Control method and system of jacking equipment and electronic device

Abstract

The application discloses a jacking control method and system and electronic equipment. According to the method, the rotation speed and torque adjustment of the cutting cutter head of the jacking equipment can be timely and accurately adjusted according to the set value. The displacement of the cutting cutter head can reach the preset threshold, so that the cutting cutter head is always maintained in a good working state, and the jacking equipment can accurately control the jacking of the pipeline.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation control, and in particular to a control method and system for pipe jacking equipment and an electronic device. BACKGROUND

[0002] With the gradual improvement of people's living standards and scientific and technological level, the pace of urban construction is also gradually accelerating, and a large number of old urban water system rain and sewage projects have begun to be constructed. The pipe jacking construction method does not need to excavate all underground construction, solves the problems of traffic congestion, mixed flow of people and vehicles, and chaos caused by open excavation construction, and has been widely applied in China. With the continuous extension of the depth and breadth of implementation, pipe jacking construction has made great progress in both technical level and equipment precision. However, in some construction scenarios, due to the high liquefaction of silty sandy loam, the settlement control of pipe jacking is a problem that needs to be solved. SUMMARY

[0003] The present application provides a control method and system for pipe jacking equipment and an electronic device to solve the problem of settlement control of pipe jacking. The specific implementation scheme is as follows:

[0004] In a first aspect, the present application provides a control method for pipe jacking equipment, which comprises:

[0005] obtaining the cutting tool bit rotating speed and the cutting tool bit torque of the pipe jacking equipment;

[0006] determining the current displacement amount corresponding to the cutting tool bit according to the cutting tool bit rotating speed and the cutting tool bit torque;

[0007] determining whether the current displacement amount reaches a preset threshold value;

[0008] if yes, adjusting the working state of the cutting tool bit to a set working state with a set rotating speed and a set torque;

[0009] if no, adjusting the cutting tool bit rotating speed and the cutting tool bit torque until the displacement amount corresponding to the cutting tool bit reaches the preset threshold value.

[0010] Through the above method, the rotating speed and torque of the cutting tool bit can be adjusted in time and accurately according to the set value. The displacement amount of the cutting tool bit can reach the preset threshold value, so that the cutting tool bit can always maintain a good working state, and the pipe jacking equipment can accurately control the pipe jacking.

[0011] In a possible design, before obtaining the cutting tool bit rotating speed and the cutting tool bit torque of the pipe jacking equipment, the method further comprises:

[0012] obtaining a center line and an elevation of the jacking equipment, and determining whether the center line and the elevation satisfy preset conditions;

[0013] if yes, adjusting a current state of the cutting disc to a normal jacking state;

[0014] if no, correcting the center line and the elevation of the cutting disc according to a set correction amount.

[0015] In a possible design, after adjusting the working state of the cutting disc to the set working state with the set rotating speed and the set torque, the method further includes:

[0016] obtaining a value of a soil pressure gauge in the jacking equipment;

[0017] determining whether the value of the soil pressure gauge is within a preset interval range;

[0018] if yes, maintaining current pump quantities of mud feeding and mud pumping;

[0019] if no, adjusting the pump quantities of mud feeding and mud pumping until the value of the soil pressure gauge is within the preset interval range.

[0020] In a possible design, after adjusting the working state of the cutting disc to the set working state with the set rotating speed and the set torque, the method further includes:

[0021] obtaining a current jacking amount of the jacking equipment;

[0022] determining whether the current jacking amount reaches a preset jacking amount;

[0023] if yes, measuring the center line and the elevation of the jacking equipment, and correcting the center line and the elevation when the center line and the elevation do not satisfy a set amount;

[0024] if no, maintaining a current jacking state.

[0025] In a second aspect, the present application provides a control system of a jacking equipment, and the system includes:

[0026] an obtaining module, configured to obtain a rotating speed of a cutting disc of the jacking equipment and a torque of the cutting disc;

[0027] a control module, configured to determine a current displacement amount corresponding to the cutting disc according to the rotating speed of the cutting disc and the torque of the cutting disc;

[0028] determining whether the current displacement amount reaches a preset threshold;

[0029] if yes, adjusting a working state of the cutting disc to a set working state with a set rotating speed and a set torque;

[0030] If no, adjust the cutting tool disc rotation speed and cutting tool disc torque until the displacement of the cutting tool disc reaches the preset threshold.

[0031] In a possible design, the control module is further configured to acquire the center line and elevation of the jacking device, and determine whether the center line and elevation meet preset conditions.

[0032] If yes, adjust the current state of the cutting tool disc to a normal jacking state.

[0033] If no, correct the center line and elevation of the cutting tool disc according to a preset correction amount.

[0034] In a possible design, the control module is further configured to acquire a soil pressure gauge value of the jacking device.

[0035] Determine whether the soil pressure gauge value is within a preset range.

[0036] If yes, maintain the current pump amount of the mucking and suction;

[0037] If no, adjust the pump amount of the mucking and suction until the soil pressure gauge value is within the preset range.

[0038] In a possible design, the control module is further configured to acquire a current jacking amount of the jacking device.

[0039] Determine whether the current jacking amount reaches a preset jacking amount.

