Pressure adjustment method and system, shield machine, and computer-readable storage medium

Abstract

A pressure adjustment method and system, a shield machine, and a computer-readable storage medium, wherein the pressure adjustment method comprises: a first flow monitoring device acquires slurry inlet flow data of a slurry inlet pipe, and a second flow monitoring device acquires slurry discharge flow data of a slurry discharge pipe (S11); a data acquisition and analysis system receives and outputs the slurry inlet flow data and the slurry discharge flow data (S12); an intelligent controller generates a first adjustment signal and a second adjustment signal on the basis of the slurry inlet flow data and the slurry discharge flow data, and outputs the first adjustment signal and the second adjustment signal (S13); an air pressure adjustment system determines the air pressure of an air cushion chamber on the basis of the first adjustment signal, and a slurry conveying system determines the slurry density of the slurry inlet pipe on the basis of the second adjustment signal (S14); and a pressure adjustment system determines the supporting pressure of a shield machine on the basis of the air pressure and the slurry density (S15). The pressure adjustment method can avoid the influence of changes in soil pressure and water pressure occurring in an excavation face on the stability of the excavation face.

Description

Pressure regulation method, system, shield machine and computer-readable storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on July 14, 2023, with application number 202310864433.0 and invention name “Pressure Regulation Method, System, Shield Machine and Computer-Readable Storage Medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application belongs to the technical field of shield machines, and in particular relates to a pressure regulation method, system, shield machine and computer-readable storage medium. Background Art

[0003] Currently, slurry shields are commonly used for tunnel construction in strata with high water content, above water bodies, and across rivers and seas. A slurry shield involves injecting slurry and water into a sealed chamber at the front of the shield machine to balance the earth and water pressures on the excavation face, thereby maintaining its stability. However, shield construction in strata with high water content, such as those across rivers and seas, inevitably faces complex and variable geological conditions, such as interbedded soft and hard rock, isolated boulders, fault fracture zones, and connections between the excavation face and overhead water bodies. When a slurry shield machine traverses a fault fracture zone or the excavation face is connected to an overhead water body, changes in earth and water pressures may occur, affecting its stability. Failure to take appropriate measures could lead to serious consequences such as surface collapse, water intrusion, and even tunnel flooding. Technical issues

[0004] One of the purposes of the embodiments of the present application is to provide a pressure regulation method, system, shield machine and computer-readable storage medium to solve the problem that when a slurry shield machine passes through a fault fracture zone or the excavation face is connected to an upper water body, changes in soil pressure and water pressure may occur on the excavation face, thereby affecting the stability of the excavation face. Technical Solutions

[0005] In a first aspect, a pressure regulation method is provided, which is applied to a shield machine. The shield machine includes a slurry inlet pipe, a slurry discharge pipe, an air cushion chamber, and a pressure regulation system. The pressure regulation system includes a flow monitoring device, a data acquisition and analysis system, an intelligent controller, an air pressure regulation system, and a slurry conveying system. The flow monitoring device includes a first flow monitoring device provided at the slurry inlet pipe and a second flow monitoring device provided at the slurry discharge pipe. The flow monitoring device is connected to the data acquisition and analysis system, which is connected to the intelligent controller. The intelligent controller is connected to the air pressure regulation system and the slurry conveying system, respectively. The slurry conveying system is connected to the slurry inlet pipe.

[0006] Pressure regulation methods include:

[0007] The first flow monitoring device obtains the slurry flow data of the slurry inlet pipe, and the second flow monitoring device obtains the slurry discharge flow data of the slurry discharge pipe;

[0008] The data acquisition and analysis system receives and outputs the slurry inflow and discharge flow data;

[0009] The intelligent controller generates a first regulating signal and a second regulating signal based on the pulp inlet flow data and the pulp discharge flow data, and outputs the first regulating signal and the second regulating signal;

[0010] The air pressure regulating system determines the air pressure of the air cushion chamber based on the first regulating signal;

[0011] The mud delivery system determines the mud density of the mud inlet pipe based on the second adjustment signal;

[0012] The pressure regulation system determines the shield machine's support pressure based on air pressure and mud density.

[0013] In a possible implementation of the first aspect, the pressure regulating system further includes a liquid level sensor, which is disposed in the air cushion chamber; the liquid level sensor is connected to the data acquisition and analysis system, and the mud conveying system is further connected to the mud discharge pipe;

[0014] Before the first flow monitoring device acquires the slurry flow data of the slurry inlet pipe and the second flow monitoring device acquires the slurry flow data of the slurry discharge pipe, the pressure regulation method further includes:

[0015] The liquid level sensor obtains the mud liquid level data of the air cushion tank and outputs the mud liquid level data;

[0016] The data acquisition and analysis system receives and outputs mud level data;

[0017] The intelligent controller generates a third adjustment signal based on the mud level data and outputs the third adjustment signal;

[0018] The slurry conveying system determines the slurry inlet flow rate of the slurry inlet pipe and the slurry discharge flow rate of the slurry discharge pipe based on the third adjustment signal.

[0019] In a possible implementation of the first aspect, the pressure regulating system further includes a slurry discharge pump, the slurry delivery system is connected to the slurry discharge pipe via the slurry discharge pump, and the slurry discharge pump is connected to the second flow monitoring device;

[0020] After the data acquisition and analysis system receives and outputs the slurry inlet flow data and the slurry discharge flow data, the pressure regulation method further includes:

[0021] The intelligent controller generates a fourth adjustment signal based on the slurry inlet flow data and the slurry discharge flow data, and outputs the fourth adjustment signal;

[0022] The slurry conveying system determines the slurry discharge flow rate of the slurry discharge pipe through the slurry discharge pump based on the fourth adjustment signal.

[0023] In one possible implementation of the first aspect, the shield machine further includes a slurry storage tank and a water storage tank, the pressure regulating system further includes a slurry feed pump, the slurry conveying system is connected to the slurry storage tank and the water storage tank respectively via the slurry feed pump, and the slurry feed pump is connected to the first flow monitoring device;

[0024] The mud delivery system determines the mud density of the mud inlet pipe based on the second adjustment signal, including:

[0025] The mud delivery system determines the mud density in the mud inlet pipe through the mud inlet pump based on the second adjustment signal.

