阅读说明：本技术 盾构掘进控制系统及方法 (Shield tunneling control system and method ) 是由 贾连辉 杨晨 李建斌 荆留杰 简鹏 李鹏宇 郑赢豪 张娜 贾正文 王祥祥 陈帅 于 2021-07-26 设计创作，主要内容包括：本发明提供了一种盾构掘进控制系统及方法,该系统包括：土仓压力控制值确定单元,用于计算目标地层的土仓压力值,并基于所述土仓压力值,确定当前掘进的土仓压力控制值；在线监测单元,用于实时监测目标地层的特征信息值,所述特征信息值是盾构操作手在保持土仓压力控制值的情况下,按照当前掘进控制参数进行掘进操作时监测到的；控制单元,用于根据所述特征信息值,获得掘进控制参数的调整值；根据掘进控制参数的调整值,调整当前掘进控制参数,直至所述特征信息达到稳定状态。本发明可以实现对盾构掘进的控制,控制精度高。(The invention provides a shield tunneling control system and a method, wherein the system comprises: the soil bin pressure control value determining unit is used for calculating a soil bin pressure value of a target stratum and determining a soil bin pressure control value of the current tunneling based on the soil bin pressure value; the on-line monitoring unit is used for monitoring a characteristic information value of a target stratum in real time, wherein the characteristic information value is monitored by a shield operator during tunneling operation according to current tunneling control parameters under the condition of keeping a soil bin pressure control value; the control unit is used for obtaining an adjusting value of the tunneling control parameter according to the characteristic information value; and adjusting the current tunneling control parameter according to the adjustment value of the tunneling control parameter until the characteristic information reaches a stable state. The invention can realize the control of shield tunneling and has high control precision.)

1. A shield tunneling control system, comprising:

the soil bin pressure control value determining unit is used for calculating a soil bin pressure value of a target stratum and determining a soil bin pressure control value of the current tunneling based on the soil bin pressure value;

the on-line monitoring unit is used for monitoring a characteristic information value of a target stratum in real time, wherein the characteristic information value is monitored by a shield operator during tunneling operation according to current tunneling control parameters under the condition of keeping a soil bin pressure control value;

the control unit is used for obtaining an adjusting value of the tunneling control parameter according to the characteristic information value; and adjusting the current tunneling control parameter according to the adjustment value of the tunneling control parameter until the characteristic information reaches a stable state.

2. The shield tunneling control system according to claim 1, wherein the earth-reservoir pressure control value determining unit includes an earth-reservoir pressure value calculating unit for:

calculating the pressure value of the soil bin of the target stratum by adopting the following formula:

p＝kγh

wherein p is the pressure value of a soil bin of the target stratum, kPa; gamma is the soil mass volume weight of the target stratum, kN/m³H is the tunnel burial depth of the target stratum, m; and k is the coefficient of the static soil pressure.

3. The shield tunneling control system according to claim 1, wherein the earth-pressure control-value determining unit includes a correcting unit for:

screening out construction cases under the same stratum as a target stratum, and establishing a case base, wherein each case in the case base is represented by a parameter array, and the parameter array comprises a rock-soil category parameter, a tunnel burial depth parameter, an underground water level parameter and a soil bin pressure value parameter;

calculating the Euclidean distance between the target stratum and each case in the case base based on the parameter array of the target stratum and the parameter array of the cases in the case base, and screening out the minimum Euclidean distance;

calculating the similarity of the target stratum and the case corresponding to the minimum Euclidean distance;

and determining the current tunneling soil bin pressure control value based on the similarity.

4. The shield tunneling control system according to claim 3, wherein the correction unit is specifically configured to:

calculating the Euclidean distance between the target stratum and each case in the case base by adopting the following formula:

wherein DIS_iThe Euclidean distance between a target stratum and the ith case in the case base is taken as the Euclidean distance; h is the groundwater level of the target stratum; h_iIs the groundwater level parameter value of the ith case; h is the tunnel burial depth of the target stratum; h is_iThe tunnel buried depth parameter value of the ith case is obtained;

and calculating the similarity of the target stratum and the case corresponding to the minimum Euclidean distance by adopting the following formula:

wherein, alpha is the similarity of the target stratum and the case corresponding to the minimum Euclidean distance; DIS_iminIs the minimum Euclidean distance;

and determining the current tunneling soil bin pressure control value based on the similarity by adopting the following formula:

p′＝(p+p_imin)·α

wherein p' is the pressure control value of the current tunneling soil bin; p is the pressure value of the soil bin of the target stratum; p is a radical of_iminAnd the soil bin pressure value parameter value of the case corresponding to the minimum Euclidean distance is obtained.

