the current excavation surface area is composed of relatively hard strata; R u =0.20、R d =0.60 indicates that approximately 20% of the upper part is a hard stratum, and approximately 60% of the lower part is a hard stratum. It should be understood that the term "hard" here refers to the hard portion relative to the soft stratum within the same project and the same stratigraphic segment. It is not required that all projects use the same soil and rock name or the same strength value for classification.

[0109] In an optional embodiment of the present invention, step 1312 above may specifically include:

[0110] Step 13121: Divide the current excavation face into regions to determine the target area of ​​the current excavation face; the target area includes the upper half, lower half, left half and right half, and the target area corresponds to the position of the shield tunneling machine's propulsion cylinder;

[0111] Step 13122: Grid the computational region corresponding to the current excavation face, and determine the area of ​​each grid and the hardness ratio of the grid within each target region;

[0112] Step 13123: Determine the hard layer area ratio of each target area based on the number of grids in each target area, the area of ​​each grid in each target area, and the hardness ratio of that grid.

[0113] Step 13124: Based on the area ratio of hard strata in each target area, determine the predicted tunneling conditions of the shield tunneling machine in the current control cycle.

[0114] In this embodiment, to correspond with the upper and lower cylinder groups and the left and right cylinder groups of the propulsion cylinders, the current excavation face is divided into four regions: the upper half, the lower half, the left half, and the right half. It should be understood that these four regions are not four non-overlapping quarter circles, but rather two sets of overlapping semicircles. The semicircle with z≥0 is the upper half, and the semicircle with z<0 is the lower half. When viewed from the tail of the shield tunnel towards the excavation direction, the semicircle with y<0 is the left half, and the semicircle with y≥0 is the right half. The area of ​​each semicircle is half of the entire current excavation face area. Here, the upper half, lower half, left half, and right half are respectively R's ratio to the hard surface area of ​​the upper half of the excavation face. u The proportion of hard surface area R in the lower half of the excavation face d The proportion of hard surface area R in the left half of the excavation face l and the proportion of hard surface area R of the right half of the excavation face r One-to-one correspondence.

[0115] Furthermore, the computational region (the entire current excavation face) corresponding to the current excavation face is meshed. When meshing, the mesh edge length δ is preferably no greater than D / 100 and no greater than 0.10m, taking the smaller value. For example, when the excavation diameter D = 6.28m, D / 100 = 0.0628m, and a mesh of 0.05m or 0.06m can be used. For meshes at the edge of the current excavation face, only the actual area within the excavation face is calculated; the area outside the excavation face is not included. For each mesh center or multiple integration points, a stratum determination is performed: meshes completely within hard strata have a hardness ratio of 1, meshes completely within soft strata have a hardness ratio of 0, and meshes exactly cut by the hard-soft interface have a hardness ratio between 0 and 1, based on the proportion of the actual area of ​​the hard part to the mesh area. This avoids significant errors near the boundary line caused by only considering the mesh center.

[0116] Furthermore, let the actual area of ​​the j-th grid within the corresponding computational region be... The proportion of hard components in the j-th grid is ,but This refers to the area of ​​the hard portion within the j-th grid. Adding the hard areas of each grid and dividing by the total area of ​​the corresponding target region gives the proportion of hard area for that target region.

[0117] (1) The proportion of hard strata in the entire cross section (that is, the proportion of the area of ​​hard strata in the current excavation face to the total area of ​​the current excavation face): , where j belongs to the entire current excavation face;

[0118] (2) Hardness ratio in the upper half: , where j belongs to the upper half of the region;

[0119] (3) Hardness ratio in the lower half: , where j belongs to the lower half of the region;

[0120] (4) Hardness ratio in the left half: , where j belongs to the left half of the region;

[0121] (5) Ratio of hard tissue in the right half: , where j belongs to the right half of the region;

[0122] These five hard surface area ratios are all numbers between 0 and 1, used to reflect the expected excavation face composition in the survey report; since the upper and lower halves of the area are equal, and the left and right halves of the area are equal, they should meet the following conditions, assuming no calculation errors. At the same time, it should also meet .

