Measurement and control system and method for accurate receiving of long-distance pipe-jacking pipe joint

Abstract

The invention discloses a measurement and control system and method for accurate receiving of long-distance pipe jacking pipe joints. The measurement and control system comprises an information acquisition module, an information transmission module, a data storage module, a data analysis module, an alarm module, a pipe jacking machine deviation correction module, an intelligent decision module and a relay control module. The measurement and control method comprises the steps of position and posture monitoring of the pipe jacking machine, position deviation analysis, posture deviation analysis, intelligent control over position and posture deviation correction of the pipe jacking machine, measurement and control received by the pipe jacking machine and determination of the relay chamber compensation length. Real-time position and posture data of the pipe jacking machine are monitored and analyzed through an Internet of Things sensor and a neural network technology, and intelligentization, real-time performance and high efficiency of position deviation value and posture deviation value monitoring and control of the pipe jacking machine are achieved. And by calculating the number of the remaining in-hole pipe joints and the compensation length of each intermediate jacking station, it is ensured that the front end face of the first jacking pipe joint is located at the receiving well portal design position, and the rear end face of the tail jacking pipe joint is located at the starting well portal design position.

Description

Technical Field

[0001] The invention belongs to the technical field of underground engineering construction, and relates to a measurement and control system and method for accurately receiving long-distance jacking pipe sections. Background Art

[0002] The pipe jacking construction technology is an underground pipeline laying technology that uses jacking equipment to push pipe sections into the ground one by one. Compared with traditional underground engineering construction technology, it has the advantages of low noise, low dust, low traffic impact, high efficiency and convenience. Therefore, it is widely used in the construction of urban underground water supply and drainage and power pipelines. The pipe sections used in the pipe jacking construction are usually prefabricated components of fixed length. In order to ensure that the pipe sections of the pipe jacking method accurately reach the receiving well, the length of the pipe jacking interval path is usually set to a multiple of the pipe section length. For short-distance straight pipe jacking, the pipe sections can usually be accurately received relatively easily, but for long-distance pipe jacking, the deviation between the actual travel path and the designed path during the pipe jacking construction process often makes it difficult to accurately receive the pipe sections of the pipe jacking. After the pipe jacking construction is completed, the front end of the first pipe section exceeds the design position of the receiving well tunnel door, and the rear end of the tail section of the pipe section does not reach the design position of the starting well tunnel door. Construction quality problems often occur.

[0003] The traditional solution to the problem of the pipe section protruding from the tunnel after the pipe section is received is to use a wire saw cutting method, which uses a wire saw to saw off the part of the pipe section protruding from the tunnel, and then carry out the connection structure processing of the pipe section at the entrance and exit of the tunnel. However, this method is not only time-consuming and labor-intensive, but also destroys the structural integrity of the pipe section. For long-distance pipe jacking structures that require prestressing, anchors and steel connectors are usually embedded at the ends of the first and last pipe sections, and the wire saw cutting method will damage the embedded anchors and steel connectors. In short, the wire saw cutting method is not suitable for long-distance pipe jacking structures because it affects the overall aesthetics, hinders the normal use of the working well, and hinders the connection structure of the pipe jacking machine at the entrance and exit of the tunnel.

[0004] In addition, in order to achieve accurate reception of the jacking pipe section, it is necessary to ensure that the jacking pipe section always advances along the predetermined trajectory, and thus it is necessary to correct the deviation of the jacking pipe section in real time during the construction process. In the current jacking construction method, there are common problems such as low degree of construction intelligence and dependence of the guide measurement accuracy on the construction personnel's operating skills. In addition, due to the complex and changeable geological environment, uneven force on the cutter head, uneven grouting, and uneven thrust, there is a deviation between the actual trajectory and the preset trajectory during the jacking construction. In particular, the long-distance jacking structure is more significantly restricted by the subjectivity, work accuracy and efficiency of the construction technicians. If the jacking construction process cannot be adjusted and controlled in a targeted manner according to the real-time situation of the jacking machine and the pipe section, the quality and efficiency of the jacking construction will be significantly adversely affected. Summary of the invention

[0005] In view of the shortcomings of the existing technology, this application proposes a measurement and control system and method for accurately receiving long-distance jacking pipe sections, which is suitable for monitoring and control in the construction of long-distance jacking structures, and is conducive to overcoming the construction technical problem that it is difficult to achieve accurate reception of long-distance jacking pipe sections.

