Intelligent box culvert jacking posture control method and system based on digital twinning

Abstract

The invention provides a box culvert jacking attitude intelligent control method and system based on digital twinning, and relates to the technical field of attitude control. Structural parameters of a box culvert entity, parameters of a construction environment, and elevation change data and axis offset data in a jacking process are obtained, and the two kinds of data are integrated to obtain a box culvert jacking attitude intelligent control system; generating a box culvert jacking attitude data frame sequence; according to box culvert entity reference information in the model and the updated box culvert real-time state information, combining the box culvert jacking attitude data frame sequence to determine box culvert actual attitude parameters, comparing the box culvert actual attitude parameters with box culvert design attitude parameters, determining attitude deviation types and attitude deviation values corresponding to the box culvert axis direction and the box culvert height direction respectively, and calculating the box culvert jacking attitude data frame sequence according to the attitude deviation types and the attitude deviation values. According to the method, the attitude adjustment control instruction is generated according to the attitude of the box culvert, so that the equipment drives the jack to adjust the jacking attitude of the box culvert according to the instruction, dynamic synchronization and accurate mapping of the structural state in the jacking process of the box culvert are realized, and the real-time performance, the accuracy and the control robustness of attitude adjustment are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of posture control, in particular to a box culvert jacking posture intelligent control method and system based on digital twinning. BACKGROUND

[0002] In the development of urban underground space and the construction of transportation infrastructure, box culvert jacking technology is widely used in channel construction under existing railways, highways or buildings. Due to the complex construction environment, especially under the condition of adjacent operating lines or soft foundation, the box culvert is easily affected by uneven earth pressure, foundation settlement and force deviation of the jacking system during jacking, resulting in deviation of the structure posture. In order to ensure construction safety and structure positioning accuracy, it is necessary to control the elevation and axis position of the box culvert in real time and dynamically, so as to avoid structure damage or disturbance to existing facilities caused by posture instability.

[0003] At present, for the control of box culvert jacking posture, the existing scheme adopts a feedback control method based on multi-sensor fusion and finite element simulation linkage. The real-time displacement and inclination data are obtained through the inclination sensors and total station instruments arranged in the front, middle and rear sections of the box, the finite element model is established in advance to simulate the stratum-structure interaction relationship, the posture trend that may occur in the next jacking cycle is predicted, and the jacking force distribution of each regional jack is adjusted accordingly. The control system generates a preliminary force value adjustment strategy based on the comparison of the measured data and the simulation results, and realizes a certain degree of automatic correction. However, the existing scheme still has obvious limitations. For example, the calculation process of the finite element model is time-consuming, and it is difficult to realize real-time dynamic updating synchronized with the construction progress, resulting in simulation state lagging behind the actual working condition; the model has high sensitivity to foundation parameters, and when there is a local mutation in the geological condition or a short-time abnormality in the sensor data, it is easy to produce misjudgment, and then output inaccurate correction instructions; the system lacks the ability of time sequence correlation analysis of the historical posture evolution process, and cannot fully tap the potential laws among the multi-dimensional monitoring data, resulting in insufficient robustness of the correction strategy under complex disturbance, and difficulty in adapting to the dynamic regulation and control requirements of long-distance and high-precision jacking construction. SUMMARY

[0004] The present application aims to provide a box culvert jacking posture intelligent control method and system based on digital twinning, to solve the problems of long calculation time leading to state update lag, sensitivity to foundation parameter changes leading to misjudgment, and lack of time sequence correlation analysis ability of historical posture data leading to insufficient robustness of correction strategy in the prior art.

[0005] To solve the above technical problems, in a first aspect, the present application provides a box culvert jacking posture intelligent control method based on digital twinning, comprising: Obtaining the structural parameters of the box culvert entity, the construction environment parameters, the elevation change data and the axis offset data in the jacking process, inputting the structural parameters and the construction environment parameters into a pre-constructed digital twin model, and the construction environment parameters including spatial position parameters of existing traffic lines and physical parameters of the foundation in the construction area; Integrating the elevation change data and the axis offset data to generate a box culvert jacking posture data frame sequence, and sending the box culvert jacking posture data frame sequence to a preset control terminal and a digital twin model; According to the box culvert entity reference information in the digital twin model and the updated box culvert real-time state information, combining the box culvert jacking posture data frame sequence, determining the box culvert actual posture parameters; Comparing the box culvert actual posture parameters with the box culvert design posture parameters pre-stored in the preset control terminal to determine the posture deviation types and posture deviation amounts corresponding to the box culvert axis direction and the box culvert height direction respectively; According to the posture deviation types and posture deviation amounts, calculating the corresponding correction force of the jacks in the jacking process to generate posture adjustment control instructions, sending the posture adjustment control instructions to the box culvert jacking equipment, and driving the jacks to adjust the output value and the output timing according to the posture adjustment control instructions to complete the box culvert jacking posture adjustment.

[0006] Optionally, according to the box culvert entity reference information in the digital twin model and the updated box culvert real-time state information, combining the box culvert jacking posture data frame sequence, determining the box culvert actual posture parameters, including: Retrieving the box culvert entity reference information and the updated box culvert real-time state information from the digital twin model, the box culvert entity reference information including the box culvert initial structural parameters, the initial spatial position parameters and the construction environment reference parameters, and the box culvert real-time state information including the box culvert structure stress distribution information, the jacking displacement cumulative value and the construction environment real-time change parameters; Determining the time range corresponding to the box culvert real-time state information, and screening the target period posture data with data collection time stamps within the time range from the box culvert jacking posture data frame sequence; Based on the initial spatial position parameters, the elevation change values, the axis offset values in the target period posture data and the jacking displacement cumulative value, the real-time elevation reference value and the real-time axis reference value corresponding to each data collection time stamp are calculated; Based on the real-time elevation reference value, the real-time axis reference value, and the jacking displacement cumulative value, combined with the initial structure parameter and the structure stress distribution information, the three-dimensional space coordinate parameter corresponding to each data acquisition timestamp is calculated, and the three-dimensional space coordinate parameter corresponding to the data acquisition timestamp of the historical time node at the rear is selected as the actual attitude parameter of the box culvert.

[0007] Optionally, based on the real-time elevation reference value, the real-time axis reference value, and the jacking displacement cumulative value, combined with the initial structure parameter and the structure stress distribution information, the three-dimensional space coordinate parameter corresponding to each data acquisition timestamp is calculated, including: The initial elevation value in the initial space position parameter is taken as the origin of the elevation direction coordinate axis, the initial axis position value is taken as the origin of the axis direction coordinate axis, and the jacking starting point of the box culvert is taken as the origin of the jacking direction coordinate axis, so as to establish a three-dimensional rectangular coordinate system, wherein the axis direction coordinate axis corresponds to the axis direction of the box culvert, the elevation direction coordinate axis corresponds to the height direction of the box culvert, and the jacking direction coordinate axis corresponds to the forward pushing direction of the box culvert; The real-time axis reference value corresponding to each data acquisition timestamp is assigned to the axis direction coordinate axis, the real-time elevation reference value corresponding to each data acquisition timestamp is assigned to the elevation direction coordinate axis, and the jacking displacement cumulative value corresponding to each data acquisition timestamp is assigned to the jacking direction coordinate axis, so as to form an initial three-dimensional coordinate; According to the box culvert width value and the side wall bearing capacity parameter in the initial structure parameter, combined with a preset structure anti-offset safety factor, a structure safety adaptation range in the axis direction of the box culvert is determined, if the axis direction coordinate axis coordinate of the initial three-dimensional coordinate exceeds the structure safety adaptation range, the axis direction coordinate axis coordinate is reduced by a preset proportion to be within the structure safety adaptation range, to obtain an actual axis direction coordinate; According to the stress difference value between the top of the box culvert and the bottom of the box culvert in the structure stress distribution information, the elevation direction coordinate axis coordinate of the initial three-dimensional coordinate is adjusted to obtain an actual elevation direction coordinate; The jacking displacement cumulative value is taken as the actual jacking direction coordinate of the initial three-dimensional coordinate, combined with the actual axis direction coordinate and the actual elevation direction coordinate, to form the three-dimensional space coordinate parameter corresponding to each data acquisition timestamp.

[0008] Optionally, the elevation change data and the axis offset data are associated and integrated to generate a box culvert jacking attitude data frame sequence, and the box culvert jacking attitude data frame sequence is sent to a preset control terminal and a digital twin model, including: The single elevation change data and the single axis offset data corresponding to the same data acquisition timestamp are bound to obtain multiple groups of associated data, and an acquisition device identifier is added to each group of associated data to form multiple box culvert jacking posture data. After receiving a connection confirmation signal of a preset control terminal and a digital twin model, a first data transmission channel of the data transmission link and the preset control terminal and a second data transmission channel of the data transmission link and the digital twin model are established. All box culvert jacking posture data are sorted and packaged in the order of data acquisition timestamps to generate a box culvert jacking posture data frame sequence, wherein each box culvert jacking posture data frame includes a frame header marked with a data transmission identifier, a frame body, and a frame tail marked with a data verification identifier. The box culvert jacking posture data frame sequence is sent to the preset control terminal through the first data transmission channel, and the box culvert jacking posture data frame sequence is sent to the digital twin model through the second data transmission channel.

[0009] Optionally, the box culvert actual posture parameters are compared with the box culvert design posture parameters pre-stored in the preset control terminal to determine the posture deviation types and posture deviation amounts corresponding to the box culvert axis direction and the box culvert height direction, including: The pre-stored box culvert design posture parameters are called from the storage unit of the preset control terminal, and the box culvert design posture parameters include design axis direction coordinate parameters and design elevation direction coordinate parameters, wherein the design axis direction coordinate parameters correspond to the standard position of the box culvert axis direction, and the design elevation direction coordinate parameters correspond to the standard position of the box culvert height direction. The actual axis direction coordinate in the box culvert actual posture parameters is subjected to difference operation with the design axis direction coordinate parameters to obtain a first operation result, the posture deviation type of the box culvert axis direction is determined according to the sign of the first operation result, and the absolute value of the first operation result is taken as the posture deviation amount of the box culvert axis direction. The actual elevation direction coordinate in the box culvert actual posture parameters is subjected to difference operation with the design elevation direction coordinate parameters to obtain a second operation result, the posture deviation type of the box culvert height direction is determined according to the sign of the second operation result, and the absolute value of the second operation result is taken as the posture deviation amount of the box culvert height direction.

[0010] In a second aspect, the application provides a box culvert jacking posture intelligent control system based on digital twinning, including: The acquisition module is configured to acquire structural parameters of the box culvert entity, construction environment parameters, elevation change data and axis offset data in the jacking process, input the structural parameters and the construction environment parameters into a pre-constructed digital twin model, and the construction environment parameters include spatial position parameters of existing traffic lines and physical parameters of a foundation in a construction area; The integration module is configured to associate and integrate the elevation change data and the axis offset data, generate a box culvert jacking posture data frame sequence, and send the box culvert jacking posture data frame sequence to a preset control terminal and the digital twin model. The first determination module is configured to determine actual posture parameters of the box culvert according to box culvert entity reference information in the digital twin model and updated real-time state information of the box culvert, in combination with the box culvert jacking posture data frame sequence. The second determination module is configured to compare the actual posture parameters of the box culvert with pre-stored box culvert design posture parameters in the preset control terminal, and determine posture deviation types and posture deviation amounts corresponding to a box culvert axis direction and a box culvert height direction, respectively. The generation module is configured to calculate a corresponding correction force of a jack in the jacking process according to the posture deviation types and the posture deviation amounts, to generate a posture adjustment control instruction, send the posture adjustment control instruction to the box culvert jacking device, and enable the box culvert jacking device to drive the jack to adjust an output value and an output timing according to the posture adjustment control instruction, to complete the box culvert jacking posture adjustment.

[0011] In a third aspect, the present application provides an electronic device, comprising: a memory configured to store a computer program; a processor configured to execute the computer program to implement the steps of the box culvert jacking posture intelligent control method based on a digital twin according to the first aspect.

[0012] In a fourth aspect, the present application provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executable by a processor to implement the steps of the box culvert jacking posture intelligent control method based on a digital twin according to the first aspect.