[0123] Furthermore, based on the proportion of hard strata area in each target region, the predicted tunneling conditions are determined; specifically:

[0124] When the full cross-section has a high proportion of hard material At the first hardness ratio threshold, and the hardness ratio of the upper half region The proportion of hard material in the lower half of the zone The proportion of hard material in the left half of the area The proportion of hard tissue in the right half of the area When the difference between the maximum and minimum values ​​in the data does not exceed the first difference threshold, it indicates that the hard stratum accounts for a high proportion and is relatively evenly distributed throughout the entire excavation face. In this case, the current excavation face is confirmed as the predicted full-section hard stratum. The first hard stratum proportion threshold is preferably 0.70, and the first difference threshold is preferably 0.20.

[0125] When the upper half of the hardness ratio Hardness ratio of the lower half When the difference is greater than or equal to the second difference threshold, and the hardness ratio of the upper half region is... If the hardness ratio is greater than or equal to the second hardness ratio threshold, the current excavation face is identified as a predicted heterogeneous stratum with a hard upper layer and a soft lower layer; if the hardness ratio in the lower half of the zone is greater than or equal to the second hardness ratio threshold, the current excavation face is identified as a predicted heterogeneous stratum with a hard upper layer and a soft lower layer. Hardness ratio of the upper half When the difference is greater than or equal to the second difference threshold, and the hardness ratio of the lower half of the region is... If the difference is greater than or equal to the second hardness ratio threshold, the current excavation face is confirmed as a predicted uneven stratum with soft upper layer and hard lower layer. Here, the second difference threshold is preferably 0.20 to avoid triggering obvious vertical direction judgments with a small number of local hard points. The second hardness ratio threshold is preferably 0.40 to ensure that there is indeed a certain area of ​​hard stratum in this direction.

[0126] When the hardness ratio of the left half of the region Hardness ratio of the right half The difference is greater than or equal to the second difference threshold, and the hardness ratio of the left half is greater than or equal to the second difference threshold. If the hardness ratio is greater than or equal to the second hardness ratio threshold, then the current excavation face is considered to be a predicted heterogeneous stratum with hardness on the left and softness on the right; when the hardness ratio in the right half of the zone is greater than or equal to the second hardness ratio threshold, then the current excavation face is considered to be a predicted heterogeneous stratum with hardness on the left and softness on the right. The ratio of hardness to the left half of the region The difference is greater than or equal to the second difference threshold, and the hardness ratio of the right half is greater than or equal to the second difference threshold. If the value is greater than or equal to the second hardness ratio threshold, then the current excavation face is considered to be a predicted uneven stratum with soft left and hard right.

[0127] When the full cross-section has a high proportion of hard material Greater than the third hardness ratio threshold and less than the fourth hardness ratio threshold (the fourth hardness ratio threshold is greater than the third hardness ratio threshold), and the hardness ratio in the upper half of the region. Hardness ratio of the lower half The absolute value of the difference is less than the second difference threshold, and the hardness ratio of the left half is less than the second difference threshold. Hardness ratio of the right half If the absolute value of the difference is also less than the second difference threshold, then the current excavation face is confirmed as the predicted soft-hard composite stratum.

[0128] When the full cross-section has a high proportion of hard material If the current excavation face is less than or equal to the third hardness threshold, and the risk notes in the stratigraphic segmentation table or the exploration report clearly record isolated boulders, local hard interlayers, or anomalies, then the current excavation face is identified as a predicted local hard point stratigraphic layer.

[0129] In an optional embodiment of the present invention, step 13 above may include:

[0130] Step 132: Based on feature indicators, the predicted tunneling conditions are verified to determine the target tunneling conditions for the shield tunneling machine within the current control cycle. Here, the predicted tunneling conditions judgment based on geological segmentation parameters is combined with feature indicators corresponding to real-time construction. This ensures that the target tunneling conditions identification results have both geological basis and reflect the current actual tunneling status, thereby guaranteeing the accuracy of target tunneling conditions identification and, consequently, the accuracy of the subsequently generated target tunneling parameters.

[0131] Furthermore, step 132 above may specifically include:

[0132] Step 1321a: Within the current control cycle, if at least two effective time windows simultaneously satisfy the following conditions: the relative thrust increment and the relative torque increment are both greater than or equal to the first threshold, the penetration reduction rate is greater than or equal to the second threshold, and the torque fluctuation coefficient is less than the second threshold and the cylinder load imbalance coefficient is less than the first threshold, then the predicted full-section hard stratum is determined as the target full-section hard stratum; the relative thrust increment is determined by the specific thrust, and the relative torque increment is determined by the specific torque.