5. The shield tunneling control system according to claim 1, further comprising a safety control unit for: generating a safety control parameter;

and the shield operator performs tunneling operation according to the current tunneling control parameter and the safety control parameter under the condition of keeping the soil bin pressure control value.

6. The shield tunneling control system of claim 5, wherein the safety control parameters include, but are not limited to, a torque limit, a thrust limit, a tunneling speed limit, and a motor current limit;

the safety control parameters are determined according to safety factors at different stages of the tunnelling operation.

7. The shield tunneling control system of claim 1, wherein the control unit comprises a fuzzy logic control unit and a PID control unit, wherein,

the fuzzy logic control unit is used for: obtaining an adjusting value of a tunneling control parameter through a control rule according to the characteristic information value; and adjusting the current tunneling control parameter based on the PID control unit according to the adjustment value of the tunneling control parameter until the characteristic information reaches a stable state.

8. The shield tunneling control system according to claim 1, wherein the online monitoring unit includes a muck improvement monitoring unit for monitoring muck improvement characteristic information;

the grouting quality monitoring unit is used for monitoring grouting quality characteristic information;

the ground settlement monitoring unit is used for monitoring ground settlement characteristic information;

the equipment operation monitoring unit is used for detecting equipment operation characteristic information;

the muck improvement characteristic information comprises but is not limited to foam injection parameters, water amount, flow plasticity value and slump value of muck;

grouting quality characteristic information includes, but is not limited to, grouting amount, grouting pressure, and status of grouting quality;

the ground settlement characteristic information includes, but is not limited to, a ground settlement value;

equipment operating characteristic information includes, but is not limited to, thrust, torque, heading speed, and earth silo pressure values.

9. The shield tunneling control system of claim 1, wherein the tunneling control parameters include, but are not limited to, tunneling speed, injection amount of foam, etc., screw speed, foam expansion rate, grouting pressure and flow rate.

10. A shield tunneling control method is characterized by comprising the following steps:

calculating a pressure value of a soil bin of a target stratum, and determining a pressure control value of the currently tunneled soil bin based on the pressure value of the soil bin;

monitoring a characteristic information value of a target stratum in real time, wherein the characteristic information value is monitored by a shield operator during tunneling operation according to current tunneling control parameters under the condition of keeping a soil bin pressure control value;

obtaining an adjustment value of a tunneling control parameter according to the characteristic information value;

and adjusting the current tunneling control parameter according to the adjustment value of the tunneling control parameter until the characteristic information reaches a stable state.

11. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of claim 10 when executing the computer program.

12. A computer-readable storage medium storing a computer program for executing the method of claim 10.

Technical Field

The invention relates to the technical field of automation and intellectualization of shield machine construction, in particular to a shield tunneling control system and a shield tunneling control method.

Background

The shield machine is a special engineering device for tunnel excavation, and can realize tunnel construction operations of excavating rock-soil bodies, discharging slag from a belt, synchronously grouting, splicing duct pieces and the like. At present, in most shield construction, a soil bin pressure control value is obtained by calculation of a theoretical formula, is adjusted according to a ground settlement value in a later period, is instructed by project management personnel, and has certain hysteresis; the geology in front of the shield tunnel is complex and changeable, the tunneling control parameter changes rapidly, and a main driver adjusts the tunneling control parameter according to the change of the tunneling control parameter and depending on personal experience; in fact, the setting of the muck improvement parameters and the grouting parameters also has great influence on the tunneling, but the adjustment of the on-site muck improvement parameters and the grouting parameters is often separated from the tunneling and depends on the experience of on-site constructors to carry out adjustment, and the whole is not formed to optimize the shield tunneling;