[0013] The box culvert jacking attitude intelligent control method based on digital twinning provided by the application realizes the digital representation of the construction object and external conditions by obtaining the box culvert entity structure parameters and construction environment parameters and inputting the pre-constructed digital twin model, providing high-fidelity initial input for subsequent dynamic simulation; the time stamp correlation integration of the real-time collected elevation change and axis offset data forms an ordered attitude data frame sequence and is synchronously transmitted to the control terminal and the digital twin model, ensuring the timing consistency and transmission reliability of multi-source monitoring information; with the aid of the collaborative analysis of the reference information in the digital twin model and the updated real-time state, combined with the continuous attitude data sequence, the recognition accuracy of the current spatial state of the box culvert is improved; by comparing the actual attitude parameters with the design attitude parameters in terms of direction, the deviation type and degree in the two dimensions of axis and elevation can be accurately identified, and the systematicness of attitude evaluation is enhanced; based on the identified deviation characteristics, the correction force required by the jack is calculated, and a control instruction containing the output value and the action time is generated to drive the jacking equipment to perform dynamic adjustment, realizing closed-loop control from state perception to execution feedback, improving the response speed and control continuity of attitude regulation in the box culvert jacking process, and relieving the problems of untimely control and strategy misalignment caused by model lag, environmental sensitivity and data isolation. Further, the box culvert reference information and the updated real-time state information in the digital twin model are retrieved, and the attitude data consistent with the current working condition are selected by combining the time range matching mechanism, realizing the accurate alignment of multi-dimensional information in the space-time dimension; on this basis, the initial position parameters, real-time displacement cumulative values and structure stress distribution are used to jointly calculate the three-dimensional space coordinates corresponding to each moment, and the results of the latest time node are taken as the actual attitude output, enhancing the dynamic adaptability and physical rationality of attitude determination; the problem that the traditional simulation model is difficult to synchronize with the actual progress due to independent operation is changed, the structure stress, displacement accumulation and real-time monitoring data are fused and calculated under the unified space-time reference, the interference of single data source anomaly on the overall judgment is reduced, and the stability of attitude recognition under the condition of geological condition fluctuation or sensor fluctuation is improved; at the same time, through the serialization processing of historical period data and the optimization of the latest state, the continuous tracking ability of the system to the attitude evolution trend is strengthened, the control shock caused by instantaneous misjudgment is avoided, thereby improving the robustness and continuity of attitude solution in the complex and changeable construction environment, which is helpful to realize more stable and reliable automatic correction control in the long-distance jacking process. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments or prior art of the present application, the accompanying drawings required to be used in the description of the embodiments or prior art will be briefly introduced. Obviously, the accompanying drawings described are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0015] Figure 1 A flowchart of a box culvert jacking attitude intelligent control method based on digital twinning provided by the embodiments of the present application is shown in the figure.

[0016] Figure 2 A specific implementation schematic diagram of a box culvert jacking attitude intelligent control method based on digital twinning provided by the embodiments of the present application is shown in the figure.

[0017] Figure 3 A structural schematic diagram of a box culvert jacking attitude intelligent control system based on digital twinning provided by the embodiments of the present application is shown in the figure. DETAILED DESCRIPTION

[0018] In view of the problem that the box culvert is easily affected by uneven load when passing through an operating line or a soft foundation and other complex environments, causing attitude deviation, in order to overcome the defects of the existing feedback control method based on finite element simulation linkage, such as state update lag caused by long calculation time, misjudgment caused by sensitivity to geological parameter changes, and inaccurate correction instructions and insufficient control robustness caused by lack of multi-dimensional data time sequence correlation analysis capability, the present application focuses on constructing a virtual mapping system highly synchronized with the actual construction progress, establishing a digital twinning model by pre-inputting box culvert structure and construction environment parameters, real-time fusion of elevation and axis deviation monitoring data to form an ordered data frame sequence and synchronously push to the control terminal and the model inside, using the dynamic interaction of the reference information in the model and the real-time state to analyze the current actual attitude, comparing it with the preset design attitude to identify the directional deviation and its quantitative value, and then calculating the correction force required by the jacks according to the deviation characteristics, and generating a refined control instruction containing the output value and timing to issue to the jacking equipment, to realize closed-loop regulation and control of the spatial position of the box culvert during jacking.

[0019] In order to make the person skilled in the art better understand the present application, the present application will be further described in detail below in combination with the drawings and specific embodiments. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0020] The core of the present application is to provide a box culvert jacking attitude intelligent control method based on digital twinning, and a flowchart of a specific embodiment is shown in the figure.Figure 1 As shown, the method comprises: Step 101: Obtain the structural parameters of the box culvert entity, the construction environment parameters, and the elevation change data and axis offset data in the jacking process, input the structural parameters and the construction environment parameters into the pre-constructed digital twin model, and the construction environment parameters include the spatial position parameters of the existing traffic lines and the physical parameters of the foundation in the construction area.

[0021] In this step, the structural parameters of the box culvert entity refer to the parameters reflecting the structural characteristics and mechanical properties of the box culvert itself, which are used to construct the virtual mapping of the box culvert entity in the digital twin model, and are obtained based on the box culvert design drawings, material test reports and factory acceptance data, including the length, width, height, wall thickness, material strength, cross-sectional size, self-weight, etc. of the box culvert. The construction environment parameters refer to the external environmental characteristic parameters of the area where the box culvert jacking construction is located, which are used to restore the construction scene in the digital twin model, and are obtained based on the pre-construction site survey data and existing facility archives, including the spatial position parameters of the existing traffic lines (such as the line direction, track elevation, horizontal and vertical distance from the box culvert) and the physical parameters of the foundation in the construction area (such as the bearing capacity, compression modulus, water content, and layered thickness of the foundation soil). The elevation change data refer to the lifting and lowering change data of the key monitoring points (such as the four corners of the top and bottom of the box culvert) of the box culvert relative to the initial elevation in the jacking process, which reflect the attitude fluctuation of the box culvert in the height direction, and are obtained based on real-time collection by devices such as level gauge and laser altimeter. The axis offset data refer to the horizontal offset data of the axis (the central axis in the length direction of the box culvert) of the box culvert relative to the design axis in the jacking process, which reflect the attitude deviation of the box culvert in the axis direction, and are obtained based on real-time collection by devices such as total station and laser collimator. The pre-constructed digital twin model refers to a virtual model highly consistent with the box culvert entity and the construction environment, which is constructed by digital modeling technology based on the box culvert entity design data (structural parameters) and construction environment survey data (construction environment parameters), and is used to real-time map the state of the box culvert entity, receive and integrate the structural parameters, construction environment parameters and box culvert jacking attitude data frame sequence, and provide a data fusion and analysis platform for determining the actual attitude parameters of the box culvert. The spatial position parameters of the existing traffic lines refer to the spatial position characteristic data of the existing railway, highway and other traffic lines in the box culvert jacking construction area, which are used to evaluate the influence of the box culvert attitude deviation on the existing lines, and are obtained based on the line design drawings and field measurement data, including the plane coordinates, elevation, track spacing, angle and minimum distance of the box culvert construction axis. The physical parameters of the foundation in the construction area refer to the physical and mechanical characteristic data of the foundation soil layer in the box culvert jacking construction area, which are used to analyze the influence of foundation deformation on the attitude of the box culvert, and are obtained based on geological survey drilling data and indoor soil test, including the unit weight, void ratio, internal friction angle, cohesion, compression coefficient, etc. of the foundation soil.

[0022] In the embodiments of the present application, first, the structural parameters of the box culvert entity are collected by sensors (such as displacement sensors and stress sensors) arranged on the surface of the box culvert entity and the construction area, the construction environment parameters (including the spatial position parameters of the existing traffic lines and the physical parameters of the foundation of the construction area) are obtained by referring to the box culvert design drawings and the construction survey report, and the elevation change data and the axis offset data in the jacking process are collected by elevation monitoring equipment (such as a level gauge) and axis monitoring equipment (such as a total station); then, the collected structural parameters of the box culvert entity and the construction environment parameters are input into the pre-constructed digital twin model (which is pre-constructed based on the box culvert entity design data and the initial construction environment survey data), thereby providing basic data support for the determination of the actual attitude parameters of the box culvert.

[0023] Step 102: associate and integrate the elevation change data and the axis offset data to generate a box culvert jacking attitude data frame sequence, and send the box culvert jacking attitude data frame sequence to a preset control terminal and a digital twin model.

[0024] In this step, the box culvert jacking attitude data frame sequence refers to the structured data sequence formed by associating and binding the elevation change data and the axis offset data collected in the box culvert jacking process according to the time stamp, adding device identifiers, and then sorting and packaging, which is used to transmit the real-time attitude data of the box culvert to the preset control terminal and the digital twin model, and ensures the time sequence and integrity of the data. The preset control terminal refers to a terminal device (such as an industrial computer) pre-configured to store box culvert design data, receive attitude data, perform deviation comparison, and generate control instructions, which is used to realize data analysis and instruction issuing for box culvert jacking attitude control. The key data stored include box culvert design attitude parameters, box culvert self-weight parameters, jack installation position information, and jacking speed parameters.

[0025] Step 103: according to the box culvert entity reference information in the digital twin model and the updated real-time state information of the box culvert, and in combination with the box culvert jacking attitude data frame sequence, determine the actual attitude parameters of the box culvert.

[0026] In this step, the box culvert entity reference information refers to the foundation state data of the box culvert jacking construction initial stage, which is used as the comparison reference of the actual attitude parameters of the box culvert. It is obtained based on the acceptance data before the construction of the box culvert and the initial survey data of the environment, including the initial structure parameters of the box culvert (structure size detected before construction, material performance), initial spatial position parameters (coordinates and elevation of the starting jacking position of the box culvert), and construction environment reference parameters (physical parameters of the foundation before construction, position parameters of the existing line). The updated box culvert real-time state information refers to the dynamic state data of the box culvert updated by the digital twin model receiving the box culvert jacking attitude data frame sequence combined with the real-time collected environmental data, reflecting the current stress and displacement state of the box culvert. It is obtained based on the real-time data fusion of the digital twin model, including the stress distribution information of the box culvert structure (stress values of the side wall, top and bottom of the box culvert), the jacking displacement cumulative value (total pushing distance of the box culvert from the starting position to the current position), and the real-time change parameters of the construction environment (real-time settlement of the foundation soil, small displacement of the existing line). The actual attitude parameters of the box culvert refer to the parameters reflecting the current real space attitude of the box culvert, which are used for comparison with the design attitude to determine the deviation. They are calculated based on the box culvert entity reference information in the digital twin model, the updated box culvert real-time state information, and the box culvert jacking attitude data frame sequence, and specifically represented as the three-dimensional space coordinate parameters of the key monitoring points of the box culvert (axis direction, height direction, and jacking direction coordinates).

[0027] Step 104: Compare the actual attitude parameters of the box culvert with the pre-stored box culvert design attitude parameters in the pre-set control terminal to determine the attitude deviation type and attitude deviation amount corresponding to the box culvert axis direction and box culvert height direction, respectively.

[0028] In this step, the box culvert design attitude parameter refers to the target attitude data of the box culvert jacking construction, which is used as the comparison standard of the actual attitude parameter of the box culvert, and is obtained based on the box culvert construction design drawings and engineering acceptance specifications, including design axis direction coordinate parameters (horizontal coordinates of the design axis that the box culvert should follow) and design elevation direction coordinate parameters (design elevations that the key monitoring points of the box culvert should reach). The box culvert axis direction refers to the horizontal direction along which the central axis of the length direction of the box culvert, which is the key dimension for judging whether the box culvert has horizontal deviation, and is used to define the horizontal direction of the attitude deviation of the box culvert (such as left deviation and right deviation), which is perpendicular to the jacking direction of the box culvert. The box culvert height direction refers to the up-down direction of the box culvert perpendicular to the ground, which is the key dimension for judging whether the box culvert has lifting deviation, and is used to define the vertical direction of the attitude deviation of the box culvert (such as over-high deviation and over-low deviation), which together with the jacking direction and the axis direction forms a three-dimensional coordinate system. The attitude deviation type refers to the direction attribute of the attitude deviation of the box culvert determined according to the comparison result of the actual attitude parameter and the design attitude parameter, which is used to determine the correction direction, and is obtained based on the positive and negative signs of the difference between the actual attitude parameter and the design attitude parameter, including left deviation, right deviation in the axis direction, and over-high deviation and over-low deviation in the height direction. The attitude deviation amount refers to the degree of the attitude deviation of the box culvert determined according to the comparison result of the actual attitude parameter and the design attitude parameter, which is used to determine the correction degree, and is obtained based on the absolute value of the difference between the actual attitude parameter and the design attitude parameter, reflecting the specific numerical value of the deviation of the box culvert from the design attitude.

