Propulsion control method, controller and control system for boring machine, and storage medium

Abstract

The present disclosure relates to the field of tunnel construction, and provides a propulsion control method, controller and control system for a boring machine, and a storage medium. The method comprises: acquiring an actual position, a design axis and segment floating displacement of a boring machine; on the basis of the actual position, the design axis and the segment floating displacement, calculating and planning a boring trajectory; and controlling the boring machine, such that the actual position of the boring machine matches the planned boring trajectory.

Description

Propulsion control method, controller, control system and storage medium for roadheader

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on the application with CN application number 202410054016.4 and application date January 15, 2024, and claims its priority. The disclosed content of the CN application is hereby introduced as a whole into this application. Technical Field

[0003] The present disclosure relates to the field of tunnel construction, and in particular to a propulsion control method, controller, control system and storage medium of a tunnel boring machine. Background Art

[0004] Tunnel boring machines (TBMs) are essential equipment for tunnel construction. With major TBM design and development companies worldwide investing in equipment upgrades and improving construction efficiency, TBMs are developing towards automation, intelligence, and the ability to penetrate deeper, larger cross-sections, and longer distances. Currently, in addition to the normal construction process of "advance, stop, and assemble," TBMs now utilize a synchronized push-and-assemble mode, enabling simultaneous advancement and segment assembly by retracting some of the thrust cylinders. This improves construction efficiency.

[0005] Summary of the Invention

[0006] According to one aspect of the present disclosure, a propulsion control method for a tunnel boring machine is proposed, comprising: obtaining the actual position, design axis, and segment floating amount of the tunnel boring machine; calculating a planned tunneling trajectory based on the actual position, design axis, and segment floating amount; and controlling the tunnel boring machine so that the actual position of the tunnel boring machine matches the planned tunneling trajectory.

[0007] In some embodiments, a gap between the shield tail and the pipe segment of the tunnel boring machine in a predetermined direction is obtained; and when the gap in the predetermined direction is less than a gap threshold and the tunnel boring machine is tunneling in the predetermined direction, the planned tunneling trajectory is adjusted.

[0008] In some embodiments, controlling the tunnel boring machine includes: adjusting the first target correcting torque to obtain a second target correcting torque when there is a deviation between the actual position of the tunnel boring machine and the planned tunnel boring trajectory; and adjusting the actual correcting torque so that the actual correcting torque matches the second target correcting torque.

[0009] In some embodiments, adjusting the first target correcting torque to obtain the second target correcting torque includes: calculating the planned posture corresponding to the actual position in the planned excavation trajectory based on the actual position of the tunnel boring machine; and adjusting the first target correcting torque based on the posture deviation between the actual posture and the planned posture of the tunnel boring machine to obtain the second target correcting torque.

[0010] In some embodiments, the current working mode of the tunnel boring machine is obtained, and the current working mode includes a construction tunneling mode or a synchronous pushing and splicing mode, wherein adjusting the actual correcting torque includes: adjusting the cylinder state of the tunnel boring machine according to the current working mode to adjust the actual correcting torque.

[0011] In some embodiments, sample correcting torques and sample posture deviations are obtained; and a machine learning model is trained using the sample correcting torques and sample posture deviations as training data and the sample correcting torque adjustment amount as a label value to obtain a trained correcting torque adjustment model, wherein the first target correcting torque is adjusted based on the posture deviation between the actual posture and the planned posture of the tunnel boring machine to obtain the second target correcting torque, which includes: inputting the first target correcting torque and the posture deviation into the correcting torque adjustment model to obtain the correcting torque adjustment amount; and using the correcting torque adjustment amount to adjust the first target correcting torque to obtain the second target correcting torque.

[0012] In some embodiments, calculating the planned excavation trajectory includes: obtaining a first trajectory deviation, a first deviation speed, and a first deviation acceleration corresponding to the initial position of the tunnel boring machine, and a second trajectory deviation, a second deviation speed, and a second deviation acceleration corresponding to the end position of the tunnel boring machine, wherein the second trajectory deviation is determined based on the floating amount of the pipe segment and the curvature of the design axis; constructing a trajectory deviation polynomial between the planned excavation trajectory and the design axis based on the driving position and initial position of the tunnel boring machine; solving the trajectory deviation polynomial based on the first trajectory deviation, the first deviation speed, the first deviation acceleration, the second trajectory deviation, the second deviation speed, and the second deviation acceleration to obtain unknown constants of the trajectory deviation polynomial; using the trajectory deviation polynomial, obtaining the trajectory deviation corresponding to the actual position; and obtaining the planned excavation trajectory based on the trajectory deviation.

[0013] In some embodiments, calculating the planned excavation trajectory includes: obtaining a first trajectory deviation, a first deviation speed, and a first deviation acceleration corresponding to the initial position of the tunnel boring machine, and a second trajectory deviation, a second deviation speed, and a second deviation acceleration corresponding to the end position of the tunnel boring machine, wherein the second trajectory deviation is determined based on the floating amount of the pipe segment and the curvature of the design axis; constructing a trajectory deviation polynomial between the planned excavation trajectory and the design axis based on the driving position and initial position of the tunnel boring machine; solving the trajectory deviation polynomial based on the first trajectory deviation, the first deviation speed, the first deviation acceleration, the second trajectory deviation, the second deviation speed, and the second deviation acceleration to obtain unknown constants of the trajectory deviation polynomial; using the trajectory deviation polynomial to obtain the trajectory deviation corresponding to the actual position; and obtaining the planned excavation trajectory based on the trajectory deviation; adjusting the planned excavation trajectory, including: using the trajectory deviation corresponding to the current position as the second trajectory deviation in the process of calculating the planned excavation trajectory.