[0133] Step 1321b: During the current control cycle, when the upper and lower cylinder load imbalance coefficients in the cylinder load imbalance coefficients are greater than or equal to the third threshold, and the shield pitch change rate is greater than or equal to the fourth threshold, the predicted upper and lower soft and hard uneven strata are determined as the target upper and lower soft and hard uneven strata.

[0134] Step 1321c: During the current control cycle, when the left and right cylinder load imbalance coefficients in the cylinder load imbalance coefficients are greater than or equal to the fifth threshold, and the shield tunnel yaw change rate is greater than or equal to the sixth threshold, the predicted left and right soft and hard uneven strata are determined as the target left and right soft and hard uneven strata.

[0135] Step 1321d: Within the current control cycle, if the torque fluctuation coefficient is greater than or equal to the seventh threshold, the torque utilization rate is greater than or equal to the eighth threshold, and the penetration benchmark value ratio is less than or equal to the ninth threshold, the predicted local hard point stratum is determined as the target local hard point stratum within the same effective time window.

[0136] In this embodiment, within the current control cycle, when the relative thrust increment is simultaneously satisfied within at least two effective time windows... Relative torque increment All are greater than or equal to the first threshold, penetration rate decrease If the value is greater than or equal to the second threshold, it indicates that the thrust and specific torque required per unit excavation area increase simultaneously, while the penetration depth per cutterhead revolution decreases significantly. Excluding localized hard spots or unilateral uneven loading, the torque fluctuation coefficient CT must simultaneously be less than the second threshold and the cylinder load imbalance coefficient less than the first threshold. Preferably, the upper and lower cylinder load imbalance coefficients are... The load imbalance coefficient between the left and right hydraulic cylinders If all values ​​are less than the first threshold, and localized hard spots or unilateral eccentric loading are excluded, the predicted full-section hard stratum is determined as the target full-section hard stratum; here, the first threshold is preferably 0.15, and the second threshold is preferably 0.20. If only the relative thrust increment... Increased relative torque increment If there is no synchronous rise, first check the shield friction, the trailing drag, or the attitude correction; if there is only a relative torque increase... Increased relative thrust If the changes are not obvious, you should first check for mud cake on the cutter head, cutter wear, or local hard spots, and do not directly determine that it is overall hardening.

[0137] Within the current control cycle, when the load imbalance coefficient between the upper and lower cylinder groups... Greater than or equal to the third threshold, and the shield pitch change rate When the value is greater than or equal to the fourth threshold, the predicted upper and lower heterogeneous strata are identified as the target upper and lower heterogeneous strata; here, the third threshold can be expressed as: The fourth threshold can be expressed as: ,in , These represent the median baseline values ​​of the corresponding indicators for the most recent 20 normal tunneling rings, with `max` indicating the larger of the two standards. For example, the most recent 20 rings... If the value is 0.08, then 1.30 × 0.08 = 0.104, which is less than 0.15. Therefore, 0.15 is ultimately used as the threshold. If the most recent 20 rings... If the value is 0.14, then 1.30 × 0.14 = 0.182, which is greater than 0.15, so 0.182 is ultimately adopted. This setting avoids being triggered by slight fluctuations when the baseline is very small, and also accommodates situations where some devices themselves have a certain inter-group difference over a long period of time.

[0138] Within the current control cycle, when the load imbalance coefficient of the left and right cylinder groups... Greater than or equal to the fifth threshold, and the shield tunneling yaw rate of change When the threshold is greater than or equal to the sixth threshold, the predicted left and right heterogeneous formations are identified as the target left and right heterogeneous formations; here, the fifth threshold can be expressed as: The sixth threshold can be expressed as: ,in , These represent the median baseline values ​​of the corresponding indicators for the most recent 20 normal tunneling rings.

[0139] Within the current control cycle, when at least two effective time windows simultaneously satisfy the following conditions: torque fluctuation coefficient CT is greater than or equal to the seventh threshold, torque utilization rate UT is greater than or equal to the eighth threshold, and penetration reference value ( If the ratio is less than or equal to the ninth threshold, the predicted local hard point formation is identified as the target local hard point formation. Here, the preferred threshold is 0.3, the preferred threshold is 0.75, and the preferred threshold is 0.7. When CT ≥ 0.30, it indicates that there is significant torque pulsation. This indicates that the penetration is more than 30% lower than the baseline value. UT≥0.75 indicates that the cutterhead has entered the high torque load zone. All three items must appear simultaneously within the same window to prevent misjudging a single torque peak, temporary reduction in feed speed, or changes caused by the operator changing the set value as an isolated rock.