[0006] The first aspect of the present application discloses a measurement and control system for accurately receiving long-distance jacking pipe sections, the measurement and control system comprising an information acquisition module, an information transmission module, a data storage module, a data analysis module, an alarm module, a jacking machine deviation correction module, an intelligent decision-making module and a relay room control module; The information acquisition module includes a positioning sensor, a pitch angle sensor, a roll angle sensor and an azimuth sensor; the positioning sensor is installed on the pipe jacking machine to obtain the real-time position coordinates of the pipe jacking machine; the pitch angle sensor is installed on the pipe jacking machine to obtain the real-time pitch angle of the pipe jacking machine; the roll angle sensor is installed on the pipe jacking machine to obtain the real-time roll angle of the pipe jacking machine; the azimuth sensor is installed on the pipe jacking machine to obtain the real-time azimuth of the pipe jacking machine; The information transmission module is used to establish remote connection and transmission of information between modules; The data storage module is used to store data generated and used by the measurement and control system; The data analysis module is used to calculate and analyze the data obtained by the information acquisition module, so as to obtain data analysis results; the data analysis results include the position deviation and posture deviation of the pipe jacking machine, the distance between the front end of the pipe jacking machine and the inner wall of the receiving well, the receiving position coordinates of the pipe jacking machine, the number of remaining entry pipe sections, the total compensation length between the required relays, and the compensation length of each relay; The alarm module is installed in the launch well and on the pipe jacking machine, and is used to send alarm information to the construction technicians according to the data analysis results; The pipe jacking machine deviation correction module includes a pipe jacking machine oil cylinder extension control device, a pipe jacking machine cutter head rotation control device and a grouting control device; the pipe jacking machine oil cylinder extension control device is used to control the extension amount of the pipe jacking machine oil cylinder, the pipe jacking machine cutter head rotation control device is used to control the rotation speed and direction of the pipe jacking machine cutter head, and the grouting control device is used to control the grouting pressure and grouting amount; The intelligent decision-making module adopts deep neural network model technology, obtains the correction control amount of the pipe jacking machine by inputting the position deviation and posture deviation of the pipe jacking machine, and then controls the correction module of the pipe jacking machine; The relay room control module is used to control the extension and retraction of the relay room jack cylinder.

[0007] The second aspect of the present application discloses a measurement and control method for accurately receiving a long-distance jacking pipe section, comprising the following steps: S100, position and posture monitoring of the pipe jacking machine: obtaining the real-time position and posture data of the pipe jacking machine through the information acquisition module, including the real-time position coordinates [ X a , Y a , Z a ], real-time pitch angle U a , real-time roll angle V a and real-time azimuth W a ; According to the design requirements for the jacking structure axis in the design document, the design position and posture data corresponding to the real-time position and posture data of the jacking machine are obtained, including the design position coordinates [ X d , Y d , Z d ]、Design pitch angle U d , Design roll angle V d and design azimuth W d ; in, X a and X d are the position coordinate components along the axis of the jacking pipe structure. Y a and Y d They are all horizontal position coordinate components along the axis of the jacking pipe structure. Z a and Z d They are all the position coordinate components vertically along the axis of the jacking pipe structure; S200, position deviation analysis: According to the real-time position and posture data of the pipe jacking machine and the designed position and posture data, the position deviation of the pipe jacking machine is analyzed in real time through the data analysis module, including the jacking deviation ΔX , Plane Deviation Y and elevation deviation ΔZ , as shown in the following expression:

[0008] in,[ ΔX ] is the limit of the jacking deviation of the pipe jacking machine, [ Y ] is the plane deviation limit of the pipe jacking machine, [ ΔZ ] is the elevation deviation limit of the pipe jacking machine; When the jacking deviation of the pipe jacking machine ΔX , plane deviation Y Or elevation deviation ΔZ If the requirements are not met, the alarm module triggers an alarm until the jacking deviation is reduced by adjusting the jacking machine. ΔX , Plane Deviation Y and elevation deviation ΔZ The alarm can be lifted only after the requirements are met; S300, posture deviation analysis: According to the real-time position posture data and the designed position posture data of the pipe jacking machine, the posture deviation of the pipe jacking machine is analyzed in real time through the data analysis module, including the pitch angle deviation. D.U. a , Rolling angle deviation ΔV a and azimuth deviation ΔW a , as shown in the following expression:

[0009] in,[ D.U. ] is the pitch angle deviation limit, [ ΔV ] is the roll angle deviation limit, [ ΔW ] is the azimuth deviation limit; When the pitch angle deviation D.U. , Rolling angle deviation ΔV Or azimuth deviation ΔW When the limit value requirement is not met, the alarm is triggered by the alarm module until the pitch angle deviation is reduced by adjusting the pipe jacking machine. D.U. , Rolling angle deviation ΔV and azimuth deviation ΔW The alarm can be lifted only after the requirements are met; S400, intelligent control of the position and posture correction of the pipe jacking machine: the pipe jacking machine jacking deviation obtained by real-time analysis in step S200 and step S300 ΔX , plane deviation Y , elevation deviation ΔZ , Pitch angle deviation D.U. , Rolling angle deviation ΔV and azimuth deviation ΔW As an input quantity, after being input into the intelligent decision-making module, a pipe jacking machine deviation correction control quantity is obtained; the pipe jacking machine deviation correction control quantity includes but is not limited to the extension and contraction amount of the pipe jacking machine oil cylinder, the rotation speed and direction of the pipe jacking machine cutter head, the grouting pressure and the grouting amount; according to the pipe jacking machine deviation correction control quantity, the pipe jacking machine deviation correction module is controlled in real time and continuously to realize the dynamic deviation correction of the position and posture of the pipe jacking machine; S500, pipe jacking machine receiving measurement and control: According to the real-time position coordinates of the pipe jacking machine [ Xa , Y a , Z a ], the distance between the front end of the pipe jacking machine and the inner wall of the receiving well is calculated in real time through the data analysis module L r ;when L r Less than the deceleration threshold [ L r ], the pipe jacking machine is controlled to reduce its jacking speed; then, according to the real-time position and posture data of the pipe jacking machine at this time, the data analysis module is used to predict when the front end of the pipe jacking machine is flush with the inner wall of the receiving well, that is, when L r =0, the receiving position coordinates of the pipe jacking machine are [ X ar , Y ar , Z ar ]; According to the predicted receiving position coordinates of the pipe jacking machine, make preparations for receiving the pipe jacking machine in advance; S600, determination of compensation length between relays: when the front end of the pipe jacking machine is flush with the inner wall of the receiving well, the number of remaining pipe sections entering the hole is calculated through the data analysis module N p and the total compensation length between required relays S , and then determine the compensation length of each relay and implement the compensation operation through the relay control module, so as to ensure that the front end face of the first section of the jacking pipe section is located at the designed position of the receiving well tunnel door, and the rear end face of the tail section of the jacking pipe section is located at the designed position of the starting well tunnel door.

[0010] Preferably, in step S400, after the pipe jacking machine correction module is controlled according to the pipe jacking machine correction control amount, the real-time position and posture data of the pipe jacking machine after the correction control is obtained through the information acquisition module, and then the position deviation and posture deviation of the pipe jacking machine after the correction control are obtained according to steps S200 and S300; the pipe jacking machine correction control amount and the position deviation and posture deviation of the pipe jacking machine after the correction control are used as training data, and the deep neural network model adopted by the intelligent decision-making module is iteratively trained, thereby improving the prediction ability of the intelligent decision-making module.

[0011] Preferably, in step S600, when the front end of the pipe jacking machine is flush with the inner wall of the receiving well, the number of remaining pipe sections is N p and the total compensation length between required relays S Satisfies the following expression:

[0012] in, D m is the length of the pipe jacking machine, D p1 is the entry length of the top pipe section of the launch well that is currently entering the hole. D t The minimum thickness required for post-cast door frame. D p is the length of a single jacking pipe section; the int function is a rounding down function, and the mod function is a remainder function; the post-cast door frame is a jacking pipe door frame structure formed by pouring concrete later, so the position of the post-cast door frame should be reserved after the jacking machine is excavated into place; The number of relay rooms that need to be compensated by telescopic cylinders N c Satisfies the following expression:

[0013] in, D c The maximum stroke of the oil cylinder that can be adjusted between single relays; Considering the rationality of force and the convenience of construction, for the relay room that needs to be compensated by the telescopic cylinder, the compensation length of the relay room farthest from the receiving well is L c1 Satisfies the following expression:

[0014] The compensation length of other relays that need to be compensated by telescopic cylinders L c Take the maximum stroke of the oil cylinder that can be adjusted between single relays, that is, L c = D c .