[0026] In one possible implementation of the first aspect, the pressure regulation system further includes an air pressure monitoring device, a density monitoring device, and a tunneling parameter control system. The air pressure monitoring device is disposed in the air cushion chamber, and the density monitoring device is disposed in the slurry discharge pipe. The air pressure monitoring device and the density monitoring device are respectively connected to the data acquisition and analysis system, and the tunneling parameter control system is connected to the intelligent controller.

[0027] After the pressure regulation system determines the support pressure of the shield machine based on the air pressure and mud density, the pressure regulation method also includes:

[0028] The air pressure monitoring device obtains the air pressure data of the air cushion chamber and outputs the air pressure data;

[0029] The density monitoring device obtains the mud density data of the slurry discharge pipe and outputs the mud density data;

[0030] The data acquisition and analysis system obtains and outputs predicted values ​​of tunneling parameters based on air pressure data and mud density data;

[0031] The intelligent controller generates a fifth adjustment signal based on the predicted value of the tunneling parameter and outputs the fifth adjustment signal;

[0032] The tunneling parameter control system determines the tunneling parameters of the shield machine based on the fifth adjustment signal.

[0033] In one possible implementation of the first aspect, the data acquisition and analysis system obtains tunneling parameter prediction values ​​based on air pressure data and mud density data, and outputs the tunneling parameter prediction values, including:

[0034] The data acquisition and analysis system obtains the shield machine's support pressure, total thrust, and grouting pressure based on air pressure data and mud density data;

[0035] The data acquisition and analysis system obtains the predicted values ​​of the excavation parameters based on the support pressure, total thrust, grouting pressure and the pre-acquired excavation parameter prediction model, and outputs the predicted values ​​of the excavation parameters.

[0036] In a possible implementation of the first aspect, the pressure regulation method further includes:

[0037] The data acquisition and analysis system obtains the preset support pressure, preset total thrust and preset grouting pressure based on the type of excavation stratum and shield machine type;

[0038] The data acquisition and analysis system obtains the tunneling parameter prediction model based on the preset support pressure, preset total thrust, preset grouting pressure and preset artificial neural network.

[0039] A second aspect of an embodiment of the present application provides a pressure regulation system, comprising a flow monitoring device, a data acquisition and analysis system, an intelligent controller, an air pressure regulation system, and a mud conveying system; the flow monitoring device comprises a first flow monitoring device provided at a slurry inlet pipe and a second flow monitoring device provided at a slurry discharge pipe, the flow monitoring device being connected to the data acquisition and analysis system, the data acquisition and analysis system being connected to the intelligent controller, the intelligent controller being connected to the air pressure regulation system and the mud conveying system, respectively, and the mud conveying system being connected to the slurry inlet pipe;

[0040] The first flow monitoring device is used to obtain the slurry flow data of the slurry inlet pipe;

[0041] The second flow monitoring device is used to obtain the slurry discharge flow data of the slurry discharge pipe;

[0042] The data acquisition and analysis system is used to receive and output slurry inflow and outflow data;

[0043] The intelligent controller is used to generate a first adjustment signal and a second adjustment signal based on the pulp inlet flow data and the pulp discharge flow data, and output the first adjustment signal and the second adjustment signal;

[0044] The air pressure regulating system is used to determine the air pressure of the air cushion chamber of the shield machine based on the first regulating signal;

[0045] The mud delivery system is used to determine the mud density of the mud inlet pipe based on the second adjustment signal;

[0046] The pressure regulation system is used to determine the support pressure of the shield machine based on air pressure and mud density.

[0047] In a possible implementation of the second aspect, the pressure regulating system further includes a liquid level sensor, which is disposed in the air cushion chamber; the liquid level sensor is connected to the data acquisition and analysis system, and the slurry conveying system is further connected to the slurry discharge pipe;

[0048] The liquid level sensor is used to obtain the mud liquid level data of the air cushion tank and output the mud liquid level data;

[0049] The data acquisition and analysis system is also used to receive and output mud level data;

[0050] The intelligent controller is further configured to generate a third adjustment signal based on the mud level data and output the third adjustment signal;

[0051] The slurry delivery system is further configured to determine a slurry inlet flow rate of the slurry inlet pipe and a slurry discharge flow rate of the slurry discharge pipe based on the third adjustment signal.

[0052] In a possible implementation of the second aspect, the pressure regulating system further includes a slurry discharge pump, the slurry delivery system is connected to the slurry discharge pipe via the slurry discharge pump, and the slurry discharge pump is connected to the second flow monitoring device;

[0053] The intelligent controller is further configured to generate a fourth adjustment signal based on the slurry inlet flow rate data and the slurry discharge flow rate data, and output the fourth adjustment signal;

[0054] The slurry delivery system is further configured to determine the slurry discharge flow rate of the slurry discharge pipe through the slurry discharge pump based on the fourth adjustment signal.

[0055] In a possible implementation of the second aspect, the pressure regulating system further includes a slurry feed pump, the slurry delivery system is connected to a slurry storage tank and a water storage tank of the shield machine via the slurry feed pump, and the slurry feed pump is connected to the first flow monitoring device;

[0056] The mud delivery system is further configured to determine the mud density in the mud inlet pipe through the mud inlet pump based on the second adjustment signal.

[0057] In one possible implementation of the second aspect, the pressure regulation system further includes an air pressure monitoring device, a density monitoring device, and a tunneling parameter control system. The air pressure monitoring device is disposed in the air cushion chamber, and the density monitoring device is disposed in the slurry discharge pipe. The air pressure monitoring device and the density monitoring device are respectively connected to the data acquisition and analysis system, and the tunneling parameter control system is connected to the intelligent controller.

[0058] The air pressure monitoring device is used to obtain the air pressure data of the air cushion chamber and output the air pressure data;

[0059] The density monitoring device is used to obtain the mud density data of the slurry discharge pipe and output the mud density data;

[0060] The data acquisition and analysis system is also used to obtain tunneling parameter prediction values ​​based on air pressure data and mud density data, and output the tunneling parameter prediction values;

[0061] The intelligent controller is further configured to generate a fifth adjustment signal based on the predicted value of the tunneling parameter and output the fifth adjustment signal;

[0062] The tunneling parameter control system is used to determine the tunneling parameters of the shield machine based on the fifth adjustment signal.

