Propulsion control method for active articulation type boring machine, controller, and control system

Abstract

A propulsion control method for an active articulation type boring machine, a controller, and a control system, relating to the field of tunnel construction. The method comprises: acquiring an actual position of an active articulation type boring machine, a design axis, and a segment floating amount (110); on the basis of the actual position, the design axis, and the segment floating amount, calculating and planning a tunneling trajectory (120); and adjusting at least one of an actual deviation correction torque of a propulsion system and an actual articulation angle of an articulation system of the active articulation type boring machine, so that the actual position of the active articulation type boring machine matches the planned tunneling trajectory (130).

Description

Propulsion control method, controller and control system of active articulated tunnel boring machine

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on the application with CN application number 202410054506.4 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, and control system of an active articulated 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 toward automation, intelligence, greater depth, larger cross-sections, and longer distances. TBMs can be categorized by their articulation type as non-articulated, passively articulated, or actively articulated. Actively articulated shield machines are widely used due to their small turning radius. Currently, in addition to the normal construction processes of "advance, stop, and assemble," TBMs utilize a synchronized push-and-segment mode, achieved by closing and retracting some of the thrust cylinders, to synchronize advancement and segment assembly, improving construction efficiency.

[0005] Summary of the Invention

[0006] According to one aspect of the present disclosure, a propulsion control method for an active articulated tunnel boring machine is proposed, comprising: obtaining the actual position, design axis and segment floating amount of the active articulated tunnel boring machine; calculating a planned tunneling trajectory based on the actual position, design axis and segment floating amount; and adjusting at least one of the actual correction torque of the propulsion system of the active articulated tunnel boring machine and the actual articulation angle of the articulation system, so that the actual position of the active articulated tunnel boring machine matches the planned tunneling trajectory.

[0007] In some embodiments, a gap between the shield tail and the pipe segment of an active articulated 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 active articulated tunnel boring machine is tunneling in the predetermined direction, the planned tunneling trajectory is adjusted.

[0008] In some embodiments, adjusting at least one of the actual correcting torque of the propulsion system and the actual articulation angle of the articulation system of the active articulated tunnel boring machine includes: when there is a deviation between the actual position of the active articulated tunnel boring machine and the planned tunneling trajectory, adjusting the first target correcting torque of the propulsion system to obtain a second target correcting torque; and adjusting the actual correcting torque so that the actual correcting torque matches the second target correcting torque.

[0009] In some embodiments, adjusting at least one of the actual correcting torque of the propulsion system of the active articulated tunnel boring machine and the actual articulation angle of the articulation system includes: adjusting the first target articulation angle of the articulation system to obtain a second target articulation angle when there is a deviation between the actual position of the active articulated tunnel boring machine and the planned tunneling trajectory; and adjusting the actual articulation angle so that the actual articulation angle matches the second target articulation angle.

[0010] In some embodiments, adjusting at least one of the actual correcting torque of the propulsion system and the actual articulation angle of the articulation system of the active articulated tunnel boring machine includes: when there is a deviation between the actual position of the active articulated tunnel boring machine and the planned tunneling trajectory, adjusting the first target correcting torque of the propulsion system to obtain a third target correcting torque, and adjusting the first target articulation angle of the articulation system to obtain a third target articulation angle; and adjusting the actual correcting torque so that the actual correcting torque matches the third target correcting torque, and adjusting the actual articulation angle so that the actual articulation angle matches the third target articulation angle.

[0011] In some embodiments, adjusting the first target correcting torque of the propulsion system to obtain the second target correcting torque includes: calculating the planned posture corresponding to the actual position in the planned tunneling trajectory based on the actual position of the active articulated tunneling machine; and adjusting the first target correcting torque based on the posture deviation between the actual posture and the planned posture of the active articulated tunneling machine to obtain the second target correcting torque.

[0012] 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 active articulated 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 first correcting torque adjustment amount; and using the first correcting torque adjustment amount to adjust the first target correcting torque to obtain the second target correcting torque.

[0013] In some embodiments, adjusting the first target articulation angle of the articulated system to obtain the second target articulation angle includes: calculating the planned posture corresponding to the actual position in the planned excavation trajectory based on the actual position of the active articulated tunnel boring machine; and adjusting the first target articulation angle based on the posture deviation between the actual posture and the planned posture of the active articulated tunnel boring machine to obtain the second target articulation angle.

[0014] In some embodiments, sample articulation angles and sample posture deviations are obtained; and a machine learning model is trained using the sample articulation angles and sample posture deviations as training data and the sample articulation angle adjustment amounts as label values ​​to obtain a trained articulation angle adjustment model, wherein a first target articulation angle is adjusted based on the posture deviation between the actual posture and the planned posture of the active articulated tunnel boring machine to obtain a second target articulation angle, comprising: inputting the first target articulation angle and the posture deviation into the articulation angle adjustment model to obtain a first articulation angle adjustment amount; and adjusting the first target articulation angle using the first articulation angle adjustment amount to obtain a second target articulation angle.