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: in view of the construction technical problem that it is difficult to achieve accurate reception of long-distance jacking pipe sections, a measurement and control system for accurate reception of long-distance jacking pipe sections is disclosed, including an information acquisition module, an information transmission module, a data storage module, a data analysis module, an alarm module, a jacking machine deviation correction module, an intelligent decision-making module and a relay control module; in addition, the present invention also discloses a measurement and control method for accurate reception of long-distance jacking pipe sections, including position and posture monitoring of the jacking machine, position deviation analysis, posture deviation analysis, intelligent control of the position and posture correction of the jacking machine, measurement and control of the jacking machine reception and determination of the compensation length between relays; the real-time position and posture data of the jacking machine are monitored by sensors installed on the jacking machine, so as to achieve accurate position and posture correction of the jacking machine. The monitoring and control of the position deviation and attitude deviation are automated, real-time and efficient; the neural network technology is used to predict the deviation control quantity of the pipe jacking machine in real time, without considering the internal control process, which significantly reduces the complexity of the deviation control problem, and the neural network model is updated in real time according to the measured data, so that the neural network model can adapt to different geological conditions and construction environment factors and make more accurate predictions; the receiving position coordinates of the pipe jacking machine are predicted according to the real-time position and attitude data of the pipe jacking machine, so as to prepare for the reception of the pipe jacking machine in advance; by calculating the remaining number of entry pipe sections and the compensation length between each relay, it is ensured that the front end face of the first pipe jacking section is located at the design position of the receiving well tunnel door, and the rear end face of the tail pipe jacking section is located at the design position of the starting well tunnel door. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a connection schematic diagram of a measurement and control system for accurately receiving long-distance jacking pipe sections of the present invention; Figure 2 It is a flow chart of a measurement and control method for accurately receiving a long-distance jacking pipe section according to the present invention; Figure 3 It is a structural schematic diagram of a long-distance jacking pipe section shown in an embodiment of the present invention; Reference numerals: 1-information acquisition module, 11-positioning sensor, 12-pitch inclination sensor, 13-roll inclination sensor, 14-azimuth sensor, 2-information transmission module, 3-data storage module, 4-data analysis module, 5-alarm module, 6-pipe jacking machine correction module, 61-pipe jacking machine cylinder extension and contraction control device, 62-pipe jacking machine cutter head rotation control device, 63-grouting control device, 7-intelligent decision-making module, 8-relay room control module, 91-launching well, 92-receiving well, 93-pipe jacking machine, 941-first section of pipe jacking pipe section, 942-last section of pipe jacking pipe section, 95-relay room, 96-jacking direction. DETAILED DESCRIPTION

[0017] The following is a more detailed description of the embodiments of the present invention in conjunction with the accompanying drawings and the accompanying drawings so that a person skilled in the art can implement the embodiments after reading the description. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0018] The first aspect of the present application discloses Figure 1-3 A measurement and control system for accurate reception of long-distance jacking pipe sections is shown, the measurement and control system comprises an information acquisition module 1, an information transmission module 2, a data storage module 3, a data analysis module 4, an alarm module 5, a jacking machine deviation correction module 6, an intelligent decision-making module 7 and a relay room control module 8; The information acquisition module 1 includes a positioning sensor 11, a pitch inclination sensor 12, a roll inclination sensor 13 and an azimuth sensor 14; the positioning sensor 11 is installed on the pipe jacking machine 93 to obtain the real-time position coordinates of the pipe jacking machine 93; the pitch inclination sensor 12 is installed on the pipe jacking machine 93 to obtain the real-time pitch inclination of the pipe jacking machine 93; the roll inclination sensor 13 is installed on the pipe jacking machine 93 to obtain the real-time roll inclination of the pipe jacking machine 93; the azimuth sensor 14 is installed on the pipe jacking machine 93 to obtain the real-time azimuth of the pipe jacking machine 93; The information transmission module 2 is used to establish remote connection and transmission of information between modules; The data storage module 3 is used to store data generated and used by the measurement and control system; The data analysis module 4 is used to calculate and analyze the data obtained by the information acquisition module 1, so as to obtain data analysis results; the data analysis results include the position deviation and posture deviation of the pipe jacking machine 93, the distance between the front end of the pipe jacking machine 93 and the inner wall of the receiving well 92, the receiving position coordinates of the pipe jacking machine 93, the number of remaining entry pipe sections, the total compensation length of the required relay room 95 and the compensation length of each relay room 95; The alarm module 5 is installed in the launch well 91 and on the pipe jacking machine 93, and is used to send alarm information to the construction technicians according to the data analysis results; The pipe jacking machine deviation correction module 6 includes a pipe jacking machine oil cylinder extension control device 61, a pipe jacking machine cutter head rotation control device 62 and a grouting control device 63; the pipe jacking machine oil cylinder extension control device 61 is used to control the extension amount of the pipe jacking machine oil cylinder, the pipe jacking machine cutter head rotation control device 62 is used to control the rotation speed and direction of the pipe jacking machine cutter head, and the grouting control device 63 is used to control the grouting pressure and grouting amount; The intelligent decision-making module 7 adopts deep neural network model technology, obtains the correction control amount of the pipe jacking machine by inputting the position deviation and posture deviation of the pipe jacking machine 93, and then controls the correction module 6 of the pipe jacking machine; The relay room control module 8 is used to control the extension and retraction of the relay room jack cylinder.