[0063] In a possible implementation of the second aspect, the data acquisition and analysis system is also used to obtain the support pressure, total thrust and grouting pressure of the shield machine based on air pressure data and mud density data, obtain the tunneling parameter prediction value based on the support pressure, total thrust, grouting pressure and the pre-acquired tunneling parameter prediction model, and output the tunneling parameter prediction value.

[0064] In a possible implementation of the second aspect, the data acquisition and analysis system is also used to obtain the preset support pressure, preset total thrust and preset grouting pressure based on the excavation stratum type and the shield machine type, and to obtain the excavation parameter prediction model based on the preset support pressure, preset total thrust, preset grouting pressure and preset artificial neural network.

[0065] In a third aspect, a shield machine is provided, comprising a slurry inlet pipe, a slurry discharge pipe, an air cushion chamber and the pressure regulating system as described above.

[0066] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the pressure regulation method described above is implemented. Beneficial effects

[0067] Compared with the prior art, the beneficial effects of the embodiments of the present application are as follows: the slurry flow rate data and the slurry discharge flow rate data are obtained through the flow monitoring device, and the slurry flow rate data and the slurry discharge flow rate data are received and outputted through the data acquisition and analysis system, so as to realize the rapid judgment of the soil pressure and water pressure conditions of the excavation surface; the first adjustment signal and the second adjustment signal are generated based on the slurry flow rate data and the slurry discharge flow rate data by the intelligent controller; the air pressure of the air cushion chamber is determined based on the first adjustment signal by the air pressure adjustment system; the mud density of the slurry inlet pipe is determined based on the second adjustment signal by the mud conveying system, so that the pressure adjustment system determines the support pressure of the shield machine based on the air pressure and the mud density, and can enable the pressure adjustment system to intelligently adjust the support pressure of the shield machine in real time according to the changes in the soil pressure and water pressure of the excavation surface, so that the support pressure of the shield machine is kept in dynamic balance with the stratum soil pressure and water pressure, thereby avoiding the influence on the stability of the excavation surface when the soil pressure and water pressure of the excavation surface change. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0069] FIG1 is a schematic diagram of an application scenario of a shield machine provided by an embodiment of the present application;

[0070] FIG2 is a schematic diagram of a module of a pressure regulation system provided in an embodiment of the present application;

[0071] FIG3 is a schematic flow chart of a first pressure regulation method provided in an embodiment of the present application;

[0072] FIG4 is a schematic flow chart of a second pressure regulation method provided in an embodiment of the present application;

[0073] FIG5 is a schematic flow chart of a third pressure regulation method provided in an embodiment of the present application;

[0074] FIG6 is a schematic flow chart of a fourth pressure regulation method provided in an embodiment of the present application;

[0075] FIG7 is a schematic flow chart of a fifth pressure regulation method provided in an embodiment of the present application;

[0076] FIG8 is a flow chart of a sixth pressure regulation method provided in an embodiment of the present application. Modes for Carrying Out the Invention

[0077] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0078] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0079] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0080] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0081] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0082] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of the present application include a particular feature, structure, or characteristic described in conjunction with that embodiment. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized. "Multiple" means "two or more."

[0083] Currently, slurry shields are commonly used for tunnel construction in strata with high water content, above water bodies, and across rivers and seas. A slurry shield involves injecting slurry and water into a sealed chamber at the front of the shield machine to balance the earth and water pressures on the excavation face, thereby maintaining its stability. However, shield construction in strata with high water content, such as those across rivers and seas, inevitably faces complex and variable geological conditions, such as interbedded soft and hard rock, isolated boulders, fault fracture zones, and connections between the excavation face and overhead water bodies. When a slurry shield machine traverses a fault fracture zone or the excavation face is connected to an overhead water body, changes in earth and water pressures may occur, affecting its stability. Failure to take appropriate measures could lead to serious consequences such as surface collapse, water intrusion, and even tunnel flooding.

[0084] To address the above issues, embodiments of the present application provide a pressure regulation method for use in a shield machine. The shield machine includes a slurry inlet pipe, a slurry discharge pipe, an air cushion chamber, and a pressure regulation system. The pressure regulation system includes a flow monitoring device, a data acquisition and analysis system, an intelligent controller, an air pressure regulation system, and a slurry delivery system. The flow monitoring device includes a first flow monitoring device disposed on the slurry inlet pipe and a second flow monitoring device disposed on the slurry discharge pipe. The flow monitoring device is connected to the data acquisition and analysis system, which is connected to the intelligent controller. The intelligent controller is connected to the air pressure regulation system and the slurry delivery system, respectively. The slurry delivery system is connected to the slurry inlet pipe.

[0085] The pressure regulation method obtains the slurry flow data of the slurry inlet pipe through a first flow monitoring device, obtains the slurry discharge flow data of the slurry discharge pipe through a second flow monitoring device, receives and outputs the slurry flow data and the slurry discharge flow data through a data acquisition and analysis system, and can realize rapid judgment of the soil pressure and water pressure conditions of the excavation surface, generates a first regulation signal and a second regulation signal based on the slurry flow data and the slurry discharge flow data through an intelligent controller, and outputs the first regulation signal and the second regulation signal, determines the air pressure of the air cushion chamber based on the first regulation signal through an air pressure regulation system, determines the mud density of the slurry inlet pipe based on the second regulation signal through a mud conveying system, so that the pressure regulation system determines the support pressure of the shield machine based on the air pressure and the mud density, and can enable the pressure regulation system to intelligently adjust the support pressure of the shield machine in real time according to the changes in the soil pressure and water pressure of the excavation surface, so that the support pressure of the shield machine maintains a dynamic balance with the stratum soil pressure and water pressure, and avoids affecting the stability of the excavation surface when the soil pressure and water pressure of the excavation surface change.

[0086] The pressure regulation method provided in this application is exemplarily described below with reference to specific embodiments.

[0087] The pressure regulation method provided in the embodiment of the present application is applied to a shield machine. As shown in FIG1 , the shield machine includes a slurry inlet pipe, a slurry discharge pipe, and an air cushion chamber. The shield machine also includes a pressure regulation system. As shown in FIG2 , the pressure regulation system includes a flow monitoring device, a data acquisition and analysis system, an intelligent controller, an air pressure regulation system, and a slurry conveying system. The flow monitoring device includes a first flow monitoring device provided on the slurry inlet pipe and a second flow monitoring device provided on the slurry discharge pipe. The flow monitoring device is connected to the data acquisition and analysis system, the data acquisition and analysis system is connected to the intelligent controller, the intelligent controller is respectively connected to the air pressure regulation system and the slurry conveying system, and the slurry conveying system is connected to the slurry inlet pipe. As shown in FIG3 , the pressure regulation method includes:

[0088] S11. The first flow monitoring device obtains the slurry flow data of the slurry inlet pipe, and the second flow monitoring device obtains the slurry discharge flow data of the slurry discharge pipe.