[0014] In some embodiments, an actual advancing speed of the roadheader is calculated; and the actual advancing speed is controlled to match a target advancing speed.

[0015] In some embodiments, an actual total thrust of the roadheader is calculated; and the actual total thrust is controlled to match a target total thrust.

[0016] According to another aspect of the present disclosure, a controller of a tunnel boring machine is also provided, comprising: a data acquisition module configured to acquire the actual position, design axis and segment floating amount of the tunnel boring machine; a data processing module configured to calculate a planned tunneling trajectory based on the actual position, design axis and segment floating amount; and a control module configured to control the tunnel boring machine so that the actual position of the tunnel boring machine matches the planned tunneling trajectory.

[0017] In some embodiments, the data acquisition module is also configured to obtain the gap between the shield tail and the pipe segment of the tunnel boring machine in a predetermined direction; and the data processing module is also configured to adjust the planned tunneling trajectory when the gap in the predetermined direction is less than the gap threshold and the tunnel boring machine is tunneling in the predetermined direction.

[0018] According to another aspect of the present disclosure, a controller for a roadheader is provided, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to execute the above-mentioned propulsion control method based on instructions stored in the memory.

[0019] According to another aspect of the present disclosure, a control system for a roadheader is provided, comprising: the above-mentioned controller; a guidance measurement module configured to measure the position and posture of the roadheader; and a propulsion system configured to propel at least part of the cylinder movement of the roadheader.

[0020] In some embodiments, the control system further includes: a shield tail gap measurement module configured to measure the gap between the shield tail and the segment of the tunnel boring machine.

[0021] In some embodiments, the control system further includes: a sensor configured to measure pressure values ​​and stroke values ​​of at least some or all of the cylinders.

[0022] In some embodiments, the control system further includes: an interaction module configured to display information and receive user input information.

[0023] According to another aspect of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the instructions are executed by a processor, the above-mentioned propulsion control method is implemented.

[0024] According to another aspect of the present disclosure, a computer program is further provided, comprising: instructions, which, when executed by a processor, enable the processor to perform the above-mentioned propulsion control method.

[0025] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0027] The present disclosure can be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0028] FIG1 is a schematic flow chart of some embodiments of a propulsion control method for a roadheader disclosed herein;

[0029] FIG2 is a horizontal schematic diagram of a tunneling trajectory in some embodiments of the present disclosure;

[0030] FIG3 is a schematic flow chart of other embodiments of the propulsion control method of the roadheader disclosed herein;

[0031] FIG4 is a schematic flow chart of other embodiments of the propulsion control method of the roadheader disclosed herein;

[0032] FIG5 is a schematic structural diagram of some embodiments of a controller of a roadheader disclosed herein;

[0033] FIG6 is a schematic structural diagram of other embodiments of a controller for a roadheader according to the present disclosure;

[0034] FIG7 is a schematic structural diagram of other embodiments of a controller for a roadheader disclosed herein;

[0035] FIG8 is a schematic structural diagram of some embodiments of a control system of a roadheader disclosed herein; and

[0036] FIG9 is a schematic structural diagram of other embodiments of the control system of the roadheader disclosed herein.

[0037] It should be understood that the dimensions of the various parts shown in the accompanying drawings are not necessarily drawn according to actual proportional relationships. In addition, identical or similar reference numerals represent identical or similar components. DETAILED DESCRIPTION

[0038] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0039] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0040] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0041] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0042] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0043] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0044] In recent years, with the development of science and technology, relevant research on the propulsion control of tunnel boring machines has gradually emerged. For example, in the synchronous pushing and splicing mode, by stabilizing and adjusting the resultant force point of the propulsion system, the tunneling trajectory is kept within the allowable range of the design axis. However, the tunneling state of the tunnel boring machine is complex and changeable with the changes in the stratum. When the tunnel turns or there is a floating pipe segment, there is a safety risk problem in maintaining the design axis for tunneling. Moreover, when the total thrust changes, the resultant force control scheme has the problem of unstable steering effect. The present disclosure provides a propulsion control method, controller, control system and storage medium for a tunnel boring machine, which can reduce the safety risk problem of the tunnel boring machine maintaining the design axis for tunneling when the tunnel turns or there is a floating pipe segment.

[0045] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0046] FIG1 is a schematic flow chart of some embodiments of the propulsion control method of a roadheader disclosed herein.

[0047] In step 110, the actual position of the tunnel boring machine, the designed axis, and the floating amount of the segment are obtained.

[0048] In some embodiments, the actual position and attitude of the roadheader are determined through a guidance measurement module, or the actual position of the roadheader is determined based on the stroke values ​​of some or all of the propulsion system's cylinders as measured by sensors. The amount of segment lift is determined by comparing the rise and fall positions of the segments after they have escaped the shield tail for a certain distance. This amount of lift can be input by the user through an interactive module or directly input into the controller after being detected by sensors. The design axis is a pre-set trajectory.

[0049] In step 120, the tunneling trajectory is calculated and planned based on the actual position, the designed axis and the floating amount of the segment.

[0050] In some embodiments, as shown in Figure 2, during tunnel curves, the planned excavation trajectory is positioned inside the designed axis, thereby controlling and reducing construction risks. The dashed line in Figure 2 represents the planned excavation trajectory, while the solid line represents the designed axis. The horizontal distance between the planned excavation trajectory and the designed axis is positively correlated with the curvature of the designed axis; the greater the curvature, the greater the distance. For example, a curve with an 800m radius corresponds to a distance of 5mm; a curve with a 500m radius corresponds to a distance of 10mm, and so on.