[0019] The second aspect of the present application discloses Figure 1-3 A measurement and control method for accurately receiving a long-distance pipe jacking section is shown, comprising the following steps: S100, position and posture monitoring of the pipe jacking machine: When the pipe jacking machine 93 moves along the jacking direction 96, the real-time position and posture data of the pipe jacking machine 93 is obtained through the information acquisition module 1, including the real-time position coordinates [ X a , Y a , Z a ], real-time pitch angle U a , real-time roll angle V a and real-time azimuth W a ; According to the design requirements for the jacking structure axis in the design document, the design position and posture data corresponding to the real-time position and posture data of the jacking machine 93 are obtained, including the design position coordinates [ X d , Y d , Z d ]、Design pitch angle U d , Design roll angle V d and design azimuth W d ; in, X a and X d are the position coordinate components along the axis of the jacking pipe structure. Y a and Y d They are all horizontal position coordinate components along the axis of the jacking pipe structure. Z a and Z d They are all position coordinate components vertically along the axis of the jacking pipe structure; S200, position deviation analysis: According to the real-time position and posture data of the pipe jacking machine 93 and the designed position and posture data, the position deviation of the pipe jacking machine 93 is analyzed in real time by the data analysis module 4, including the jacking deviation ΔX , plane deviation Y and elevation deviation ΔZ , as shown in the following expression: (1) in,[ ΔX ] is the jacking deviation limit of the pipe jacking machine 93, [ Y ] is the plane deviation limit of the pipe jacking machine, [ ΔZ ] is the elevation deviation limit of the pipe jacking machine; When the jacking deviation of the pipe jacking machine 93 ΔX , plane deviation Y Or elevation deviation ΔZ If the requirements are not met, the alarm is triggered by the alarm module 5 until the jacking deviation is reduced by adjusting the jacking machine 93. ΔX , plane deviation Y and elevation deviation D Z The alarm can be lifted only after the requirements are met; In the specific implementation, the jacking deviation of the pipe jacking machine under typical working conditions ΔX 0.5mm, plane deviation Y 2.3mm, elevation deviation ΔZ 1.0mm; the jacking deviation limit of the pipe jacking machine [ ΔX ] is 3.0mm, the plane deviation limit of the pipe jacking machine [ Y ] is 3.0mm, the elevation deviation limit of the pipe jacking machine is [ ΔZ ] is 3.0 mm; obviously, the position deviation of the pipe jacking machine satisfies the formula (1) D X ≤[ ΔX ]、 Y ≤[ Y ]and ΔZ ≤[ ΔZ ] request, no alarm was triggered; S300, posture deviation analysis: According to the real-time position posture data and the designed position posture data of the pipe jacking machine 93, the posture deviation of the pipe jacking machine 93 is analyzed in real time by the data analysis module 4, including the pitch angle deviation. D.U. a , Rolling angle deviation ΔV a and azimuth deviation ΔW a , as shown in the following expression: (2) in,[ D.U. ] is the pitch angle deviation limit, [ ΔV ] is the roll angle deviation limit, [ ΔW ] is the azimuth deviation limit; When the pitch angle deviation D.U. , Rolling angle deviation ΔVOr azimuth deviation ΔW If the limit value requirement is not met, the alarm is triggered by the alarm module 5 until the pitch angle deviation is reduced by adjusting the pipe jacking machine 93. D.U. , Rolling angle deviation ΔV and azimuth deviation ΔW The alarm can be lifted only after the requirements are met; In the specific implementation, the pitch angle deviation of the pipe jacking machine under typical working conditions D.U. 1.6 o , roll angle deviation ΔV 0.6 o , azimuth deviation ΔW 0.3 o , pitch angle deviation limit [ D.U. ] is 1.5 o , roll angle deviation limit [ ΔV ] is 1.5 o , azimuth deviation limit [ ΔW ] is 1.5 o ; Obviously, the posture deviation of the pipe jacking machine satisfies the following equation (2): ΔV ≤[ D V ]and ΔW ≤[ ΔW ], but does not satisfy the formula (2) D.U. ≤[ D.U. ], thus triggering an alarm through the alarm module 5; S400, intelligent control of the position and posture correction of the pipe jacking machine: the pipe jacking machine jacking deviation obtained by real-time analysis in step S200 and step S300 ΔX , plane deviation Y , elevation deviation ΔZ , Pitch angle deviation D.U. , Rolling angle deviation ΔV and azimuth deviation ΔW As an input quantity, after being input into the intelligent decision-making module 7, the pipe jacking machine deviation correction control quantity is obtained; the pipe jacking machine deviation correction control quantity includes but is not limited to the extension amount of the pipe jacking machine oil cylinder, the rotation speed and direction of the pipe jacking machine cutter head, the grouting pressure and the grouting amount; according to the pipe jacking machine deviation correction control quantity, the pipe jacking machine deviation correction module