[0089] In practice, the shield machine can be a slurry shield machine, in which the rear end of the cutterhead is a slurry silo, the rear end of the slurry silo partition is an air cushion silo, and the bottom of the slurry silo is connected to the air cushion silo. When the shield machine is excavating in a stratum with a high water content, if the earth pressure and water pressure at the excavation surface change, the above-mentioned slurry flow rate data and the above-mentioned slurry discharge flow rate data will also change. For example, when the earth pressure and water pressure increase, groundwater will infiltrate into the excavation surface, the liquid level in the air cushion silo will rise too quickly, the slurry discharge flow rate will increase abnormally, and the difference between the slurry flow rate and the slurry flow rate will reach a preset warning value. When the earth pressure and water pressure decrease, the slurry in the air cushion silo will leak into the stratum, the liquid level in the air cushion silo will drop too quickly, the slurry discharge flow rate will decrease abnormally, and the difference between the slurry flow rate and the slurry flow rate will reach a preset warning value. Therefore, the above-mentioned slurry flow rate data and the above-mentioned slurry discharge flow rate data can be used to determine the changes in the earth pressure and water pressure at that time. The first flow monitoring device obtains the slurry flow data of the slurry inlet pipe, and the second flow monitoring device obtains the slurry discharge flow data of the slurry discharge pipe, and then outputs the above slurry flow data and the above slurry discharge flow data to the data acquisition and analysis system.

[0090] S12. The data acquisition and analysis system receives and outputs the slurry inlet flow data and the slurry discharge flow data.

[0091] In application, the above-mentioned data acquisition and analysis system receives and outputs the slurry inlet flow data and the slurry discharge flow data. The data acquisition and analysis system may receive the slurry inlet flow data and the slurry discharge flow data output by the above-mentioned flow monitoring device, and output the above-mentioned slurry inlet flow data and the above-mentioned slurry discharge flow data to the intelligent controller.

[0092] S13. The intelligent controller generates a first adjustment signal and a second adjustment signal based on the pulp inlet flow data and the pulp discharge flow data, and outputs the first adjustment signal and the second adjustment signal.

[0093] In application, when soil and water pressure increase, the slurry discharge flow rate increases abnormally, and the difference with the slurry inlet flow rate reaches a preset warning value. The intelligent controller can generate a first adjustment signal to increase the air pressure of the air cushion chamber and a second adjustment signal to increase the slurry density in the slurry inlet pipe based on the slurry inlet flow rate data and the slurry discharge flow rate data, and output the first adjustment signal to the air pressure regulation system and the second adjustment signal to the slurry conveying system. When soil and water pressure decrease, the slurry discharge flow rate decreases abnormally, and the difference with the slurry inlet flow rate reaches a preset warning value. The intelligent controller can generate a first adjustment signal to reduce the air pressure of the air cushion chamber and a second adjustment signal to reduce the slurry density in the slurry inlet pipe based on the slurry inlet flow rate data and the slurry discharge flow rate data, and output the first adjustment signal to the air pressure regulation system and the second adjustment signal to the slurry conveying system.

[0094] S14. The air pressure regulating system determines the air pressure of the air cushion chamber based on the first regulating signal.

[0095] S15. The slurry delivery system determines the slurry density in the slurry inlet pipe based on the second adjustment signal.

[0096] S16. The pressure regulating system determines the support pressure of the shield machine based on the air pressure and mud density.

[0097] In application, the air pressure regulating system determines the air pressure of the air cushion chamber based on the first regulating signal. When the soil pressure and water pressure increase, the air pressure regulating system increases the air pressure of the air cushion chamber to a certain value based on the first regulating signal, and when the soil pressure and water pressure decrease, the air pressure regulating system decreases the air pressure of the air cushion chamber to a certain value based on the first regulating signal. The mud conveying system determines the mud density of the slurry inlet pipe based on the second regulating signal. When the soil pressure and water pressure increase, the mud conveying system increases the mud density of the slurry inlet pipe to a certain value based on the second regulating signal, and when the soil pressure and water pressure decrease, the mud conveying system decreases the mud density of the slurry inlet pipe to a certain value based on the second regulating signal. The pressure regulating system determines the support pressure of the shield machine based on the air pressure and mud density. The pressure regulating system determines the support pressure of the shield machine based on the regulated air pressure and mud density, thereby adjusting the support pressure of the shield machine to maintain dynamic balance between the support pressure of the shield machine and the soil pressure and water pressure of the formation.

[0098] The pressure regulation method provided in the embodiment of the present application obtains slurry inflow flow data and slurry discharge flow data through a flow monitoring device, receives and outputs the slurry inflow flow data and slurry discharge flow data through a data acquisition and analysis system, can realize rapid judgment of the soil pressure and water pressure conditions of the excavation surface, generates a first regulation signal and a second regulation signal based on the slurry inflow flow data and the slurry discharge flow data through an intelligent controller, determines the air pressure of the air cushion chamber based on the first regulation signal through an air pressure regulation system, determines the mud density of the slurry inlet pipe based on the second regulation signal through a mud conveying system, so that the pressure regulation system determines the support pressure of the shield machine based on the air pressure and mud density, and can enable the pressure regulation system to intelligently adjust the support pressure of the shield machine in real time according to the changes in the soil pressure and water pressure of the excavation surface, so that the support pressure of the shield machine maintains a dynamic balance with the stratum soil pressure and water pressure, and avoids affecting the stability of the excavation surface when the soil pressure and water pressure of the excavation surface change.

[0099] In one embodiment, as shown in FIG2 , the pressure regulation system further includes a liquid level sensor, which is disposed in the air cushion chamber; the liquid level sensor is connected to the data acquisition and analysis system, and the slurry conveying system is also connected to the slurry discharge pipe. As shown in FIG4 , before the first flow monitoring device obtains the slurry flow rate data of the slurry inlet pipe and the second flow monitoring device obtains the slurry flow rate data of the slurry discharge pipe, the pressure regulation method further includes:

[0100] S21. The liquid level sensor obtains the mud liquid level data of the air cushion tank and outputs the mud liquid level data.