[0140] In an optional embodiment of the present invention, step 14 above may specifically include:

[0141] Step 141, based on the hard material ratio R under the target tunneling condition h The correction amount of tunneling parameters is determined by the unevenness index IH, torque fluctuation coefficient CT, pressure deviation value ΔPc in the upper, middle and lower parts of the soil chamber, and the initial operating parameters.

[0142] In this embodiment, the following parameters are first read from the reference parameter table: reference total thrust F0, reference cutterhead rotation speed n0, reference penetration depth P0, reference propulsion speed V0, reference soil chamber pressure Pc0, reference screw conveyor rotation speed Ns0, reference foam injection ratio FIR0, reference foam expansion ratio FER0, and reference bentonite injection ratio BIR0. Then, based on the soft-hardness heterogeneity index IH and the hardness ratio R... h The correction amount for tunneling parameters is calculated based on torque fluctuation CT and pressure deviation ΔPc. Among these, the hard material ratio R... h It can be represented as: The hardness-softness indices IH can be expressed as: ,in These are the normalized values ​​for the corresponding parameters. For the corresponding parameter weights, the initial weights can be taken as follows: .

[0143] Here, the corrections to the tunneling parameters may include the correction for thrust, cutterhead speed, penetration depth, soil chamber pressure, screw conveyor speed, foam injection ratio, and mud injection ratio.

[0144] Furthermore, thrust correction amount It can be represented as: This process indicates that as the proportion of hard material increases, the thrust can be moderately increased to maintain cutting, but when the torque utilization rate is too high, it conversely limits further increases in thrust; among which, This represents the normalized torque utilization correction coefficient, used to convert the actual cutterhead torque utilization into a thrust constraint between 0 and 1. Preferably, the torque utilization correction coefficient... It can be represented as: ,when hour, This indicates that the current torque load has not yet triggered the additional thrust limit. hour, It increases linearly between 0 and 1, when hour, This indicates that thrust can be increased within the maximum correction limit. This indicates the minimum thrust setting. This indicates the thrust safety limit, which can be taken as... ( (This indicates the maximum thrust setting).

[0145] Cutter head speed correction amount It can be represented as: This process indicates that the higher the proportion of hard material, the greater the torque fluctuation, and the lower the recommended engine speed; among which, This represents the normalized torque ripple correction coefficient, used to convert the torque ripple CT into a continuous parameter adjustment amount between 0 and 1. Preferably, the torque ripple correction coefficient... It can be represented as: ,when hour, This indicates that the torque fluctuation is small, and the cutter head speed or penetration will not be reduced additionally due to torque fluctuation. hour, The torque fluctuation increases linearly between 0 and 1. hour, This indicates that the cutter head speed and penetration are reduced to the maximum degree of correction. This indicates the minimum value of the cutter head speed setting; This indicates the maximum set value of the cutter head rotation speed.

[0146] Penetration correction amount It can be represented as: This means that when the hardness ratio increases, the penetration depth is reduced first in order to reduce tool impact and torque peak.

[0147] Earthwork pressure correction amount It can be represented as: Where Srisk is a preset correction term for settlement, depressurization, or gushing risk, and ks represents the coefficient of this preset correction term, which can be 0.02 to 0.05 in some embodiments. This means that the pressure is corrected while ensuring the stability of the excavation face, rather than arbitrarily reducing the soil chamber pressure to reduce torque.

[0148] Screw conveyor speed correction It can be represented as: .when Higher than hour, Take a positive value to correct the screw conveyor speed. Gradually increase; when Below At that time, the screw conveyor speed correction amount reduce. The maximum value of the screw conveyor speed correction can be set at 5% to 10% for every 0.03MPa pressure deviation.

[0149] Foam injection ratio correction It can be represented as: Mdry indicates that the slag is too dry or the torque of the screw conveyor is increased, while Mwet indicates that the slag is too wet or the risk of gushing is increased.

[0150] Bentonite injection ratio correction It can be represented as: Mloss indicates that the soil pressure is difficult to maintain or that groundwater is abundant, while Mcorse indicates coarse-grained or fractured strata.

[0151] Step 142: Determine the target tunneling parameters based on the preset amplitude limiting function and the tunneling parameter correction amount.