[0029] Step 105: According to the attitude deviation type and the attitude deviation amount, the correction force corresponding to the jacks in the jacking process is calculated to generate an attitude adjustment control instruction, and the attitude adjustment control instruction is sent to the box culvert jacking equipment to make the box culvert jacking equipment drive the jacks to adjust the output value and the output timing according to the attitude adjustment control instruction, and complete the attitude adjustment of the box culvert jacking.

[0030] In this step, the correction force refers to the force size and direction that the jack needs to apply to drive the box culvert to return to the design attitude, which is calculated based on the box culvert attitude deviation, box culvert self-weight parameters and jack installation position information, including total correction force in the axial direction, total correction force in the height direction, and single jack axial direction output value and height direction output value. The attitude adjustment control instruction refers to the instruction for controlling the action of the jack driven by the box culvert jacking equipment, which is used to realize attitude correction and is generated based on the correction force of the jack and the jacking speed parameters, and contains the identity of each jack, the axial direction output value, the height direction output value, the start output time node and the output time length. The box culvert jacking equipment refers to the equipment for driving the box culvert to jacking forward and performing attitude adjustment, which is used to receive the attitude adjustment control instruction and drive the action of the jack, including the jack group, the hydraulic control system and the power unit, and can adjust the output value and output time of different jacks according to the instruction to realize the cooperation of box culvert jacking and attitude correction.

[0031] The embodiment of the present application realizes real-time mapping of the construction state and dynamic updating of data, can reduce the sensitivity to single foundation parameters, reduce the misjudgment caused by geological mutations or abnormal data, improve the robustness of the correction strategy under complex disturbance, and can also realize real-time and dynamic precise control of the elevation and axis position of the box culvert, avoid structural damage and disturbance to existing traffic lines caused by attitude instability, meet the regulation and control requirements of long-distance and high-precision box culvert jacking construction, and is especially suitable for complex construction environments such as adjacent operating lines or soft foundation.

[0032] The present application provides an embodiment, step 102, associating and integrating the elevation change data and the axis offset data to generate a box culvert jacking attitude data frame sequence, and sending the box culvert jacking attitude data frame sequence to a preset control terminal and a digital twin model, specifically including the following steps: Step 201: Based on the data collection timestamp, bind a single piece of elevation change data corresponding to a single data collection timestamp with a single piece of axis offset data to obtain multiple groups of associated data, and add a collection equipment identifier to each group of associated data to form multiple pieces of box culvert jacking attitude data, wherein the single piece of elevation change data and the single piece of axis offset data are single data in the elevation change data and the axis offset data.

[0033] In this step, the data collection timestamp refers to a specific time mark recorded synchronously by the collection device when collecting elevation change data and axis offset data, used as a basis for associating the two types of data at the same time, ensuring that the data corresponds to the same jacking state of the box culvert, and is generated in real time based on the system clock of the collection device. The association basis refers to the reference standard used to bind a single piece of elevation change data with a single piece of axis offset data. In this step, it specifically refers to the data collection timestamp, which is used to ensure that the two types of data come from the same collection time, avoiding distortion of the attitude data caused by time misalignment. The single piece of elevation change data refers to a single elevation change record corresponding to a single data collection timestamp extracted from the overall elevation change data, reflecting the elevation fluctuation of the box culvert key monitoring point at a certain time, used to associate with the axis offset data at the same period, and obtained by splitting the overall elevation change data based on the time stamp. The single piece of axis offset data refers to a single axis offset record corresponding to a single data collection timestamp extracted from the overall axis offset data, reflecting the horizontal offset of the box culvert axis at a certain time, used to associate with the elevation change data at the same period, and obtained by splitting the overall axis offset data based on the time stamp. The associated data refers to the combined data formed by binding a single piece of elevation change data with a single piece of axis offset data corresponding to the same data collection timestamp, reflecting the complete attitude of the box culvert at a certain time, and used to generate the box culvert jacking attitude data subsequently. The collection device identifier refers to a unique marker (such as sensor number GC-01, monitor model ZX-2025) used to distinguish different data collection devices, used to trace the collection source of each set of associated data, facilitating subsequent data anomaly investigation, and obtained based on the factory identification or number allocation before construction of the collection device. The box culvert jacking attitude data refers to the structured data formed by adding the collection device identifier to the associated data, containing the elevation change, axis offset, and data source information of the box culvert at a certain time, and used to generate the box culvert jacking attitude data frame sequence subsequently.

[0034] In the embodiments of the present application, first, the data collection timestamp is determined as the association basis, a single data is extracted from the collected elevation change data as a single piece of elevation change data, and a single data with the same data collection timestamp as the single piece of elevation change data is extracted from the collected axis offset data as a single piece of axis offset data. The two single pieces of data corresponding to the same timestamp are bound one by one to form a set of associated data. This operation is repeated to bind all single pieces of elevation change data and single pieces of axis offset data of different timestamps to obtain multiple sets of associated data. Then, a collection device identifier (which is the device number or model number of the data collection device, such as the elevation sensor number or the axis monitor model) is added to each set of associated data to clearly indicate the source of each set of data, and finally multiple independent box culvert jacking attitude data are formed.

[0035] Step 202: After receiving the connection confirmation signal of the preset control terminal and the digital twin model, a first data transmission channel between the data transmission link based on the TCP / IP protocol and the preset control terminal and a second data transmission channel between the data transmission link and the digital twin model are established.

[0036] In this step, the data transmission link based on the TCP / IP protocol refers to a network connection channel established in accordance with the TCP / IP (Transmission Control Protocol / Internet Protocol) communication rules, which is used to realize the transmission of the box culvert jacking posture data frame sequence to the preset control terminal and the digital twin model, ensure the stability and universality of data transmission, and is built based on the local area network or special communication network of the construction area. The connection confirmation signal refers to the [ready] confirmation information sent by the preset control terminal or the digital twin model to the data transmission link based on the TCP / IP protocol after completing the data reception preparation, which is used to judge whether the receiving object has the data reception condition, avoid data transmission failure, and is generated based on the system self-checking result of the receiving end. The first data transmission channel refers to the exclusive data transmission channel established between the data transmission link based on the TCP / IP protocol and the preset control terminal, which is used to transmit the box culvert jacking posture data frame sequence to the preset control terminal alone, avoid mutual interference with the data transmission of the digital twin model, and is triggered to be established based on the connection confirmation signal. The second data transmission channel refers to the exclusive data transmission channel established between the data transmission link based on the TCP / IP protocol and the digital twin model, which is used to transmit the box culvert jacking posture data frame sequence to the digital twin model alone, avoid mutual interference with the data transmission of the preset control terminal, and is triggered to be established based on the connection confirmation signal.

[0037] In the embodiment of the application, the data transmission link based on the TCP / IP protocol (which is a network connection channel for transmitting data and follows the TCP / IP communication rules) is started first, and then the connection confirmation signal (which is the confirmation information of [ready to receive data] sent by the terminal or the model) feedback by the preset control terminal and the digital twin model is waited for. After successfully receiving the connection confirmation signals sent by the preset control terminal and the digital twin model respectively, the exclusive data channel between the data transmission link based on the TCP / IP protocol and the preset control terminal is established based on the started data transmission link, which is named as the first data transmission channel, and the exclusive data channel between the data transmission link and the digital twin model is established at the same time, which is named as the second data transmission channel, so as to ensure that the data transmission of the two types of receiving objects is independent of each other.

[0038] Step 203: Sort and package all box culvert jacking posture data in the order of data acquisition time stamp to generate a box culvert jacking posture data frame sequence, wherein each box culvert jacking posture data frame includes a frame header marked with a data transmission identifier, a frame body, and a frame tail marked with a data verification identifier.

[0039] In this step, the box culvert jacking attitude data frame refers to the structured data unit formed after encapsulating a single box culvert jacking attitude data, which includes a frame header, a frame body and a frame tail, and is used to form a box culvert jacking attitude data frame sequence to ensure the integrity and identifiability in the data transmission process. The frame header marked with a data transmission identifier refers to the header area of the box culvert jacking attitude data frame, wherein the marked data transmission identifier is information for explaining data attributes (such as data type: box culvert attitude data, transmission priority: high, data length), which is used to help the receiving end quickly identify the purpose of the data and is generated based on the preset frame header format and data attribute information. The frame body refers to the middle core area of the box culvert jacking attitude data frame, which is used to store the sorted single box culvert jacking attitude data and is the core content of data transmission, and is directly filled based on the box culvert jacking attitude data. The frame tail marked with a data verification identifier refers to the tail area of the box culvert jacking attitude data frame, wherein the marked data verification identifier is information for verifying data integrity (such as a summation check value), which is used for the receiving end to judge whether there is loss or error in data transmission, and is calculated based on the verification algorithm of the frame body data.

[0040] In the embodiments of the present application, all box culvert jacking attitude data is arranged in chronological order from early to late according to the chronological order of the data collection time stamps; then each box culvert jacking attitude data after sorting is encapsulated to form a single box culvert jacking attitude data frame, wherein the structure of each box culvert jacking attitude data frame includes three parts: a frame header marked with a data transmission identifier (the data transmission identifier marked in the frame header is information for explaining data type and transmission priority, such as box culvert attitude data and high priority), a frame body (the frame body stores the sorted single box culvert jacking attitude data), and a frame tail marked with a data verification identifier (the data verification identifier marked in the frame tail is information for verifying data integrity, such as a check code); all encapsulated box culvert jacking attitude data frames are combined in chronological order to generate a box culvert jacking attitude data frame sequence.

[0041] Step 204: sending the box culvert jacking attitude data frame sequence to the preset control terminal through the first data transmission channel and sending the box culvert jacking attitude data frame sequence to the digital twin model through the second data transmission channel.

[0042] In the embodiments of the present application, the box culvert jacking attitude data frame sequence is completely sent to the preset control terminal through the first data transmission channel for the preset control terminal to store and subsequently use for deviation comparison; at the same time, the same box culvert jacking attitude data frame sequence is completely sent to the digital twin model through the second data transmission channel for the digital twin model to update the virtual state of the box culvert and subsequently use for determining the actual attitude parameters of the box culvert.

[0043] The embodiment of the application ensures the consistency of the data time sequence by associating a single elevation with axis data with a data collection timestamp, avoids attitude judgment deviation caused by time misalignment, adds a collection device identifier to facilitate tracing the data source and reduce the difficulty of data anomaly troubleshooting, avoids mutual interference of data transmission through a transmission link based on the TCP / IP protocol and independent first and second data transmission channels, improves the stability of data transmission, encapsulates the frame structure with a transmission identifier and a verification identifier to ensure that the receiving end quickly identifies the purpose of the data and verifies the integrity of the data, reduces model misjudgment or control instruction errors caused by data distortion, provides reliable and real-time data support for subsequent determination of actual attitude parameters of the box culvert and accurate correction, and is especially suitable for long-distance and high-precision box culvert jacking data transmission requirements in complex construction environments.

[0044] The application provides a specific embodiment as shown in Figure 2 Step 103, according to the box culvert entity reference information in the digital twin model and the updated real-time state information of the box culvert, and in combination with the box culvert jacking attitude data frame sequence, the actual attitude parameters of the box culvert are determined, specifically including the following steps: Step 301: The box culvert entity reference information and the updated real-time state information of the box culvert are called from the digital twin model, the box culvert entity reference information includes initial structure parameters, initial spatial position parameters and construction environment reference parameters, and the real-time state information of the box culvert includes stress distribution information of the box culvert structure, jacking displacement cumulative value and real-time change parameters of the construction environment.

