Slurry shield tunneling machine cabin pressure and slurry cooperative regulation and control device

Abstract

The utility model provides a cabin pressure and slurry coordinated regulation and control device of a slurry shield machine. The cabin pressure and slurry coordinated regulation and control device comprises a cabin pressure sensor, a first pressure sensor, a flow sensor, a second pressure sensor, a density sensor, a slurry inlet pump, a slurry discharge pump, an edge calculation module and a PLC (Programmable Logic Controller), the bin pressure sensor is arranged in the muddy water bin, the first pressure sensor, the flow sensor and the slurry inlet pump are arranged on the slurry inlet pipe, and the slurry inlet pipe is located on the upper middle portion of the muddy water bin. The second pressure sensor, the density sensor and the slurry discharge pump are arranged on the slurry discharge pipe; the slurry discharge pipe is positioned at the lower part of the muddy water bin; the bin pressure sensor, the first pressure sensor, the flow sensor, the second pressure sensor and the density sensor are all connected with an edge calculation module through lines, the edge calculation module is connected with a PLC through a line, the PLC is electrically connected with a slurry inlet pump and a slurry outlet pump so as to regulate and control the slurry inlet amount, the slurry outlet amount and the bin pressure, and accurate control over the slurry inlet amount and the slurry outlet amount is achieved. Therefore, cooperative regulation and control of the bin pressure and the muddy water system are achieved.

Description

Technical Field

[0001] This utility model belongs to the field of slurry shield tunneling machine technology, and specifically relates to a slurry shield tunneling machine chamber pressure and slurry coordinated control device. Background Technology

[0002] As a core piece of equipment in modern tunnel engineering for dealing with water-rich and soft strata, slurry shield tunneling machines achieve stability control during tunnel excavation by dynamically balancing the pressure of the slurry within the slurry chamber with the pressure of the soil at the excavation face. They possess irreplaceable engineering value in areas such as urban subway network construction and cross-river / sea passage development. During construction, the precise maintenance of slurry chamber pressure and the efficient operation of the slurry circulation system are crucial technical aspects for ensuring construction safety, controlling ground deformation, and improving tunneling efficiency.

[0003] Currently, existing slurry shield tunneling machines have some shortcomings in their chamber pressure control and slurry system control devices. The existing control devices employ a single-parameter closed-loop control mode for chamber pressure, which is adjusted independently of the slurry system parameters, resulting in a lag in slurry chamber pressure regulation.

[0004] Therefore, there is an urgent need to design a control device that can coordinate the pressure of the slurry system with the slurry system to improve the construction performance of the slurry shield tunneling machine. Utility Model Content

[0005] To address the problem of delayed pressure regulation in slurry shield tunneling machines due to a lack of coordination between chamber pressure and slurry system control in existing technologies, this invention proposes a coordinated control device for chamber pressure and slurry in slurry shield tunneling machines, the solution of which is as follows:

[0006] A device for coordinated control of slurry pressure and mud pressure in a slurry shield tunneling machine includes a slurry pressure sensor, a first pressure sensor, a flow sensor, a second pressure sensor, a density sensor, a slurry inlet pump, a slurry outlet pump, an edge computing module, and a PLC controller. The slurry pressure sensor is installed inside the slurry chamber. The first pressure sensor, flow sensor, and slurry inlet pump are installed on the slurry inlet pipe, which is located in the upper part of the slurry chamber. The second pressure sensor, density sensor, and slurry outlet pump are installed on the slurry outlet pipe, which is located in the lower part of the slurry chamber. The slurry pressure sensor, first pressure sensor, flow sensor, second pressure sensor, and density sensor are all connected to the edge computing module via wiring. The edge computing module is connected to the PLC controller via wiring. The PLC controller is electrically connected to the slurry inlet pump and the slurry outlet pump to control the slurry inlet and outlet flow rates and the slurry pressure.

[0007] Furthermore, the silo pressure sensor, the first pressure sensor, the flow sensor, the second pressure sensor, and the density sensor can output the sensed signals to the edge computing module. The edge computing module is used to preprocess, extract features, and perform trend analysis on the sensed signals to form processed data. The edge computing module transmits the processed data to the PLC controller. The PLC controller is configured with silo pressure range, slurry inlet pressure range, slurry outlet pressure range, and slurry density range. It can judge the processed data to form a judgment result. The PLC controller can send control commands based on the judgment result to control the speed of the slurry inlet pump and the slurry outlet pump, or intermittently start and stop the slurry outlet pump.