in the aspect of tunneling control parameter control, the prior art provides an intelligent control method for tunnel tunneling control parameters of an earth pressure balance shield machine, and the method provides reasoning, multi-stage real-time analysis and decision for the mechanical parameter control of the shield machine before, in-process and after subway shield engineering construction in a complex environment by adopting the technologies of expert priori knowledge, fuzzy logic, graph theory control and the like in a comprehensive manner; the prior art also provides a full-section gravel medium-soil pressure balance shield tunneling machine tunneling control method which automatically manages the tunneling soil quantity and the soil discharge quantity, has good construction safety and can tunnel at large depth and high water pressure. Although the method for intelligently controlling the tunneling control parameters by the similar intelligent algorithm has higher accuracy in the prediction degree, only the influence and adjustment of the front geological formation on the tunneling control parameters are considered, and the muck improvement parameters and the grouting parameters are not integrally considered. In actual tunneling, the muck improvement parameters and the grouting parameters have great influence on shield tunneling, and the adjustment of the pressure of the soil bin by constructors can be misled, so that the intelligent control of the tunneling control parameters recommended by the method is not the optimal tunneling control parameters.

Disclosure of Invention

The embodiment of the invention provides a shield tunneling control system, which is used for realizing the control of shield tunneling and has high control precision, and the system comprises:

the soil bin pressure control value determining unit is used for calculating a soil bin pressure value of a target stratum and determining a soil bin pressure control value of the current tunneling based on the soil bin pressure value;

the on-line monitoring unit is used for monitoring a characteristic information value of a target stratum in real time, wherein the characteristic information value is monitored by a shield operator during tunneling operation according to current tunneling control parameters under the condition of keeping a soil bin pressure control value;

the control unit is used for obtaining an adjusting value of the tunneling control parameter according to the characteristic information value; and adjusting the current tunneling control parameter according to the adjustment value of the tunneling control parameter until the characteristic information reaches a stable state.

The embodiment of the invention provides a shield tunneling control method, which is used for realizing the control of shield tunneling and has high control precision and comprises the following steps:

calculating a pressure value of a soil bin of a target stratum, and determining a pressure control value of the currently tunneled soil bin based on the pressure value of the soil bin;

monitoring a characteristic information value of a target stratum in real time, wherein the characteristic information value is monitored by a shield operator during tunneling operation according to current tunneling control parameters under the condition of keeping a soil bin pressure control value;

obtaining an adjustment value of a tunneling control parameter according to the characteristic information value;

and adjusting the current tunneling control parameter according to the adjustment value of the tunneling control parameter until the characteristic information reaches a stable state.

The embodiment of the invention also provides computer equipment which comprises a memory, a processor and a computer program which is stored on the memory and can be operated on the processor, wherein the shield tunneling control method is realized when the processor executes the computer program.

The embodiment of the invention also provides a computer readable storage medium, and the computer readable storage medium stores a computer program for executing the shield tunneling control method.

In the embodiment of the invention, the soil bin pressure control value determining unit is used for calculating the soil bin pressure value of the target stratum and determining the soil bin pressure control value of the current tunneling based on the soil bin pressure value; the on-line monitoring unit is used for monitoring a characteristic information value of a target stratum in real time, wherein the characteristic information value is monitored by a shield operator during tunneling operation according to current tunneling control parameters under the condition of keeping a soil bin pressure control value; the control unit is used for obtaining an adjusting value of the tunneling control parameter according to the characteristic information value; and adjusting the current tunneling control parameter according to the adjustment value of the tunneling control parameter until the characteristic information reaches a stable state. In the process, the characteristic information value is fed back to the control unit in real time through the online monitoring unit, the adjustment value of the tunneling control parameter is obtained, the current tunneling control parameter is adjusted according to the adjustment value of the tunneling control parameter until the characteristic information reaches a stable state, intelligent tunneling of the shield is completed through closed-loop feedback, and the precision is high.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts. In the drawings:

FIG. 1 is a schematic diagram of a shield tunneling control system in an embodiment of the present invention;

FIG. 2 is a schematic diagram of a shield tunneling control system in the practice of the present invention;

FIG. 3 is a schematic diagram illustrating the control of safety control parameters according to an embodiment of the present invention;

fig. 4 is an exemplary flowchart of obtaining an adjustment value of a tunneling control parameter according to a control rule in the embodiment of the present invention;

FIG. 5 is a flow chart of a shield tunneling control method according to an embodiment of the present invention;

FIG. 6 is a diagram of a computer device in an embodiment of the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.