[0045] In this step, the initial structure parameters of the box culvert refer to the foundation structure and mechanical property data before the construction of the box culvert, including the length, width, wall thickness, cross-sectional size reflecting the geometric characteristics of the box culvert, and the self-weight and side wall bearing capacity parameters reflecting the material performance, which are used as the initial structure reference for building the digital twin model and are obtained based on design drawings and material test reports. The initial spatial position parameters refer to the spatial positioning data of the jacking starting state of the box culvert, including the initial elevation value (height coordinate of the starting position), initial axis position value (horizontal coordinate of the starting axis), and three-dimensional coordinates of the jacking starting point of the box culvert, which are used to establish the spatial reference for attitude monitoring and are obtained based on pre-construction surveying and setting-out data. The construction environment reference parameters refer to the initial environmental data at the initial stage of construction, including the initial physical parameters of the foundation soil and the initial spatial position of the existing line, which are used for the initial mapping of the environment of the digital twin model and are obtained based on pre-construction geological survey and facility mapping data. The stress distribution information of the box culvert structure refers to the stress size and distribution state data of each part of the structure during the jacking process, reflecting the stress state of the structure, which is used to calibrate the attitude parameters and is obtained based on real-time collection of stress sensors. The jacking displacement cumulative value refers to the total jacking distance of the box culvert from the starting position to the current time, reflecting the jacking progress, which is obtained based on the cumulative calculation of the stroke sensor of the jacking equipment. The real-time change parameters of the construction environment refer to the dynamic change data of the environment during the construction process, including the real-time settlement of the foundation and the small displacement of the existing line, which are used to update the environmental state of the digital twin model and are obtained based on real-time collection of environmental monitoring sensors.

[0046] Step 302: Determine the time range corresponding to the real-time state information of the box culvert, and select the target period attitude data with data collection time stamps within the time range from the sequence of box culvert jacking attitude data frames.

[0047] In this step, the time range refers to the continuous time period covered by the real-time state information of the box culvert, which is used to match the corresponding attitude monitoring data and is determined based on the start and end times of the collection of real-time state information. The target period attitude data refers to the attitude data selected from the sequence of box culvert jacking attitude data frames with data collection time stamps within the above-mentioned time range, which is used to calculate the actual attitude parameters of the corresponding period and is obtained based on time stamp matching and selection.

[0048] Step 303: Based on the initial spatial position parameters, the elevation change value and the axis offset value in the target period attitude data, and the jacking displacement cumulative value, the real-time elevation reference value and the real-time axis reference value corresponding to each data collection time stamp are calculated.

[0049] In this step, the elevation change value refers to the change amount of the key monitoring point of the box culvert relative to the initial elevation, reflecting the attitude fluctuation in the height direction, and is obtained based on the real-time collection of the elevation monitoring equipment. The axis offset value refers to the horizontal offset amount of the axis of the box culvert relative to the initial axis, reflecting the attitude deviation in the axis direction, and is obtained based on the real-time collection of the axis monitoring equipment. The real-time elevation reference value refers to the real-time height reference data calculated by combining the initial elevation and the elevation change value, used for three-dimensional coordinate construction, and is obtained based on the fusion calculation of the initial spatial position parameter and the attitude data of the target period. The real-time axis reference value refers to the real-time horizontal reference data calculated by combining the initial axis position and the axis offset value, used for three-dimensional coordinate construction, and is obtained based on the fusion calculation of the initial spatial position parameter and the attitude data of the target period.

[0050] Step 304: Based on the real-time elevation reference value, the real-time axis reference value, and the jacking displacement cumulative value, the initial structure parameter and the structure stress distribution information are combined to calculate the three-dimensional spatial coordinate parameter corresponding to each data collection timestamp, and the three-dimensional spatial coordinate parameter corresponding to the data collection timestamp of the historical time node later is selected as the actual attitude parameter of the box culvert.

[0051] In this step, the three-dimensional spatial coordinate parameter refers to the three-dimensional coordinate data reflecting the spatial position of the box culvert at a certain time, including the axis direction, the elevation direction, and the jacking direction coordinate, used to represent the attitude state, and is calculated based on the real-time reference value and the jacking displacement cumulative value. The data collection timestamp of the historical time node later refers to the latest time marker in all collection times, used to select the parameter closest to the actual state at present, and is determined based on the data collection time sequence. The actual attitude parameter of the box culvert refers to the latest three-dimensional spatial coordinate parameter selected, reflecting the current real attitude of the box culvert, used for comparison with the design attitude, and is determined based on the historical time node later.

[0052] Optionally, in step 304, based on the real-time elevation reference value, the real-time axis reference value, and the jacking displacement cumulative value, the initial structure parameter and the structure stress distribution information are combined to calculate the three-dimensional spatial coordinate parameter corresponding to each data collection timestamp, specifically including the following steps: Step 311: Taking the initial elevation value in the initial spatial position parameter as the origin of the elevation direction coordinate axis, the initial axis position value as the origin of the axis direction coordinate axis, and the jacking starting point of the box culvert as the origin of the jacking direction coordinate axis, a three-dimensional rectangular coordinate system is established, wherein the axis direction coordinate axis corresponds to the axis direction of the box culvert, the elevation direction coordinate axis corresponds to the height direction of the box culvert, and the jacking direction coordinate axis corresponds to the forward jacking direction of the box culvert.

[0053] In this step, the initial elevation value refers to the height reference value of the starting position of the box culvert jacking, serving as the origin of the elevation direction coordinate axis, and is obtained based on the pre-construction elevation measurement. The elevation direction coordinate axis refers to the coordinate axis representing the height change in the three-dimensional rectangular coordinate system, corresponding to the height direction of the box culvert, used to quantify the elevation posture, and is established based on the initial elevation value. The initial axis position value refers to the horizontal reference value of the starting axis of the box culvert jacking, serving as the origin of the axis direction coordinate axis, and is obtained based on the pre-construction axis measurement. The axis direction coordinate axis refers to the coordinate axis representing the horizontal offset in the three-dimensional rectangular coordinate system, corresponding to the axis direction of the box culvert, used to quantify the axis posture, and is established based on the initial axis position value. The box culvert jacking starting point refers to the initial position point of the box culvert jacking, serving as the origin of the jacking direction coordinate axis, and is determined based on the construction layout. The jacking direction coordinate axis refers to the coordinate axis representing the pushing distance in the three-dimensional rectangular coordinate system, corresponding to the forward pushing direction of the box culvert, used to quantify the jacking progress, and is established based on the box culvert jacking starting point. The three-dimensional rectangular coordinate system refers to the spatial coordinate system composed of the axis direction, elevation direction, and jacking direction coordinate axes, used to completely describe the spatial posture of the box culvert, and is established based on the initial spatial position parameters. The box culvert axis direction refers to the horizontal direction along the central axis of the length direction of the box culvert, corresponding to the axis direction coordinate axis, used to define the horizontal posture dimension. The box culvert height direction refers to the up-down direction perpendicular to the ground of the box culvert, corresponding to the elevation direction coordinate axis, used to define the vertical posture dimension. The forward pushing direction of the box culvert refers to the advancing direction of the box culvert jacking construction, corresponding to the jacking direction coordinate axis, used to define the pushing progress dimension.

[0054] Step 312: Assigning the real-time axis reference value corresponding to each data acquisition timestamp to the axis direction coordinate axis, assigning the real-time elevation reference value corresponding to each data acquisition timestamp to the elevation direction coordinate axis, and assigning the jacking displacement cumulative value corresponding to each data acquisition timestamp to the jacking direction coordinate axis to form an initial three-dimensional coordinate.

[0055] In this step, the initial three-dimensional coordinate refers to the uncalibrated three-dimensional coordinate generated directly based on the real-time reference value and the jacking displacement cumulative value, serving as the original data for posture calculation, and is obtained based on the coordinate axis assignment. The box culvert width value refers to the lateral dimension data of the box culvert, used to determine the safe boundary of axis deviation, and is obtained based on the design drawings.

[0056] Step 313: According to the box culvert width value and the side wall bearing capacity parameter in the initial structure parameters, and combining a pre-set structure anti-deviation safety factor, determining the structure safety adaptation range of the box culvert axis direction. If the axis direction coordinate axis coordinate of the initial three-dimensional coordinate exceeds the structure safety adaptation range, then reducing the axis direction coordinate axis coordinate by a pre-set proportion to within the structure safety adaptation range to obtain the actual axis direction coordinate.

[0057] In this step, the side wall bearing capacity parameter refers to the limit capacity data of the box culvert side wall bearing external force, which is used to calculate the structural safety adaptation range and is obtained based on material mechanics test. The preset structure anti-deviation safety factor refers to the redundancy factor set to ensure the safety of the structure, which is used to expand the safety boundary and is determined based on engineering safety specifications. The structural safety adaptation range refers to the maximum deviation interval allowed in the axis direction of the box culvert, which is used to judge whether the axis coordinate is safe, and is calculated based on the box culvert width value, the side wall bearing capacity parameter and the preset safety factor. The axis direction coordinate axis coordinate refers to the value of the axis direction in the initial three-dimensional coordinate, which is used for safety verification and is obtained based on the real-time axis reference value. The preset ratio refers to the reduction ratio when the axis coordinate exceeds the safety range, which is used to control the deviation within the safety range and is set based on engineering experience. The actual axis direction coordinate refers to the axis direction coordinate after safety calibration, which is used to form the final three-dimensional coordinate and is obtained by adjusting the axis direction coordinate axis coordinate. The stress difference between the top and bottom of the box culvert refers to the difference between the stress at the top and the stress at the bottom of the box culvert, which reflects the vertical stress difference of the structure and is used to calibrate the elevation coordinate, and is calculated based on the structural stress distribution information.

[0058] Step 314: Adjusting the elevation direction coordinate axis coordinate of the initial three-dimensional coordinate according to the stress difference between the top and bottom of the box culvert in the structural stress distribution information, to obtain the actual elevation direction coordinate.

[0059] In this step, the elevation direction coordinate axis coordinate refers to the value of the elevation direction in the initial three-dimensional coordinate, which is used for stress calibration and is obtained based on the real-time elevation reference value. The actual elevation direction coordinate refers to the elevation direction coordinate after stress calibration, which is used to form the final three-dimensional coordinate and is obtained by adjusting the elevation direction coordinate axis coordinate and the stress difference.

[0060] Step 315: Taking the jacking displacement cumulative value as the actual jacking direction coordinate of the initial three-dimensional coordinate, combining the actual axis direction coordinate, the actual elevation direction coordinate, to form the three-dimensional space coordinate parameter corresponding to each data collection timestamp.

[0061] In this step, the actual jacking direction coordinate refers to directly using the jacking displacement cumulative value as the coordinate of the jacking direction, which is used to form the final three-dimensional coordinate and is determined based on the jacking displacement cumulative value.