[0008] Furthermore, a stirring device is installed above the slurry discharge pipe. The stirring device is used to stir the mud and water in the mud and water tank. The stirring device is electrically connected to the PLC controller, and the PLC controller controls the operation of the stirring device.

[0009] Furthermore, an L-shaped stainless steel bracket is installed above the mud and water tank, and the tank pressure sensor is installed on the L-shaped stainless steel bracket. The tank pressure sensor is inserted vertically downward below the mud and water surface to avoid direct contact with the tank wall. A shock-absorbing pad is set between the L-shaped stainless steel bracket and the tank pressure sensor, and a protective cover is set around the circumference of the tank pressure sensor.

[0010] Furthermore, the slurry shield machine chamber pressure and slurry coordinated control device also includes a visual operation interface, which is electrically connected to the PLC controller. The visual operation interface includes real-time chamber pressure curves, slurry inlet pump parameters, and slurry outlet pump parameters.

[0011] Furthermore, signal isolators are connected between the edge processing module and the first pressure sensor, and between the edge processing module and the second pressure sensor, to prevent common-mode interference.

[0012] Furthermore, the flow sensor is installed in the slurry inlet pipe at a distance of 6 to 10 times the diameter of the slurry inlet pipe from the outlet of the slurry pump, and is located upstream of the first pressure sensor.

[0013] Furthermore, the density sensor is positioned between the second pressure sensor and the slurry pump. A straight pipe section with a length of 6 to 10 times the pipe diameter is reserved before the inlet of the slurry pump to ensure that the mud and water are uniform and stable during density sensor measurement.

[0014] Furthermore, the first pressure sensor and the second pressure sensor are installed symmetrically, and the distance from the first pressure sensor to the pipe connection port between the mud and water tank and the slurry inlet pipe is equal to the distance from the second pressure sensor to the pipe connection port between the mud and water tank and the slurry outlet pipe.

[0015] Compared with the prior art, the advantages of this utility model are as follows:

[0016] This invention integrates multi-source sensor data by installing pressure sensors, flow sensors, and density sensors on the slurry inlet and outlet pipes, as well as a slurry pressure sensor inside the slurry silo. This allows for real-time acquisition of various parameters of the silo pressure and slurry system, which are then transmitted to the control system. The control system analyzes and processes the data using an edge computing module and a PLC controller. Based on the set silo pressure range, slurry inlet pressure range, slurry outlet pressure range, and slurry density range, it automatically adjusts the speed of the slurry inlet and outlet pumps and intermittently starts and stops the outlet pump, achieving precise control of the slurry inlet and outlet volumes. This enables coordinated regulation of the silo pressure and the slurry system, shortening the slurry silo pressure regulation response time.

[0017] This invention prevents sedimentation of mud and water in the mud-water chamber by setting up a stirring device, effectively ensuring the stable operation of the mud-water system, improving the operating efficiency of the mud-water tunnel boring machine, and enabling it to adapt to more complex strata. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the control device according to an embodiment of the present invention;

[0019] Figure 2 yes Figure 1 Enlarged view of a section at point I;

[0020] Figure 3 yes Figure 1 Enlarged view of section II in the middle;

[0021] Figure 4 yes Figure 1 Enlarged view of a section in area III;

[0022] Figure 5 This is a block diagram of the control system structure according to an embodiment of the present utility model;

[0023] Figure 6 This is a structural block diagram of the control device according to an embodiment of the present invention.

[0024] In the above figures: 1. Silo pressure sensor; 2. Agitator; 3. Slurry discharge pipe; 4. Slurry inlet pipe; 5. First pressure sensor; 6. Second pressure sensor; 7. Flow sensor; 8. Density sensor; 9. Slurry discharge pump; 10. Slurry inlet pump; 11. Control system; 12. Signal isolator; 1101. Visual operation interface; 1102. Data processing module. Detailed Implementation

[0025] To facilitate understanding of this utility model by those skilled in the art, the specific embodiments of this utility model are described below with reference to the accompanying drawings.

[0026] The slurry circulation process of the tunnel boring machine's slurry system is as follows: Slurry is stored in the adjustment tank. The slurry pump 10 draws slurry from the adjustment tank and transports it to the slurry chamber of the tunnel boring machine via the slurry inlet pipe 4. The slurry in the slurry chamber mixes with the excavated soil cut by the cutterhead, forming a slag-containing slurry. This slag-containing slurry is pumped back to the surface by the slurry discharge pump 9 via the slurry discharge pipe 3, entering the slurry treatment system. The purified slurry flows back into the adjustment tank, completing the cycle and reuse. During this process, the pressure in the slurry chamber fluctuates, requiring adjustment of the parameters of the slurry inlet pump 10 and the slurry discharge pump 9 to regulate the pressure. These pump parameters include the pump speed, the flow rate of the inlet / discharge pipes, and the pressure.