[0101] S22. The data acquisition and analysis system receives and outputs the mud level data.

[0102] S23. The intelligent controller generates a third adjustment signal based on the mud level data and outputs the third adjustment signal.

[0103] S24. The slurry conveying system determines the slurry inlet flow rate of the slurry inlet pipe and the slurry discharge flow rate of the slurry discharge pipe based on the third adjustment signal.

[0104] In application, when the shield machine is excavating in a stratum with a high water content, if there is no change in soil pressure and water pressure on the excavation surface, the pressure regulation system can obtain the mud level data in the air cushion chamber through the liquid level sensor, and the liquid level sensor outputs the above mud level data to the data acquisition and analysis system. After receiving the above mud level data, the data acquisition and analysis system outputs the above mud level data to the intelligent controller. The intelligent controller generates a third adjustment signal based on the mud level data, and outputs the above third adjustment signal to the mud output system. The mud conveying system automatically adjusts the slurry flow rate of the slurry inlet pipe and the slurry discharge flow rate of the slurry discharge pipe based on the third adjustment signal to keep the mud level within the error requirement range.

[0105] In one embodiment, as shown in FIG2 , the pressure regulation system further includes a slurry discharge pump, the slurry delivery system is connected to the slurry discharge pipe via the slurry discharge pump, and the slurry discharge pump is connected to the second flow monitoring device. As shown in FIG5 , after the data acquisition and analysis system receives and outputs the slurry inflow flow data and the slurry discharge flow data, the pressure regulation method further includes:

[0106] S31. The intelligent controller generates a fourth adjustment signal based on the slurry inlet flow data and the slurry discharge flow data, and outputs the fourth adjustment signal.

[0107] S32. The slurry conveying system determines the slurry discharge flow rate of the slurry discharge pipe through the slurry discharge pump based on the fourth adjustment signal.

[0108] In application, when soil and water pressure increase, groundwater will infiltrate the excavation surface, causing the slurry level in the air cushion chamber to rise too quickly, resulting in an abnormal increase in the slurry discharge flow rate, and the difference between the slurry discharge flow rate and the inlet slurry flow rate reaches a preset warning value. The intelligent controller can also generate a fourth adjustment signal to increase the slurry discharge flow rate based on the inlet slurry flow rate data and the slurry discharge flow rate data. Based on the fourth adjustment signal, the slurry conveying system adjusts the slurry discharge pump to increase the slurry discharge flow rate from the slurry discharge pipe, such as by increasing the power of the slurry discharge pump, so as to maintain the slurry level in the air cushion chamber in balance. When soil and water pressure decrease, the slurry in the air cushion chamber will leak and infiltrate the stratum, causing the liquid level in the air cushion chamber to drop too quickly, resulting in an abnormal decrease in the slurry discharge flow rate, and the difference between the slurry discharge flow rate and the inlet slurry flow rate reaches a preset warning value. The intelligent controller can also generate a fourth adjustment signal to reduce the slurry discharge flow rate based on the inlet slurry flow rate data and the slurry discharge flow rate data. Based on the fourth adjustment signal, the slurry conveying system adjusts the slurry discharge pump to reduce the slurry discharge flow rate from the slurry discharge pipe, such as by reducing the power of the slurry discharge pump, so as to maintain the slurry level in the air cushion chamber in balance.

[0109] In one embodiment, the shield machine further includes a slurry storage tank and a water storage tank, as shown in FIG2 . The pressure regulation system further includes a slurry feed pump. The slurry delivery system is connected to the slurry storage tank and the water storage tank, respectively, via the slurry feed pump. The slurry feed pump is connected to the first flow monitoring device. The slurry delivery system determines the slurry density in the slurry feed pipe based on the second regulation signal, including: the slurry delivery system determines the slurry density in the slurry feed pipe via the slurry feed pump based on the second regulation signal.

[0110] In application, the mud conveying system can adjust the mud density of the slurry inlet pipe based on the second adjustment signal by adjusting the slurry inlet pump of the mud storage tank and the slurry inlet pump of the water storage tank. For example, when the mud density needs to be increased, the power of the slurry inlet pump of the mud storage tank can be increased and the power of the slurry inlet pump of the water storage tank can be reduced. When the mud density needs to be reduced, the power of the slurry inlet pump of the mud storage tank can be reduced and the power of the slurry inlet pump of the water storage tank can be increased.

[0111] In one embodiment, as shown in Figure 2, the pressure regulation system further includes an air pressure monitoring device, a density monitoring device, and a tunneling parameter control system. The air pressure monitoring device is disposed in the air cushion chamber, and the density monitoring device is disposed in the slurry discharge pipe. The air pressure monitoring device and the density monitoring device are respectively connected to the data acquisition and analysis system, and the tunneling parameter control system is connected to the intelligent controller. As shown in Figure 6, after the pressure regulation system determines the support pressure of the shield machine based on the air pressure and slurry density, the pressure regulation method further includes:

[0112] S41. The air pressure monitoring device obtains the air pressure data of the air cushion chamber and outputs the air pressure data.

[0113] S42. The density monitoring device obtains the mud density data of the slurry discharge pipe and outputs the mud density data.

[0114] S43. The data acquisition and analysis system obtains the predicted values ​​of the tunneling parameters based on the air pressure data and the mud density data, and outputs the predicted values ​​of the tunneling parameters.

[0115] S44. The intelligent controller generates a fifth adjustment signal based on the predicted value of the tunneling parameter and outputs the fifth adjustment signal.

[0116] S45. The tunneling parameter control system determines the tunneling parameters of the shield machine based on the fifth adjustment signal.

[0117] In application, after the pressure regulation system adjusts the support pressure of the shield machine, it can obtain the air pressure data of the air cushion chamber through the air pressure monitoring device, and obtain the mud density data of the slurry discharge pipe through the density monitoring device. The air pressure monitoring device outputs the above air pressure data to the data acquisition and analysis system, and the density monitoring device outputs the above mud density data to the data acquisition and analysis system. The data acquisition and analysis system can obtain the predicted value of the tunneling parameter of the next ring of the shield machine based on the air pressure data and the mud density data, and output the above predicted value of the tunneling parameter to the intelligent controller. The intelligent controller can generate a fifth adjustment signal based on the predicted value of the tunneling parameter, and output the fifth adjustment signal to the tunneling parameter control system. The tunneling parameter control system can adjust the tunneling parameters of the shield machine to the above predicted value of the tunneling parameter based on the fifth adjustment signal, thereby assisting on-site experts and shield drivers to set the tunneling parameters, realize real-time intelligent adjustment of the tunneling parameters, and enable the shield machine to perform the next ring of tunneling according to the adjusted tunneling parameters.