[0051] In some embodiments, when the segments are floating, the planned tunneling trajectory is calculated below the design axis to reduce the deviation between the formed tunnel and the design axis. For example, if a segment is known to float 20 mm after exiting the shield tail, the planned tunneling trajectory will be calculated to be 20 mm below the design axis.

[0052] In some embodiments, the controller obtains a first trajectory deviation, a first deviation speed, and a first deviation acceleration corresponding to the initial position of the tunnel boring machine, and a second trajectory deviation, a second deviation speed, and a second deviation acceleration corresponding to the end position of the tunnel boring machine, wherein the second trajectory deviation is determined based on the floating amount of the pipe segment and the curvature of the design axis; based on the driving position and initial position of the tunnel boring machine, a trajectory deviation polynomial between the planned tunneling trajectory and the design axis is constructed; based on the first trajectory deviation, the first deviation speed, the first deviation acceleration, the second trajectory deviation, the second deviation speed, and the second deviation acceleration, the trajectory deviation polynomial is solved to obtain an unknown constant of the trajectory deviation polynomial; using the trajectory deviation polynomial, the trajectory deviation corresponding to the actual position is obtained; based on the trajectory deviation, the planned tunneling trajectory is obtained.

[0053] In some embodiments, based on the driving position, the first derivative of the trajectory deviation polynomial is taken to obtain the velocity deviation polynomial; based on the driving position, the second derivative of the trajectory deviation polynomial is taken to obtain the acceleration deviation polynomial. In this way, three polynomials are obtained. Substitute the first trajectory deviation, the first deviation velocity, and the first deviation acceleration corresponding to the initial position of the roadheader, as well as the second trajectory deviation, the second deviation velocity, and the second deviation acceleration corresponding to the end position of the roadheader into the polynomials, and solve for the unknown constants of the trajectory deviation polynomial. Then substitute the actual position into this trajectory deviation polynomial to obtain the trajectory deviation, and convert this trajectory deviation to calculate the planned tunneling trajectory.

[0054] For example, the trajectory deviation polynomial is:

[0055] Yh(s) = a0 + a1(s - s0) + a2(s - s0) 2 + a3(s - s0) 3 + a4(s - s0) 4 + a5(s - s0) 5

[0056] Yv(s) = a6 + a7(s - s0) + a8(s - s0) 2 + a9(s - s0) 3 + a 10 (s - s0) 4 + a 11 (s - s0) 5

[0057] where s0 is the initial position, for example, represented by the initial mileage; s is the driving position, for example, represented by the driving mileage, s0 < s < s1, where s1 is the end position, for example, represented by the end mileage; Yh(s) is the horizontal deviation between the planned tunneling trajectory and the design axis; Yv(s) is the vertical deviation between the planned tunneling trajectory and the design axis, and a0, a1, a2, a3, a4, a5, a6, a7, a8, a9, a 10 、a 11 are the unknown constants of the trajectory deviation polynomial.

[0058] The first trajectory deviation, the first deviation speed and the first deviation acceleration are known quantities, that is, the horizontal deviation, vertical deviation, horizontal deviation speed, vertical deviation speed, horizontal deviation acceleration and vertical deviation acceleration of the initial mileage are all known quantities. The ending mileage is, for example, the third ring to be advanced. Those skilled in the art should understand that the ending mileage can be selected according to actual conditions. The second trajectory deviation is determined based on the buoyancy of the segment and the curvature of the design axis, and the second deviation speed and the second deviation acceleration take values ​​of 0. That is, the horizontal deviation speed, vertical deviation speed, horizontal deviation acceleration and vertical deviation acceleration corresponding to the ending mileage are equal to 0, the value of the vertical deviation is equal to the negative buoyancy of the segment, and the value of the horizontal deviation is determined according to the curvature corresponding to the design axis, for example, 5 times the curvature. Those skilled in the art should understand that the horizontal deviation and the multiple of the curvature can be set according to actual conditions.

[0059] For Yh(s)=a0+a1(s-s0)+a2(s-s0) 2 +a3(s-s0) 3 +a4(s-s0) 4 +a5(s-s0) 5 Taking a derivative, we get Yh(s)′=a1+2a2(s-s0)+3a3(s-s0) 2 +4a4(s-s0) 3 +5a5(s-s0) 4 . For Yh(s)=a0+a1(s-s0)+a2(s-s0) 2 +a3(s-s0) 3 +a4(s-s0) 4 +a5(s-s0) 5 Taking the second derivative, we get Yh(s)″=2a2+6a3(s-s0)+12a4(s-s0) 3 +20a5(s-s0) 3 Yv(s)=a6+a7(s-s0)+a8(s-s0) 2 +a9(s-s0) 3 +a 10 (s-s0) 4 +a 11 (s-s0) 5 Taking a derivative, we get Yv(s)′=a7+2a8(s-s0)+3a9(s-s0) 2 +4a 10 (s-s0) 3 +5a 11 (s-s0) 4 Yv(s)=a6+a7(s-s0)+a8(s-s0) 2+a9(s-s0) 3 +a 10 (s-s0) 4 +a 11 (s-s0) 5 Taking the second derivative, we get Yv(s)″=2a8+6a9(s-s0)+12a 10 (s-s0) 2 +20a 11 (s-s0) 3 .

[0060] Substituting the horizontal deviation, vertical deviation, horizontal deviation speed, vertical deviation speed, horizontal deviation acceleration and vertical deviation acceleration of the initial mileage, and the horizontal deviation, vertical deviation, horizontal deviation speed, vertical deviation speed, horizontal deviation acceleration and vertical deviation acceleration corresponding to the final mileage into the above formula, we can obtain a0, a1, a2, a3, a4, a5, a6, a7, a8, a9, a 10 、a 11 .