[0027] like Figures 1-4 As shown, this utility model proposes a device for coordinated control of slurry pressure and mud pressure in a slurry shield tunneling machine, including a slurry pressure sensor 1, a first pressure sensor 5, a flow sensor 7, a second pressure sensor 6, a density sensor 8, a slurry inlet pump 10, a slurry outlet pump 9, and a control system 11. The control system 11 is electrically connected to the slurry pressure sensor 1, the first pressure sensor 5, the flow sensor 7, the second pressure sensor 6, the density sensor 8, the slurry inlet pump 10, and the slurry outlet pump 9, and the control system 11 can regulate the slurry inlet and outlet flow rate and the slurry pressure.

[0028] The pressure sensor 1 is installed inside the slurry chamber and inserted below the slurry surface to monitor the slurry pressure in real time. Specifically, an L-shaped stainless steel bracket is installed above the slurry chamber to mount the pressure sensor 1 vertically downwards below the slurry surface, avoiding direct contact with the chamber wall. A protective cover is provided around the pressure sensor 1 to prevent the slurry from impacting the sensor due to the rotation of the tunnel boring machine's cutters. A shock-absorbing pad is also installed between the L-shaped stainless steel bracket and the pressure sensor 1 to make the sensor resistant to vibration, thus ensuring that the measured value is the sum of the static pressure and the cyclic dynamic pressure of the slurry.

[0029] The first pressure sensor 5, the flow sensor 7, and the slurry pump 10 are mounted on the slurry inlet pipe 4, which is located in the upper part of the mud-water chamber. The flow sensor 7 is used to monitor the slurry flow rate in real time, the first pressure sensor 5 is used to monitor the pressure in the slurry inlet pipe, and the slurry pump 10 is used to provide pumping pressure for the mud in the slurry inlet pipe. Specifically, as shown... Figure 1 As shown, a first pressure sensor 5, a flow sensor 7, and a slurry pump 10 are installed sequentially from left to right on the slurry inlet pipe 4. A certain distance is set between the flow sensor 7 and the outlet of the slurry pump 10, ranging from 6 to 10 times the diameter of the slurry inlet pipe. In this embodiment, 10 times the diameter of the slurry inlet pipe is used as an example. The flow sensor 7 is located upstream of the first pressure sensor 5.

[0030] The second pressure sensor 6, density sensor 8, and slurry pump 9 are installed on the slurry discharge pipe 3, which is located at the bottom of the mud-water chamber. The density sensor 8 monitors the density of the discharged mud-water in real time, the second pressure sensor 6 monitors the pressure in the slurry discharge pipe, and the slurry pump 9 provides pumping pressure for the mud in the slurry discharge pipe. Specifically, as... Figure 1 As shown, from left to right, the slurry discharge pipe 3 is equipped with a second pressure sensor 6, a density sensor 8, and a slurry discharge pump 9. A straight pipe section with a certain distance needs to be reserved before the inlet of the slurry discharge pump 9. This distance ranges from 6 to 10 times the diameter of the slurry discharge pipe to ensure that the mud and water are uniform and stable when the density sensor 8 measures. In this embodiment, 8 times the diameter of the slurry discharge pipe is selected as an example.

[0031] To ensure symmetrical and consistent pressure loss along the pipelines on both sides and to ensure consistent environmental conditions for pressure measurement, the first pressure sensor 5 and the second pressure sensor 6 should be installed at pipeline distances such as the connection port between the mud and water tank and the slurry inlet pipe, and the connection port between the mud and water tank and the slurry outlet pipe, and the first pressure sensor 5 and the second pressure sensor 6 should be installed symmetrically.

[0032] A stirring device 2 is also installed above the slurry discharge pipe 3 at the bottom of the mud and water tank. The stirring device 2 is used to stir the mud and water in the mud and water tank to prevent sedimentation.

[0033] To prevent common-mode interference, the control system 11 is equipped with two signal isolators 12, which are connected to the first pressure sensor 5 and the second pressure sensor 6 respectively.