is controlled in real time and continuously to realize the dynamic deviation correction of the position and posture of the pipe jacking machine; In a specific implementation, after the pipe jacking machine correction module 6 is controlled according to the pipe jacking machine correction control amount, the real-time position and posture data of the pipe jacking machine 93 after the correction control is obtained through the information acquisition module 1, and then the position deviation and posture deviation of the pipe jacking machine 93 after the correction control are obtained according to step S200 and step S300; the pipe jacking machine correction control amount and the position deviation and posture deviation of the pipe jacking machine 93 after the correction control are used as training data, and the deep neural network model adopted by the intelligent decision-making module 7 is iteratively trained, so as to improve the prediction ability of the intelligent decision-making module 7; S500, pipe jacking machine receiving measurement and control: According to the real-time position coordinates of the pipe jacking machine [ X a , Y a , Z a ], the distance between the front end of the pipe jacking machine and the inner wall of the receiving well is calculated in real time by the data analysis module 4 L r ;when L r Less than the deceleration threshold [ L r ], the pipe jacking machine 93 is controlled to reduce its jacking speed; then, according to the real-time position and posture data of the pipe jacking machine 93 at this time, the data analysis module 4 predicts when the front end of the pipe jacking machine is flush with the inner wall of the receiving well, that is, when L r =0, the receiving position coordinates of the pipe jacking machine are [ X ar , Y ar , Z ar ]; According to the predicted receiving position coordinates of the pipe jacking machine 93, make preparations for receiving the pipe jacking machine 93 in advance; In the specific implementation, the deceleration threshold [ L r ] is 50cm; the preparation work for receiving the pipe jacking machine 93 includes chiseling the concrete of the tunnel door and installing the guide rail; S600, determination of compensation length between relays: when the front end of the pipe jacking machine is flush with the inner wall of the receiving well, the number of remaining pipe sections entering the hole is calculated by the data analysis module 4 N p and the total compensation length between required relays S , and then determine the compensation length of each relay and implement compensation operation through the relay control module 8, so as to ensure that the front end face of the first section jacking pipe section 941 is located at the designed position of the tunnel door of the receiving well 92, and the rear end face of the tail section jacking pipe section 942 is located at the designed position of the tunnel door of the starting well 91; In the specific implementation, when the front end of the pipe jacking machine 93 is flush with the inner wall of the receiving well 92, the number of remaining pipe sections entering the hole is N p and the total compensation length between required relays S Satisfies the following expression: (3) in, D m is the length of the pipe jacking machine, D p1 is the entry length of the top pipe section of the launch well that is currently entering the hole. D t The minimum thickness required for post-cast door frame. D p is the length of a single jacking pipe section; the int function is a rounding down function, and the mod function is a remainder function; the post-cast door frame is a jacking pipe door frame structure formed by pouring concrete later, so the position of the post-cast door frame should be reserved after the jacking machine 93 is excavated into place; In specific implementation, the length of the pipe jacking machine D m 5.6m, the length of the top pipe section entering the hole in the launch well at this time D p1 The minimum thickness of the post-cast door frame is 1.5m. D t 0.5m, the length of a single jacking pipe section D p is 2.0m. According to formula (3), the number of remaining entry pipe sections is N p and the total compensation length between required relays S The calculation is as follows: (4) Maximum stroke of the cylinder that can be adjusted between single relays D c If the distance is 0.5m, the number of relay rooms that need to be compensated by telescopic cylinders N c Satisfies the following expression: (5) Considering the rationality of force and the convenience of construction, for the relay room that needs to be compensated by the telescopic cylinder, the compensation length of the relay room farthest from the receiving well is L c1 Satisfies the following expression: (6) The compensation length of other relays that need to be compensated by telescopic cylinders L cTake the maximum stroke of the oil cylinder that can be adjusted between single relays, that is, L c = D c ; The number of relay rooms that need to be compensated by telescopic cylinders in specific implementation N c It is 1, so there is no need for the remaining relay rooms to compensate through telescopic cylinders.