[0015] In some embodiments, the first target correcting torque of the propulsion system is adjusted to obtain a third target correcting torque, and the first target articulation angle of the articulation system is adjusted to obtain a third target articulation angle, which includes: calculating the planned posture corresponding to the actual position in the planned excavation trajectory based on the actual position of the active articulated tunneling machine; and adjusting the first target correcting torque based on the posture deviation between the actual posture and the planned posture of the active articulated tunneling machine to obtain the third target correcting torque, and adjusting the first target articulation angle to obtain the third target articulation angle.

[0016] In some embodiments, sample correcting torques, sample articulation angles and sample posture deviations are obtained; and a machine learning model is trained using the sample correcting torques, sample articulation angles and sample posture deviations as training data and the sample correcting torque adjustment amounts and sample articulation angle adjustment amounts as label values ​​to obtain a trained adjustment model, wherein, based on the posture deviation between the actual posture and the planned posture of the active articulated tunnel boring machine, the first target correcting torque is adjusted to obtain a third target correcting torque, and the first target articulation angle is adjusted to obtain a third target articulation angle, including: inputting the first target correcting torque, the first target articulation angle and posture deviation into the adjustment model to obtain a second correcting torque adjustment amount and a second articulation angle adjustment amount; and adjusting the first target correcting torque using the second correcting torque adjustment amount to obtain a third target correcting torque, and adjusting the first target articulation angle using the second articulation angle adjustment amount to obtain a third target articulation angle.

[0017] 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 active articulated tunneling machine, and a second trajectory deviation, a second deviation speed, and a second deviation acceleration corresponding to the end position of the active articulated tunneling 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 active articulated tunneling 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.

[0018] 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 active articulated tunneling machine, and a second trajectory deviation, a second deviation speed, and a second deviation acceleration corresponding to the end position of the active articulated tunneling 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 the initial position of the active articulated tunneling 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.

[0019] In some embodiments, the current working mode of the active articulated 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 state of the propulsion cylinder of the propulsion system according to the current working mode to adjust the actual correcting torque.

[0020] In some embodiments, an actual advancing speed of the active articulated roadheader is calculated; and the actual advancing speed is controlled to match a target advancing speed.

[0021] In some embodiments, an actual total thrust of the active articulated roadheader is calculated; and the actual total thrust is controlled to match a target total thrust.

[0022] According to another aspect of the present disclosure, a controller for an active articulated tunnel boring machine is also proposed, comprising: a data acquisition module configured to acquire the actual position, design axis and pipe segment floating amount of the active articulated tunnel boring machine; a data processing module configured to calculate a planned tunneling trajectory based on the actual position, design axis and pipe segment floating amount; and a control module configured to adjust at least one of the actual correction torque of the propulsion system of the active articulated tunnel boring machine and the actual articulation angle of the articulation system, so that the actual position of the active articulated tunnel boring machine matches the planned tunneling trajectory.

[0023] In some embodiments, the data acquisition module is further configured to obtain the gap between the shield tail and the pipe segment of the active articulated tunnel boring 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 active articulated tunnel boring machine is tunneling in the predetermined direction.

[0024] According to another aspect of the present disclosure, a controller for an active articulated 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.

[0025] According to another aspect of the present disclosure, a control system for an active articulated tunnel boring machine is also proposed, comprising: the above-mentioned controller; a guidance measurement module configured to measure the position and posture of the active articulated tunnel boring machine; a propulsion system configured to propel at least part of the propulsion cylinder movement of the active articulated tunnel boring machine; and an articulation system configured to control the movement of the articulation cylinder.

[0026] 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 active articulated tunnel boring machine.

[0027] In some embodiments, the control system further comprises: a sensor configured to measure a first pressure value and a first stroke value of at least some or all of the propulsion cylinders; and a second pressure value and a second stroke value of some or all of the articulation cylinders.

[0028] In some embodiments, the control system further includes: an interaction module configured to display information and receive user input information.

[0029] According to another aspect of the present disclosure, a computer-readable storage medium is further provided, on which computer program instructions are stored. When the instructions are executed by a processor, the above-mentioned propulsion control method is implemented.

[0030] 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.

[0031] 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

[0032] 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.

[0033] The present disclosure can be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0034] FIG1 is a schematic flow chart of some embodiments of a propulsion control method for an actively articulated roadheader disclosed herein;

[0035] FIG2 is a horizontal schematic diagram of a tunneling trajectory in some embodiments of the present disclosure;

[0036] FIG3 is a flow chart of other embodiments of the propulsion control method of the active articulated roadheader disclosed herein;

[0037] FIG4 is a schematic flow chart of other embodiments of the propulsion control method of the active articulated roadheader disclosed herein;

[0038] FIG5 is a schematic flow chart of other embodiments of the propulsion control method of the active articulated roadheader disclosed herein;

[0039] FIG6 is a schematic flow chart of other embodiments of the propulsion control method of the active articulated roadheader disclosed herein;

[0040] FIG7 is a schematic structural diagram of some embodiments of a controller of an active articulated roadheader disclosed herein;

[0041] FIG8 is a schematic structural diagram of other embodiments of the controller of the active articulated roadheader disclosed in the present invention;

[0042] FIG9 is a schematic structural diagram of other embodiments of the controller of the active articulated roadheader disclosed in the present invention;

[0043] FIG10 is a schematic structural diagram of some embodiments of the control system of the active articulated roadheader disclosed herein;

[0044] FIG11 is a schematic structural diagram of some embodiments of the active articulated roadheader disclosed herein; and

[0045] FIG12 is a schematic structural diagram of other embodiments of the control system of the active articulated roadheader disclosed in the present invention.