[0034] like Figure 5 As shown, the control system 11 includes a visual operation interface 1101 and a data processing module 1102. The data processing module 1102 includes an edge computing module and a PLC controller. The edge computing module is mainly used for preprocessing, feature extraction, and trend analysis of real-time data collected by sensors, providing precise control basis for the PLC controller. The PLC controller adjusts the feed and discharge rates of slurry by controlling the rotation speed of the feed pump 10 and the discharge pump 9, thereby controlling the silo pressure. The visual operation interface 1101 is electrically connected to the PLC controller. The visual operation interface 1101 is used to display various information and parameters of the production process and receive input from the operator. The silo pressure sensor 1, the first pressure sensor 5, the flow sensor 7, the second pressure sensor 6, and the density sensor 8 are all connected to the edge computing module via wiring. The edge computing module is connected to the PLC controller via wiring. The PLC controller is electrically connected to the feed pump 10 and the discharge pump 9, and the PLC controller is connected to the visual operation interface 1101 via wiring.

[0035] like Figure 6As shown, the silo pressure sensor 1, the first pressure sensor 5, the flow sensor 7, the second pressure sensor 6, and the density sensor 8 can output the sensed signals to the edge computing module. The edge computing module preprocesses, extracts features, and performs trend analysis on the sensed signals to form processed data. The edge computing module transmits the processed data to the PLC controller. The PLC controller is configured with silo pressure range, slurry inlet pressure range, slurry outlet pressure range, and slurry density range. It can judge the processed data to form a judgment result. The PLC controller sends control commands according to the judgment result. The slurry inlet pump 10 and the slurry outlet pump 9 receive the control commands and adjust the speed of the slurry inlet pump 10 and the slurry outlet pump 9, or intermittently start and stop the slurry outlet pump 9, or control the operation of the mixing equipment according to the control commands.

[0036] It should be noted that the control methods within both the edge computing module and the PLC controller can be implemented using existing technologies.

[0037] More specifically, the edge computing module preprocesses the sensed signals using Kalman filtering. The PLC controller dynamically adjusts the speeds of the feed pump 10 and the discharge pump 9 based on the slurry pressure range, feed pressure range, and discharge pressure range. When the slurry density exceeds the specified range, the system automatically switches to pulse discharge mode, generating a water hammer effect through intermittent start-stop of the discharge pump 9, which, combined with the feed slurry vortex, enhances the efficiency of sediment discharge. The edge computing module performs sliding window Fourier transform on high-frequency data such as feed flow rate and discharge pressure to extract the frequency domain features of the signals, such as slurry circulation frequency and pipeline vibration frequency, thus identifying potential faults such as slurry pipeline blockage and pump cavitation in advance, with a warning accuracy rate of over 95%. Based on an LSTM neural network model, the edge computing module uses the historical 30-minute slurry pressure and slurry parameter sequence to predict the pressure fluctuation trend for the next 5 minutes, providing the PLC controller with a basis for proactive adjustment. This significantly reduces the pressure control lag, achieving within 80ms under ideal conditions, with actual dynamic adaptation depending on hardware configuration and site environment.

[0038] The visual operation interface 1101 includes a real-time silo pressure curve, inlet and outlet pump parameters, and a fault alarm module. When an alarm occurs, the visual operation interface 1101 automatically pops up an emergency operation window, allowing construction personnel to choose between confirming the alarm and performing automatic processing or switching to manual mode, i.e., temporarily taking over pump control, suitable for manual decision-making in complex working conditions.

[0039] Specifically, the control system 11 is installed in the main control room of the tunnel boring machine (TBM) and is isolated from the TBM body by a shock-resistant base. Sensor signals are transmitted to the main control room via shielded cables along the cable trays on the side wall of the TBM.

[0040] In this embodiment, multiple sensors are installed in the slurry inlet pipe 4, slurry outlet pipe 3, and slurry tank to collect multi-dimensional parameters such as tank pressure, slurry flow rate, and slurry density in real time. A control system 11, composed of an edge computing module and a PLC controller, enables dynamic and coordinated regulation of tank pressure and slurry balance, overcoming the drawbacks of existing devices such as pressure regulation lag and reliance on operational experience caused by single-parameter closed-loop control. The mixing device 2 effectively prevents slurry sedimentation in the slurry tank, ensuring stable operation of the slurry system. The visual operation interface 1101 facilitates real-time monitoring and manual intervention by construction personnel, improving the accuracy and flexibility of construction. This device achieves the linkage optimization of key parameters of the tank pressure regulation and slurry circulation system, solving the defects of independent parameter adjustment in traditional control modes. It is particularly suitable for strata with high permeability, high water pressure, and clay-rich composite strata where slurry tank pressure is prone to fluctuation, effectively ensuring the efficiency and stability of shield tunneling construction.