In the description of the present specification, the terms "comprising," "including," "having," "containing," and the like are used in an open-ended fashion, i.e., to mean including, but not limited to. Reference to the description of the terms "one embodiment," "a particular embodiment," "some embodiments," "for example," etc., means that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. The sequence of steps involved in the embodiments is for illustrative purposes to illustrate the implementation of the present application, and the sequence of steps is not limited and can be adjusted as needed.

Fig. 1 is a schematic diagram of a shield tunneling control system in an embodiment of the present invention, and as shown in fig. 1, the system includes:

the soil bin pressure control value determining unit 101 is used for calculating a soil bin pressure value of a target stratum and determining a soil bin pressure control value of current tunneling based on the soil bin pressure value;

the on-line monitoring unit 102 is used for monitoring a characteristic information value of a target stratum in real time, wherein the characteristic information value is monitored by a shield operator during tunneling operation according to current tunneling control parameters under the condition of keeping a soil bin pressure control value;

the control unit 103 is used for obtaining an adjustment value of the tunneling control parameter according to the characteristic information value; and adjusting the current tunneling control parameter according to the adjustment value of the tunneling control parameter until the characteristic information reaches a stable state.

In the embodiment of the invention, the on-line monitoring unit feeds back the characteristic information value to the control unit in real time to obtain the adjustment value of the tunneling control parameter, and the current tunneling control parameter is adjusted according to the adjustment value of the tunneling control parameter until the characteristic information reaches a stable state, so that the intelligent tunneling of the shield is completed through closed-loop feedback, and the precision is high.

In an embodiment, the soil bin pressure control value determining unit includes a soil bin pressure value calculating unit for:

calculating the pressure value of the soil bin of the target stratum by adopting the following formula:

p＝kγh

wherein p is the pressure of the soil bin of the target stratumForce value, kPa; gamma is the soil mass volume weight of the target stratum, kN/m³H is the tunnel burial depth of the target stratum, m; and k is the coefficient of the static soil pressure.

In an embodiment, the soil bin pressure control value determining unit includes a correcting unit for:

screening out construction cases under the same stratum as a target stratum, and establishing a case base, wherein each case in the case base is represented by a parameter array, and the parameter array comprises a rock-soil category parameter, a tunnel burial depth parameter, an underground water level parameter and a soil bin pressure value parameter;

calculating the Euclidean distance between the target stratum and each case in the case base based on the parameter array of the target stratum and the parameter array of the cases in the case base, and screening out the minimum Euclidean distance;

calculating the similarity of the target stratum and the case corresponding to the minimum Euclidean distance;

and determining the current tunneling soil bin pressure control value based on the similarity.

In the above embodiment, the correction unit may be a TBM hybrid cloud management platform developed by medium iron equipment group ltd, the rock-soil category I includes sandy soil, clay, silt, and the like, and the parameter array formed by the rock-soil category parameter I, the tunnel burial depth parameter H, the ground water level parameter H, and the soil bin pressure value parameter p may be represented as C ═ I, H, p.

In an embodiment, the correction unit is specifically configured to:

calculating the Euclidean distance between the target stratum and each case in the case base by adopting the following formula:

wherein DIS_iThe Euclidean distance between a target stratum and the ith case in the case base is taken as the Euclidean distance; h is the groundwater level of the target stratum; h_iIs the groundwater level parameter value of the ith case; h is the tunnel burial depth of the target stratum; h is_iThe tunnel buried depth parameter value of the ith case is obtained;

and calculating the similarity of the target stratum and the case corresponding to the minimum Euclidean distance by adopting the following formula:

wherein, alpha is the similarity of the target stratum and the case corresponding to the minimum Euclidean distance; DIS_iminIs the minimum Euclidean distance;

and determining the current tunneling soil bin pressure control value based on the similarity by adopting the following formula:

p′＝(p+p_imin)·α

wherein p' is the pressure control value of the current tunneling soil bin; p is the pressure value of the soil bin of the target stratum; p is a radical of_iminAnd the soil bin pressure value parameter value of the case corresponding to the minimum Euclidean distance is obtained.

Fig. 2 is a schematic diagram of a shield tunneling control system in an embodiment of the present invention, where the system further includes a safety control unit configured to: generating a safety control parameter;

and the shield operator performs tunneling operation according to the current tunneling control parameter and the safety control parameter under the condition of keeping the soil bin pressure control value.