[0046] 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

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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 floating of the pipe segment, there is a safety risk problem in maintaining the excavation along the design axis. In addition, when the total thrust changes, the resultant force control scheme has the problem of unstable steering effect. A propulsion control method, controller and control system for an actively articulated tunnel boring machine are provided, which can reduce the safety risk problem of the tunnel boring machine maintaining the design axis when the tunnel turns or there is floating of the pipe segment.

[0054] 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.

[0055] FIG1 is a flow chart of some embodiments of a propulsion control method for an actively articulated roadheader disclosed herein, which is executed by a controller.

[0056] In step 110, the actual position, design axis and segment floating amount of the active articulated roadheader are obtained.

[0057] In some embodiments, the actual position and attitude of the active articulated roadheader are determined through a guidance measurement module, or based on sensor-measured stroke values ​​of some or all of the propulsion cylinders and some or all of the articulation cylinders of the propulsion system. The amount of segment lift is determined by comparing the rise and fall positions of the segments after they have emerged from the shield tail for a certain distance. This amount of segment 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] In some embodiments, the controller obtains the first trajectory deviation, first deviation speed and first deviation acceleration corresponding to the initial position of the active articulated tunnel boring machine, and the second trajectory deviation, second deviation speed and second deviation acceleration corresponding to the end position of the active articulated 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 active articulated 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.

[0062] 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 tunneling machine, as well as the second trajectory deviation, the second deviation velocity, and the second deviation acceleration corresponding to the end position of the tunneling machine 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 perform a transformation on this trajectory deviation to calculate the planned tunneling trajectory.

[0063] For example, the trajectory deviation polynomial is: Yh(s) = a0 + a1(s - s0) + a2(s - s0) 2 + a3(s - s0) 3 + a4(s - s0) 4 + a5(s - s0) 5 Yv(s) = a6 + a7(s - s0) + a8(s - s0) 2 + a9(s - s0) 3 + a 10 (s - s0) 4 + a 11 (s - s0) 5

[0064] 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.

[0065] 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.

[0066] 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) 2 +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 .

[0067] 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 .

[0068] 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) 6 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.

[0069] In step 130, at least one of the actual deviation-correcting torque of the propulsion system and the actual articulation angle of the articulation system of the active articulated roadheader is adjusted to match the actual position of the active articulated roadheader with the planned tunneling trajectory.

[0070] In some embodiments, when there is a deviation between the actual position of the active articulated roadheader and the planned tunneling trajectory, the propulsion system's 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.

[0071] In some embodiments, when there is a deviation between the actual position of the active articulated tunnel boring machine and the planned tunneling trajectory, or when the planned tunneling trajectory changes, the first target articulation angle of the articulation system is adjusted to obtain a second target articulation angle; and the actual articulation angle is adjusted so that the actual articulation angle matches the second target articulation angle. The first target articulation angle is the target articulation angle before adjustment, and the second target articulation angle is the target articulation angle after adjustment. The actual articulation angle is adjusted so that the actual articulation angle reaches the adjusted target articulation angle, thereby reducing the deviation between the actual position and the planned tunneling trajectory in the future, so that the actual tunneling trajectory remains within the planned tunneling trajectory. The articulation angle refers to the angle between the front and rear parts of the active articulated tunnel boring machine.

[0072] In some embodiments, when there is a deviation between the actual position of an active articulated roadheader and the planned tunneling trajectory, the first target correcting torque of the propulsion system is adjusted to obtain a third target correcting torque, and the first target articulation angle of the articulation system is adjusted to obtain a third target articulation angle. Furthermore, the actual correcting torque is adjusted to match the third target correcting torque, and the actual articulation angle is adjusted to match the third target articulation angle. The first target correcting torque is the target correcting torque before adjustment, and the third target correcting torque is the target correcting torque after adjustment. The first target articulation angle is the target articulation angle before adjustment, and the third target articulation angle is the target articulation angle after adjustment. The actual correcting torque is adjusted to match the adjusted target correcting torque, and the actual articulation angle is adjusted to match the adjusted target articulation angle, 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.

[0073] 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 at least one of the actual correction torque of the propulsion system and the actual articulation angle of the articulation system of the active articulated tunnel boring machine is adjusted to match the actual position of the tunnel boring machine with 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 maintaining the design axis excavation when the tunnel turns or there is segment floating.

[0074] FIG3 is a flow chart of other embodiments of the propulsion control method of the active articulated roadheader disclosed in the present invention.

[0075] In step 310, the actual position, the designed axis and the floating amount of the active articulated tunnel boring machine, as well as the gap between the shield tail and the tunnel segment in a predetermined direction are obtained.

[0076] 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.

[0077] 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.

[0078] In step 330 , when the gap in the predetermined direction is smaller than the gap threshold and the active articulated tunnel boring machine is tunneling in the predetermined direction, the planned tunneling trajectory is adjusted.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] In step 340, at least one of the actual corrective torque of the propulsion system and the actual articulation angle of the articulation system of the active articulated roadheader is adjusted to match the actual position of the active articulated roadheader with the planned tunneling trajectory.