[0041] The embodiments of this utility model described above do not constitute a limitation on the scope of protection of this utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the scope of protection of the claims of this utility model.

Claims

1. A device for coordinated control of chamber pressure and mud slurry in a slurry shield tunneling machine, characterized in that, The system includes a silo pressure sensor (1), a first pressure sensor (5), a flow sensor (7), a second pressure sensor (6), a density sensor (8), a slurry inlet pump (10), a slurry outlet pump (9), an edge computing module, and a PLC controller. The silo pressure sensor (1) is located inside the slurry silo. The first pressure sensor (5), the flow sensor (7), and the slurry inlet pump (10) are located on the slurry inlet pipe (4), which is located in the upper part of the slurry silo. The second pressure sensor (6), the density sensor (8), and the slurry outlet pump (9) are located on the slurry outlet pipe (3), which is located in the lower part of the slurry silo. The silo pressure sensor (1), the first pressure sensor (5), the flow sensor (7), the second pressure sensor (6), and the density sensor (8) are all connected to the edge computing module via lines. The edge computing module is connected to the PLC controller via lines. The PLC controller is electrically connected to the slurry inlet pump (10) and the slurry outlet pump (9).

2. The slurry shield tunneling machine chamber pressure and slurry synergistic control device according to claim 1, characterized in that, The pressure sensor (1), the first pressure sensor (5), the flow sensor (7), the second pressure sensor (6), and the density sensor (8) can output the sensed signals to the edge computing module. The edge computing module is used to preprocess, extract features, and analyze trends of the sensed signals to form processed data. The edge computing module transmits the processed data to the PLC controller. The PLC controller has the range of pressure, slurry inlet pressure, slurry outlet pressure, and slurry density set in it. It can judge the processed data to form a judgment result. The PLC controller can send control commands according to the judgment result to control the speed of the slurry inlet pump (10) and the slurry outlet pump (9), or intermittently start and stop the slurry outlet pump (9).

3. The slurry shield tunneling machine chamber pressure and slurry coordinated control device according to claim 2, characterized in that, A stirring device (2) is also installed above the slurry discharge pipe (3). The stirring device (2) is used to stir the mud and water in the mud and water bin. The stirring device (2) is electrically connected to the PLC controller, and the PLC controller controls the stirring device (2) to work.

4. The slurry shield tunneling machine chamber pressure and slurry coordinated control device according to claim 1, characterized in that, An L-shaped stainless steel bracket is installed above the mud and water tank, and the tank pressure sensor (1) is installed on the L-shaped stainless steel bracket. The tank pressure sensor (1) is inserted vertically downward below the mud slurry surface to avoid direct contact with the tank wall. A shock-absorbing pad is set between the L-shaped stainless steel bracket and the tank pressure sensor (1), and a protective cover is set around the tank pressure sensor (1).

5. The slurry shield tunneling machine chamber pressure and slurry coordinated control device according to claim 2, characterized in that, The slurry shield machine chamber pressure and slurry coordinated control device also includes a visual operation interface (1101). The visual operation interface (1101) is electrically connected to the PLC controller. The visual operation interface (1101) includes the real-time chamber pressure curve, slurry pump parameters, and slurry discharge pump parameters.

6. The slurry shield tunneling machine chamber pressure and slurry coordinated control device according to claim 2, characterized in that, The edge processing module is also connected to the first pressure sensor (5) and the second pressure sensor (6) by a signal isolator (12) to prevent common-mode interference.

7. The slurry shield tunneling machine chamber pressure and slurry coordinated control device according to claim 1, characterized in that, The flow sensor (7) is installed in the slurry inlet pipe (4) at a distance of 6 to 10 times the diameter of the slurry inlet pipe from the outlet of the slurry pump (10) and is located upstream of the first pressure sensor (5).

8. The slurry shield tunneling machine chamber pressure and slurry coordinated control device according to claim 1, characterized in that, The density sensor (8) is located between the second pressure sensor (6) and the slurry pump (9). A straight pipe section with a length of 6 to 10 times the pipe diameter is reserved before the inlet of the slurry pump (9) to ensure that the mud and water are uniform and stable when the density sensor (8) measures.

9. The slurry shield tunneling machine chamber pressure and slurry coordinated control device according to claim 1, characterized in that, The first pressure sensor (5) and the second pressure sensor (6) are installed symmetrically, and the distance between the first pressure sensor (5) and the pipe connecting the mud and water tank and the slurry inlet pipe is equal to the distance between the second pressure sensor (6) and the pipe connecting the mud and water tank and the slurry outlet pipe.

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