KR-20260066489-A - Steering Control Device of Shield TBM and Steering Control Method using the same

KR20260066489AKR 20260066489 AKR20260066489 AKR 20260066489AKR-20260066489-A

Abstract

The present invention relates to a steering control device for a shield TBM and a steering control method using the same. To this end, the steering control method using the steering control device of the shield TBM according to the present invention is characterized by the steering control device of the shield TBM individually controlling the operating lengths of at least four intermediate jacks that are radially spaced at equal intervals and are provided between a front shield and an intermediate shield equipped with a cutter head along a pre-designed excavation path, and comprising the steps of: the steering control device extracting the reference point coordinates of the cutter head at the current point and the reference point coordinates of the cutter head at the target point according to one cycle operation of the shield jack; the steering control device calculating the operating lengths of the individual intermediate jacks as continuous real values based on the reference point coordinates of the current point and the reference point coordinates of the target point using an artificial intelligence computation model; and the steering control device simultaneously operating the individual intermediate jacks according to the calculated operating lengths. Thus, by calculating the operating length of individual heavy-duty jacks based on the reference point coordinates of the current point and the reference point coordinates of the target point, accurate steering control can be implemented along a pre-designed excavation path without relying on the user's artificial judgment.

Inventors

장수호
최순욱
강태호
이철호

Assignees

한국건설기술연구원

Dates

Publication Date: 20260512
Application Date: 20241104

Claims (9)

The invention relates to a steering control method (CM) for a shield TBM in which a steering control device (SC) of the shield TBM is provided between a front shield (1) equipped with a cutter head (1a) along an excavation path and a middle shield (2), and individually controls the operating length of at least four middle jacks (3) that are radially spaced apart at equal intervals. Step (S10) in which the steering control device (SC) extracts the reference point coordinates (T c ) of the cutter head (1a) at the current point and the reference point coordinates (T t ) of the cutter head (1a) at the target point according to one cycle operation of the shield jack (4); A step (S20) in which the steering control device (SC) calculates the operating length (l) of an individual locking jack (3) as a continuous real value based on the reference point coordinates (T c ) of the current point and the reference point coordinates (T t ) of the target point using an artificial intelligence computation model; and Step (S40) in which the steering control device (SC) simultaneously operates individual lock jacks (3) according to the calculated operating length (l); A steering control method using a steering control device of a shield TBM characterized by including
In paragraph 1, Step (S00) in which the steering control device (SC) receives coordinates according to a pre-designed path of a three-dimensional tunnel; A steering control method using a steering control device of a shield TBM, characterized by further including
In paragraph 1, The above artificial intelligence computational model is, A steering control method using a steering control device of a shield TBM, characterized by receiving inputs for the diameter (D) of a cutter head (1a) and the angle of cut (α, β) according to the reference point coordinates (T c, T t ) of the current point and the target point, and calculating the operating length (l) of an individual cut jack (3) within the operating range.
In paragraph 3, The above artificial intelligence computational model is, Step (S21A) of generating a random number for the operating length (l) within the operating range of the individual lock jack (3); Step (S22A) of calculating the cutting angle (α cal , β cal ) according to the operating length (l) of an individual cutting jack (3) based on a generated random number; A step (S23A) of comparing the calculated intercalation angle (α cal , β cal ) with the intercalation angle (α in , β in ) according to the reference point coordinates (T c, T t ) of the current point and the target point; and A step (S24A) of extracting a generated random number as the effective operating length (l) of an individual locking jack (3) when the calculated locking angle (α cal , β cal ) is within the error range, and returning to the step (S21A) of generating a random number when it is outside the error range; A steering control method using a steering control device of a shield TBM, characterized by being a prediction model using an iterative loop including
In paragraph 3, The above artificial intelligence computational model is, A steering control method using a steering control device of a shield TBM, characterized by being a Random Forest model for regression operation generated by learning a dataset that includes diameter (D) and cross-section angles (α, β) as input variables and operating length (l) as output variables.
In paragraph 3, Step (S25) in which the steering control device (SC) outputs the calculated operating length (l) of the individual lock jack (3) to a display; A steering control method using a steering control device of a shield TBM, characterized by further including
In paragraph 3, A step (S30) of verifying whether operation is possible by comparing the reference point coordinates (T p ) of the cutter head (1a) and the reference point coordinates (T t ) of the target point when the individual heavy-duty jack (3) operates according to the calculated operating length (l) of the steering control device (SC); A steering control method using a steering control device of a shield TBM, characterized by further including
A steering control device (SC) of a shield TBM comprising: a memory storing an application program for providing a steering control method for individually controlling the operating lengths of at least four intermediate jacks (3) that are radially spaced at equal intervals and are provided between a front shield (1) and an intermediate shield (2) equipped with a cutter head (1a) along an excavation path, and a processor for executing the application program stored in the memory. As the processor executes the application, it extracts the reference point coordinates (T c ) of the cutter head (1a) at the current point and the reference point coordinates (T t ) of the cutter head (1a) at the target point according to one cycle operation of the shield jack (4), and Using an artificial intelligence computation model, the operating length (l) of each individual lock jack (3) is calculated as a continuous real value based on the reference point coordinates (T c ) of the current point and the reference point coordinates (T t ) of the target point, and When individual heavy-duty jacks (3) operate according to the calculated operating length (l), the reference point coordinates (T p ) of the cutter head (1a) predicted and the reference point coordinates (T t ) of the target point are compared to verify whether operation is possible, and A steering control device for a shield TBM characterized by simultaneously operating individual heavy-duty jacks (3) according to the calculated operating length (l).
In paragraph 8, A steering control device for a shield TBM characterized by the fact that the above-mentioned pivot jacks (3) are spaced apart from each other around a rotating pin located at the center of the shield, and the sum of the operating lengths (l u , l d ) of the upper pivot jack and the lower pivot jack and the sum of the operating lengths (l l , l r ) of the left pivot jack and the right pivot jack are always controlled to be constant.