[0152] Preferably, the preset limiting function can be expressed as: Where x represents the correction amount for the tunneling parameters; This represents the minimum allowable value for the correction of tunneling parameters; This indicates the maximum allowable value for the correction of tunneling parameters;

[0153] Furthermore, step 142 above may specifically include:

[0154] Step 1421a, when the tunneling parameter correction amount x is less than the minimum allowable value When this happens, the tunneling parameter correction amount x is determined as the target tunneling parameter;

[0155] Step 1421b, when the tunneling parameter correction amount x is greater than the maximum allowable value When this happens, the tunneling parameter correction amount x is determined as the target tunneling parameter;

[0156] Step 1421c, when the tunneling parameter correction amount x is at the minimum allowable value With maximum allowed value When the time interval is reached, the tunneling parameter correction amount x is determined as the target tunneling parameter.

[0157] In this embodiment, the tunneling parameter correction amount x is limited to the minimum allowable value of the tunneling parameter correction amount by a preset limiting function. The maximum allowable value of tunneling parameter correction The target thrust, target cutterhead speed, target penetration, target soil chamber pressure, target screw conveyor speed, target foam injection ratio, and target mud injection ratio are all within the allowable range of the equipment and the construction safety range, thereby ensuring the safety and efficiency of tunnel boring machine construction.

[0158] The embodiments of the present invention utilize real-time operating parameters including current total thrust, current cutterhead torque, current shield attitude, current shield cylinder pressure, and current penetration depth. Corresponding characteristic indicators are extracted, including specific thrust, specific torque, torque fluctuation coefficient, torque utilization rate, shield pitch change rate, shield yaw change rate, cylinder load imbalance coefficient, penetration depth reduction rate, and the ratio of penetration depth to the benchmark value. Based on these characteristic indicators, working condition identification is achieved. Compared to simply observing torque or thrust for working condition identification, this method more accurately reflects the comprehensive construction status under uneven geological conditions. After identifying the working condition, based on the initial and real-time operating parameters under the corresponding working condition, the identification results are transformed into specific target tunneling parameters. This solves the problem that existing early warning methods can only indicate risks but cannot guide operations. Simultaneously, it avoids blindly controlling key construction parameters in complex geological conditions, ensuring the safety and efficiency of shield tunneling.

[0159] Furthermore, after determining the target tunneling parameters, the database is fed back and corrected based on the execution results after running the tunneling based on the target parameters. At the same time, the database records each recommendation, execution, and construction effect, so that the database can be continuously updated as the project progresses. This reduces repeated trial and error in similar strata in the future, improves the portability of shield tunneling construction parameters, and solves the problem that empirical parameter tables cannot adapt to rapid changes in strata.

[0160] like Figure 5 As shown, embodiments of the present invention also provide a collaborative optimization system 50 for shield tunneling parameters in unevenly textured strata, comprising:

[0161] Data acquisition module 51 is used to acquire the geological segment parameters and shield operation parameters of the shield tunneling in the current control cycle; the shield movement parameters include the initial operation parameters and the real-time operation parameters corresponding to each moment; the geological segment parameters and shield operation parameters are stored in the corresponding data tables in the current database;

[0162] The data processing module 52 is used to extract features from real-time operating parameters to obtain the characteristic indicators of the tunnel boring machine (TBM) within the current control cycle; based on the characteristic indicators and stratum segmentation parameters, it determines the target tunneling conditions of the TBM within the current control cycle; the target tunneling conditions include the target full-section hard stratum, the target upper and lower uneven soft and hard stratum, the target left and right uneven soft and hard stratum, and the target local hard point stratum; based on the target tunneling conditions, initial operating parameters, and preset amplitude limiting function, it determines the target tunneling parameters of the TBM in the next control cycle;

[0163] The feedback correction module 53 is used to determine the execution result of the shield tunneling operation based on the target tunneling parameters, and update the current database based on the execution result to obtain the updated database for the next control cycle.

[0164] It should be noted that this system is the same as the above-mentioned method for co-optimizing shield tunneling parameters in uneven soft and hard strata. All implementation methods in the above-mentioned method embodiments are applicable to this embodiment and can achieve the same technical effect.