[0020] It can be seen that the real-time position and posture data of the pipe jacking machine are monitored by the sensors installed on the pipe jacking machine, so that the monitoring and control of the position deviation and posture deviation of the pipe jacking machine can be automated, real-time and efficient; the neural network technology is used to predict the correction control quantity of the pipe jacking machine in real time, without considering the internal control process, so that the complexity of the correction control problem is significantly reduced, and the neural network model is updated in real time according to the measured data, so that the neural network model can adapt to different geological conditions and construction environments and make more accurate predictions; the receiving position coordinates of the pipe jacking machine are predicted according to the real-time position and posture data of the pipe jacking machine, so as to prepare for the reception of the pipe jacking machine in advance; by calculating the remaining number of pipe sections entering the hole and the compensation length between each relay, it is ensured that the front end face of the first pipe section is located at the design position of the receiving well tunnel door, and the rear end face of the tail pipe section is located at the design position of the starting well tunnel door.

[0021] The above are one or more embodiments of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A measurement and control system for accurate reception of long-distance jacking pipe sections, including an information acquisition module, an information transmission module, a data storage module, a data analysis module, an alarm module, a jacking machine deviation correction module, an intelligent decision-making module and a relay room control module; The information acquisition module includes a positioning sensor, a pitch angle sensor, a roll angle sensor and an azimuth sensor; the positioning sensor is installed on the pipe jacking machine to obtain the real-time position coordinates of the pipe jacking machine; the pitch angle sensor is installed on the pipe jacking machine to obtain the real-time pitch angle of the pipe jacking machine; the roll angle sensor is installed on the pipe jacking machine to obtain the real-time roll angle of the pipe jacking machine; the azimuth sensor is installed on the pipe jacking machine to obtain the real-time azimuth of the pipe jacking machine; The information transmission module is used to establish remote connection and transmission of information between modules; The data storage module is used to store data generated and used by the measurement and control system; The data analysis module is used to calculate and analyze the data obtained by the information acquisition module, so as to obtain data analysis results; the data analysis results include the position deviation and posture deviation of the pipe jacking machine, the distance between the front end of the pipe jacking machine and the inner wall of the receiving well, the receiving position coordinates of the pipe jacking machine, the number of remaining entry pipe sections, the total compensation length between the required relays, and the compensation length of each relay; The alarm module is installed in the launch well and on the pipe jacking machine, and is used to send alarm information to the construction technicians according to the data analysis results; The pipe jacking machine deviation correction module includes a pipe jacking machine oil cylinder extension control device, a pipe jacking machine cutter head rotation control device and a grouting control device; the pipe jacking machine oil cylinder extension control device is used to control the extension amount of the pipe jacking machine oil cylinder, the pipe jacking machine cutter head rotation control device is used to control the rotation speed and direction of the pipe jacking machine cutter head, and the grouting control device is used to control the grouting pressure and grouting amount; The intelligent decision-making module adopts deep neural network model technology, obtains the correction control amount of the pipe jacking machine by inputting the position deviation and posture deviation of the pipe jacking machine, and then controls the correction module of the pipe jacking machine; The relay room control module is used to control the extension and retraction of the relay room jack cylinder.