[0086] In the above embodiment, when the active articulated 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 active articulated tunnel boring machine is controlled so that the actual position of the active articulated tunnel boring machine matches 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 active articulated tunnel boring machine maintaining the design axis tunneling 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 consideration, damage to the segment can be prevented, thereby improving the safety of the operation.

[0087] FIG4 is a flow chart of other embodiments of the propulsion control method of the active articulated roadheader disclosed herein.

[0088] In step 410, based on the actual position of the active articulated roadheader, a planned posture corresponding to the actual position in the planned tunneling trajectory is calculated.

[0089] In step 420 , based on the posture deviation between the actual posture and the planned posture of the active articulated roadheader, the first target correcting torque is adjusted to obtain a second target correcting torque.

[0090] In some embodiments, a first target correcting torque and attitude deviation are input into a correcting torque adjustment model to obtain a first correcting torque adjustment value. The first correcting torque adjustment value is then used to adjust the first target correcting torque to obtain a second target correcting torque. The first target correcting torque is a preset value or is equal to the correcting torque initially connected to the propulsion system. The correcting torque adjustment model in this embodiment is trained using a machine learning algorithm.

[0091] 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.

[0092] 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.

[0093] 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 a first correction torque adjustment amount, which is then added to the first target correction torque to obtain a second target correction torque.

[0094] In some embodiments, the target correcting torque includes a target horizontal correcting torque and a target vertical correcting torque.

[0095] 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.

[0096] In step 430 , the actual correcting torque is adjusted so that the actual correcting torque matches the second target correcting torque.

[0097] In some embodiments, the state of the propulsion cylinder of the propulsion system is adjusted to adjust the actual correcting torque so that the actual correcting torque matches the second target correcting torque.

[0098] 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.

[0099] In some embodiments, a propulsion system of an active articulated tunnel boring machine includes a plurality of cylinder partitions spaced apart in a circumferential direction, each cylinder partition 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 working mode; constructs a first thrust distribution group so that the first thrust distribution group generates a unit thrust, the first thrust distribution group including first thrusts corresponding to the plurality of cylinder partitions; constructs a second thrust distribution group so 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 partitions; and constructs a third thrust distribution group so 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 partitions, the first thrust distribution group, the second thrust distribution group, and the third thrust distribution group being linearly independent; and obtains the propulsion force of each cylinder partition based on the first thrust distribution group, the second thrust distribution group, the third thrust distribution group, 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 partitions.

[0100] 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.

[0101] FIG5 is a flow chart of other embodiments of the propulsion control method of the active articulated roadheader disclosed in the present invention.

[0102] In step 510, based on the actual position of the active articulated roadheader, a planned posture corresponding to the actual position in the planned tunneling trajectory is calculated.

[0103] In step 520 , based on the posture deviation between the actual posture and the planned posture of the active articulated roadheader, the first target articulation angle is adjusted to obtain a second target articulation angle.

[0104] In some embodiments, a first target articulation angle and posture deviation are input into an articulation angle adjustment model to obtain a first articulation angle adjustment value; and the first articulation angle adjustment value is used to adjust the first target articulation angle to obtain a second target articulation angle. The first target articulation angle is a predetermined value or is equal to the articulation angle at which the articulation system is initially connected. The articulation angle adjustment model in this embodiment is trained using a machine learning algorithm.

[0105] In some embodiments, sample articulation angles and sample posture deviations are obtained; and a machine learning model is trained using the sample articulation angles and sample posture deviations as training data and the sample articulation angle adjustment amounts as label values ​​to obtain a trained articulation angle adjustment model.

[0106] For example, the articulation angle of the articulated system is adjusted to change the posture of the tunnel boring machine. The articulation angle and posture information of the tunnel boring machine are collected, and the articulation angle and posture information are used as training data. The articulation angle 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 articulation angle 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 articulation angle adjustment model, and the articulation angle adjustment model is saved.

[0107] 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 articulation angle adjustment model to obtain a first articulation angle adjustment amount, which is then added to the first target articulation angle to obtain the second target articulation angle.

[0108] In some embodiments, the target articulation angle includes a target horizontal articulation angle and a target vertical articulation angle.

[0109] At step 530 , the actual articulation angle is adjusted so that the actual articulation angle matches the second target articulation angle.

[0110] In some embodiments, the state of the articulation cylinder of the articulation system is adjusted to adjust the actual articulation angle so that the actual articulation angle matches the second target articulation angle.

[0111] In the above embodiment, the actual articulation angle is adjusted and stabilized to reach the target articulation angle, so that the actual excavation trajectory remains within the allowable range of the planned excavation trajectory, reducing the safety risk of maintaining the designed axis excavation when the tunnel turns or there is floating of the pipe segment, and solving the problem of unstable correction effect of the resultant force control scheme when the total thrust changes.

[0112] FIG6 is a flow chart of other embodiments of the propulsion control method of the active articulated roadheader disclosed in the present invention.

[0113] In step 610, based on the actual position of the active articulated roadheader, a planned posture corresponding to the actual position in the planned tunneling trajectory is calculated.

[0114] In step 620, based on the posture deviation between the actual posture and the planned posture of the active articulated tunnel boring machine, the first target correcting torque is adjusted to obtain a third target correcting torque, and the first target articulation angle is adjusted to obtain a third target articulation angle.