[0118] In one embodiment, as shown in FIG7 , the data acquisition and analysis system obtains tunneling parameter prediction values ​​based on air pressure data and mud density data, and outputs the tunneling parameter prediction values, including:

[0119] S51. The data acquisition and analysis system obtains the support pressure, total thrust and grouting pressure of the shield machine based on the air pressure data and mud density data.

[0120] S52. The data acquisition and analysis system obtains the predicted values ​​of the excavation parameters based on the support pressure, total thrust, grouting pressure and the pre-acquired excavation parameter prediction model, and outputs the predicted values ​​of the excavation parameters.

[0121] In application, the data acquisition and analysis system can calculate the shield machine's support pressure, total thrust and grouting pressure through formulas based on air pressure data and mud density data. The calculation formula for support pressure is: Among them, P k is the support pressure, P a is the air pressure of the air cushion chamber, ρ s is the slurry density, h is the slurry level, R is the excavation radius, which can be approximately taken as the radius of the shield cutter head, and D is the excavation diameter, which can be approximately taken as the diameter of the shield cutter head. The total thrust F of the shield machine 总It needs to be determined based on various propulsion resistances and taking into account the margin. The calculation formula is F 总 =(P k +F1+F2+F3+F4)·A, where F1 is the friction force of the shield machine casing, F2 is the friction force between the shield tail and the pipe segment, F3 is the pulling force of the rear supporting trailer, F4 is the thrust of the cutter on the cutter head, and A is the redundancy coefficient, which varies from 1.3 to 1.5 according to the actual project. The calculation formula for the friction force F1 of the shield machine casing is F1=πDLf k , where D is the excavation diameter, L is the length of the shield machine shell, and f k The average friction between the shield machine shell and the soil can be determined according to Table 6.3.4-2 of GB50268-2008. The calculation formula of the friction between the shield tail and the segment F2 is F2 = W s ·n1·μ1+π·D0·b·P2·n2·μ2, where W s is the weight of a ring of segments, n1 is the number of segment rings in the shield tail of the shield machine, μ1 is the friction coefficient between the segment ring and the shield tail, D0 is the outer diameter of the segment, b is the contact length between the shield tail brush and the segment, P2 is the grease pressure in the shield tail sealing brush, n2 is the number of shield tail brush layers, and μ2 is the friction coefficient between the segment and the shield tail brush. The calculation formula for the pulling force F3 of the rear supporting trailer is F3 = W g μ g , where W g is the weight of the rear supporting trailer, μ g The friction coefficient between the trailer and the wheel rail is usually 0.15. The thrust F4 of the cutter on the cutter head is calculated as F4 = N·F d , where N is the number of hobs, F d = is the thrust of each roller cutter. Grouting pressure, based on engineering experience, is typically increased by 1-2 bar above the air cushion chamber pressure. The data acquisition and analysis system inputs the aforementioned support pressure, total thrust, and grouting pressure into a pre-acquired excavation parameter prediction model to output predicted excavation parameter values.

[0122] In one embodiment, as shown in FIG8 , the pressure regulation method further includes:

[0123] S61. The data acquisition and analysis system obtains the preset support pressure, preset total thrust and preset grouting pressure based on the excavation stratum type and shield machine type.

[0124] S62. The data acquisition and analysis system obtains a tunneling parameter prediction model based on the preset support pressure, the preset total thrust, the preset grouting pressure and the preset artificial neural network.

[0125] In the application, the data acquisition and analysis system can be connected to the cloud data platform, and according to the excavation stratum type and shield machine type of the current shield project, the preset support pressure, preset total thrust and preset grouting pressure of other similar shield projects under the above-mentioned excavation stratum type and shield machine type are obtained. The above-mentioned preset support pressure, preset total thrust and preset grouting pressure include data of other similar shield projects under different circumstances, and the above-mentioned preset support pressure, preset total thrust and preset grouting pressure are input into the preset artificial neural network as a data set to train the above-mentioned preset artificial neural network. The preset artificial neural network consists of an input layer, a hidden layer, and an output layer. The preset support pressure, preset total thrust, and preset grouting pressure are input to the input layer, and the weights of the nodes in each layer are randomly initialized. A hypothesis function is then obtained through a forward propagation algorithm. An activation function is then used to solve the cost function through gradient descent. The error values ​​of the nodes in each layer are inferred through a backpropagation algorithm. The errors are then transferred from the output layer to the input layer through the hidden layer. Finally, a numerical estimation model is applied to solve the cost function and the convergence of the backpropagation algorithm is checked. The gradient descent algorithm and the backpropagation algorithm are then used to solve the minimized cost function and the weights of each node. After the preset artificial neural network is trained, a tunneling parameter prediction model including tunneling parameters such as cutterhead torque, cutterhead speed, and tunneling speed is obtained. This tunneling parameter prediction model is used as the pre-acquired tunneling parameter prediction model in step S52.

[0126] The pressure regulation method provided in the embodiment of the present application obtains the air pressure data of the air cushion chamber through an air pressure monitoring device, obtains the mud density data of the slurry discharge pipe through a density monitoring device, and the data acquisition and analysis system obtains the tunneling parameter prediction value based on the air pressure data and the mud density data, and outputs the tunneling parameter prediction value. The intelligent controller generates a fifth adjustment signal based on the tunneling parameter prediction value and outputs the fifth adjustment signal. The tunneling parameter control system determines the tunneling parameters of the shield machine based on the fifth adjustment signal. After the shield machine adjusts the support pressure, it can assist on-site experts and shield drivers to set the tunneling parameters, thereby realizing real-time intelligent adjustment of the tunneling parameters.