FIG. 3 is a schematic diagram of the control of safety control parameters including, but not limited to, a torque limit, a thrust limit, a tunneling speed limit, and a motor current limit in one embodiment of the present invention;

the safety control parameters are determined according to safety factors at different stages of the tunnelling operation.

In the above embodiment, the different stages of the tunneling operation include a tunnel starting section, a straight tunneling section, a turning tunneling section and a receiving section, and in the different stages, different safety factors β are taken, and specific coefficients are shown in table 1. In terms of the thrust limit value FL, the calculation formula is as follows:

FL＝FE×β

TABLE 1

Phases	Factor of safety
		Tunnel originating segment	0.6
Straight line driving section	0.8
		Turning tunneling section	0.7
Receiving section	0.6

In one embodiment, the on-line monitoring unit comprises a muck improvement monitoring unit for monitoring muck improvement characteristic information;

the grouting quality monitoring unit is used for monitoring grouting quality characteristic information;

the ground settlement monitoring unit is used for monitoring ground settlement characteristic information;

the equipment operation monitoring unit is used for detecting equipment operation characteristic information;

the muck improvement characteristic information comprises but is not limited to foam injection parameters, water amount, flow plasticity value and slump value of muck;

the grouting quality characteristic information comprises but is not limited to states of grouting quantity, grouting pressure and grouting quality, such as three states of empty, not full and full;

the ground settlement characteristic information includes, but is not limited to, a ground settlement value;

equipment operating characteristic information includes, but is not limited to, thrust, torque, heading speed, and earth silo pressure values.

In the embodiment, the online monitoring unit comprises a settlement monitoring sensor or a measuring instrument and is transmitted to the control unit in real time through the TBM cloud platform; the grouting quality monitoring unit comprises a segment back grouting quality monitoring radar to realize the test and evaluation of grouting quality; the residue soil improvement monitoring unit comprises a residue soil body testing sensor, so that the residue soil body improvement effect can be tested and evaluated; the equipment operation monitoring unit comprises a shield self-control system and can realize real-time monitoring of main parameters; the monitoring units are connected with an upper computer through optical fibers.

In one embodiment, the tunneling control parameters include, but are not limited to, tunneling speed, injection amount of foam, etc., screw speed, foam expansion rate, grouting pressure and flow rate.

In an embodiment, the control unit comprises a fuzzy logic control unit and a PID control unit, wherein,

the fuzzy logic control unit is used for: obtaining an adjusting value of a tunneling control parameter through a control rule according to the characteristic information value; and adjusting the current tunneling control parameter based on the PID control unit according to the adjustment value of the tunneling control parameter until the characteristic information reaches a stable state.

In the above embodiment, the PID control unit mainly controls the tunneling speed and the screw machine speed.

Examples of several of these control rules are given below:

(1) when the grouting quality is empty or not full, the grouting amount is increased, and the tunneling speed can be reduced;

(2) when the grouting quality is full, the grouting amount is reduced, and the tunneling speed can be increased;

(3) when the flow plasticity value and the slump value of the muck are between 16 and 20cm, the current injection quantity parameters such as foam and the like are ensured;

(4) when the flow plasticity value and the slump value of the muck are not between 16 and 20cm, adjusting foam and other injection quantity parameters or reducing the tunneling speed V and the cutter head rotating speed N according to a proportion of 2 percent;

(5) when the pressure value of the soil bin is stabilized within +/-5% of the pressure control value of the soil bin, the tunneling control parameter is not adjusted at the moment;

(6) when the pressure value of the soil bin exceeds the control value of the soil bin by 5 percent, the tunneling speed is reduced or the rotating speed of the screw machine is increased by 5 percent;

(7) when the pressure value of the soil bin is 5% lower than the pressure control value of the soil bin, the tunneling speed is increased or the rotating speed of the screw machine is reduced by 5%.