[0115] In some embodiments, the first target correcting torque, the first target articulation angle and the posture deviation are input into the adjustment model to obtain a second correcting torque adjustment amount and a second articulation angle adjustment amount; and the first target correcting torque is adjusted using the second correcting torque adjustment amount to obtain a third target correcting torque, and the first target articulation angle is adjusted using the second articulation angle adjustment amount to obtain a third target articulation angle.

[0116] In some embodiments, sample correction torques, sample articulation angles, and sample posture deviations are obtained; and a machine learning model is trained using the sample correction torques, sample articulation angles, and sample posture deviations as training data, and the sample correction torque adjustment amounts and sample articulation angle adjustment amounts as label values ​​to obtain a trained adjustment model.

[0117] The error between the actual horizontal posture and the planned horizontal posture, as well as the error between the actual vertical posture and the planned vertical posture, are input into the trained adjustment model to obtain a second correction torque adjustment and a second articulation angle adjustment. This second correction torque adjustment is added to the first target correction torque to obtain a third target correction torque. The second articulation angle adjustment is added to the first target articulation angle to obtain a third target articulation angle.

[0118] In step 630 , the actual correcting torque is adjusted so that the actual correcting torque matches the third target correcting torque, and the actual articulation angle is adjusted so that the actual articulation angle matches the third target articulation angle.

[0119] In the above embodiment, the actual correcting torque is adjusted and stabilized to reach the target correcting torque, and the actual articulation angle is adjusted to reach the target articulation angle, so that the actual excavation trajectory remains 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 there is floating of the pipe segment, and solving the problem of unstable correction effect of the resultant point control scheme when the total thrust changes.

[0120] 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 state of the propulsion cylinder of the propulsion system is adjusted to adjust the actual correction torque.

[0121] 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.

[0122] 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.

[0123] 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.

[0124] For example, the actual propulsion speed of the roadheader can be determined based on the propulsion cylinder's stroke value. For example, at time t1, the propulsion cylinder's stroke value is S1, and at time t2, the propulsion cylinder's stroke value is S2. The speed V = (S2 - S1) / (t2 - t1). This target propulsion speed is input by the user through the interactive module.

[0125] 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.

[0126] 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.

[0127] 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.

[0128] 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.

[0129] 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.

[0130] 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 and the articulated cylinder of the articulation system during normal construction tunneling or synchronous pushing and splicing mode construction tunneling.

[0131] 7 is a schematic structural diagram of some embodiments of the controller of the active articulated roadheader disclosed herein, wherein the controller includes a data acquisition module 710 , a data processing module 720 , and a control module 730 .

[0132] The data acquisition module 710 is configured to acquire the actual position, designed axis and segment floating amount of the active articulated roadheader.

[0133] In some embodiments, the data acquisition module 710 is further configured to acquire clearances in predetermined directions between the shield tail and the segments of the actively articulated roadheader. 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.

[0134] In some embodiments, the data acquisition module 710 is further configured to acquire the current working mode of the active articulated roadheader, where the current working mode includes a construction and excavation mode or a synchronous pushing and splicing mode.

[0135] The data processing module 720 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.

[0136] 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.

[0137] In some embodiments, the data processing module 720 obtains the first trajectory deviation, first deviation speed and first deviation acceleration corresponding to the initial position of the active articulated tunnel boring machine, and the second trajectory deviation, second deviation speed and second deviation acceleration corresponding to the end position of the active articulated 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 active articulated 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.

[0138] In some embodiments, the data processing module 720 is further configured to adjust the planned excavation trajectory if the clearance in a predetermined direction is less than a clearance threshold and the active articulated roadheader is advancing in the predetermined direction. For example, the trajectory deviation corresponding to the current position may be 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.

[0139] The control module 730 is configured to adjust at least one of the actual corrective torque of the propulsion system and the actual articulation angle of the articulation system of the active articulated roadheader so that the actual position of the active articulated roadheader matches the planned excavation trajectory.

[0140] In some embodiments, when there is a deviation between the actual position of the active articulated tunnel boring machine and the planned tunnel boring trajectory, the control module 730 adjusts the first target correcting torque of the propulsion system 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.

[0141] In some embodiments, the control module 730 is further configured to adjust the state of the propulsion cylinder of the propulsion system according to the current working mode to adjust the actual correcting torque.

[0142] In some embodiments, based on the actual position of the active articulated tunnel boring machine, the planned posture corresponding to the actual position in the planned tunneling trajectory is calculated; and based on the posture deviation between the actual posture and the planned posture of the active articulated tunnel boring machine, the first target correcting torque is adjusted to obtain the second target correcting torque.

[0143] In some embodiments, when there is a deviation between the actual position of the active articulated tunnel boring machine and the planned tunnel boring trajectory, the control module 730 adjusts the first target articulation angle of the articulation system to obtain a second target articulation angle; and adjusts the actual articulation angle so that the actual articulation angle matches the second target articulation angle.

[0144] In some embodiments, based on the actual position of the active articulated tunnel boring machine, the planned posture corresponding to the actual position in the planned tunneling trajectory is calculated; and based on the posture deviation between the actual posture and the planned posture of the active articulated tunnel boring machine, the first target articulation angle is adjusted to obtain the second target articulation angle.