[0062] In the embodiments of the present application, first, data is called from the basic data storage module and the real-time state updating module built in the digital twin model through step 301: the basic data storage module specially stores the box culvert entity reference information, which includes the initial structure parameters of the box culvert (such as the box culvert width, wall thickness, side wall bearing capacity parameters, and other data preset based on design drawings and material detection reports), initial spatial position parameters (such as the initial elevation value, initial axis position value, and box culvert jacking starting point three-dimensional coordinates determined based on pre-construction measurement and line laying), and construction environment reference parameters (such as the initial bearing capacity of the foundation based on geological survey and the initial spatial position of the existing line); the real-time state updating module stores the updated box culvert real-time state information, which includes the box culvert structure stress distribution information (such as the real-time stress values of the monitoring points on the top, bottom and side wall of the box culvert) collected by the stress sensors arranged on the surface of the box culvert, the jacking displacement cumulative value (such as the total pushing distance from the start of jacking to the current time) calculated by the stroke sensor of the jacking equipment, and the real-time change parameters of the construction environment (such as the real-time settlement of the foundation and the small displacement of the existing line) collected by the environmental monitoring equipment. By calling these two types of data, complete basic data support is provided for the subsequent calculation of the actual posture parameters of the box culvert. Secondly, the data time range is determined and the target data is selected through step 302: first, the collection time stamps of all data in the box culvert real-time state information are extracted, and the earliest collection time (denoted as T1) and the latest collection time (denoted as T2) are found out to determine the time range from T1 to T2; then, according to the chronological order of the data collection time stamps, each data frame in the box culvert jacking posture data frame sequence is traversed one by one, and it is checked whether the collection time stamp of each data frame is within the range from T1 to T2. If it is within the range, the data frame is retained, and if it is beyond the range, it is excluded. Finally, all retained data frames are integrated into target period posture data, ensuring that the posture data used for subsequent calculation is completely matched with the box culvert real-time state information in the time dimension, and avoiding the deviation of posture calculation caused by time misalignment.Then the real-time reference value is calculated through step 303: first, the initial elevation value (such as 30m) and the initial axis position value (such as 0m) in the initial spatial position parameter are extracted; then the elevation change value (such as +0.02m corresponding to a certain timestamp, representing that the box culvert monitoring point is 0.02m higher than the initial elevation at that moment) and the axis offset value (such as +0.03m corresponding to a certain timestamp, representing that the box culvert axis is 0.03m right of the initial axis at that moment) corresponding to each data acquisition timestamp in the target period attitude data are read one by one; then for each timestamp, the initial elevation value is added to the corresponding elevation change value to obtain the real-time elevation reference value of the timestamp (such as 30m+0.02m=30.02m), and the initial axis position value is added to the corresponding axis offset value to obtain the real-time axis reference value of the timestamp (such as 0m+0.03m=0.03m); at the same time, the jacking displacement cumulative value (such as 10m corresponding to the timestamp, representing that the box culvert has been pushed forward 10m by that moment) of the corresponding timestamp in the box culvert real-time state information is associated to form a corresponding data group of real-time elevation reference value-real-time axis reference value-jacking displacement cumulative value for each timestamp. Finally, the three-dimensional spatial coordinate parameter calculation and the box culvert actual attitude parameter determination are completed through step 304 in five sub-steps: first, step 311 is executed to build the coordinate system: taking the initial elevation value (such as 30m) in the initial spatial position parameter as the origin, an elevation direction coordinate axis (corresponding to the box culvert height direction, used to quantify the up and down deviation of the box culvert) perpendicular to the ground and upward as the positive direction is established; taking the initial axis position value (such as 0m) as the origin, an axis direction coordinate axis (corresponding to the box culvert axis direction, used to quantify the left and right deviation of the box culvert) parallel to the ground and perpendicular to the box culvert advancing direction, right as the positive direction is established; taking the box culvert jacking starting point (such as the projection point of the box culvert front end face center point on the ground) as the origin, a jacking direction coordinate axis (corresponding to the box culvert forward advancing direction, used to quantify the box culvert advancing distance) parallel to the ground and along the box culvert advancing direction as the positive direction is established, and a complete three-dimensional rectangular coordinate system is constructed through the three mutually perpendicular coordinate axes. Then step 312 is executed to generate the initial three-dimensional coordinates: for each data acquisition timestamp, the real-time axis reference value (such as 0.03m) corresponding to the timestamp is directly assigned to the axis direction coordinate axis, the real-time elevation reference value (such as 30.02m) is directly assigned to the elevation direction coordinate axis, and the jacking displacement cumulative value (such as 10m) is directly assigned to the jacking direction coordinate axis, forming the initial three-dimensional coordinates of the timestamp, such as (0.03m, 30.02m, 10m).The step 313 is performed to calibrate the axis direction coordinate: the box culvert width value (e.g., 5 m) and the side wall bearing capacity parameter (e.g., the compressive strength design value of C30 concrete is 14.3 MPa) are extracted from the initial structure parameter, and the preset structure anti-offset safety factor (e.g., 1.2 based on the engineering safety specification) is combined to calculate the structure safety adaptation range in the axis direction: taking 1 / 10 of the box culvert width (e.g., 5 m x 1 / 10 = 0.5 m) as the basis offset, multiplied by the safety factor 1.2 to get 0.6 m, and taking the axis origin as the center, the structure safety adaptation range is determined to be -0.3 m to +0.3 m (0.3 m on the left and right); then check whether the axis coordinate (e.g., 0.03 m) of each initial three-dimensional coordinate is within the range, if it is within the range, the coordinate is directly retained as the axis coordinate to be calibrated, if it is out of the range (e.g., the axis coordinate of an initial coordinate is 0.4 m), the axis coordinate is reduced by a preset proportion (e.g., 0.75 based on engineering experience) (0.4 m x 0.75 = 0.3 m) to make it fall within the safety adaptation range, and finally the actual axis direction coordinate of each timestamp is obtained. The step 314 is performed to calibrate the elevation direction coordinate: the box culvert top stress value (e.g., 3 MPa) and the box culvert bottom stress value (e.g., 2.5 MPa) corresponding to each data collection timestamp are extracted from the box culvert structure stress distribution information, and the stress difference (3 MPa-2.5 MPa = 0.5 MPa) is calculated; if the stress difference is positive (the top stress is greater than the bottom), it means that the box culvert top is under greater stress, and there may be a slight sinking trend, so the elevation direction coordinate axis coordinate (e.g., 30.02 m) of the initial three-dimensional coordinate should be appropriately reduced (e.g., to 30.01 m); if the stress difference is negative (the bottom stress is greater than the top), it means that the box culvert bottom is under greater stress, and there may be a slight bulging trend, so the elevation direction coordinate should be appropriately increased, and the actual elevation direction coordinate of each timestamp is obtained after adjusting the stress difference. The step 315 is performed to form the three-dimensional space coordinate parameter and determine the actual attitude parameter: the jacking displacement cumulative value (e.g., 10 m) corresponding to each data collection timestamp is directly taken as the actual jacking direction coordinate, combined with the actual axis direction coordinate (e.g., 0.03 m) and the actual elevation direction coordinate (e.g., 30.01 m) of the timestamp to form the complete three-dimensional space coordinate parameter (e.g., (0.03 m, 30.01 m, 10 m)) of the timestamp; finally, all the three-dimensional space coordinate parameters of the timestamps are traversed, and the three-dimensional space coordinate parameter corresponding to the data collection timestamp of the historical time node at the rear (i.e., the latest collected) is selected as the box culvert actual attitude parameter, which ensures that the parameter can reflect the current latest space attitude state of the box culvert.

[0063] The embodiment of the application ensures that the basis data of the attitude calculation is comprehensive and conforms to the actual working condition by calling the reference and real-time data from the digital twin model, avoiding the lag problem caused by the dependence of the traditional model on a single initial parameter; the precise space-time matching of the monitoring data and the structure state is realized by filtering the target data in the time range, reducing the calculation error caused by time misplacement; the establishment of the three-dimensional rectangular coordinate system and the coordinate calibration process, combined with the structure safety adaptation range and stress difference adjustment, not only ensure the spatial accuracy of the attitude parameters, but also integrate the structure safety constraints, reducing the risk of misjudgment caused by local geological mutations or sensor abnormalities; selecting the coordinate parameters with the latest timestamp as the actual attitude parameters ensures the real-time performance of the attitude representation, providing a reliable basis for subsequent deviation comparison and deviation correction control, and overall improving the dynamics, safety and accuracy of the box culvert jacking attitude control, which is suitable for long-distance jacking construction requirements in complex environments.

[0064] The application provides a specific embodiment, step 104, comparing the actual attitude parameters of the box culvert with the pre-stored box culvert design attitude parameters in the preset control terminal, determining the attitude deviation type and attitude deviation amount corresponding to the box culvert axis direction and the box culvert height direction respectively, specifically including the following steps: Step 401: calling the pre-stored box culvert design attitude parameters from the storage unit of the preset control terminal, the box culvert design attitude parameters including design axis direction coordinate parameters and design elevation direction coordinate parameters, wherein the design axis direction coordinate parameters correspond to the standard position of the box culvert axis direction, and the design elevation direction coordinate parameters correspond to the standard position of the box culvert height direction.

[0065] In this step, the design axis direction coordinate parameter refers to the coordinate data corresponding to the standard position that the box culvert axis direction should follow, which is used to compare with the actual axis direction coordinate of the box culvert to judge the horizontal deviation, and is obtained based on the axis path planning in the box culvert construction design drawing and the engineering acceptance specification, reflecting the target posture of the box culvert in the horizontal direction. The design elevation direction coordinate parameter refers to the coordinate data corresponding to the standard position that the box culvert height direction should reach, which is used to compare with the actual elevation direction coordinate of the box culvert to judge the vertical deviation, and is obtained based on the height reference in the box culvert construction design drawing and the engineering acceptance specification, reflecting the target posture of the box culvert in the vertical direction, avoiding structural damage caused by excessive settlement or heave of the box culvert. The standard position of the box culvert axis direction refers to the horizontal position that the box culvert axis should be in to ensure that the box culvert meets the use function (such as interfacing with subsequent structures) and safety requirements (such as avoiding existing facilities) after jacking, which is the physical correspondence of the design axis direction coordinate parameter, and is determined based on the site survey data and the construction design scheme, serving as a reference for judging whether the box culvert axis deviates. The standard position of the box culvert height direction refers to the vertical position that the key monitoring point of the box culvert should be in to ensure that the box culvert meets the elevation design requirements (such as avoiding conflict with underground pipelines) and structural safety (such as preventing insufficient bearing capacity of the foundation leading to settlement) after jacking, which is the physical correspondence of the design elevation direction coordinate parameter, and is determined based on the geological survey data and the construction design scheme, serving as a reference for judging whether the box culvert elevation deviates.

[0066] In the embodiment of the present application, first, a data retrieval instruction is triggered through the operation interface of the preset control terminal, and pre-stored box culvert design posture parameters are read from the storage unit (such as a hard disk or a cloud storage module) built in the preset control terminal. The box culvert design posture parameters are target posture data pre-entered based on the box culvert construction design drawing and the engineering acceptance specification, specifically including design axis direction coordinate parameters and design elevation direction coordinate parameters. The design axis direction coordinate parameter refers to the coordinate data corresponding to the standard position that the box culvert axis direction should follow, and the standard position is the axis path preset to ensure the interfacing accuracy of the box culvert and not to interfere with existing facilities. The design elevation direction coordinate parameter refers to the coordinate data corresponding to the standard position that the box culvert height direction should reach, and the standard position is the height reference preset to avoid excessive settlement or heave of the box culvert. By retrieving these two types of parameters, a reference basis is provided for subsequent comparison with the actual posture parameters of the box culvert.

[0067] Step 402: Perform difference operation on the actual axis direction coordinate in the actual posture parameter of the box culvert and the design axis direction coordinate parameter to obtain a first operation result. According to the positive or negative sign of the first operation result, the posture deviation type of the box culvert axis direction is determined, and the absolute value of the first operation result is taken as the posture deviation amount of the box culvert axis direction.

[0068] In this step, the first operation result refers to the numerical result obtained by performing difference operation on the actual axis direction coordinate of the box culvert and the design axis direction coordinate parameter, which is used to determine the direction and degree of the axis line deviation of the box culvert. The positive and negative signs of the two types of coordinate parameters are directly subtracted to obtain the positive and negative signs, which reflect the deviation direction and the absolute value reflects the deviation size. The attitude deviation type of the box culvert axis direction refers to the direction attribute of the box culvert axis line deviating from the standard position determined according to the positive and negative signs of the first operation result, which is used to determine the correction target of the axis direction. The positive and negative signs of the first operation result are directly judged to obtain two types of axis line deviation to the right and axis line deviation to the left, which directly guide the selection of the subsequent jack correction direction. The attitude deviation amount of the box culvert axis direction refers to the specific degree of the box culvert axis line deviating from the standard position determined according to the absolute value of the first operation result, which is used to determine the correction degree of the axis direction. The absolute value of the first operation result is obtained, which provides a basis for the subsequent calculation of the jack axis direction correction force.

[0069] In the embodiment of the present application, the actual axis direction coordinate is first extracted from the box culvert actual attitude parameter, and then the actual axis direction coordinate is subtracted from the design axis direction coordinate parameter to obtain the first operation result. Then, the positive and negative signs of the first operation result are judged: if the first operation result is positive, it indicates that the actual axis line position of the box culvert exceeds the right side of the design axis line, and thus the attitude deviation type of the box culvert axis direction is determined as axis line deviation to the right. If the first operation result is negative, it indicates that the actual axis line position of the box culvert exceeds the left side of the design axis line, and thus the attitude deviation type of the box culvert axis direction is determined as axis line deviation to the left. Finally, the absolute value of the first operation result is taken, which is the attitude deviation amount of the box culvert axis direction, reflecting the specific degree of the box culvert axis line deviating from the standard position.