Fig. 4 is an exemplary flowchart of obtaining an adjusted value of a tunneling control parameter according to a control rule in an embodiment of the present invention, where V represents a tunneling speed, N represents a rotational speed of a cutter head of a shield machine, and N represents a rotational speed of a screw machine, and specifically includes:

step 401, judging whether the grouting quality is compact or not through a grouting quality detection unit, if so, entering step 402, and if not, entering step 403;

step 402, judging whether the improvement effect of the muck is good or not through a muck improvement monitoring unit, if so, entering step 404, and if not, entering step 405;

step 403, judging whether the grouting amount needs to be adjusted, if the grouting quality is detected to be empty or not full, reducing the tunneling speed, and if the grouting quality is detected to be full, improving the tunneling speed;

step 404, judging whether the pressure of the soil bin is stable, if so, not adjusting tunneling control parameters, and if not, entering step 406;

and 405, judging whether the muck improvement parameters are adjusted, if the muck improvement flow plasticity value and the slump constant value do not meet the requirements and the numerical values are larger, if the tunneling speed and the cutter head rotating speed need to be increased, and if the numerical values are smaller, the tunneling speed and the cutter head rotating speed need to be reduced.

And 406, judging whether the pressure of the soil bin needs to be reduced, if so, reducing the tunneling speed V and increasing the rotation speed n of the screw machine, and if so, increasing the tunneling speed V or reducing the rotation speed n of the screw machine.

In the above embodiment, after the characteristic information reaches the stable state, the current tunneling control parameter is not adjusted. The control unit is connected with the shield upper computer.

Of course, it is understood that other variations of the above detailed flow can be made, and all such variations are intended to fall within the scope of the present invention.

In summary, in the system provided in the embodiment of the present invention, the soil bin pressure control value determining unit is configured to calculate a soil bin pressure value of the target formation, and determine a soil bin pressure control value of the current excavation based on the soil bin pressure value; the on-line monitoring unit is used for monitoring a characteristic information value of a target stratum in real time, wherein the characteristic information value is monitored by a shield operator during tunneling operation according to current tunneling control parameters under the condition of keeping a soil bin pressure control value; the control unit is used for obtaining an adjusting value of the tunneling control parameter according to the characteristic information value; and adjusting the current tunneling control parameter according to the adjustment value of the tunneling control parameter until the characteristic information reaches a stable state. In the process, the characteristic information value is fed back to the control unit in real time through the online monitoring unit, the adjustment value of the tunneling control parameter is obtained, the current tunneling control parameter is adjusted according to the adjustment value of the tunneling control parameter until the characteristic information reaches a stable state, intelligent tunneling of the shield is completed through closed-loop feedback, and the precision is high.

The embodiment of the invention also provides a shield tunneling control method, the principle of which is similar to that of a shield tunneling control system, and the details are not repeated here.

Fig. 5 is a flowchart of a shield tunneling control method in an embodiment of the present invention, and as shown in fig. 5, the method includes:

step 501, calculating a pressure value of a soil bin of a target stratum, and determining a pressure control value of the currently tunneled soil bin based on the pressure value of the soil bin;

step 502, monitoring a characteristic information value of a target stratum in real time, wherein the characteristic information value is monitored by a shield operator during tunneling operation according to current tunneling control parameters under the condition of keeping a soil bin pressure control value;

step 503, obtaining an adjustment value of the tunneling control parameter according to the characteristic information value;

and step 504, adjusting the current tunneling control parameter according to the adjustment value of the tunneling control parameter until the characteristic information reaches a stable state.

In one embodiment, the pressure value of the earth bin of the target formation is calculated using the following formula:

p＝kγh

wherein p is the pressure value of a soil bin of the target stratum, kPa; gamma is the soil volume weight of the target stratum, kN/m3, and h is the tunnel buried depth of the target stratum, m; and k is the coefficient of the static soil pressure.

In one embodiment, determining the current tunneling soil bin pressure control value based on the soil bin pressure value comprises:

screening out construction cases under the same stratum as a target stratum, and establishing a case base, wherein each case in the case base is represented by a parameter array, and the parameter array comprises a rock-soil category parameter, a tunnel burial depth parameter, an underground water level parameter and a soil bin pressure value parameter;

calculating the Euclidean distance between the target stratum and each case in the case base based on the parameter array of the target stratum and the parameter array of the cases in the case base, and screening out the minimum Euclidean distance;

calculating the similarity of the target stratum and the case corresponding to the minimum Euclidean distance;

and determining the current tunneling soil bin pressure control value based on the similarity.