[0061] Substitute the current actual mileage into the known variables Yh(s) = a0 + a1(s-s0) + a2(s-s0) 2 +a3(s-s0) 3 +a4(s-s0) 4 +a5(s-s0) 5 And Yv(s)=a6+a7(s-s0)+a8(s-s0) 2 +a9(s-s0) 3 +a 10 (s-s0) 4 +a 11 (s-s0) 5 , the horizontal deviation Yh(s) and the vertical deviation Yv(s) between the planned excavation trajectory and the design axis corresponding to the current actual mileage can be obtained, where Yh(s) and Yv(s) are the local excavation trajectories in the Frenet coordinate system. The coordinates in the Cartesian coordinate system, i.e. the planned excavation trajectory, can be obtained through coordinate transformation.

[0062] In step 130 , the tunnel boring machine is controlled so that the actual position of the tunnel boring machine matches the planned tunnel boring trajectory.

[0063] In some embodiments, when there is a deviation between the actual position of the roadheader and the planned tunneling trajectory, the first target correcting torque is adjusted to obtain a second target correcting torque; and the actual correcting torque is adjusted to match the second target correcting torque. The first target correcting torque is the target correcting torque before adjustment, and the second target correcting torque is the target correcting torque after adjustment. The actual correcting torque is adjusted to match the adjusted target correcting torque, thereby reducing the deviation between the actual position and the planned tunneling trajectory in the future and ensuring that the actual tunneling trajectory remains within the planned tunneling trajectory.

[0064] In the above embodiment, the planned excavation trajectory is dynamically determined by combining information such as the design axis, actual position and segment floating amount, and then the tunnel boring machine is controlled so that the actual position of the tunnel boring machine matches the planned excavation trajectory, thereby reducing the deviation between the actual position and the planned excavation trajectory in the future and reducing the safety risk of the tunnel boring machine still maintaining the design axis excavation when the tunnel turns or there is segment floating.

[0065] FIG3 is a schematic flow chart of other embodiments of the propulsion control method of the roadheader disclosed herein.

[0066] In step 310 , the actual position of the tunnel boring machine, the designed axis, the floating amount of the segment, and the gap between the shield tail of the tunnel boring machine and the segment in a predetermined direction are obtained.

[0067] In some embodiments, the gap between the shield tail and the segment is measured in real time using a shield tail gap measurement module. The gaps in predetermined directions include, for example, the gap between the right side of the shield tail and the segment, the gap between the left side of the shield tail and the segment, the gap between the top side of the shield tail and the segment, and the gap between the bottom side of the shield tail and the segment.

[0068] In step 320, the tunneling trajectory is calculated and planned based on the actual position, the designed axis and the floating amount of the segment.

[0069] In step 330 , when the gap in the predetermined direction is smaller than the gap threshold and the tunnel boring machine is tunneling in the predetermined direction, the planned tunneling trajectory is adjusted.

[0070] In some embodiments, the trajectory deviation corresponding to the current position is used as the second trajectory deviation in the process of calculating the planned excavation trajectory, and the planned excavation trajectory is recalculated.

[0071] For example, if the gap between the right side of the shield tail and the segment is less than the first threshold, and the ending mileage horizontal deviation is greater than the initial mileage horizontal deviation, the horizontal trajectory deviation corresponding to the current actual position is used as the ending mileage horizontal deviation value, and the excavation trajectory is replanned.

[0072] When the gap between the left side of the shield tail and the segment is less than the second threshold and the ending mileage horizontal deviation is less than the initial mileage horizontal deviation, the horizontal trajectory deviation corresponding to the current actual position is used as the ending mileage horizontal deviation value, and the excavation trajectory is replanned.

[0073] When the gap between the upper side of the shield tail and the segment is less than the third threshold, and the vertical deviation of the ending mileage is greater than the vertical deviation of the initial mileage, the vertical trajectory deviation corresponding to the current actual position is used as the ending mileage disposal deviation value, and the excavation trajectory is replanned.

[0074] When the gap between the lower side of the shield tail and the segment is less than the fourth threshold, and the vertical deviation of the ending mileage is less than the vertical deviation of the initial mileage, the vertical trajectory deviation corresponding to the current actual position is used as the ending mileage disposal deviation value, and the excavation trajectory is replanned.

[0075] The first threshold, the second threshold, the third threshold and the fourth threshold in the above example may be the same or different and may be set according to actual conditions.

[0076] In step 340 , the tunnel boring machine is controlled so that the actual position of the tunnel boring machine matches the planned tunnel boring trajectory.

[0077] In the above embodiment, when the tunnel boring machine is started or during continuous tunneling, the planned tunneling trajectory is dynamically determined in combination with information such as the design axis, actual position and segment floating amount, and the planned tunneling trajectory is auxiliary adjusted by monitoring the changes in the shield tail gap. Then, the tunnel boring machine is controlled to match the actual position of the tunnel boring machine with the planned tunneling trajectory, thereby reducing the deviation between the actual position and the planned tunneling trajectory in the future. On the one hand, it can reduce the safety risk of the tunnel boring machine maintaining the design axis when the tunnel turns or there is segment floating. On the other hand, since the impact of the posture adjustment on the segment is taken into account, damage to the segment can be prevented, thereby improving the safety of the operation.

[0078] FIG4 is a flow chart of other embodiments of the propulsion control method of the roadheader disclosed herein.

[0079] In step 410, based on the actual position of the roadheader, a planned posture corresponding to the actual position in the planned tunneling trajectory is calculated.

[0080] In step 420 , based on the posture deviation between the actual posture of the roadheader and the planned posture, the first target correcting torque is adjusted to obtain a second target correcting torque.