[0165] In practical deployment and application, such as Figure 3 and Figure 4 As shown, the system can specifically consist of a data acquisition gateway (data acquisition module), a computing unit (data processing module), and a construction feedback input terminal (feedback correction module). It can also include a database for storing parameters, a shield tunneling PLC control interface, a driver's cab display and confirmation terminal, a PLC isolation communication module, a geological segment parameter input terminal, and a data backup storage terminal. This system is deployed in the shield tunneling driver's cab or the control cabinet of the rear-mounted trolley to achieve actual installation and operation on existing shield tunneling equipment. The data acquisition gateway connects to the shield tunneling PLC via Ethernet, Modbus, OPC UA, Profibus, CAN, or the shield machine's original communication protocol to read data from the shield tunneling PLC, sensors, and construction monitoring data. The PLC isolation communication module only allows writing authorized and limited auxiliary setting values. The computing unit (such as an industrial computer) runs data processing, soft / hard uneven working condition identification, target tunneling parameter prediction, and feedback learning programs. The driver's cab display and confirmation terminal displays target tunneling parameters, allowable ranges, adjustment reasons, and a confirmation button.

[0166] like Figure 6As shown, embodiments of the present invention also provide an electronic device 50, comprising: a memory 51 for storing one or more computer programs; and one or more processors 52 for executing the one or more computer programs. When the computer programs are run by the processors, they execute the aforementioned method for collaborative optimization of shield tunneling parameters in uneven strata. All implementations in the above method embodiments are applicable to this embodiment and can achieve the same technical effects. The electronic device 50 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device 50 can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components, their connections and relationships, and their functions shown in this invention are merely examples and are not intended to limit the implementation of the invention described and / or claimed herein.

[0167] like Figure 7 As shown, electronic device 50 is a computing device or computer system, which may include CPU 501 (computing unit), which can perform various appropriate actions and processes according to a computer program stored in ROM 502 (read-only memory) or a computer program loaded from storage unit 508 into random access RAM 503 (memory). RAM 503 may also store various programs and data required for the operation of electronic device 50. CPU 501, ROM 502, and RAM 503 are interconnected via bus 504. I / O interface 505 (input / output interface) is also connected to bus 504.

[0168] Multiple components in electronic device 50 are connected to I / O interface 505, including: input unit 506, such as keyboard, mouse, etc.; output unit 507, such as various types of displays, speakers, etc.; storage unit 508, such as disk, optical disk, etc.; and communication unit 509, such as network card, modem, wireless transceiver, etc. Communication unit 509 allows electronic device 50 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0169] CPU 501 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of CPU 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. CPU 501 performs the various methods and processes described above. For example, in some embodiments, the method for co-optimizing shield tunneling parameters in heterogeneous strata can be implemented as a computer software program, which is tangibly contained in a computer-readable storage medium, such as storage unit 508. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 50 via ROM 502 and / or communication unit 509. When the computer program is loaded into RAM 503 and executed by CPU 501, one or more steps of the method for co-optimizing shield tunneling parameters in heterogeneous strata described above can be performed. Alternatively, in other embodiments, CPU 501 may be configured by any other suitable means (e.g., by means of firmware) to perform a method for co-optimizing tunneling parameters in uneven ground conditions.

[0170] Embodiments of the present invention also provide a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the methods described above. All implementations in the above method embodiments are applicable to this embodiment and can achieve the same technical effects.

[0171] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0172] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0173] In the embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0174] Furthermore, it should be noted that in the apparatus and method of the present invention, it is obvious that the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent solutions of the present invention. Moreover, the steps performing the above series of processes can naturally be executed in the order described, but are not necessarily required to be executed in chronological order; some steps can be executed in parallel or independently of each other. Those skilled in the art will understand that all or any step or component of the method and apparatus of the present invention can be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in hardware, firmware, software, or a combination thereof. This is something that those skilled in the art can achieve by using their basic programming skills after reading the description of the present invention.

[0175] Therefore, the object of the present invention can also be achieved by running a program or a set of programs on any computing device. The computing device can be a known general-purpose device. Therefore, the object of the present invention can also be achieved simply by providing a program product containing program code for implementing the method or apparatus. That is, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any known storage medium or any storage medium developed in the future. It should also be noted that in the apparatus and method of the present invention, it is obvious that the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent to the present invention. Furthermore, the steps for performing the above series of processes can naturally be performed in the order described, but are not necessarily required to be performed in chronological order. Some steps can be performed in parallel or independently of each other.