[0070] Step 403: Perform difference operation on the actual elevation direction coordinate in the box culvert actual attitude parameter and the design elevation direction coordinate parameter to obtain the second operation result. According to the positive and negative signs of the second operation result, the attitude deviation type of the box culvert height direction is determined, and the absolute value of the second operation result is taken as the attitude deviation amount of the box culvert height direction.

[0071] In this step, the second operation result refers to the numerical result obtained by performing difference operation on the actual elevation directional coordinate of the box culvert and the design elevation directional coordinate parameter, which is used to determine the direction and degree of the elevation deviation of the box culvert. The positive and negative signs reflect the deviation direction, and the absolute value reflects the deviation size. The attitude deviation type of the height direction of the box culvert refers to the directional attribute of the height deviation from the standard position of the box culvert determined according to the positive and negative signs of the second operation result, which is used to determine the correction target of the height direction. The attitude deviation amount of the height direction of the box culvert refers to the specific degree of the height deviation from the standard position of the box culvert determined according to the absolute value of the second operation result, which is used to determine the correction force of the height direction. The absolute value of the second operation result is obtained, which provides a basis for the subsequent calculation of the height direction correction force of the jack.

[0072] In the embodiment of the present application, the actual elevation directional coordinate is first extracted from the actual attitude parameter of the box culvert, and then the actual elevation directional coordinate is subtracted from the design elevation directional coordinate parameter to obtain the second operation result. The positive and negative signs of the second operation result are determined. If the second operation result is positive, it indicates that the actual height position of the box culvert is higher than the standard position of the design elevation, and thus the attitude deviation type of the height direction of the box culvert is determined to be over-high elevation deviation. If the second operation result is negative, it indicates that the actual height position of the box culvert is lower than the standard position of the design elevation, and thus the attitude deviation type of the height direction of the box culvert is determined to be over-low elevation deviation. Finally, the absolute value of the second operation result is taken, which is the attitude deviation amount of the height direction of the box culvert, reflecting the specific degree of the height deviation from the standard position of the box culvert. In addition, this step only analyzes the attitude deviation type and attitude deviation amount of the axis direction and the height direction of the box culvert, because in the process of box culvert jacking, the coordinates of the axis direction and the height direction directly determine whether the box culvert has attitude problems such as deviation and inclination, which will directly affect the construction accuracy, such as avoiding collision with existing traffic lines and ensuring the accuracy of subsequent box culvert docking. It is the core index that needs to be focused on in attitude control. The coordinate of the jacking direction essentially reflects the progress distance of the box culvert, and its deviation only represents whether the progress meets the expectation, and will not cause the box culvert to have attitude abnormalities. It belongs to the scope of construction progress control and is irrelevant to the core goal of attitude control. If it is included in the attitude deviation judgment, it will deviate from the focus of attitude deviation analysis and cause technical logic redundancy. Therefore, this step does not involve the deviation type and deviation amount of the supplementary jacking direction coordinate.

[0073] The embodiment of the application ensures the uniformity of the deviation comparison reference, avoids misjudgment caused by reference fluctuation, realizes accurate definition of the deviation of the box culvert axis and height direction, solves the problem of fuzzy deviation description in the traditional scheme and difficulty in guiding specific deviation correction operation, by directly difference value operation of the actual attitude parameter and the design parameter, and based on the sign to determine the deviation type and based on the absolute value to quantify the deviation amount, the clear attitude deviation type and attitude deviation amount directly serve as the core basis for subsequent calculation of the jack deviation correction force, provide accurate and quantitative input for generation of subsequent attitude adjustment control instructions, ensure the pertinence and effectiveness of the deviation correction strategy, and are especially suitable for adjacent operating lines or soft foundation and other complex construction environments with high attitude accuracy requirements, reduce the risk of structure damage or disturbance of existing facilities caused by deviation judgment failure.

[0074] The application provides a specific embodiment, step 105, calculating the corresponding deviation correction force of the jack in the jacking process according to the attitude deviation type and the attitude deviation amount, to generate an attitude adjustment control instruction, specifically including the following steps:

[0075] Step 501: retrieving the pre-stored box culvert self-weight parameter and jack installation position information from the storage unit of the preset control terminal.

[0076] In this step, the box culvert self-weight parameter refers to data reflecting the overall weight characteristics of the box culvert, used to balance the influence of the self-gravity of the box culvert on the attitude when calculating the deviation correction force, obtained based on the initial structure parameters (such as volume, material density) of the box culvert and weighing detection data, including the total weight of the box culvert, the weight distribution corresponding to the center of gravity position, etc., directly related to the calculation accuracy of the deviation correction force. The jack installation position information refers to detailed data for recording the installation position of the jack on the box culvert, used to determine the stress point distribution when correcting, obtained based on the pre-construction jack layout drawing and on-site installation positioning data, including the grouping (left side / right side / top / bottom) of the jack, the number of each group, the distance between each jack and the axis / edge of the box culvert, etc.

[0077] Step 502: determining the first deviation correction direction corresponding to the box culvert axis direction and the second deviation correction direction corresponding to the box culvert height direction based on the attitude deviation type of the box culvert axis direction and the box culvert height direction.

[0078] In this step, the first deviation direction is determined for the box culvert axis direction posture deviation, which is used to correct the deviation direction, and the jack action side for the axis direction correction is determined, based on the axis direction posture deviation type (for example, when the axis deviates to the right, the first deviation direction is to the left), directly guiding the distribution object of the total correction force in the axis direction. The second deviation direction is determined for the box culvert height direction posture deviation, which is used to correct the deviation direction, and the jack action side for the height direction correction is determined, based on the height direction posture deviation type (for example, when the height deviates upward, the second deviation direction is to the bottom), directly guiding the distribution object of the total correction force in the height direction.

[0079] Step 503: The posture deviation amount of the box culvert axis direction is associated with the box culvert self-weight parameter to obtain the first total correction force required for the box culvert axis direction, and the first total correction force is distributed to the corresponding jack according to the jack installation position on the corresponding side of the first deviation direction in the jack installation position information, to obtain the axis direction output value of each jack.

[0080] In this step, the first total correction force is the total force value required to correct the box culvert axis direction posture deviation, which is used to provide the total power for the axis direction correction, and is obtained by associating the posture deviation amount of the box culvert axis direction with the box culvert self-weight parameter (for example, the deviation amount multiplied by the self-weight coefficient), which is the basis for distributing the axis direction output value of a single jack. The jack installation position on the corresponding side of the first deviation direction refers to the specific installation coordinates of the jack on the side of the first deviation direction, which is used to determine the action point of the axis direction correction force, and is obtained by screening the records of the first deviation direction corresponding side from the jack installation position information (for example, when the first deviation direction is to the left, the installation position of the left jack is screened), to ensure that the total correction force can accurately act on the required side. The axis direction output value refers to the force value required by a single jack in the axis direction, which is used to realize the axis direction correction action of a single jack, and is obtained by distributing the first total correction force according to the installation position proportion of the jack on the corresponding side of the first deviation direction (for example, according to the distance from the box culvert center of gravity), and the output value of each jack is equal to the first total correction force.

[0081] Step 504: The posture deviation amount of the box culvert height direction is associated with the box culvert self-weight parameter to obtain the second total correction force required for the box culvert height direction; and the second total correction force is distributed to the corresponding jack according to the jack installation position on the corresponding side of the second deviation direction in the jack installation position information, to obtain the height direction output value of each jack.

[0082] In this step, the second total corrective force refers to the total force required to correct the attitude deviation in the height direction of the box culvert. It provides the total power for height-direction correction and is obtained through a correlation calculation between the attitude deviation in the height direction and the box culvert's self-weight parameters (e.g., multiplying the deviation by the self-weight coefficient). This is the basis for allocating the height-direction output force of individual jacks. The jack installation position on the side corresponding to the second corrective direction refers to the specific installation coordinates of the jacks located on the side of the second corrective direction. This is used to determine the point of application of the height-direction corrective force. It is obtained by filtering records from the jack installation position information corresponding to the second corrective direction (e.g., if the second corrective direction is the bottom, the installation position of the bottom jack is selected), ensuring that the total corrective force can be accurately applied to the required side. The output force value in the height direction refers to the force value that a single jack needs to apply in the height direction. It is used to realize the height direction correction action of a single jack. It is obtained by distributing the second total correction force according to the installation position ratio of the jacks on the corresponding side of the second correction direction (such as according to the uniform distribution ratio). The sum of the output force values ​​of each jack is equal to the second total correction force.

[0083] Step 505: Match the axial force value and height force value of each jack with the preset jacking speed parameters to determine the start time and duration of each jack's force output during the jacking process.

[0084] In this step, the preset jacking speed parameters refer to the pre-set data controlling the jacking speed of the box culvert. These parameters match the jacking output value with the jacking progress, determining the output time node and duration. They are derived from the jacking efficiency requirements and equipment performance parameters in the construction plan, including unit advance distance, jacking interval cycle, and single jacking duration. The start output time node refers to the specific moment when a single jack begins to apply corrective force. It coordinates the action sequence of multiple jacks and is derived from the jacking start time and jacking interval cycle allocation, ensuring synchronous output of jacks on the same side and orderly output of jacks on different sides. The output duration refers to the length of time a single jack continuously applies corrective force. It controls the cumulative effect of the corrective force and is calculated based on the total adjustment time and output ratio, avoiding over- or under-adjustment of the posture due to excessively long or short output times.

[0085] Step 506: Integrate the identification of each jack, the output force value in the axial direction, the output force value in the height direction, the start time of output force, and the output duration to generate attitude adjustment control commands.

[0086] In this step, the jack identification refers to the mark used to uniquely distinguish each jack, and is used to accurately associate the jack with the corresponding output value and time node. It is obtained based on the number of the jack when it was installed (such as left 1, bottom 2), to ensure that the attitude adjustment control command can be accurately issued to the target jack.

[0087] Optionally, step 505 involves matching the axial force value and height force value of each jack with preset jacking speed parameters to determine the start time and duration of force output for each jack during the jacking process. This specifically includes the following steps: Step 511: Retrieve the pre-stored jacking speed parameters from the storage unit of the preset control terminal. The jacking speed parameters include the unit advance distance, jacking interval period, and single jacking duration.

[0088] In this step, the unit advance distance refers to the distance the box culvert advances per unit time (e.g., per minute), used to quantify the jacking speed. It is obtained from preset jacking speed parameters and reflects the efficiency of the box culvert jacking, serving as the basis for calculating the total adjustment time. The jacking interval period refers to the time interval between two jacking actions, used to control the jacking rhythm. It is also obtained from preset jacking speed parameters and serves as the basis for allocating the start-of-power-time points, ensuring that the jack output and jacking actions are coordinated. The single jacking duration refers to the duration of a single jacking action, used to limit the advance amount of a single jacking action. It is also obtained from preset jacking speed parameters and helps determine whether the power output duration matches the jacking rhythm.

[0089] Step 512: Correlate the axial force value and height force value of each jack with the unit propulsion distance to obtain the cumulative axial force value and cumulative height force value required by each jack within the unit propulsion distance.

[0090] In this step, the cumulative output force in the axial direction refers to the cumulative axial force that a single jack needs to apply within a unit propulsion distance. It is used to correlate output force with propulsion distance, and is obtained through a calculation based on the correlation between the jack's axial force and unit propulsion distance (e.g., dividing the axial force by the unit propulsion distance). It serves as an intermediate parameter for calculating the output duration. The cumulative output force in the height direction refers to the cumulative height force that a single jack needs to apply within a unit propulsion distance. It is also used to correlate output force with propulsion distance, and is obtained through a calculation based on the correlation between the jack's height output and unit propulsion distance (e.g., dividing the height output by the unit propulsion distance). It serves as an intermediate parameter for calculating the output duration.

[0091] Step 513: Based on the attitude deviation in the direction of the box culvert axis, determine the first total propulsion adjustment distance required in the direction of the box culvert axis; based on the attitude deviation in the direction of the box culvert height, determine the second total propulsion adjustment distance required in the direction of the box culvert height; and combine the unit propulsion distance to calculate the first total adjustment time corresponding to the direction of the box culvert axis and the second total adjustment time corresponding to the direction of the box culvert height.