[0081] In some embodiments, a first target corrective torque and attitude deviation are input into a corrective torque adjustment model to obtain a corrective torque adjustment value. The corrective torque adjustment value is then used to adjust the first target corrective torque to obtain a second target corrective torque. The first target corrective torque is a predetermined value or is equal to the corrective torque initially connected to the propulsion system. The corrective torque adjustment model in this embodiment is a machine learning model.

[0082] In some embodiments, a sample correcting torque and a sample posture deviation are obtained; and a machine learning model is trained using the sample correcting torque and the sample posture deviation as training data and the sample correcting torque adjustment amount as a label value to obtain a trained correcting torque adjustment model.

[0083] For example, the correcting torque of the tunnel boring machine is adjusted to change the posture of the tunnel boring machine. The correcting torque and posture information of the tunnel boring machine are collected and used as training data. The correcting torque adjustment amount is used as the label value of the training data. The output value of the machine model learning model is compared with the label value to determine whether the comparison result meets the requirements of the loss function for constructing the correcting torque adjustment model. Repeated iterations are performed to optimize and adjust the parameters of the machine model learning model so that the comparison result finally meets the requirements of the loss function for constructing the correcting torque adjustment model, and the correcting torque adjustment model is saved.

[0084] The error between the horizontal actual posture and the horizontal planned posture, and the error between the vertical actual posture and the vertical planned posture, are input into the trained correction torque adjustment model to obtain the correction torque adjustment amount, which is added to the first target correction torque to obtain the second target correction torque.

[0085] In some embodiments, the target correcting torque includes a target horizontal correcting torque and a target vertical correcting torque.

[0086] The corrective torque is a physical quantity that describes the rotational effect of the multiple cylinders in the propulsion system on the tunnel boring machine around the horizontal and vertical axes, while the resultant force point in related technologies describes the combined action point of the multiple cylinders in the propulsion system.

[0087] In step 430 , the actual correcting torque is adjusted so that the actual correcting torque matches the second target correcting torque.

[0088] In some embodiments, the state of the oil cylinder of the roadheader is adjusted to adjust the actual correcting torque so that the actual correcting torque matches the second target correcting torque.

[0089] In some embodiments, a propulsion system is used to drive the cylinder axially. The propulsion system is located on the side of the tunnel boring machine and supported against the segments, providing propulsion for the tunnel boring machine. The cylinder's corrective torque can be determined based on the cylinder pressure.

[0090] In some embodiments, a propulsion system of a roadheader includes a plurality of cylinder zones spaced apart in a circumferential direction, each zone having at least one cylinder point. A controller obtains a target total thrust, a target horizontal correcting torque, and a target vertical correcting torque in a current operating mode; constructs a first thrust distribution group such that the first thrust distribution group generates a unit thrust, the first thrust distribution group including first thrusts corresponding to the plurality of cylinder zones; constructs a second thrust distribution group such that the second thrust distribution group generates a unit horizontal correcting torque, the second thrust distribution group including second thrusts corresponding to the plurality of cylinder zones; and constructs a third thrust distribution group such that the third thrust distribution group generates a unit vertical correcting torque, the third thrust distribution group including third thrusts corresponding to the plurality of cylinder zones, the first, second, and third thrust distribution groups being linearly independent; and obtains a propulsion force for each cylinder zone based on the first, second, and third thrust distribution groups, the target thrust, the target horizontal correcting torque, and the target vertical correcting torque, thereby controlling the states of the cylinders in the plurality of cylinder zones.

[0091] In some embodiments, the current working mode of the tunnel boring machine is obtained, and the current working mode includes a construction tunneling mode or a synchronous pushing and splicing mode. According to the current working mode, the cylinder state of the tunnel boring machine is adjusted to adjust the actual correcting torque.

[0092] In the synchronized push-and-segment mode, some cylinders may retract during the push-and-segment process to allow for partial segment assembly. During synchronized push-and-segment tunneling, if some cylinder pressure is lost during segment installation, the remaining cylinders in the push-and-segment system are controlled to adjust and stabilize the actual corrective torque to the target corrective torque, ensuring that the actual position during the push-and-segment process remains close to the planned trajectory.

[0093] In the above embodiment, by adjusting and stabilizing the actual correcting torque to reach the target correcting torque, the actual excavation trajectory is kept within the allowable range of the planned excavation trajectory, reducing the safety risk of maintaining excavation along the designed axis when the tunnel turns or when the pipe segments float up, and solving the problem of unstable correction effect of the resultant point control scheme when the total thrust changes.

[0094] In some embodiments of the present disclosure, in combination with project construction requirements, the interaction module receives a tunneling efficiency mode selected by the user, where the tunneling efficiency mode includes a speed control mode and a thrust control mode.

[0095] In some embodiments, in the speed control mode, the actual propulsion speed of the roadheader is calculated; and the actual propulsion speed is controlled to match the target propulsion speed, for example, the actual propulsion speed is controlled to remain within the range allowed by the target propulsion speed.

[0096] For example, the actual propulsion speed of the roadheader can be determined based on the cylinder stroke. For example, at time t1, the cylinder stroke is S1, and at time t2, the cylinder stroke is S2. The speed V = (S2 - S1) / (t2 - t1). The target propulsion speed is input by the user through the interactive module.

[0097] In some embodiments, in the speed control mode, the controller controls the propulsion system to adjust and stabilize the actual propulsion speed to reach the target propulsion speed when the thrust of the cylinder is missing during the installation of the pipe segment.

[0098] In the above embodiment, by controlling the propulsion speed of the tunnel boring machine, the construction quality and efficiency can be improved, and by automatically controlling the propulsion system, the driver's operating tasks during the tunneling process can be reduced, thereby improving the automation level of shield construction and reducing the impact of human factors.

