KR20220076104A - Shield TBM autonomous driving system equipped with machine learning-based screw conveyor control and shield TBM autonomous driving method using the same - Google Patents

Abstract

According to the present invention, in the self-driving system of the shield TBM provided with a screw conveyor 20 for transporting excavated soil excavated by the cutter head 10 to the rear, a control unit for controlling the rotation speed of the screw conveyor 20 (100); including, the control unit 100, the rotation speed for deriving the rotation speed information 220 of the screw conveyor 20 based on the hourly excavation amount information 210 of the cutter head 10 There is provided an autonomous driving system of the shield TBM, characterized in that it comprises a derivation module (110).
According to the present invention, there is an effect that can automatically control the discharge amount of the screw conveyor in response to the excavation amount of the cutter head.

Description

Shield TBM autonomous driving system equipped with machine learning-based screw conveyor control and shield TBM autonomous driving method using the same

The present invention belongs to the field of construction, and more specifically, a shield TBM equipped with a machine learning-based screw conveyor control unit that can prevent ground subsidence or elevation by automatically controlling the amount of excavation of the shield TBM and the discharge amount of the screw conveyor. of a self-driving system and a shield TBM autonomous driving method using the same.

TBM (Tunnel Boring Machine) is a large tunnel excavator that crushes and excavates rock or ground. It refers to a machine that continuously performs excavation, burrowing, and supporting work by rotating a cutter head equipped with a number of disk cutters on the front. Excavation work by TBM is more advantageous for long tunnel construction than blast excavation work.

Recently, excavation of tunnels and underground spaces has replaced the existing blasting method for the purpose of increasing worker stability, reducing civil complaints due to noise and vibration, and reducing air and utility costs, focusing on TBM in subway, electric power and communication tunnels. The trend of mechanized construction by

Among them, the shield TBM prevents soil and rock from entering the TBM equipment by using a protective iron plate called a shield in the soil or rocky ground where it is difficult to stand on the excavation surface. An important point in the excavation of the Shield TBM is to discharge the excavated soil or rock as much as the amount of excavation excavated with the Shield TBM. That is, if less than the excavated amount is discharged, it means that the TBM is excessively pressing the ground in front of the excavation surface, and in this case, heaving occurs in the upper part of the surface of the front ground. On the other hand, if more than the excavated amount is discharged, it means that the ground in front of the excavation surface is loosened. Therefore, in order to safely excavate the shield TBM, it is necessary to match the excavation amount and discharge amount of the TBM.

However, the difference in volume before and after excavation occurs in the soil and rock by excavation. When the soil, which has been compacted by gravity and groundwater for many years, is excavated by the cutter bit and disk cutter, which are excavation tools of TBM equipment, the voids in the soil increase. The expansion rate according to the increase of the voids varies depending on the type of soil, and the volume expansion of the bedrock also occurs due to excavation. The volume expansion coefficient of the soil and rock is shown in FIG. 6 .

The volume expansion before and after excavation makes it difficult for the TBM operator to match the excavation amount with the discharge amount. In the EPB (Earth Pressure Balanced) type shield TBM, the TBM operator adjusts the excavation amount to the excavation speed of the TBM and adjusts the amount of excavation and the discharge amount by adjusting the discharge rate at the rotation speed of the screw conveyor.

TBM operators check and process tens to hundreds of data generated by TBM equipment. In particular, the adjustment of the excavation speed and the rotation speed of the screw conveyor is one of the tasks that the operator performs the most during TBM operation. Therefore, a system capable of automatically controlling the rotation speed of the screw conveyor in response to the excavation speed of the cutter head is required in order to reduce the driver's burden and enable autonomous driving of the TBM.

The present invention has been derived to solve the above-mentioned prerequisites for TBM autonomous driving, and an object of the present invention is a machine learning-based screw conveyor that can automatically control the amount of output of the screw conveyor in response to the excavation amount of the cutterhead. An object of the present invention is to provide a shield TBM autonomous driving system having a control unit and a shield TBM autonomous driving method using the same.

Another object of the present invention is a shield equipped with a machine learning-based screw conveyor control unit that can derive the actual output of the screw conveyor in consideration of the volume expansion rate of the soil and the bedrock generated according to the increase in the soil porosity according to the excavation of the ground An object of the present invention is to provide a TBM autonomous driving system and a shield TBM autonomous driving method using the same.