[0092] In this step, the first total propulsion adjustment distance refers to the total distance required to correct the attitude deviation in the box culvert's axial direction. It is used to quantify the target propulsion amount for axial direction correction and is determined based on the attitude deviation in the box culvert's axial direction (the larger the deviation, the longer the first total propulsion adjustment distance). This is the basis for calculating the first total adjustment time. The second total propulsion adjustment distance refers to the total distance required to correct the attitude deviation in the box culvert's height direction. It is used to quantify the target propulsion amount for height direction correction and is determined based on the attitude deviation in the box culvert's height direction (the larger the deviation, the longer the second total propulsion adjustment distance). This is the basis for calculating the second total adjustment time. The first total adjustment time refers to the total time required to complete the first total propulsion adjustment distance in the axial direction. It is used to control the total duration of axial direction correction and is obtained by dividing the first total propulsion adjustment distance by the unit propulsion distance. This is the basis for allocating the axial direction output time of a single jack. The second total adjustment time refers to the total time required to complete the second total propulsion adjustment distance in the height direction. It is used to control the total duration of height direction correction and is obtained by dividing the second total propulsion adjustment distance by the unit propulsion distance. This is the basis for allocating the height direction output time of a single jack.

[0093] Step 514: Calculate the first proportion of the cumulative output force of each jack in the axial direction to the first total corrective force, and calculate the output duration of each jack in the axial direction of the box culvert in combination with the first total adjustment time. Calculate the second proportion of the cumulative output force of each jack in the height direction to the second total corrective force, and calculate the output duration of each jack in the height direction of the box culvert in combination with the second total adjustment time.

[0094] In this step, the first ratio refers to the proportion of the cumulative force output of a single jack in the axial direction to the first total corrective force. This ratio is used to determine the proportion of the output time of a single jack in the axial direction, obtained by dividing the cumulative force output of a single jack in the axial direction by the first total corrective force, and is directly related to the calculation of the output duration in the axial direction. The output duration in the axial direction of the box culvert refers to the time during which a single jack continuously applies corrective force in the axial direction. This is used to control the action time of a single jack in the axial direction correction, obtained by multiplying the first ratio and the first total adjustment time, ensuring uniform application of the corrective force in the axial direction. The second ratio refers to the proportion of the cumulative force output of a single jack in the height direction to the second total corrective force. This ratio is used to determine the proportion of the output time of a single jack in the height direction, obtained by dividing the cumulative force output of a single jack in the height direction by the second total corrective force, and is directly related to the calculation of the output duration in the height direction. The output duration in the height direction of the box culvert refers to the time during which a single jack continuously applies corrective force in the height direction. It is used to control the action time of a single jack in the height direction and is obtained based on the product of the second ratio and the second total adjustment time to ensure that the corrective force in the height direction is applied evenly.

[0095] Step 515: Based on the jacking start time, and combined with the jacking interval period in the jacking speed parameters, assign a start time node for each jack. Jacks on the same side of the same correction direction are assigned the same start time node, and the start time nodes of jacks on different sides of different correction directions are spaced apart by half a jacking interval period.

[0096] In this step, the jacking start time refers to the initial moment when the box culvert begins a new round of jacking. It serves as the benchmark for allocating the start time of power output and is determined based on the trigger signal of the jacking equipment (such as the moment the equipment issues the start jacking command), ensuring that the time nodes of all jacks are based on the same benchmark. The benchmark refers to the reference standard used to unify the calculation of time nodes; in this step, it specifically refers to the jacking start time, used to avoid confusion in the calculation benchmarks of different jack time nodes and ensure timing coordination. Jacks on the corresponding side of the same correction direction refer to all jacks located on the same side of the correction direction (e.g., all left-side jacks when the first correction direction is the left side). This is used to achieve synchronous correction on the same side, selected based on the jack installation position information and correction direction, ensuring consistent action of jacks on the same side and improving correction efficiency. The jacks corresponding to different correction directions refer to the jacks located on the side where the correction direction is located (such as the left jack and the bottom jack). They are used to achieve orderly correction in different directions. They are distinguished based on the jack installation position information and the correction direction to ensure that the actions of the jacks on different sides do not conflict and to avoid posture disorder.

[0097] In this embodiment, firstly, data is retrieved from the storage unit (such as a built-in hard disk or cloud storage module) of the preset control terminal via 501: firstly, a parameter retrieval command is triggered through the operation interface of the preset control terminal; after the system responds to the command, it accesses the box culvert basic parameter folder in the storage unit and reads the pre-stored box culvert self-weight parameters (including the total weight of the box culvert and the weight distribution of the center of gravity); then, it accesses the jack deployment parameter folder and reads the pre-stored jack installation position information (including the grouping of left / right / top / bottom jacks, the number of each group, and the specific installation coordinates of each jack). By retrieving these two types of parameters, basic data is provided for subsequent calculation of correction force and force distribution. Next, step 502 determines the correction direction: First, obtain the attitude deviation types of the box culvert's axis and height directions obtained previously (e.g., axis deviation to the right and elevation deviation to too high in the height direction); then, based on the correspondence rules between deviation type and correction direction, if the axis deviation type is axis deviation to the right, the first correction direction corresponding to the box culvert's axis direction is determined to be the left (by applying force with the left-side jacks to pull the axis back to the standard position); if it is axis deviation to the left, the first correction direction is the right. If the height deviation type is elevation deviation to too high, the second correction direction corresponding to the box culvert's height direction is determined to be the bottom (by applying force with the bottom jacks to press the elevation back to the standard position); if it is elevation deviation to too low, the second correction direction is the top. The first and second correction directions are then determined to determine the target jack side for subsequent force distribution. Next, step 503 calculates and distributes the axial correction force: First, the attitude deviation of the box culvert axial direction is obtained, and the deviation is correlated with the box culvert's self-weight parameter (e.g., the deviation is multiplied by a preset self-weight influence coefficient, which is set based on engineering experience) to obtain the first total correction force required for the box culvert axial direction; then, the jack installation positions on the side corresponding to the first correction direction are selected from the jack installation position information (e.g., if the first correction direction is the left side, all left-side jack installation positions are selected), the number of jacks on that side is counted, and the installation position weight of each jack is calculated (e.g., according to the distance ratio between the jack and the box culvert axial direction, the greater the distance, the greater the weight); finally, the first total correction force is distributed to each jack on that side according to the weight, and the axial direction output value of each jack is obtained (the sum of the axial direction output values ​​of all jacks is equal to the first total correction force).Then, step 504 is used to calculate and distribute the height-direction correction force: First, the attitude deviation of the box culvert in the height direction is obtained, and the deviation is correlated with the box culvert's self-weight parameter (the calculation method for the coaxial direction is to multiply the deviation by the self-weight influence coefficient) to obtain the second total correction force required in the height direction of the box culvert; then, the installation positions of the jacks on the side corresponding to the second correction direction are selected from the jack installation position information (if the second correction direction is the bottom, the installation positions of all bottom jacks are selected), the number of jacks on that side is counted, and the distribution ratio of each jack is calculated according to a uniform distribution ratio (e.g., the number is evenly distributed); finally, the second total correction force is distributed to each jack on that side according to the ratio to obtain the height-direction output value of each jack (the sum of the height-direction output values ​​of all jacks is equal to the second total correction force). Next, step 505 determines the jack output time: this step is implemented through steps 511-515. First, step 511 retrieves the pre-stored jacking speed parameters from the storage unit of the preset control terminal. These parameters include the unit propulsion distance (e.g., 0.5 meters per minute), the jacking interval cycle (e.g., one jacking cycle every 5 minutes), and the duration of a single jacking (e.g., jacking lasts for 3 minutes in each cycle). Then, step 512, for each jack, divides its axial direction output value by the unit propulsion distance to obtain the cumulative axial direction output value required by the jack within the unit propulsion distance. Similarly, the height direction output value is divided by the unit propulsion distance to obtain the cumulative height direction output value. Next, step 513 determines the first total propulsion adjustment distance based on the attitude deviation of the box culvert axial direction (the larger the deviation, the longer the first total propulsion adjustment distance). The first total propulsion adjustment distance is divided by the unit propulsion distance to obtain the first total adjustment time. Similarly, the second total propulsion adjustment distance is determined based on the height direction deviation. First, divide the distance by the unit advance distance to obtain the second total adjustment time; then execute step 514 to calculate the first proportion of the cumulative output value of each jack in the axial direction to the first total correction force, multiply the first proportion by the first total adjustment time to obtain the output duration of the jack in the axial direction of the box culvert; similarly, calculate the second proportion of the cumulative output value in the height direction to the second total correction force, multiply by the second total adjustment time to obtain the output duration in the height direction; finally, execute step 515 to assign the start output time node to each jack based on the jacking start time (such as the time when the jacking equipment issues the start jacking command) and the jacking interval cycle: jacks on the same side of the same correction direction (such as all left-side jacks) are assigned the same start output time node (such as the jacking start time); jacks on different sides of the same correction direction (such as left-side jacks and bottom jacks) are assigned start output time nodes at half a jacking interval cycle (such as an interval of 2.5 minutes) to avoid attitude disorder caused by jacks on different sides exerting force at the same time.Finally, in step 506, attitude adjustment control commands are generated: First, the identification of each jack (such as left 1, left 2, bottom 1, etc.) is collected. Then, the identification of each jack is associated with its corresponding axial force value, height force value, start time, and duration to form control data for a single jack. Then, the control data of all jacks are sorted by identification and integrated into a structured attitude adjustment control command (the command format includes the fields of jack identification, axial force value, height force value, start time, and duration) to ensure that the box culvert jacking equipment can accurately drive the action of each jack according to the command.

[0098] This application embodiment ensures that the total corrective force accurately matches the degree of deviation by correlating the attitude deviation with the box culvert's self-weight parameters, avoiding ineffective correction due to insufficient force or structural damage due to excessive force. The force is distributed proportionally according to the jack installation positions to ensure the force distribution matches the box culvert's stress characteristics, improving correction efficiency. The output time node and duration are determined by combining the jacking speed parameters, ensuring synchronous action of jacks on the same side while avoiding conflicts between jacks on different sides, achieving time-series coordination. Structured attitude adjustment control commands ensure the jacking equipment can accurately execute actions. This improves the accuracy, coordination, and safety of box culvert jacking attitude correction, adapting to complex construction environments such as adjacent operating lines or soft foundations, and reducing the risk of construction delays or facility disturbances caused by improper correction.

[0099] Figure 3 This is a schematic diagram illustrating a specific implementation of a digital twin-based intelligent control system for box culvert jacking attitude, as provided in this application. (Refer to...) Figure 3 The system may include: The acquisition module 21 is used to acquire the structural parameters of the box culvert entity, the construction environment parameters, and the elevation change data and axis offset data during the jacking process. The structural parameters and the construction environment parameters are input into the pre-built digital twin model. The construction environment parameters include the spatial location parameters of the existing traffic lines and the physical parameters of the foundation of the construction area. Integration module 22 is used to associate and integrate the elevation change data and axis offset data to generate a box culvert jacking attitude data frame sequence, and send the box culvert jacking attitude data frame sequence to a preset control terminal and a digital twin model. The first determining module 23 is used to determine the actual attitude parameters of the box culvert based on the reference information of the box culvert entity in the digital twin model and the updated real-time status information of the box culvert, combined with the box culvert jacking attitude data frame sequence. The second determining module 24 is used to compare the actual attitude parameters of the box culvert with the pre-stored box culvert design attitude parameters in the preset control terminal to determine the attitude deviation type and attitude deviation amount corresponding to the box culvert axis direction and the box culvert height direction, respectively. The generation module 25 is used to calculate the corresponding correction force of the jack during the jacking process according to the attitude deviation type and attitude deviation amount, so as to generate attitude adjustment control command and send the attitude adjustment control command to the box culvert jacking device, so that the box culvert jacking device drives the jack to adjust the output value and output timing according to the attitude adjustment control command, and completes the box culvert jacking attitude adjustment.

[0100] This application provides an intelligent control system for box culvert jacking attitude based on digital twins to implement the aforementioned intelligent control method for box culvert jacking attitude based on digital twins. Therefore, the specific implementation of the intelligent control system for box culvert jacking attitude based on digital twins can be found in the embodiment section of the aforementioned intelligent control method for box culvert jacking attitude based on digital twins. The specific implementation can be referred to the description of the corresponding embodiments, which will not be repeated here.