[0040] If yes, measure the center line and elevation of the jacking device, and correct the center line and elevation when the center line and elevation do not meet a preset amount.

[0041] If no, maintain the current jacking state.

[0042] In a third aspect, the present application provides an electronic device, comprising:

[0043] a memory configured to store a computer program;

[0044] a processor configured to execute the computer program stored in the memory, thereby implementing the steps of the jacking control method.

[0045] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor, thereby implementing the steps of the jacking control method.

[0046] The technical effects of each of the above-mentioned second to fourth aspects and each aspect can be achieved are described above in relation to the first aspect or the various possible solutions in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 A flow chart of a control method of a jacking device provided in the present application;

[0048] Figure 2 A structural schematic diagram of a control system of a jacking device provided in the present application;

[0049] Figure 3 A structural schematic diagram of an electronic device provided in the present application. DETAILED DESCRIPTION

[0050] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings. The specific operation methods in the method embodiments can also be applied to the device embodiments or system embodiments. It should be noted that in the description of the present application, “multiple” is understood as “at least two”. “And / or” describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. A is connected with B, which can represent two cases: A is directly connected with B and A is connected with B through C. In addition, in the description of the present application, “first”, “second”, etc. are used only for the purpose of distinguishing the description, and cannot be understood as indicating or implying relative importance, nor can it be understood as indicating or implying order.

[0051] The embodiments of the present application will be described in detail below with reference to the drawings.

[0052] Referring to Figure 1 The flow chart of a control method of a jacking device provided in the present application is shown, and the method comprises:

[0053] S1, obtaining the rotating speed of the cutting tool head of the jacking device and the torque of the cutting tool head;

[0054] Specifically, the current pipe jacking can be divided into processes such as entering the hole, initial jacking, normal jacking, measuring and correcting deviation and grouting resistance reduction in the jacking process, and exiting the hole.

[0055] Before the cutting disc rotation speed and the cutting disc torque of the jacking equipment are acquired, the jacking equipment will perform initial jacking. In the initial jacking stage, the cutting disc of the jacking equipment is started, and the jacking pipe machine is pushed into the soil by the main jacking oil cylinder. After the cutting disc is completely in the hole, the position of the rubber water stop ring is adjusted to completely seal the underground water. When the cutting blade enters the soil, the pressure value displayed by the earth pressure table is adjusted so that the value on the earth pressure table is maintained within the pressure value range. The jacking speed of the jacking equipment is controlled at 10-20mm / min.

[0056] After the cutting disc of the jacking equipment enters the soil, the first concrete pipe, the second concrete pipe and the third concrete pipe are jacked. The first concrete pipe and the machine head pipe of the jacking equipment are rigidly connected to form an integrated structure, thereby facilitating control of the elevation and center line of the cutting disc during initial jacking.

[0057] After the first concrete pipe is jacked, the center line and the elevation of the jacking equipment are acquired, and it is determined whether the center line and the elevation meet the preset conditions, i.e., whether the center line and the elevation are at the set position. If yes, the current state of the cutting disc of the jacking equipment is adjusted to the normal jacking state; if no, the center line and the elevation of the cutting disc are corrected according to the set correction amount. In the embodiment of the present application, the center line and the elevation are measured and reviewed during initial jacking, and the jacking operation can be performed after it is confirmed that there is no error. The center line and the elevation are measured and reviewed every 300mm of jacking, and it is determined whether the center line and the elevation meet the requirements. If the center line and the elevation exceed the set value, correction measures are immediately taken.

[0058] If the measured center line and elevation meet the requirements, the cutting disc rotation speed and the cutting disc torque of the jacking equipment are acquired in real time.

[0059] Specifically, during normal operation of the jacking equipment, appropriate adjustments can be made through the display of the instruments on the monitor. The main operation contents include: adjusting the earth pressure, controlling the displacement of the cutting disc, starting and stopping the main cutting tool, extending and retracting the travel of the correction oil cylinder, operating the mud stop valve, operating the bypass valve, changing the mud flow direction, and removing the accumulated water in the tunneling machine. After the above operations are completed, the cutting disc rotation speed and the cutting disc torque of the jacking equipment are acquired in real time.

[0060] S2, according to the cutting disc rotation speed and the cutting disc torque, the current displacement amount corresponding to the cutting disc is determined;

[0061] After the cutting tool disc rotation speed and the cutting tool disc torque are acquired, the current displacement of the cutting tool disc can be calculated based on the cutting tool disc rotation speed and the cutting tool disc torque, and the current displacement indicates the running condition of the cutting tool disc. Therefore, a displacement needs to be determined through the running condition of the cutting tool disc, and the displacement is used to determine whether the cutting tool disc is in a normal condition.

[0062] S3, determining whether the current displacement reaches a preset threshold value;

[0063] In the embodiment of the present application, the current displacement reflects the running condition of the cutting tool disc, and therefore the current displacement is compared with the preset threshold value to determine whether the current displacement meets the requirement. It needs to be explained that the preset threshold value can be a value or an interval range value.

[0064] For example, during the operation of the jacking device, whether the current displacement reaches the preset threshold value can be determined through the displacement indicator of the cutting tool disc.