Another object of the present invention is to apply a database-based machine learning technique to apply a Shield TBM autonomous driving system equipped with a machine learning-based screw conveyor control unit that enables control of the rotation speed of a screw conveyor suitable for various ground conditions, and a shield using the same It is to provide a TBM autonomous driving method.

According to one aspect of the present invention, in the self-driving system of the shield TBM provided with a screw conveyor 20 for transporting excavated soil excavated by the cutter head 10 to the rear, the rotation speed of the screw conveyor 20 is Including; but, the control unit 100 derives the rotational speed information 220 of the screw conveyor 20 based on the hourly excavation amount information 210 of the cutter head 10 . The self-driving system of the shield TBM, characterized in that it comprises a;

In this case, the rotation speed derivation module 110 derives the rotation speed information 220 based on the hourly excavation amount information 210 and the hourly discharge information 220 of excavated soil by the screw conveyor 20 It may be an autonomous driving system of the shield TBM, characterized in that.

In addition, the rotational speed deriving module 110 includes an excavation amount deriving module 111 for deriving the per hour excavation amount information 210, and the excavation amount deriving module 111 is based on the following [Equation 1] It may be an autonomous driving system of the shield TBM, characterized in that the excavation amount information 210 per hour is derived.

[Equation 1]

Excavation amount per hour = Excavation surface area (㎡) Ⅷ Excavation speed (m/hr)

In addition, the excavation speed in [Equation 1] may be an autonomous driving system of the shield TBM, characterized in that it is derived based on the following [Equation 2].

[Equation 2]

Excavation speed = Penetration depth per 1 rotation of the cutter head (mm/rev) ㅧ Rotational speed of the cutter head per minute (rpm) ㅧ 0.06

In addition, the rotational speed derivation module 110 includes an emission derivation module 112 for deriving the hourly emission information 220 of the excavated soil, and the emission derivation module 112 is based on the following [Equation 3] It may be an autonomous driving system of the Shield TBM, characterized in that the hourly discharge information 220 of the excavated sediment is derived.

[Equation 3]

Discharge per hour = Discharge per rotation of the screw conveyor (m2/rev) Ⅷ Rotational speed of the screw conveyor per minute (rpm)/60

In addition, the discharge amount per rotation of the screw conveyor in [Equation 3] may be an autonomous driving system of the shield TBM, characterized in that it is derived based on the following [Equation 4].

[Equation 4]

Discharge per rotation of screw conveyor = Cross-sectional area of screw conveyor (m2) Ⅷ Length of screw conveyor (m) Ⅷ Discharge efficiency

In addition, the rotational speed deriving module 110 includes a target emission deriving module 113 for deriving the target emission information 230, and the target emission information module 113 is a target based on [Equation 5] below. It may be an autonomous driving system of the shield TBM, characterized in that the emission information 230 is derived.

[Equation 5]

Target discharge (m2/hr) = excavation volume per hour Ⅷ volume expansion rate

In addition, the control unit 100 controls the rotation speed of the screw conveyor 20 until the hourly discharge information 220 of the excavated soil material reaches the target emission information 230 of the shield TBM, characterized in that It may be an autonomous driving system.

In addition, the excavation surface area (m2) in [Equation 1], the screw conveyor cross-sectional area (m2) in [Equation 4], the screw conveyor length (m) and discharge efficiency, and the volume expansion coefficient in the [Equation 5] It may be an autonomous driving system of the shield TBM, characterized in that it further includes an input unit 300 that receives an input.

In addition, the first sensor 410 for sensing the penetration depth per revolution of the cutter head (mm/rev) and the cutter head rotation speed per minute (rpm) in [Equation 2]; and a second sensor 420 for sensing the screw conveyor rotation speed (rpm) per minute in [Equation 3].

According to another aspect of the present invention, in the shield TBM autonomous driving method using the shield TBM autonomous driving system, the excavation surface area (m2) in the [Equation 1], the [Equation 4] a first step (S100) of receiving the screw conveyor cross-sectional area (m2), screw conveyor length (m) and discharge efficiency, and the volume expansion coefficient in [Equation 5]; a second step (S200) of deriving rotation speed information 220 of the screw conveyor 20 using the rotation speed deriving module 110; and a third step (S300) in which the control unit 100 adjusts the rotational speed of the screw conveyor 20 until the hourly discharge information 220 of the excavated soil material reaches the target emission information 230; There is provided a shield TBM autonomous driving method comprising the.