[0099] In some embodiments, in thrust control mode, the actual total thrust of the roadheader is calculated and controlled to match the target total thrust, for example, to maintain the actual total thrust within the target total thrust range. The target total thrust is input by the user through the interactive module. The actual total thrust of the roadheader is the sum of the pressures of all propulsion cylinders.

[0100] In some embodiments, in the thrust control mode, the controller controls the propulsion system to adjust and stabilize the actual total thrust to reach the target total thrust when the installation segment is missing some of the cylinder thrust.

[0101] In the above embodiment, by controlling the total thrust of the tunnel boring machine, the construction quality and efficiency can be improved, and by automatically controlling the propulsion system, the driver's operating tasks during the tunneling process can be reduced, thereby improving the automation level of shield construction and reducing the impact of human factors.

[0102] In the embodiment of the present disclosure, the tunnel boring machine can ensure propulsion along the planned axis and set efficiency by adjusting the axial propulsion cylinder of the propulsion system during normal construction tunneling or synchronous pushing and splicing mode construction tunneling.

[0103] FIG5 is a schematic structural diagram of some embodiments of a controller of a roadheader disclosed herein. The controller includes a data acquisition module 510 , a data processing module 520 , and a control module 530 .

[0104] The data acquisition module 510 is configured to acquire the actual position, designed axis and segment floating amount of the tunnel boring machine.

[0105] In some embodiments, the data acquisition module 510 is further configured to acquire clearances between the shield tail of the roadheader and the segments in predetermined directions. The clearances in predetermined directions include, for example, the clearance between the right side of the shield tail and the segments, the clearance between the left side of the shield tail and the segments, the clearance between the upper side of the shield tail and the segments, and the clearance between the lower side of the shield tail and the segments.

[0106] In some embodiments, the data acquisition module 510 is further configured to acquire the current working mode of the tunnel boring machine, where the current working mode includes a construction tunneling mode or a synchronous pushing and splicing mode.

[0107] The data processing module 520 is configured to calculate and plan the tunneling trajectory based on the actual position, the designed axis and the floating amount of the pipe segment.

[0108] In some embodiments, in a tunnel curve, the planned excavation trajectory is inside the curve of the design axis. In the case of floating segments, the planned excavation trajectory is below the design axis.

[0109] In some embodiments, the data processing module 520 obtains the first trajectory deviation, first deviation speed and first deviation acceleration corresponding to the initial position of the tunnel boring machine, and the second trajectory deviation, second deviation speed and second deviation acceleration corresponding to the end position of the tunnel boring machine, wherein the second trajectory deviation is determined based on the floating amount of the pipe segment and the curvature of the design axis; based on the driving position and initial position of the tunnel boring machine, a trajectory deviation polynomial between the planned tunneling trajectory and the design axis is constructed; based on the first trajectory deviation, first deviation speed, first deviation acceleration, second trajectory deviation, second deviation speed and second deviation acceleration, the trajectory deviation polynomial is solved to obtain the unknown constants of the trajectory deviation polynomial; using the trajectory deviation polynomial, the trajectory deviation corresponding to the actual position is obtained; based on the trajectory deviation, the planned tunneling trajectory is obtained.

[0110] In some embodiments, the data processing module 520 is further configured to adjust the planned excavation trajectory if the clearance in a predetermined direction is less than a clearance threshold and the roadheader is advancing in the predetermined direction. For example, the trajectory deviation corresponding to the current position is used as a second trajectory deviation in calculating the planned excavation trajectory. By monitoring the shield tail clearance in real time, damage to the segments can be prevented, improving operational safety.

[0111] The control module 530 is configured to control the tunnel boring machine so that the actual position of the tunnel boring machine matches the planned tunnel boring trajectory.

[0112] In some embodiments, when there is a deviation between the actual position of the tunnel boring machine and the planned tunnel boring trajectory, the control module 530 adjusts the first target correcting torque to obtain the second target correcting torque; and adjusts the actual correcting torque so that the actual correcting torque matches the second target correcting torque.

[0113] In some embodiments, based on the actual position of the tunnel boring machine, the planned posture corresponding to the actual position in the planned tunnel boring trajectory is calculated; and based on the posture deviation between the actual posture of the tunnel boring machine and the planned posture, the first target correcting torque is adjusted to obtain the second target correcting torque.

[0114] In some embodiments, as shown in FIG6 , the controller further includes a model training module 610 configured to obtain sample correcting torques and sample posture deviations; train a machine learning model using the sample correcting torques and sample posture deviations as training data and the sample correcting torque adjustment values ​​as label values, thereby obtaining a trained correcting torque adjustment model, wherein the first target correcting torque is adjusted based on the posture deviation between the actual posture of the roadheader and the planned posture to obtain a second target correcting torque. The control module 530 inputs the first target correcting torque and posture deviation into the correcting torque adjustment model to obtain a correcting torque adjustment value; and adjusts the first target correcting torque using the correcting torque adjustment value to obtain the second target correcting torque.

[0115] In some embodiments, the control module 530 is further configured to adjust the cylinder state of the roadheader according to the current working mode to adjust the actual correcting torque.

[0116] In the above embodiment, the planned excavation trajectory is dynamically determined by combining information such as the design axis, actual position and segment floating amount, and then the tunnel boring machine is controlled so that the actual position of the tunnel boring machine matches the planned excavation trajectory, thereby reducing the deviation between the actual position and the planned excavation trajectory in the future and reducing the safety risk of the tunnel boring machine still maintaining the design axis excavation when the tunnel turns or there is segment floating.