[0101] This application also provides an electronic device, comprising: a memory for storing a computer program; and a processor for executing the computer program to implement the steps of the above-described intelligent control method for the attitude of a box culvert jacking based on digital twins.

[0102] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described intelligent control method for box culvert jacking attitude based on digital twin.

[0103] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory, random access memory, portable hard drives, magnetic disks, or optical disks.

[0104] The embodiments of this application also provide a computer program product, which includes a computer program that, when executed by a processor, implements the steps in any of the embodiments of the intelligent control method for box culvert jacking attitude based on digital twins.

[0105] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0106] The above provides a detailed description of the intelligent control method and system for box culvert jacking attitude based on digital twins provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and its core ideas. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

Claims

1. A box culvert jacking posture intelligent control method based on digital twinning, characterized in that, The method comprises the following steps: obtaining the structural parameters of the box culvert entity, the construction environment parameters, the elevation change data and the axis offset data in the jacking process, inputting the structural parameters and the construction environment parameters into the pre-constructed digital twin model, and the construction environment parameters including the spatial position parameters of the existing traffic lines and the physical parameters of the construction area foundation; integrate the elevation change data and the axis offset data to generate a box culvert jacking posture data frame sequence, and send the box culvert jacking posture data frame sequence to a preset control terminal and a digital twin model; determine the actual posture parameters of the box culvert according to the box culvert entity reference information in the digital twin model and the updated real-time state information of the box culvert, and combine the box culvert jacking posture data frame sequence; compare the actual posture parameters of the box culvert with the pre-stored design posture parameters of the box culvert in the preset control terminal to determine the posture deviation type and the posture deviation amount corresponding to the axis direction and the height direction of the box culvert respectively; calculate the corresponding correction force of the jack in the jacking process according to the posture deviation type and the posture deviation amount to generate a posture adjustment control instruction, and send the posture adjustment control instruction to the box culvert jacking equipment to drive the jack to adjust the output value and the output timing according to the posture adjustment control instruction, thereby completing the posture adjustment of the box culvert jacking.

2. The method of claim 1, wherein, According to the box culvert entity reference information in the digital twin model and the updated real-time state information of the box culvert, the actual posture parameters of the box culvert are determined by combining the box culvert jacking posture data frame sequence, which comprises the following steps: retrieve the box culvert entity reference information and the updated real-time state information of the box culvert from the digital twin model, wherein the box culvert entity reference information includes the initial structural parameters, the initial spatial position parameters and the construction environment reference parameters, and the real-time state information of the box culvert includes the structural stress distribution information, the jacking displacement cumulative value and the real-time change parameters of the construction environment; determine the time range corresponding to the real-time state information of the box culvert, and select the target period posture data with the data collection time stamp in the time range from the box culvert jacking posture data frame sequence; based on the initial spatial position parameters, the elevation change value and the axis offset value in the target period posture data, and the jacking displacement cumulative value, calculate the real-time elevation reference value and the real-time axis reference value corresponding to each data collection time stamp; based on the real-time elevation reference value, the real-time axis reference value and the jacking displacement cumulative value, combine the initial structural parameters and the structural stress distribution information to calculate the three-dimensional space coordinate parameters corresponding to each data collection time stamp, and select the three-dimensional space coordinate parameters corresponding to the data collection time stamp at the later historical time node as the actual posture parameters of the box culvert.

3. The method of claim 2, wherein, based on the real-time elevation reference value, the real-time axis reference value and the jacking displacement cumulative value, combine the initial structural parameters and the structural stress distribution information to calculate the three-dimensional space coordinate parameters corresponding to each data collection time stamp, which comprises the following steps: establish a three-dimensional rectangular coordinate system with the initial elevation value in the initial spatial position parameter as the origin of the elevation direction coordinate axis, the initial axis position value as the origin of the axis direction coordinate axis, and the box culvert jacking starting point as the origin of the jacking direction coordinate axis, wherein the axis direction coordinate axis corresponds to the box culvert axis direction, the elevation direction coordinate axis corresponds to the box culvert height direction, and the jacking direction coordinate axis corresponds to the box culvert forward pushing direction; assign the real-time axis reference value corresponding to each data collection timestamp to the axis direction coordinate axis, assign the real-time elevation reference value corresponding to each data collection timestamp to the elevation direction coordinate axis, and assign the jacking displacement cumulative value corresponding to each data collection timestamp to the jacking direction coordinate axis to form an initial three-dimensional coordinate; determine a structural safety adaptation range of the box culvert axis direction according to the box culvert width value in the initial structural parameter and the side wall bearing capacity parameter in combination with a preset structural anti-deviation safety factor, and if the axis direction coordinate axis coordinate of the initial three-dimensional coordinate exceeds the structural safety adaptation range, reduce the axis direction coordinate axis coordinate by a preset proportion to the structural safety adaptation range to obtain an actual axis direction coordinate; adjust the elevation direction coordinate axis coordinate of the initial three-dimensional coordinate according to the stress difference value between the box culvert top and the box culvert bottom in the structural stress distribution information to obtain an actual elevation direction coordinate; combine the jacking displacement cumulative value as the actual jacking direction coordinate of the initial three-dimensional coordinate with the actual axis direction coordinate and the actual elevation direction coordinate to form a three-dimensional spatial coordinate parameter corresponding to each data collection timestamp.

4. The method of claim 1, wherein, correlate and integrate the elevation change data and the axis deviation data to generate a box culvert jacking posture data frame sequence, and send the box culvert jacking posture data frame sequence to a preset control terminal and a digital twin model, including: bind a single piece of elevation change data and a single piece of axis deviation data corresponding to the same data collection timestamp to obtain multiple groups of correlated data and add a collection equipment identifier to each group of correlated data to form multiple pieces of box culvert jacking posture data, wherein the single piece of elevation change data and the single piece of axis deviation data are single data in the elevation change data and the axis deviation data; after receiving a connection confirmation signal of the preset control terminal and the digital twin model, establish a first data transmission channel between the data transmission link based on the TCP / IP protocol and the preset control terminal, and a second data transmission channel between the data transmission link and the digital twin model; sort and package all the box culvert jacking posture data in the order of data collection timestamps to generate a box culvert jacking posture data frame sequence, wherein each box culvert jacking posture data frame includes a frame header marked with a data transmission identifier, a frame body, and a frame tail marked with a data verification identifier; send the box culvert jacking posture data frame sequence to the preset control terminal through the first data transmission channel, and send the box culvert jacking posture data frame sequence to the digital twin model through the second data transmission channel.

5. The method of claim 1, wherein, Compare the actual attitude parameters of the box culvert with the pre-stored box culvert design attitude parameters in the pre-set control terminal, determine the attitude deviation type and attitude deviation amount corresponding to the box culvert axis direction and the box culvert height direction respectively, including: Retrieve the pre-stored box culvert design attitude parameters from the storage unit of the pre-set control terminal, the box culvert design attitude parameters including design axis direction coordinate parameters and design elevation direction coordinate parameters, wherein the design axis direction coordinate parameters correspond to the standard position of the box culvert axis direction, and the design elevation direction coordinate parameters correspond to the standard position of the box culvert height direction; Differentially operate the actual axis direction coordinate in the actual attitude parameters of the box culvert and the design axis direction coordinate parameters to obtain a first operation result, determine the attitude deviation type of the box culvert axis direction according to the sign of the first operation result, and take the absolute value of the first operation result as the attitude deviation amount of the box culvert axis direction; Differentially operate the actual elevation direction coordinate in the actual attitude parameters of the box culvert and the design elevation direction coordinate parameters to obtain a second operation result, determine the attitude deviation type of the box culvert height direction according to the sign of the second operation result, and take the absolute value of the second operation result as the attitude deviation amount of the box culvert height direction.

6. The method of claim 1, wherein, According to the attitude deviation type and attitude deviation amount, calculate the corresponding correction force of the jack in the jacking process to generate an attitude adjustment control instruction, including: Retrieve the pre-stored box culvert self-weight parameters and jack installation position information from the storage unit of the pre-set control terminal; Determine the first correction direction corresponding to the box culvert axis direction and the second correction direction corresponding to the box culvert height direction based on the attitude deviation type of the box culvert axis direction and the box culvert height direction; Correlate the attitude deviation amount of the box culvert axis direction with the box culvert self-weight parameters to obtain the first total correction force required by the box culvert axis direction, and distribute the first total correction force to the corresponding jack according to the jack installation position of the first correction direction corresponding side in the jack installation position information to obtain the axis direction output value of each jack; Correlate the attitude deviation amount of the box culvert height direction with the box culvert self-weight parameters to obtain the second total correction force required by the box culvert height direction, and distribute the second total correction force to the corresponding jack according to the jack installation position of the second correction direction corresponding side in the jack installation position information to obtain the height direction output value of each jack; Match the axis direction output value and the height direction output value of each jack with the pre-set jacking speed parameters to determine the starting output time node and the output duration of each jack in the jacking process; Integrate the identity, axis direction output value, height direction output value, starting output time node and output duration of each jack to generate an attitude adjustment control instruction.

7. The method of claim 6, wherein, Match the axis direction output value and the height direction output value of each jack with the pre-set jacking speed parameters to determine the starting output time node and the output duration of each jack in the jacking process, including: Retrieve the pre-stored jacking speed parameters from the storage unit of the preset control terminal, the jacking speed parameters including unit jacking distance, jacking interval period and single jacking duration; Correlatively operate the axial direction output value and the height direction output value of each jack with the unit jacking distance respectively to obtain the axial direction cumulative output value and the height direction cumulative output value of each jack within the unit jacking distance; Determine the first total jacking adjustment distance required by the box culvert axial direction based on the attitude deviation amount of the box culvert axial direction, determine the second total jacking adjustment distance required by the box culvert height direction based on the attitude deviation amount of the box culvert height direction, and calculate the first total adjustment time corresponding to the box culvert axial direction and the second total adjustment time corresponding to the box culvert height direction in combination with the unit jacking distance; Calculate the first proportion of the axial direction cumulative output value of each jack to the first total correction force, calculate the output duration of each jack in the box culvert axial direction in combination with the first total adjustment time, calculate the second proportion of the height direction cumulative output value of each jack to the second total correction force, and calculate the output duration of each jack in the box culvert height direction in combination with the second total adjustment time; Take the jacking starting time as the reference, allocate the starting output time node for each jack in combination with the jacking interval period in the jacking speed parameters, wherein the starting output time nodes of the jacks corresponding to the same correction direction side are the same, and the starting output time nodes of the jacks corresponding to different correction direction sides are separated by half of the jacking interval period.

8. A box culvert jacking posture intelligent control system based on digital twinning, characterized in that, Comprise: An acquisition module is configured to acquire structural parameters of a box culvert entity, construction environment parameters, elevation change data and axis offset data in a jacking process, input the structural parameters and the construction environment parameters into a pre-constructed digital twin model, and the construction environment parameters include spatial position parameters of existing traffic lines and physical parameters of a construction area foundation; An integration module is configured to associate and integrate the elevation change data and the axis offset data to generate a box culvert jacking attitude data frame sequence, and send the box culvert jacking attitude data frame sequence to a preset control terminal and a digital twin model; A first determination module is configured to determine box culvert actual attitude parameters based on box culvert entity reference information and updated box culvert real-time state information in the digital twin model in combination with the box culvert jacking attitude data frame sequence; A second determination module is configured to compare the box culvert actual attitude parameters with pre-stored box culvert design attitude parameters in the preset control terminal to determine attitude deviation types and attitude deviation amounts corresponding to a box culvert axial direction and a box culvert height direction respectively; A generation module is configured to calculate correction forces of jacks corresponding to a jacking process based on the attitude deviation types and the attitude deviation amounts to generate attitude adjustment control instructions, send the attitude adjustment control instructions to a box culvert jacking device, and enable the box culvert jacking device to drive the jacks to adjust output values and output timings according to the attitude adjustment control instructions to complete box culvert jacking attitude adjustment.

9. An electronic device, comprising: Comprise: A memory is configured to store a computer program; A processor is configured to implement the steps of the method for intelligent control of the jacking pose of a box culvert based on digital twinning according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The computer program is stored in the computer readable storage medium and is configured to implement the steps of the method for intelligent control of the jacking pose of a box culvert based on digital twinning according to any one of claims 1 to 7 when executed by the processor.

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