2. A measurement and control method for accurate reception of long-distance pipe jacking sections, characterized in that: A measurement and control system for accurately receiving long-distance jacking pipe sections as claimed in claim 1, wherein the measurement and control method comprises the following steps: S100, position and posture monitoring of the pipe jacking machine: obtaining the real-time position and posture data of the pipe jacking machine through the information acquisition module, including the real-time position coordinates [ X a , Y a , Z a ], Real-time pitch angle U a , real-time roll angle V a and real-time azimuth W a ; According to the design requirements for the jacking structure axis in the design document, the design position and posture data corresponding to the real-time position and posture data of the jacking machine are obtained, including the design position coordinates [ X d , Y d , Z d ]、Design pitch angle U d , Design roll angle V d and design azimuth W d ; in, X a and X d are the position coordinate components along the axis of the jacking pipe structure. Y a and Y d They are all horizontal position coordinate components along the axis of the jacking pipe structure. Z a and Z d They are all the position coordinate components vertically along the axis of the jacking pipe structure; S200, position deviation analysis: According to the real-time position and posture data of the pipe jacking machine and the designed position and posture data, the position deviation of the pipe jacking machine is analyzed in real time through the data analysis module, including the jacking deviation ΔX , Plane Deviation ΔY and elevation deviation ΔZ , as shown in the following expression: in,[ ΔX ] is the limit of the jacking deviation of the pipe jacking machine, [ ΔY ] is the plane deviation limit of the pipe jacking machine, [ ΔZ ] is the elevation deviation limit of the pipe jacking machine; When the jacking deviation of the pipe jacking machine ΔX , Plane Deviation ΔY Or elevation deviation ΔZ If the requirements are not met, the alarm module triggers an alarm until the jacking deviation is reduced by adjusting the jacking machine. ΔX , Plane Deviation ΔY and elevation deviation ΔZ The alarm can be lifted only after the requirements are met; S300, posture deviation analysis: according to the real-time position posture data and the designed position posture data of the pipe jacking machine, the posture deviation of the pipe jacking machine is analyzed in real time through the data analysis module, including the pitch angle deviation. ΔU a , Rolling angle deviation ΔV a and azimuth deviation ΔW a , as shown in the following expression: in,[ ΔU ] is the pitch angle deviation limit, [ ΔV ] is the roll angle deviation limit, [ ΔW ] is the azimuth deviation limit; When the pitch angle deviation ΔU , Rolling angle deviation ΔV Or azimuth deviation ΔW When the limit value requirement is not met, the alarm is triggered by the alarm module until the pitch angle deviation is reduced by adjusting the pipe jacking machine. ΔU , Rolling angle deviation ΔV and azimuth deviation ΔW The alarm can be lifted only after the requirements are met; S400, intelligent control of the position and posture correction of the pipe jacking machine: the pipe jacking machine jacking deviation obtained by real-time analysis in step S200 and step S300 ΔX , Plane Deviation ΔY , elevation deviation ΔZ , Pitch angle deviation ΔU , Rolling angle deviation ΔV and azimuth deviation ΔW As an input quantity, after being input into the intelligent decision-making module, a pipe jacking machine deviation correction control quantity is obtained; the pipe jacking machine deviation correction control quantity includes but is not limited to the extension and contraction amount of the pipe jacking machine oil cylinder, the rotation speed and direction of the pipe jacking machine cutter head, the grouting pressure and the grouting amount; according to the pipe jacking machine deviation correction control quantity, the pipe jacking machine deviation correction module is controlled in real time and continuously to realize the dynamic deviation correction of the position and posture of the pipe jacking machine; S500, pipe jacking machine receiving measurement and control: According to the real-time position coordinates of the pipe jacking machine [ X a , Y a , Z a ], the distance between the front end of the pipe jacking machine and the inner wall of the receiving well is calculated in real time through the data analysis module L r ;when L r Less than the deceleration threshold [ L r ], the pipe jacking machine is controlled to reduce its jacking speed; then, according to the real-time position and posture data of the pipe jacking machine at this time, the data analysis module is used to predict when the front end of the pipe jacking machine is flush with the inner wall of the receiving well, that is, when L r =0, the receiving position coordinates of the pipe jacking machine are [ X ar , Y ar , Z ar ]; According to the predicted receiving position coordinates of the pipe jacking machine, make preparations for receiving the pipe jacking machine in advance; S600, determination of compensation length between relays: when the front end of the pipe jacking machine is flush with the inner wall of the receiving well, the number of remaining pipe sections entering the hole is calculated through the data analysis module N p and the total compensation length between required relays S , and then determine the compensation length between each relay and implement the compensation operation through the relay control module.

3. A measurement and control method for accurate reception of long-distance jacking pipe sections according to claim 2, characterized in that: In step S400, after the pipe jacking machine correction module is controlled according to the pipe jacking machine correction control amount, the real-time position and posture data of the pipe jacking machine after the correction control is obtained through the information acquisition module, and then the position deviation and posture deviation of the pipe jacking machine after the correction control are obtained according to steps S200 and S300; the pipe jacking machine correction control amount and the position deviation and posture deviation of the pipe jacking machine after the correction control are used as training data, and the deep neural network model adopted by the intelligent decision-making module is iteratively trained.

4. A measurement and control method for accurate reception of long-distance jacking pipe sections according to claim 2, characterized in that: In step S600, when the front end of the pipe jacking machine is flush with the inner wall of the receiving well, the number of remaining pipe sections is N p and the total compensation length between required relays S Satisfies the following expression: in, D m is the length of the pipe jacking machine, D p1 is the entry length of the top pipe section of the launch well that is currently entering the hole. D t The minimum thickness required for post-cast door frame. D p is the length of a single jacking pipe section; the int function is a rounding down function, and the mod function is a remainder function; The number of relay rooms that need to be compensated by telescopic cylinders N c Satisfies the following expression: in, D c The maximum stroke of the oil cylinder that can be adjusted between a single relays; Considering the rationality of force and the convenience of construction, for the relay room that needs to be compensated by the telescopic cylinder, the compensation length of the relay room farthest from the receiving well is L c1 Satisfies the following expression: The compensation length of other relays that need to be compensated by telescopic cylinders L c Take the maximum stroke of the oil cylinder that can be adjusted between single relays, that is, L c = D c .

Images