[0117] In some embodiments of the present disclosure, the data processing module 520 is further configured to calculate the actual propulsion speed of the roadheader, and the control module 530 is further configured to control the actual propulsion speed to match the target propulsion speed.

[0118] The data processing module 520 is further configured to calculate the actual total thrust of the roadheader, and the control module 530 is further configured to control the actual total thrust to match the target total thrust.

[0119] By controlling the propulsion speed and total thrust of the tunnel boring machine, construction quality and efficiency can be improved.

[0120] Figure 7 is a schematic diagram of the structure of another embodiment of a controller for a roadheader according to the present disclosure. The controller includes a memory 710 and a processor 720. The memory 710 can be a disk, flash memory, or any other non-volatile storage medium. The memory 710 is used to store the instructions described in the above embodiments. The processor 720 is coupled to the memory 710 and can be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 720 is used to execute the instructions stored in the memory.

[0121] In some embodiments, the processor 720 is coupled to the memory 710 via a BUS 730. The controller can also be connected to an external storage device 750 via a storage interface 740 to access external data, and can also be connected to a network or another computer system (not shown) via a network interface 760. Detailed descriptions are omitted here.

[0122] In this embodiment, by storing data instructions in a memory and processing them in a processor, the safety risks associated with maintaining the designed axis during tunneling during turns or when segments float upward are mitigated. This also addresses the unstable correction effect of the resultant force control scheme when the total thrust varies. Furthermore, automated control of the propulsion system reduces the driver's workload during tunneling, improving the automation level of shield construction, reducing the impact of human factors, and enhancing construction quality and efficiency.

[0123] Figure 8 is a schematic diagram of the structure of some embodiments of a roadheader control system disclosed herein. The control system includes a controller 810, a guidance and measurement module 820, and a propulsion system 830. Controller 810 has been described in detail in the above embodiments and will not be further elaborated here. Guidance and measurement module 820 and propulsion system 830 are electrically connected to controller 810.

[0124] The guidance measurement module 820 is configured to measure the position and attitude of the TBM, while the propulsion system 830 is configured to propel at least some of the TBM's cylinders. The propulsion cylinders of this propulsion system 830 operate axially and are located on the sides of the TBM, supported against the segments and providing propulsion power for the TBM. For example, when the TBM is in synchronized push-and-slide mode, the propulsion system 830 propels some of the cylinders.

[0125] In some embodiments, as shown in FIG9 , the control system further includes a shield tail clearance measurement module 910 configured to measure the clearance between the shield tail and the segment of the tunnel boring machine. The shield tail clearance measurement module 910 is electrically connected to the controller 810. The shield tail clearance measurement module is, for example, a laser detector.

[0126] In some embodiments, the control system further includes a sensor 920 configured to measure the pressure and stroke values ​​of some or all of the at least some of the cylinders. This sensor, for example, includes a pressure sensor. Since not all cylinders are equipped with a pressure sensor, the pressure and stroke values ​​of only some of the cylinders may be detected. For example, the cylinders are controlled by groups, such as Groups A, B, C, and D, each containing one or more cylinders. Each group is configured with only one pressure sensor on a cylinder in that group. In this case, the pressure sensor only detects the pressure of one cylinder in each group. This sensor may also include a displacement sensor, for example.

[0127] In some embodiments, the control system further includes an interaction module 930 configured to display information and receive user input. For example, it may display the tunneling trajectory and receive user input for segment lift, target propulsion speed, target total thrust, etc. This interaction module may be, for example, a user terminal such as a host computer.

[0128] In other embodiments, a computer-readable storage medium stores computer program instructions thereon, which, when executed by a processor, implement the steps of the method in the above-described embodiment. Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, devices, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable non-transient storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0129] In some embodiments of the present disclosure, a computer program is further provided, comprising: instructions, which, when executed by a processor, cause the processor to perform the propulsion control method as described above.

[0130] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram and the combination of the processes and / or boxes in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0131] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0132] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0133] The present disclosure has been described in detail so far. To avoid obscuring the concept of the present disclosure, some details known in the art have not been described. Based on the above description, those skilled in the art can fully understand how to implement the technical solutions disclosed herein.

[0134] The methods and apparatus of the present disclosure may be implemented in many ways. For example, the methods and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above, unless otherwise specifically stated. In addition, in some embodiments, the present disclosure may also be implemented as programs recorded in a recording medium, which include machine-readable instructions for implementing the methods according to the present disclosure. Therefore, the present disclosure also covers recording media that store programs for executing the methods according to the present disclosure.

[0135] Although some specific embodiments of the present disclosure have been described in detail by way of examples, those skilled in the art will appreciate that the above examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Those skilled in the art will appreciate that modifications may be made to the above embodiments without departing from the scope of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A propulsion control method for a tunneling machine, comprising: Obtaining the actual position, design axis and segment floating amount of the tunneling machine; Calculating a planned tunneling trajectory according to the actual position, the design axis and the segment floating amount; And Controlling the tunneling machine so that the actual position of the tunneling machine matches the planned tunneling trajectory.

2. The propulsion control method according to claim 1, further comprising: Obtaining the gap between the tail shield of the tunneling machine and the segment in a predetermined direction; And Adjusting the planned tunneling trajectory when the gap in the predetermined direction is less than a gap threshold and the tunneling machine tunnels in the predetermined direction.

3. The propulsion control method according to claim 1 or 2, wherein, The controlling of the tunneling machine includes: Adjusting a first target deviation correction torque to obtain a second target deviation correction torque when there is a deviation between the actual position of the tunneling machine and the planned tunneling trajectory; and Adjusting the actual deviation correction torque so that the actual deviation correction torque matches the second target deviation correction torque.