Description

Steering Control Device of Shield TBM and Steering Control Method using the same The present invention relates to a steering control device for a shield TBM and a steering control method using the same. More specifically, the invention relates to a steering control device for a shield TBM and a steering control method using the same, wherein the steering control device calculates the operating length of individual intermediate jacks based on the reference point coordinates of the current point and the reference point coordinates of the target point using an artificial intelligence computational model, and simultaneously operates the individual intermediate jacks according to the calculated operating length, thereby ensuring accuracy even in curved excavation. Unlike the NATM method using explosives, the shield TBM method is a method in which a cylindrical excavating machine (Shield Machine) is inserted into a temporary work area to excavate the tunnel face while rotating a cutter head mounted on the tip, and simultaneously assembles a segment ring inside to achieve early ground stabilization and high quality. As illustrated in FIG. 1a, the cylindrical excavator includes a front shield, a middle shield, and a shield jack and an articulation jack connecting them for excavation. The shield jack is used to operate the front shield directly or indirectly for straight or nearly straight excavation, and moves the cutter head forward by a depth corresponding to the width of the segment ring during the excavation process. Meanwhile, when the alignment of the tunnel consists of straight lines and sharp curves, the articulation jack located between the front shield and the middle shield is used along with the shield jack. In this case, the articulation jack is adjusted to correspond to a predetermined articulation angle, and then the shield jack is extended to perform excavation. In addition, as shown in Fig. 1b, the cutting system is classified into V-type and X-type depending on the position of the cutting point by the cutting jack. (a) In the X-type, the rotating pin is located at the cutting point to connect the front shield and the middle shield, so the cutting angle is small, but it is advantageous for cutting sealing and waterproofing. (b) In the V-type, the cutting point is located on the shield skin plate, so the cutting angle is large, but it is difficult to prevent the inflow of excavated soil and water. Korean Patent Publication No. 10-2022-0033323 "TBM Operation System" (published on March 16, 2022, hereinafter referred to as the "Prior Art Document") is intended for monitoring and controlling the status of a TBM in real time. It presents a technical configuration in which, when a user inputs an operation signal of the TBM to a control panel including a controller, a control unit controls the TBM according to the input operation signal and outputs the status of the TBM through a display unit. However, conventional TBM control devices, including those described in prior art literature, have limitations in that accurate excavation is difficult depending on the user's skill level because the user directly controls the rotation of the cutter and the operation of the main jack and the heavy jack. Moreover, curved excavation is difficult because it must be performed along a three-dimensional curve that forms curvature in the x-y plane as well as in the z-axis direction. Additionally, since multiple heavy jacks are arranged along the perimeter of the shields and each heavy jack must contract or expand in different lengths and directions, errors are inevitable when the user directly controls them based on artificial judgment. In addition, as shown in Fig. 2, even if the user performs precise operation control, there are limitations in that pitching, yaw, and rolling rotations inevitably occur during the TBM's advance due to ground characteristics and machine weight. Therefore, even if a skilled user controls the TBM based on given drawing information, accurate excavation is difficult due to errors occurring in real time, and this problem is bound to occur more severely in the case of curved excavation. FIG. 1a is a conceptual diagram schematically illustrating the structure of a conventional shield TBM. FIG. 1b is a conceptual diagram illustrating different interruption systems of a conventional shield TBM. FIG. 2 is a conceptual diagram illustrating pitching, yawing, and rolling phenomena occurring in a shield. FIG. 3 is a flowchart illustrating a steering control method according to an embodiment of the present invention in chronological order. FIG. 4 is a conceptual diagram schematically illustrating a shield TBM structure for explaining a steering control method according to an embodiment of the present invention. Figure 5 is a simulation image showing the excavation path formed when excavation is performed continuously according to the cut angle. FIG. 6 is a conceptual diagram schematically illustrating the