[0127] Corresponding to the pressure regulation method described in the above embodiment, as shown in FIG2 , the embodiment of the present application provides a pressure regulation system, including a flow monitoring device, a data acquisition and analysis system, an intelligent controller, an air pressure regulation system, and a mud conveying system; the flow monitoring device includes a first flow monitoring device provided at the slurry inlet pipe and a second flow monitoring device provided at the slurry discharge pipe, the flow monitoring device is connected to the data acquisition and analysis system, the data acquisition and analysis system is connected to the intelligent controller, the intelligent controller is connected to the air pressure regulation system and the mud conveying system, respectively, and the mud conveying system is connected to the slurry inlet pipe;

[0128] The first flow monitoring device is used to obtain the slurry flow data of the slurry inlet pipe;

[0129] The second flow monitoring device is used to obtain the slurry discharge flow data of the slurry discharge pipe;

[0130] The data acquisition and analysis system is used to receive and output slurry inflow and outflow data;

[0131] The intelligent controller is used to generate a first adjustment signal and a second adjustment signal based on the pulp inlet flow data and the pulp discharge flow data, and output the first adjustment signal and the second adjustment signal;

[0132] The air pressure regulating system is used to determine the air pressure of the air cushion chamber of the shield machine based on the first regulating signal;

[0133] The mud delivery system is used to determine the mud density of the mud inlet pipe based on the second adjustment signal;

[0134] The pressure regulation system is used to determine the support pressure of the shield machine based on air pressure and mud density.

[0135] It should be noted that the information interaction, execution process, etc. between the above-mentioned modules / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0136] An embodiment of the present application also provides a shield machine, as shown in FIG1 , which includes a slurry inlet pipe, a slurry discharge pipe, an air cushion chamber, and also includes the pressure regulating system as described above.

[0137] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0138] The present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, it can implement the steps of the above-mentioned various method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying the computer program code to a terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electric carrier signal, a telecommunication signal and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk.

[0139] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0140] Those skilled in the art will appreciate that the devices and algorithm steps of each example 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 performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0141] In the embodiments provided herein, it should be understood that the disclosed devices and methods may be implemented in other ways. For example, the device embodiments described above are merely illustrative. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interface, or the devices may be indirectly coupled or communicated in some manner, whether electrical, mechanical, or other.

[0142] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A pressure regulation method, characterized in that: Applied to a shield machine, the shield machine includes a slurry inlet pipe, a slurry discharge pipe, an air cushion chamber and a pressure regulating system, the pressure regulating system includes a flow monitoring device, a data acquisition and analysis system, an intelligent controller, an air pressure regulating system and a slurry conveying system; the flow monitoring device includes a first flow monitoring device arranged on the slurry inlet pipe and a second flow monitoring device arranged on the slurry discharge pipe, the flow monitoring device is connected to the data acquisition and analysis system, the data acquisition and analysis system is connected to the intelligent controller, the intelligent controller is respectively connected to the air pressure regulating system and the slurry conveying system, and the slurry conveying system is connected to the slurry inlet pipe; The pressure regulation method comprises: The first flow monitoring device acquires the slurry inlet flow data of the slurry inlet pipe, and the second flow monitoring device acquires the slurry discharge flow data of the slurry discharge pipe; The data acquisition and analysis system receives and outputs the slurry inlet flow data and the slurry discharge flow data; The intelligent controller generates a first regulating signal and a second regulating signal based on the pulp inlet flow rate data and the pulp discharge flow rate data, and outputs the first regulating signal and the second regulating signal; The air pressure regulating system determines the air pressure of the air cushion chamber based on the first regulating signal; The mud delivery system determines the mud density of the mud inlet pipe based on the second adjustment signal; The pressure regulating system determines the support pressure of the shield machine based on the air pressure and the mud density.

2. The pressure regulating method according to claim 1, characterized in that: The pressure regulating system further comprises a liquid level sensor, which is arranged in the air cushion chamber; the liquid level sensor is connected to the data acquisition and analysis system, and the mud conveying system is also connected to the mud discharge pipe; Before the first flow monitoring device acquires the slurry flow data of the slurry inlet pipe and the second flow monitoring device acquires the slurry discharge flow data of the slurry discharge pipe, the pressure regulation method further comprises: The liquid level sensor acquires the mud liquid level data of the air cushion tank and outputs the mud liquid level data; The data acquisition and analysis system receives and outputs the mud level data; The intelligent controller generates a third adjustment signal based on the mud level data, and outputs the third adjustment signal; The slurry conveying system determines a slurry inlet flow rate of the slurry inlet pipe and a slurry discharge flow rate of the slurry discharge pipe based on the third adjustment signal.

3. The pressure regulating method according to claim 1, characterized in that: The pressure regulating system further comprises a slurry discharge pump, the slurry conveying system is connected to the slurry discharge pipe via the slurry discharge pump, and the slurry discharge pump is connected to the second flow monitoring device; After the data acquisition and analysis system receives and outputs the slurry inlet flow data and the slurry discharge flow data, the pressure regulation method further includes: The intelligent controller generates a fourth adjustment signal based on the slurry inlet flow data and the slurry discharge flow data, and outputs the fourth adjustment signal; The mud transportation system determines the slurry discharge flow rate of the slurry discharge pipe through the slurry discharge pump based on the fourth adjustment signal.

4. The pressure regulating method according to claim 1, characterized in that: The shield machine further includes a mud storage tank and a water storage tank, the pressure regulating system further includes a slurry feed pump, the mud conveying system is connected to the mud storage tank and the water storage tank respectively through the slurry feed pump, and the slurry feed pump is connected to the first flow monitoring device; The mud delivery system determines the mud density of the mud inlet pipe based on the second adjustment signal, including: The mud transportation system determines the mud density of the mud inlet pipe through the mud inlet pump based on the second adjustment signal.

5. The pressure regulating method according to any one of claims 1 to 4, characterized in that: The pressure regulating system further comprises an air pressure monitoring device, a density monitoring device and a tunneling parameter control system, wherein the air pressure monitoring device is arranged in the air cushion chamber, and the density monitoring device is arranged in the slurry discharge pipe; The air pressure monitoring device and the density monitoring device are respectively connected to the data acquisition and analysis system, and the tunneling parameter control system is connected to the intelligent controller; After the pressure regulating system determines the support pressure of the shield machine based on the air pressure and the mud density, the pressure regulating method further includes: The air pressure monitoring device obtains the air pressure data of the air cushion chamber and outputs the air pressure data; The density monitoring device obtains the mud density data of the mud discharge pipe and outputs the mud density data; The data acquisition and analysis system obtains a predicted value of a tunneling parameter based on the air pressure data and the mud density data, and outputs the predicted value of the tunneling parameter; The intelligent controller generates a fifth adjustment signal based on the predicted value of the tunneling parameter, and outputs the fifth adjustment signal; The excavation parameter control system determines the excavation parameter of the shield machine based on the fifth adjustment signal.