According to another aspect of the present invention, there is provided a computer-readable recording medium in which a program for executing the second step (S200) is recorded.

According to the present invention, there is an effect that can automatically control the discharge amount of the screw conveyor in response to the excavation amount of the cutter head.

According to the present invention, it is possible to derive the actual discharge amount of the screw conveyor in consideration of the volume expansion rate of the soil and the bedrock generated according to the increase of the soil porosity according to the excavation of the ground.

According to the present invention, it is possible to control the rotation speed of the screw conveyor suitable for various ground conditions by applying a database-based machine learning technique.

1 to 6 is a block diagram of a shield TBM machine to which the present invention is applied.
7 is a block diagram of a control unit according to the present invention.
8 is a flowchart of information derivation of the rotation speed derivation module according to the present invention.
Figure 9 is the content of the 2020 construction work standard calculation showing the volume change rate and volume conversion coefficient according to the excavation used in the present invention.

An embodiment of a shield TBM autonomous driving system equipped with a machine learning-based screw conveyor control unit according to the present invention and a shield TBM autonomous driving method using the same will be described in detail with reference to the accompanying drawings. In doing so, the same or corresponding components are given the same reference numerals, and overlapping descriptions thereof will be omitted.

In addition, terms such as first, second, etc. used below are merely identification symbols for distinguishing the same or corresponding components, and the same or corresponding components are limited by terms such as first, second, etc. not.

In addition, the term "coupling" does not mean only when there is direct physical contact between each component in the contact relationship between each component, but another component is interposed between each component, so that the component is in the other component. It should be used as a concept that encompasses even the cases in which each is in contact.

The present invention relates to an autonomous driving system of a shield TBM that automatically controls the rotation speed of a screw conveyor for autonomous driving of the shield TBM in response to the excavation speed.

In the shield TBM, as can be seen in FIGS. 1 to 6 , excavated soil (soil, rock, etc.) excavated by the front cutter head 10 is transported to the rear of the TBM body by the screw conveyor 20 .

In this case, when an amount greater than the amount of excavated sediment is discharged by the screw conveyor 20, the pressure on the ground in front of the excavation surface is lowered, and a phenomenon in which the ground in front is settled may occur. Conversely, when a smaller amount than the amount excavated by the cutter head 10 is discharged by the screw conveyor 20, the pressure on the front ground is high, so that the front ground is raised.

Accordingly, the TBM driver must adjust the excavation speed of the TBM and the rotation speed of the screw conveyor 20 in consideration of the earth pressure in front of the excavation surface, and the role of such a driver must be substituted for the autonomous driving of the TBM.

On the other hand, when the ground is excavated by TBM, voids in the soil are increased, thereby increasing the volume of the excavated soil. That is, in reality, the amount of discharged soil is greater than the excavation area for the excavation surface. It is necessary to determine the volume of excavated soil to be discharged by the screw conveyor 20 in consideration of the volume expansion rate of the soil.

In the present invention, for autonomous driving of the shield TBM, an autonomous driving system of the TBM that can autonomously control the discharge amount of the screw conveyor 20 without changing the pressure of the front ground is proposed.

The self-driving system of the shield TBM according to an embodiment of the present invention includes a control unit 100 for controlling the rotation speed of the screw conveyor 20, and the control unit 100 includes information on the amount of excavation per hour of the cutter head 10 ( It may include a rotation speed deriving module 110 for deriving the rotation speed information 220 of the screw conveyor 20 based on 210 .

Based on the rotation speed information 220 derived through the rotation speed deriving module 110 , the controller 100 controls the rotation speed of the screw conveyor 20 .

Specifically, the rotational speed deriving module 110 derives the rotational speed information 220 based on the hourly excavation amount information 210 and the hourly discharge information 220 of excavated soil by the screw conveyor 20 .

Here, the rotational speed derivation module 110 includes an excavation amount derivation module 111 for deriving the excavation amount information 210 per hour, and the excavation amount derivation module 111 is excavated per hour based on the following [Equation 1] Amount information 210 is derived.

[Equation 1]

Excavation amount per hour = Excavation surface area (㎡) Ⅷ Excavation speed (m/hr)

The excavation amount derivation module 111 derives the excavation speed in [Equation 1] based on the following [Equation 2].