[0176] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for collaborative optimization of shield tunneling parameters in unevenly textured strata, characterized in that, include: Obtain the geological segment parameters and shield operation parameters of the tunnel boring machine (TBM) within the current control cycle; the TBM movement parameters include initial operation parameters and real-time operation parameters corresponding to each moment; the geological segment parameters and TBM operation parameters are stored in the corresponding data tables in the current database; Feature extraction is performed on the real-time operating parameters to obtain the characteristic indicators of the shield tunneling machine within the current control cycle; Based on the aforementioned characteristic indicators and the geological segmentation parameters, the target tunneling conditions for the shield tunneling machine within the current control cycle are determined; the target tunneling conditions include the target full-section hard strata, the target upper and lower uneven soft and hard strata, the target left and right uneven soft and hard strata, and the target local hard point strata. Based on the target tunneling conditions, the initial operating parameters, and the preset limiting function, the target tunneling parameters for the shield tunneling in the next control cycle are determined. The execution result of the tunnel boring machine (TBM) running based on the target tunneling parameters is determined, and the current database is updated based on the execution result to obtain an updated database for the next control cycle.

2. The method for collaborative optimization of shield tunneling parameters in uneven strata according to claim 1, characterized in that, The real-time operating parameters include the current total thrust, current cutterhead torque, current shield attitude, current shield cylinder pressure, and current penetration depth; the characteristic indicators include specific thrust, specific torque, torque fluctuation coefficient, torque utilization rate, shield pitch change rate, shield yaw change rate, cylinder load imbalance coefficient, penetration depth reduction rate, and penetration depth benchmark value ratio. Feature extraction is performed on the real-time operating parameters to obtain characteristic indicators of the tunnel boring machine within the current control cycle, including: Based on the current total thrust, determine the specific thrust; Based on the current cutter head torque, determine the specific torque, the torque fluctuation coefficient, and the torque utilization rate; Based on the current shield attitude, determine the shield pitch rate and the shield yaw rate; Based on the current shield cylinder pressure, determine the cylinder load imbalance coefficient; Based on the current penetration depth, determine the penetration depth reduction rate and the ratio of the penetration depth baseline value.

3. The method for collaborative optimization of shield tunneling parameters in uneven strata according to claim 1, characterized in that, Based on the aforementioned characteristic indicators and the geological segmentation parameters, the target tunneling condition for the shield tunneling machine within the current control cycle is determined, including: Based on the geological segmentation parameters and the current shield attitude in the real-time operation parameters, the predicted tunneling conditions of the shield in the current control cycle are determined; the predicted tunneling conditions include predicted full-section hard strata, predicted upper and lower uneven soft and hard strata, predicted left and right uneven soft and hard strata, and predicted local hard point strata. Based on the aforementioned characteristic indicators, the predicted tunneling conditions are verified to determine the target tunneling conditions for the shield tunneling machine within the current control cycle.

4. The method for collaborative optimization of shield tunneling parameters in uneven strata according to claim 3, characterized in that, Based on the geological segmentation parameters and the current shield attitude in the real-time operating parameters, the predicted tunneling conditions of the shield within the current control cycle are determined, including: Based on the current ring number in the stratum segmentation parameters and the current shield attitude, the exploration profile in the stratum segmentation parameters is projected onto the current excavation face of the shield within the current control cycle; Based on the proportion of hard strata area at the current excavation face, the predicted tunneling conditions of the shield tunneling machine within the current control cycle are determined.

5. The method for collaborative optimization of shield tunneling parameters in uneven strata according to claim 4, characterized in that, Based on the proportion of hard strata area at the current excavation face, the predicted tunneling conditions of the shield tunneling machine within the current control cycle are determined, including: The current excavation face is divided into regions to determine the target area of ​​the current excavation face; the target area includes an upper half, a lower half, a left half, and a right half, and the target area corresponds to the position of the shield tunneling machine's propulsion cylinder; The computational region corresponding to the current excavation face is divided into grids, and the area of ​​each grid and the hardness ratio of the grid within each target region are determined. Based on the number of grids in each target area, the area of ​​each grid in each target area, and the hardness ratio of that grid, the hardness ratio of each target area is determined. Based on the proportion of hard strata area in each target region, the predicted tunneling conditions of the shield tunneling machine in the current control cycle are determined.