In one embodiment, the euclidean distance between the target formation and each case in the case base is calculated using the following formula:

wherein DIS_iThe Euclidean distance between a target stratum and the ith case in the case base is taken as the Euclidean distance; h is the groundwater level of the target stratum; h_iIs the groundwater level parameter value of the ith case; h is the tunnel burial depth of the target stratum; h is_iThe tunnel buried depth parameter value of the ith case is obtained;

and calculating the similarity of the target stratum and the case corresponding to the minimum Euclidean distance by adopting the following formula:

wherein, alpha is the similarity of the target stratum and the case corresponding to the minimum Euclidean distance; DIS_iminIs the minimum Euclidean distance;

and determining the current tunneling soil bin pressure control value based on the similarity by adopting the following formula:

p′＝(p+p_imin)·α

wherein p' is the pressure control value of the current tunneling soil bin; p is the pressure value of the soil bin of the target stratum; p is a radical of_iminAnd the soil bin pressure value parameter value of the case corresponding to the minimum Euclidean distance is obtained.

In one embodiment, the shield operator performs the tunneling operation according to the current tunneling control parameter and the safety control parameter while maintaining the soil bin pressure control value.

In one embodiment, the safety control parameters include, but are not limited to, a torque limit, a thrust limit, a tunneling speed limit, and a motor current limit;

the safety control parameters are determined according to safety factors at different stages of the tunnelling operation.

In an embodiment, obtaining an adjustment value of the tunneling control parameter according to the characteristic information value includes:

obtaining an adjusting value of a tunneling control parameter through a control rule according to the characteristic information value; and adjusting the current tunneling control parameter based on PID control according to the adjustment value of the tunneling control parameter until the characteristic information reaches a stable state.

In one embodiment, the characteristic information comprises muck improvement characteristic information, grouting quality characteristic information, ground settlement characteristic information and equipment operation characteristic information;

the muck improvement characteristic information comprises but is not limited to foam injection parameters, water amount, flow plasticity value and slump value of muck;

grouting quality characteristic information includes, but is not limited to, grouting amount, grouting pressure, and status of grouting quality;

the ground settlement characteristic information includes, but is not limited to, a ground settlement value;

equipment operating characteristic information includes, but is not limited to, thrust, torque, heading speed, and earth silo pressure values.

In one embodiment, the tunneling control parameters include, but are not limited to, tunneling speed, injection amount of foam, etc., screw speed, foam expansion rate, grouting pressure and flow rate.

In summary, in the method provided in the embodiment of the present invention, a pressure value of a soil bin of a target formation is calculated, and a control value of the soil bin pressure currently being tunneled is determined based on the pressure value of the soil bin; monitoring a characteristic information value of a target stratum in real time, wherein the characteristic information value is monitored by a shield operator during tunneling operation according to current tunneling control parameters under the condition of keeping a soil bin pressure control value; obtaining an adjustment value of a tunneling control parameter according to the characteristic information value; and adjusting the current tunneling control parameter according to the adjustment value of the tunneling control parameter until the characteristic information reaches a stable state. In the process, the characteristic information value is fed back to the control unit in real time through the online monitoring unit, the adjustment value of the tunneling control parameter is obtained, the current tunneling control parameter is adjusted according to the adjustment value of the tunneling control parameter until the characteristic information reaches a stable state, intelligent tunneling of the shield is completed through closed-loop feedback, and the precision is high.

An embodiment of the present application further provides a computer device, and fig. 6 is a schematic diagram of the computer device in the embodiment of the present invention, where the computer device is capable of implementing all steps in the shield tunneling control method in the embodiment, and the computer device specifically includes the following contents:

a processor (processor)601, a memory (memory)602, a communication Interface (Communications Interface)603, and a communication bus 604;

the processor 601, the memory 602 and the communication interface 603 complete mutual communication through the communication bus 604; the communication interface 603 is used for implementing information transmission among related devices such as server-side devices, detection devices, user-side devices and the like;

the processor 601 is configured to call a computer program in the memory 602, and when the processor executes the computer program, all the steps in the shield tunneling control method in the above embodiment are implemented.

An embodiment of the present application further provides a computer-readable storage medium, which can implement all steps in the shield tunneling control method in the foregoing embodiment, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, all steps of the shield tunneling control method in the foregoing embodiment are implemented.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.