6. The pressure regulating method according to claim 5, characterized in that: The data acquisition and analysis system obtains a predicted value of a tunneling parameter based on the air pressure data and the mud density data, and outputs the predicted value of the tunneling parameter, including: The data acquisition and analysis system obtains the support pressure, total thrust and grouting pressure of the shield machine based on the air pressure data and the mud density data; The data acquisition and analysis system obtains the predicted values ​​of the excavation parameters based on the support pressure, the total thrust, the grouting pressure and the pre-acquired excavation parameter prediction model, and outputs the predicted values ​​of the excavation parameters.

7. The pressure regulating method according to claim 6, characterized in that: The pressure regulation method further comprises: The data acquisition and analysis system obtains the preset support pressure, preset total pressure, and preset total pressure based on the type of excavation stratum and the type of shield machine. Thrust force and preset grouting pressure; The data acquisition and analysis system obtains the tunneling parameter prediction model based on the preset support pressure, the preset total thrust, the preset grouting pressure and the preset artificial neural network.

8. A pressure regulating system, characterized in that: It includes a flow monitoring device, a data acquisition and analysis system, an intelligent controller, an air pressure regulating system and a mud conveying system; the flow monitoring device includes a first flow monitoring device arranged on the slurry inlet pipe of the shield machine and a second flow monitoring device arranged on the slurry discharge pipe of the shield machine, the flow monitoring device is connected to the data acquisition and analysis system, the data acquisition and analysis system is connected to the intelligent controller, the intelligent controller is respectively connected to the air pressure regulating system and the mud conveying system, and the mud conveying system is connected to the slurry inlet pipe; The first flow monitoring device is used to obtain the slurry flow data of the slurry inlet pipe; The second flow monitoring device is used to obtain the slurry discharge flow data of the slurry discharge pipe; The data acquisition and analysis system is used to receive and output the slurry inlet flow data and the slurry discharge flow data; The intelligent controller is used to generate a first regulating signal and a second regulating signal based on the pulp inlet flow data and the pulp discharge flow data, and output the first regulating signal and the second regulating signal; The air pressure regulating system is used to determine the air pressure of the air cushion chamber of the shield machine based on the first regulating signal; The mud delivery system is used to determine the mud density of the mud inlet pipe based on the second adjustment signal; The pressure regulating system is used to determine the support pressure of the shield machine based on the air pressure and the mud density.

9. The pressure regulating system according to claim 8, characterized in that: It also includes a liquid level sensor, which is arranged on the air cushion chamber; the liquid level sensor is connected to the data acquisition and analysis system, and the mud conveying system is also connected to the mud discharge pipe; The liquid level sensor is used to obtain the mud liquid level data of the air cushion tank and output the mud liquid level data; The data acquisition and analysis system is also used to receive and output the mud level data; The intelligent controller is also used to generate a third adjustment signal based on the mud level data, and output the third adjustment signal; The slurry conveying system is further used to determine the slurry inlet flow rate of the slurry inlet pipe and the slurry discharge flow rate of the slurry discharge pipe based on the third adjustment signal.

10. The pressure regulating system according to claim 8, characterized in that It also includes a slurry discharge pump, the slurry delivery system is connected to the slurry discharge pipe through the slurry discharge pump, and the slurry discharge pump is connected to the second flow monitoring device; The intelligent controller is also used to generate a fourth adjustment signal based on the slurry inlet flow data and the slurry discharge flow data, and output the fourth adjustment signal; The mud delivery system is further used to determine the displacement of the mud discharge pipe through the mud discharge pump based on the fourth adjustment signal. Discharge flow rate.

11. The pressure regulating system according to claim 8, characterized in that: It also includes a slurry feed pump, the slurry delivery system is connected to the slurry storage tank and the water storage tank of the shield machine through the slurry feed pump, and the slurry feed pump is connected to the first flow monitoring device; The mud delivery system is further configured to determine the mud density of the mud inlet pipe through the mud inlet pump based on the second adjustment signal.

12. The pressure regulating system according to claim 8, characterized in that It also includes an air pressure monitoring device, a density monitoring device and a tunneling parameter control system, wherein the air pressure monitoring device is arranged on the air cushion chamber, and the density monitoring device is arranged on the slurry discharge pipe; The air pressure monitoring device and the density monitoring device are respectively connected to the data acquisition and analysis system, and the tunneling parameter control system is connected to the intelligent controller; The air pressure monitoring device is used to obtain the air pressure data of the air cushion chamber and output the air pressure data; The density monitoring device is used to obtain the mud density data of the mud discharge pipe and output the mud density data; The data acquisition and analysis system is also used to obtain a predicted value of a tunneling parameter based on the air pressure data and the mud density data, and output the predicted value of the tunneling parameter; The intelligent controller is further used to generate a fifth adjustment signal based on the predicted value of the tunneling parameter, and output the fifth adjustment signal; The tunneling parameter control system is used to determine the tunneling parameters of the shield machine based on the fifth adjustment signal.

13. The pressure regulating system according to claim 12, characterized in that: The data acquisition and analysis system is also used to obtain the support pressure, total thrust and grouting pressure of the shield machine based on the air pressure data and the mud density data, obtain the tunneling parameter prediction value based on the support pressure, the total thrust, the grouting pressure and the pre-acquired tunneling parameter prediction model, and output the tunneling parameter prediction value.

14. The pressure regulating system according to claim 12, characterized in that: The data acquisition and analysis system is also used to obtain the preset support pressure, preset total thrust and preset grouting pressure based on the excavation stratum type and the shield machine type, and to obtain the excavation parameter prediction model based on the preset support pressure, the preset total thrust, the preset grouting pressure and the preset artificial neural network.

15. A shield machine, characterized in that: It comprises a slurry inlet pipe, a slurry discharge pipe, an air cushion bin and the pressure regulating system as claimed in claim 8.

16. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the pressure regulation method according to any one of claims 1 to 7 is implemented.

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