4. The propulsion control method according to claim 3, wherein, The adjusting of the first target deviation correction torque to obtain the second target deviation correction torque includes: Calculating a planned attitude corresponding to the actual position in the planned tunneling trajectory according to the actual position of the tunneling machine; and Adjusting the first target deviation correction torque based on the attitude deviation between the actual attitude and the planned attitude of the tunneling machine to obtain the second target deviation correction torque.

5. The propulsion control method according to claim 3 or 4, further comprising: Obtaining the current working mode of the tunneling machine, the current working mode including a construction tunneling mode or a synchronous pushing and assembling mode, wherein the adjusting of the actual deviation correction torque includes: Adjusting the cylinder state of the tunneling machine according to the current working mode to adjust the actual deviation correction torque.

6. The propulsion control method according to claim 4, further comprising: Obtaining a sample deviation correction torque and a sample attitude deviation; And Using the sample deviation correction torque and the sample attitude deviation as training data and the sample deviation correction torque adjustment amount as a marked value to train a machine learning model to obtain a trained deviation correction torque adjustment model, wherein the adjusting of the first target deviation correction torque based on the attitude deviation between the actual attitude and the planned attitude of the tunneling machine to obtain the second target deviation correction torque includes: Inputting the first target deviation correction torque and the attitude deviation into the deviation correction torque adjustment model to obtain a deviation correction torque adjustment amount; and Using the deviation correction torque adjustment amount to adjust the first target deviation correction torque to obtain the second target deviation correction torque.

7. The propulsion control method according to any one of claims 1 to 6, wherein, The calculating of the planned tunneling trajectory includes: Obtaining a first trajectory deviation, a first deviation speed and a first deviation acceleration corresponding to the initial position of the tunneling machine, and a second trajectory deviation, a second deviation speed and a second deviation acceleration corresponding to the end position of the tunneling machine, wherein the second trajectory deviation is determined based on the segment floating amount and the curvature of the design axis; Constructing a trajectory deviation polynomial between the planned tunneling trajectory and the design axis based on the traveling position and the initial position of the tunneling machine; Solve the trajectory deviation polynomial based on the first trajectory deviation, the first deviation velocity, the first deviation acceleration, the second trajectory deviation, the second deviation velocity, and the second deviation acceleration to obtain the unknown constants of the trajectory deviation polynomial; Use the trajectory deviation polynomial to obtain the trajectory deviation corresponding to the actual position; and Obtain the planned tunneling trajectory based on the trajectory deviation.

8. The propulsion control method according to claim 2, wherein The calculation of the planned tunneling trajectory includes: Obtain the first trajectory deviation, the first deviation velocity, and the first deviation acceleration corresponding to the initial position of the tunneling machine, and the second trajectory deviation, the second deviation velocity, and the second deviation acceleration corresponding to the end position of the tunneling machine, wherein the second trajectory deviation is based on the segment floating amount and the curvature of the design Axis is determined; Construct a trajectory deviation polynomial between the planned tunneling trajectory and the design axis based on the traveling position and the initial position of the tunneling machine; Solve the trajectory deviation polynomial based on the first trajectory deviation, the first deviation velocity, the first deviation acceleration, the second trajectory deviation, the second deviation velocity, and the second deviation acceleration to obtain the unknown constants of the trajectory deviation polynomial; Use the trajectory deviation polynomial to obtain the trajectory deviation corresponding to the actual position; and Obtain the planned tunneling trajectory based on the trajectory deviation; Adjusting the planned tunneling trajectory includes: Use the trajectory deviation corresponding to the current position as the second trajectory deviation in the process of calculating the planned tunneling trajectory.

9. The propulsion control method according to any one of claims 1 to 8 further includes: Calculate the actual propulsion speed of the tunneling machine; And Control the actual propulsion speed to match the target propulsion speed.

10. The propulsion control method according to any one of claims 1 to 9 further includes: Calculate the actual total thrust of the tunneling machine; And Control the actual total thrust to match the target total thrust.

11. A controller for a tunneling machine, comprising: A data acquisition module configured to acquire the actual position, the design axis, and the segment floating amount of the tunneling machine; A data processing module configured to calculate a planned tunneling trajectory according to the actual position, the design axis, and the segment floating amount; And A control module configured to control the tunneling machine so that the actual position of the tunneling machine matches the planned tunneling trajectory.

12. The controller according to claim 11, wherein The data acquisition module is further configured to acquire the gap between the tail shield and the segment of the tunneling machine in a predetermined direction; and The data processing module is further configured to adjust the planned tunneling trajectory when the gap in the predetermined direction is less than the gap threshold and the tunneling machine tunnels in the predetermined direction.

13. A controller for a tunneling machine, comprising: A memory; And A processor coupled to the memory, the processor being configured to execute the propulsion control method according to any one of claims 1 to 10 based on instructions stored in the memory.

14. A control system for a tunneling machine, comprising: The controller according to any one of claims 11 to 13; A guiding and measuring module configured to measure the position and attitude of the tunneling machine; And A propulsion system configured to drive the movement of at least part of the cylinders of the tunneling machine.

15. The control system according to claim 14, further comprising: A tail shield clearance measuring module configured to measure the clearance between the tail shield of the tunneling machine and the segment.

16. The control system according to claim 14 or 15, further comprising: A sensor configured to measure the pressure values and stroke values of some or all of the at least part of the cylinders.

17. The control system according to any one of claims 14 to 16, further comprising: An interaction module configured to perform information display and receive user input information.

18. A computer-readable storage medium having computer program instructions stored thereon, which when executed by a processor implement the propulsion control method according to any one of claims 1 to 10.

19. A computer program, comprising: Instructions that, when executed by a processor, cause the processor to execute the propulsion control method according to any one of claims 1 to 10.

Images