[0145] In some embodiments, when there is a deviation between the actual position of the active articulated tunnel boring machine and the planned tunnel boring trajectory, the control module 730 adjusts the first target correcting torque of the propulsion system to obtain a third target correcting torque, adjusts the first target articulation angle of the articulation system to obtain a third target articulation angle; and adjusts the actual correcting torque to match the actual correcting torque with the third target correcting torque, and adjusts the actual articulation angle to match the actual articulation angle with the third target articulation angle.

[0146] In some embodiments, based on the actual position of the active articulated tunnel boring machine, the planned posture corresponding to the actual position in the planned tunneling trajectory is calculated; and based on the posture deviation between the actual posture and the planned posture of the active articulated tunnel boring machine, the first target correcting torque is adjusted to obtain a third target correcting torque, and the first target articulation angle is adjusted to obtain a third target articulation angle.

[0147] In some embodiments, as shown in Figure 8, the controller also includes a model training module 810, which is configured to obtain sample correcting torques and sample posture deviations; and use the sample correcting torques and sample posture deviations as training data, and the sample correcting torque adjustment amounts as label values ​​to train the machine learning model to obtain a trained correcting torque adjustment model, wherein the control module 730 inputs the first target correcting torque and posture deviation into the correcting torque adjustment model to obtain a first correcting torque adjustment amount; and uses the first correcting torque adjustment amount to adjust the first target correcting torque to obtain a second target correcting torque.

[0148] The model training module 810 is also configured to obtain sample articulation angles and sample posture deviations; and to train the machine learning model using the sample articulation angles and sample posture deviations as training data and the sample articulation angle adjustment amounts as label values ​​to obtain a trained articulation angle adjustment model, wherein the control module 730 inputs the first target articulation angle and posture deviation into the articulation angle adjustment model to obtain a first articulation angle adjustment amount; and to adjust the first target articulation angle using the first articulation angle adjustment amount to obtain a second target articulation angle.

[0149] The model training module 810 is also configured to obtain sample correcting torques, sample articulation angles and sample posture deviations; and to train the machine learning model using the sample correcting torques, sample articulation angles and sample posture deviations as training data, and the sample correcting torque adjustments and sample articulation angle adjustments as label values, to obtain a trained adjustment model, wherein the control module 730 inputs the first target correcting torque, the first target articulation angle and posture deviation into the adjustment model to obtain the second correcting torque adjustment and the second articulation angle adjustment; and to adjust the first target correcting torque using the second correcting torque adjustment to obtain a third target correcting torque, and to adjust the first target articulation angle using the second articulation angle adjustment to obtain a third target articulation angle.

[0150] 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.

[0151] In some embodiments of the present disclosure, the data processing module 720 is further configured to calculate the actual propulsion speed of the roadheader, and the control module 730 is further configured to control the actual propulsion speed to match the target propulsion speed.

[0152] The data processing module 720 is further configured to calculate the actual total thrust of the roadheader, and the control module 730 is further configured to control the actual total thrust to match the target total thrust.

[0153] By controlling the advancement speed and total thrust of the tunnel boring machine, construction quality and efficiency can be improved.

[0154] Figure 9 is a schematic diagram of the structure of another embodiment of a controller for an active articulated roadheader according to the present disclosure. The controller includes a memory 910 and a processor 920. The memory 910 can be a disk, flash memory, or any other non-volatile storage medium. The memory 910 is used to store the instructions described in the above embodiments. The processor 920 is coupled to the memory 910 and can be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 920 is used to execute the instructions stored in the memory.

[0155] In some embodiments, the processor 920 is coupled to the memory 910 via a BUS 930. The controller can also be connected to an external storage device 950 via a storage interface 940 to access external data, and can also be connected to a network or another computer system (not shown) via a network interface 960. Detailed descriptions are omitted here.

[0156] 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.

[0157] Figure 10 is a schematic diagram of the structure of some embodiments of a control system for an actively articulated roadheader according to the present disclosure. The control system includes a controller 1010, a guidance and measurement module 1020, a propulsion system 1030, and an articulation system 1040. The controller 1010 has been described in detail in the above embodiments and will not be further elaborated here. The guidance and measurement module 1020, the propulsion system 1030, and the articulation system 1040 are electrically connected to the controller 1010.

[0158] The guidance and measurement module 1020 is configured to measure the position and posture of the actively articulated TBM. The propulsion system 1030 is configured to propel at least some of the TBM's propulsion cylinders. The propulsion cylinders of this propulsion system 1030 operate axially and are located on the side of the TBM, supported against the segments and providing propulsion power for the TBM. For example, when the TBM is in synchronized push-and-pull mode, the propulsion system 1030 propels some of the cylinders. The articulation system 1040 is configured to control the movement of the articulated cylinders. These articulated cylinders operate axially and are located on the side of the TBM, connecting the front and rear sections and transferring propulsion system power from the rear to the front.

[0159] As shown in FIG11 , the propulsion system of the active articulated roadheader includes a propulsion cylinder 111 , and the articulation system includes an articulation cylinder 112 .