[Equation 2]

Excavation speed = Penetration depth per 1 rotation of the cutter head (mm/rev) ㅧ Rotational speed of the cutter head per minute (rpm) ㅧ 0.06

The rotational speed derivation module 110 includes an emission derivation module 112 for deriving the hourly emission information 220 of excavated soil, but the emission derivation module 112 is based on the following [Equation 3] per hour of excavated soil Emission information 220 is derived.

[Equation 3]

Discharge per hour = Discharge per rotation of the screw conveyor (m2/rev) Ⅷ Rotational speed of the screw conveyor per minute (rpm)/60

The emission amount derivation module 112 derives the emission amount per rotation of the screw conveyor of [Equation 3] based on the following [Equation 4].

[Equation 4]

Discharge per rotation of screw conveyor = Cross-sectional area of screw conveyor (m2) Ⅷ Length of screw conveyor (m) Ⅷ Discharge efficiency

In addition, the rotational speed derivation module 110 includes a target emission derivation module 113 for deriving the target emission information 230, but the target emission information module 113 provides target emission information based on the following [Equation 5] (230) is derived.

[Equation 5]

Target discharge (m2/hr) = amount of excavation per hour (obtained by [Equation 1]) Ⅷ Volume expansion rate (FIG. 9)

Since the volume expansion rate is different depending on the type of soil or rock, the volume change rate (disordered volume / natural volume) of the 2020 construction standard calculation presented in FIG. 9 by sampling the excavated soil at the construction site is used.

Variables in [Equation 1] to [Equation 5] can receive values directly from the system or obtain values by using sensors.

As an example, the self-driving system of the shield TBM according to an embodiment of the present invention is the excavation surface area (m2) in [Equation 1], the screw conveyor cross-sectional area (m2) in [Equation 4], and the screw conveyor length (m) ) and the discharge efficiency and may further include an input unit 300 for receiving the volume expansion coefficient in [Equation 5].

In addition, the self-driving system of the shield TBM according to an embodiment of the present invention is a first sensor for sensing the penetration depth (mm/rev) per one rotation of the cutter head and the rotation speed of the cutter head per minute (rpm) in [Equation 2] (410) and [Equation 3] may further include a second sensor 420 for sensing the rotation speed (rpm) per minute of the screw conveyor.

In order to increase the accuracy of the modules according to the present invention, data from the construction already performed is stored in the database, and repeated simulations of the modules are performed through the machining learning technique to determine the parameters used in [Equation 1] to [Equation 5]. accuracy can be increased.

Hereinafter, an autonomous driving method of the shield TBM using the autonomous driving system of the shield TBM according to an embodiment of the present invention will be described.

The self-driving system of the shield TBM according to the present invention, through the input unit 300, the excavation surface area (m2) in [Equation 1], the screw conveyor cross-sectional area (m2) in [Equation 4], the screw conveyor length (m) and The discharge efficiency, the first step (S100) of receiving the volume expansion coefficient in [Equation 5], and the second step of deriving the rotation speed information 220 of the screw conveyor 20 using the rotation speed derivation module 110 ( S200) and the control unit 100 may include a third step (S300) of adjusting the rotational speed of the screw conveyor 20 until the hourly discharge information 220 of excavated soil material reaches the target emission information 230. have.

According to the present invention, in determining the amount of excavation and determining the amount of excavation, it is possible to derive the exact amount of discharge in consideration of the volume change rate of the excavated residue, so the reliability of the rotation speed control of the screw conveyor, which is the premise for autonomous driving of the Shield TBM, is improved. can be raised

The second step ( S200 ) of the self-driving method of the shield TBM according to an embodiment of the present invention may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium.

The computer-readable medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the present invention, or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks and magnetic tapes, optical recording media such as CD-ROMs and DVDs, and magnetic such as floppy disks. - includes magneto-optical media, and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like.

Examples of program instructions include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

Since the above has only been described with respect to some of the preferred embodiments that can be implemented by the present invention, as noted, the scope of the present invention should not be construed as being limited to the above embodiments, and It will be said that the technical idea and the technical idea having its roots are all included in the scope of the present invention.