6. The method for collaborative optimization of shield tunneling parameters in uneven strata according to claim 3, characterized in that, Based on the aforementioned characteristic indicators, the predicted tunneling conditions are verified to determine the target tunneling conditions for the shield tunneling machine within the current control cycle, including: Within the current control cycle, if at least two effective time windows simultaneously satisfy the following conditions: the relative thrust increment and the relative torque increment are both greater than or equal to a first threshold, the penetration reduction rate is greater than or equal to a second threshold, and the torque fluctuation coefficient is less than the second threshold and the cylinder load imbalance coefficient is less than the first threshold, then the predicted full-section hard stratum is determined as the target full-section hard stratum; the relative thrust increment is determined by the specific thrust, and the relative torque increment is determined by the specific torque; During the current control cycle, when the upper and lower cylinder load imbalance coefficients in the cylinder load imbalance coefficients are greater than or equal to the third threshold, and the shield pitch change rate is greater than or equal to the fourth threshold, the predicted upper and lower uneven soft and hard strata are determined as the target upper and lower uneven soft and hard strata. During the current control cycle, when the left and right cylinder load imbalance coefficients in the cylinder load imbalance coefficients are greater than or equal to the fifth threshold, and the shield yaw change rate is greater than or equal to the sixth threshold, the predicted left and right soft and hard uneven strata are determined as the target left and right soft and hard uneven strata. Within the current control cycle, if the torque fluctuation coefficient is greater than or equal to the seventh threshold, the torque utilization rate is greater than or equal to the eighth threshold, and the penetration benchmark value ratio is less than or equal to the ninth threshold, the predicted local hard point formation is identified as the target local hard point formation within the same effective time window.

7. The method for collaborative optimization of shield tunneling parameters in uneven strata according to claim 6, characterized in that, Based on the target tunneling conditions, the initial operating parameters, and the preset limiting function, the target tunneling parameters for the shield tunneling in the next control cycle are determined, including: Based on the hard material ratio, soft-hardness unevenness index, torque fluctuation coefficient, pressure deviation value of the upper, middle and lower parts of the soil chamber under the target tunneling condition, and the initial operating parameters, the tunneling parameter correction amount is determined; The target tunneling parameters are determined based on the preset amplitude limiting function and the tunneling parameter correction amount.

8. The method for collaborative optimization of shield tunneling parameters in uneven strata according to claim 7, characterized in that, The preset amplitude limiting function is expressed as follows: Where x represents the correction amount of the tunneling parameters; This represents the minimum permissible value for the correction of the tunneling parameters; This indicates the maximum permissible value for the correction amount of the tunneling parameters; Based on the preset amplitude limiting function and the tunneling parameter correction amount, the target tunneling parameters are determined, including: When the tunneling parameter correction amount x is less than the minimum allowable value When the time comes, the tunneling parameter correction amount x is determined as the target tunneling parameter; When the tunneling parameter correction amount x is greater than the maximum allowable value When the time comes, the tunneling parameter correction amount x is determined as the target tunneling parameter; When the tunneling parameter correction value x is at the minimum allowable value With the maximum allowed value When the time interval is reached, the tunneling parameter correction amount x is determined as the target tunneling parameter.

9. A collaborative optimization system for shield tunneling parameters in unevenly textured strata, characterized in that, include: The data acquisition module is used to acquire the geological segment parameters and shield operation parameters of the tunnel boring machine (TBM) during the current control cycle. The TBM movement parameters include initial operation parameters and real-time operation parameters corresponding to each moment. The geological segment parameters and TBM operation parameters are stored in the corresponding data tables in the current database. The data processing module is used to extract features from the real-time operating parameters to obtain the characteristic indicators of the shield tunneling machine within the current control cycle; based on the characteristic indicators and the stratum segmentation parameters, the target tunneling condition of the shield tunneling machine within the current control cycle is determined; the target tunneling condition includes the target full-section hard stratum, the target upper and lower uneven soft and hard stratum, the target left and right uneven soft and hard stratum, and the target local hard point stratum; based on the target tunneling condition, the initial operating parameters, and the preset amplitude limiting function, the target tunneling parameters of the shield tunneling machine within the next control cycle are determined; The feedback correction module is used to determine the execution result of the shield tunneling machine after it runs based on the target tunneling parameters, and update the current database based on the execution result to obtain an updated database for the next control cycle.

10. A computing device, characterized in that, include: Memory, used to store one or more programs; One or more processors are configured to execute the one or more programs to implement the method as described in any one of claims 1 to 8.

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