[0160] In some embodiments, as shown in FIG12 , the control system further includes a shield tail clearance measurement module 1210 configured to measure the clearance between the shield tail and the segments of the active articulated roadheader. The shield tail clearance measurement module 1210 is electrically connected to the controller 1010. The shield tail clearance measurement module is, for example, a laser detector.

[0161] In some embodiments, the control system further includes a sensor 1220 configured to measure a first pressure value and a first stroke value of at least some or all of the propulsion cylinders; and to measure a second pressure value and a second stroke value of some or all of the articulated cylinders. The sensor may include, for example, a pressure sensor. Since not all cylinders are equipped with a pressure sensor, it may only be possible to detect the pressure and stroke values ​​of some cylinders. For example, the cylinders are controlled by grouping, such as Group A, Group B, Group C, and Group D, each group containing one or more cylinders, and each group is configured with only one pressure sensor on a cylinder in the group. In this case, the pressure sensor only detects the pressure of one cylinder in each group. The sensor may also include, for example, a displacement sensor.

[0162] In some embodiments, the control system further includes an interaction module 1230 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.

[0163] 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.

[0164] 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.

[0165] 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.

[0166] 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.

[0167] 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.

[0168] 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.

[0169] 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.

[0170] 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 an actively articulated tunneling machine, comprising: Obtaining the actual position, design axis, and segment floating amount of the actively articulated tunneling machine; Calculating a planned tunneling trajectory based on the actual position, the design axis, and the segment floating amount; And Adjusting at least one of the actual deviation correction torque of the propulsion system and the actual articulation angle of the articulation system of the actively articulated tunneling machine so that the actual position of the actively articulated 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 and the segment of the actively articulated tunneling machine in a predetermined direction; And Adjusting the planned tunneling trajectory when the gap in the predetermined direction is less than the gap threshold and the actively articulated tunneling machine tunnels in the predetermined direction.

3. The propulsion control method according to claim 1 or 2, wherein, The adjusting at least one of the actual deviation correction torque of the propulsion system and the actual articulation angle of the articulation system of the actively articulated tunneling machine includes: When there is a deviation between the actual position and the planned tunneling trajectory of the actively articulated tunneling machine, adjusting the first target deviation correction torque of the propulsion system to obtain a second target deviation correction torque; 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 any one of claims 1 to 3, wherein, The adjusting at least one of the actual deviation correction torque of the propulsion system and the actual articulation angle of the articulation system of the actively articulated tunneling machine includes: When there is a deviation between the actual position and the planned tunneling trajectory of the actively articulated tunneling machine, adjusting the first target articulation angle of the articulation system to obtain a second target articulation angle; and Adjusting the actual articulation angle so that the actual articulation angle Matches.

5. The propulsion control method according to claim 1 or 2, wherein The adjusting at least one of the actual deviation correction torque of the propulsion system and the actual articulation angle of the articulation system of the actively articulated tunneling machine includes: When there is a deviation between the actual position and the planned tunneling trajectory of the actively articulated tunneling machine, adjusting the first target deviation correction torque of the propulsion system to obtain a third target deviation correction torque, and adjusting the first target articulation angle of the articulation system to obtain a third target articulation angle; and Adjusting the actual deviation correction torque so that the actual deviation correction torque matches the third target deviation correction torque, and adjusting the actual articulation angle so that the actual articulation angle matches the third target articulation angle.

6. The propulsion control method according to claim 3, wherein, The adjusting the first target deviation correction torque of the propulsion system to obtain the second target deviation correction torque includes: Calculating the planned attitude corresponding to the actual position in the planned tunneling trajectory according to the actual position of the actively articulated 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 actively articulated tunneling machine to obtain the second target deviation correction torque.

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

8. The propulsion control method according to claim 4, wherein, The adjusting the first target articulation angle of the articulation system to obtain the second target articulation angle includes: Calculating the planned attitude corresponding to the actual position in the planned tunneling trajectory according to the actual position of the active articulated tunneling machine; and Based on the attitude deviation between the actual attitude and the planned attitude of the active articulated tunneling machine, adjusting the first target articulation angle to obtain the second target articulation angle.

9. The propulsion control method according to claim 8, further comprising: Obtain the sample articulation angle and the sample attitude deviation; and Using the sample articulation angle and the sample attitude deviation as training data, and using the sample articulation angle adjustment amount as the marked value, train a machine learning model to obtain a trained articulation angle adjustment model, wherein, based on the attitude deviation between the actual attitude and the planned attitude of the active articulated tunneling machine, adjusting the first target articulation angle to obtain the second target articulation angle includes: Inputting the first target articulation angle and the attitude deviation into the articulation angle adjustment model to obtain a first articulation angle adjustment amount; and Using the first articulation angle adjustment amount to adjust the first target articulation angle to obtain the second target articulation angle.

10. The propulsion control method according to claim 5, wherein, The adjusting the first target deviation correction torque of the propulsion system to obtain the third target deviation correction torque, and adjusting the first target articulation angle of the articulation system to obtain the third target articulation angle includes: Calculating the planned attitude corresponding to the actual position in the planned tunneling trajectory according to the actual position of the active articulated tunneling machine; and Based on the attitude deviation between the actual attitude and the planned attitude of the active articulated tunneling machine, adjusting the first target deviation correction torque to obtain the third target deviation correction torque, and adjusting the first target articulation angle to obtain the third target articulation angle.