1: Shield
10: cutter head
20: screw conveyor
100: control unit
110: rotation speed derivation module
111: excavation amount derivation module
112: emission derivation module
113: target emission derivation module
200: information
210: information on the amount of excavation per hour
220: Hourly emission information
230: target emission information
300: input unit

Claims (12)

In the self-driving system of the shield TBM provided with a screw conveyor 20 for transporting excavated soil excavated by the cutter head 10 to the rear,
Including; a control unit 100 for controlling the rotation speed of the screw conveyor 20;
The control unit 100,
A rotation speed deriving module 110 for deriving the rotation speed information 220 of the screw conveyor 20 based on the hourly excavation amount information 210 of the cutter head 10;
Self-driving system of the shield TBM, characterized in that it comprises.
According to claim 1,
The rotational speed deriving module 110 derives the rotational speed information 220 based on the hourly excavation amount information 210 and the hourly discharge information 220 of excavated soil by the screw conveyor 20 Shield TBM's autonomous driving system.
3. The method of claim 2,
The rotational speed deriving module 110 includes an excavation amount deriving module 111 for deriving the per hour excavation amount information 210,
The self-driving system of the shield TBM, characterized in that the drilling amount derivation module 111 derives the hourly drilling amount information 210 based on the following [Equation 1].
[Equation 1]
Excavation amount per hour = Excavation surface area (㎡) Ⅷ Excavation speed (m/hr)
4. The method of claim 3,
The self-driving system of the shield TBM, characterized in that the excavation speed in [Equation 1] is derived based on the following [Equation 2].
[Equation 2]
Excavation speed = Penetration depth per 1 rotation of the cutter head (mm/rev) ㅧ Rotational speed of the cutter head per minute (rpm) ㅧ 0.06
5. The method of claim 4,
The rotational speed derivation module 110 includes an emission derivation module 112 for deriving the hourly emission information 220 of the excavated soil,
The self-driving system of the shield TBM, characterized in that the emission derivation module 112 derives the hourly emission information 220 of the excavated silt based on the following [Equation 3].
[Equation 3]
Discharge per hour = Discharge per rotation of the screw conveyor (m2/rev) Ⅷ Rotational speed of the screw conveyor per minute (rpm)/60

6. The method of claim 5,
The self-driving system of the shield TBM, characterized in that the emission per rotation of the screw conveyor in [Equation 3] is derived based on the following [Equation 4].
[Equation 4]
Discharge per rotation of screw conveyor = Cross-sectional area of screw conveyor (m2) Ⅷ Length of screw conveyor (m) Ⅷ Discharge efficiency
7. The method of claim 6,
The rotation speed derivation module 110 includes a target emission derivation module 113 for deriving the target emission information 230,
The self-driving system of the shield TBM, characterized in that the target emission information module 113 derives the target emission information 230 based on the following [Equation 5].
[Equation 5]
Target discharge (m2/hr) = excavation per hour Ⅷ volume expansion rate
8. The method of claim 7,
The control unit 100 controls the rotational speed of the screw conveyor 20 until the hourly discharge information 220 of the excavated soil material reaches the target emission information 230. Self-driving of the shield TBM, characterized in that system.
9. The method of claim 8,
The excavation surface area (m2) in [Equation 1] above,
Screw conveyor cross-sectional area (m2), screw conveyor length (m) and discharge efficiency in [Equation 4],
The input unit 300 for receiving the volume expansion coefficient in the above [Equation 5];
Shield TBM autonomous driving system, characterized in that it further comprises.
10. The method of claim 9,
a first sensor 410 for sensing a penetration depth per one rotation of the cutter head (mm/rev) and a rotation speed of the cutter head per minute (rpm) in [Equation 2]; and
A second sensor 420 for sensing the screw conveyor rotation speed (rpm) per minute in [Equation 3];
Self-driving system of the shield TBM, characterized in that it comprises.
In the shield TBM autonomous driving method using the shield TBM autonomous driving system of claim 10,
Through the input unit 300, the excavation surface area (m2) in [Equation 1], the screw conveyor cross-sectional area (m2) in the [Equation 4], the screw conveyor length (m) and discharge efficiency, the [Equation 5] A first step of receiving a volume expansion coefficient in (S100);
a second step (S200) of deriving rotation speed information 220 of the screw conveyor 20 using the rotation speed deriving module 110; and
A third step (S300) in which the control unit 100 adjusts the rotation speed of the screw conveyor 20 until the hourly discharge information 220 of the excavated soil material reaches the target emission information 230;
Shield TBM autonomous driving method comprising the.
A computer-readable recording medium in which a program for executing the second step (S200) of claim 11 is recorded.

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