11. The propulsion control method according to claim 10, further comprising: Obtain the sample deviation correction torque, the sample articulation angle and the sample attitude deviation; and Using the sample deviation correction torque, the sample articulation angle and the sample attitude deviation as training data, and using the sample... The correction torque adjustment amount and the sample hinge angle adjustment amount are marked values, and a trained adjustment model is obtained by training a machine learning model. Among them, based on the attitude deviation between the actual attitude and the planned attitude of the active articulated tunneling machine, the first target correction torque is adjusted to obtain the third target correction torque, and the first target hinge angle is adjusted to obtain the third target hinge angle, including: Inputting the first target correction torque, the first target hinge angle, and the attitude deviation into the adjustment model to obtain a second correction torque adjustment amount and a second hinge angle adjustment amount; and Using the second correction torque adjustment amount to adjust the first target correction torque to obtain the third target correction torque, and using the second hinge angle adjustment amount to adjust the first target hinge angle to obtain the third target hinge angle.

12. The propulsion control method according to any one of claims 1 to 11, wherein, The calculation of the planned tunneling trajectory includes: Obtaining a first trajectory deviation, a first deviation velocity, and a first deviation acceleration corresponding to the initial position of the active articulated tunneling machine, and a second trajectory deviation, a second deviation velocity, and a second deviation acceleration corresponding to the end position of the active articulated tunneling machine, where the second trajectory deviation is determined based on the segment floating amount and the curvature of the design axis; Based on the traveling position and the initial position of the active articulated tunneling machine, constructing a trajectory deviation polynomial between the planned tunneling trajectory and the design axis; 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, solving the trajectory deviation polynomial to obtain the unknown constants of the trajectory deviation polynomial; Using the trajectory deviation polynomial to obtain the trajectory deviation corresponding to the actual position; and Based on the trajectory deviation, obtaining the planned tunneling trajectory.

13. According to the propulsion control method described in claim 2, wherein The calculation of the planned tunneling trajectory includes: Obtaining a first trajectory deviation, a first deviation velocity, and a first deviation acceleration corresponding to the initial position of the active articulated tunneling machine, and a second trajectory deviation, a second deviation velocity, and a second deviation acceleration corresponding to the end position of the active articulated tunneling machine, where the second trajectory deviation is determined based on the segment floating amount and the curvature of the design axis; Based on the traveling position and the initial position of the active articulated tunneling machine, constructing a trajectory deviation polynomial between the planned tunneling trajectory and the design axis; 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, solving the trajectory deviation polynomial to obtain the unknown constants of the trajectory deviation polynomial; Using the trajectory deviation polynomial to obtain the trajectory deviation corresponding to the actual position; and Based on the trajectory deviation, obtaining the planned tunneling trajectory; Adjusting the planned tunneling trajectory includes: Take the trajectory deviation corresponding to the current position as the second trajectory deviation in the process of calculating the planned tunneling trajectory.

14. The propulsion control method according to claim 3 or 5 further includes: Obtain the current working mode of the active articulated tunneling machine, where the current working mode includes a construction tunneling mode or a synchronous pushing and assembling mode. Among them, the adjustment of the actual correction torque includes: According to the current working mode, adjust the state of the propulsion cylinders of the propulsion system to adjust the actual correction torque.

15. The propulsion control method according to any one of claims 1 to 14 further includes: Calculate the actual propulsion speed of the active articulated tunneling machine; And Control the actual propulsion speed to match the target propulsion speed.

16. The propulsion control method according to any one of claims 1 to 15 further includes: Calculate the actual total thrust of the active articulated tunneling machine; And Control the actual total thrust to match the target total thrust.

17. A controller for an active articulated tunneling machine includes: A data acquisition module configured to acquire the actual position, design axis, and segment floating amount of the active articulated tunneling machine; A data processing module configured to calculate a planned tunneling trajectory based on the actual position, the design axis, and the segment floating amount; And A control module configured to adjust at least one of the actual correction torque of the propulsion system and the actual articulation angle of the articulation system of the active articulated tunneling machine so that the actual position of the active articulated tunneling machine matches the planned tunneling trajectory.

18. According to the controller of claim 17, wherein The data acquisition module is further configured to acquire the gap between the shield tail and the segment of the active articulated 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 a gap threshold and the active articulated tunneling machine tunnels in the predetermined direction.

19. A controller for an active articulated tunneling machine includes: 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 16 based on instructions stored in the memory.

20. A control system for an active articulated tunneling machine includes: The controller according to any one of claims 17 to 19; A guidance measurement module configured to measure the position and attitude of the active articulated tunneling machine; A propulsion system configured to move at least some of the propulsion cylinders of the active articulated tunneling machine; and An articulation system configured to control the movement of the articulation cylinders.

21. The control system according to claim 20 further includes: A shield tail gap measurement module configured to measure the gap between the shield tail and the segment of the active articulated tunneling machine.

22. The control system according to claim 20 further includes: A sensor configured to measure the first pressure value and the first stroke value of some or all of the at least some propulsion cylinders; And measure the second pressure value and the second stroke value of some or all of the articulation cylinders.

23. The control system according to any one of claims 20 to 22 further comprises: An interaction module configured to perform information display and receive user input information.

24. 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 16.

25. 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 16.

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