[0065] When the current displacement reaches the preset threshold value, step S4 is performed; if the current displacement does not reach the preset threshold value, step S5 is performed.

[0066] S4, adjusting the working state of the cutting tool disc to a set working state with a set rotation speed and a set torque;

[0067] When the current displacement of the cutting tool disc reaches the preset threshold value, it indicates that the cutting tool disc is in a good working state, and at this time, the rotation speed of the cutting tool disc can be increased, and the torque of the cutting tool disc is adjusted to a low torque, so that the jacking device has a better slurry separation effect.

[0068] Of course, in actual application scenarios, the rotation speed of the cutting tool disc and the torque of the cutting tool disc can be adjusted according to the situation, and in the embodiment of the present application, the specific adjustment mode is not limited.

[0069] S5, adjusting the rotation speed of the cutting tool disc and the torque of the cutting tool disc until the displacement corresponding to the cutting tool disc reaches the preset threshold value.

[0070] If it is detected that the current displacement corresponding to the cutting tool disc does not reach the preset threshold value, it indicates that the current running state of the cutting tool disc reaches the set working state, and at this time, the rotation speed and the torque of the cutting tool disc are adjusted, and through the adjustment of the rotation speed and the torque, the displacement corresponding to the cutting tool disc reaches the preset threshold value.

[0071] In the embodiment of the present application, the rotation speed and torque of the cutting tool disc can be adjusted according to the set value, that is, the rotation speed and torque of the cutting tool disc are adjusted step by step according to the set value. For example, the rotation speed V0 and torque L0 of the cutting tool disc are adjusted to the rotation speed V1 and torque L1, and then to the rotation speed V2 and torque L2, where the difference between V0 and V1 is the same as the difference between V1 and V2, and the difference between L0 and L1 is the same as the difference between L1 and L2. By this method, the displacement of the cutting tool disc can reach the preset threshold step by step, so that the cutting tool disc is always maintained in a good working state.

[0072] By the above method, the rotation speed and torque of the cutting tool disc can be adjusted in time and accurately according to the set value. The displacement of the cutting tool disc can reach the preset threshold, so that the cutting tool disc is always maintained in a good working state, and thus the jacking equipment can accurately control the jacking of the pipeline.

[0073] Further, in the embodiment of the present application, in the process of normal jacking of the jacking equipment, the jacking equipment also acquires the earth pressure gauge value of the jacking equipment in real time, determines whether the earth pressure gauge value is within the set range, if yes, maintains the current pump capacity of the mud inlet and suction; if no, adjusts the pump capacity of the mud inlet and suction until the earth pressure gauge value is within the preset range.

[0074] Briefly, the jacking equipment controls the density of the slurry according to the geological conditions during jacking, periodically detects the earth pressure gauge value of the working chamber, adjusts the flow of the slurry pump to achieve the balance of the mud level of the working chamber, when the mud inlet and suction pumps work stably, adjusts the pump capacity of the mud inlet and suction, so that a certain pressure is maintained in the working chamber, the slurry pressure in the chamber should be balanced with the underground water pressure, the slurry pressure is too large, the ground rises, the slurry pressure is too small, the ground subsides, so the speed of jacking and mud outlet needs to be accurately controlled. By this method, the jacking equipment can be jacked efficiently and safely.

[0075] Further, in the embodiment of the present application, in the process of normal jacking, the current jacking amount of the jacking equipment is acquired in real time, it is determined whether the current jacking amount reaches the preset jacking amount, if yes, the center line and elevation of the jacking equipment are measured, and the center line and elevation are corrected when the center line and elevation do not satisfy the set amount; if the current jacking amount does not reach the preset jacking amount, the current jacking state is maintained.

[0076] Specifically, in normal jacking, unless special circumstances are encountered, the jacking operation is continuously carried out, and the center line and the elevation are measured every 1000mm of jacking, and whether the requirements are met is determined, and if there is an excess, a deviation correction measure is immediately taken. Through this way, the stability of the center line and the elevation of the jacking equipment during jacking can be ensured, and then the stable and safe operation of the jacking equipment can be ensured.

[0077] Based on the same inventive concept, the embodiment of the present application also provides a control system of a jacking equipment, as shown in Figure 2 As shown in a structural schematic diagram of a control system of a jacking equipment provided by the present application, the system comprises:

[0078] The acquisition module 201 is configured to acquire the rotation speed of the cutting tool disc of the jacking equipment and the torque of the cutting tool disc.

[0079] The control module 202 is configured to determine the current displacement amount corresponding to the cutting tool disc according to the rotation speed of the cutting tool disc and the torque of the cutting tool disc.

[0080] It is determined whether the current displacement amount reaches a preset threshold value.

[0081] If yes, the working state of the cutting tool disc is adjusted to a set working state with a set rotation speed and a set torque.

[0082] If no, the rotation speed of the cutting tool disc and the torque of the cutting tool disc are adjusted until the displacement amount corresponding to the cutting tool disc reaches the preset threshold value.

[0083] In a possible design, the control module 202 is further configured to acquire the center line and the elevation of the jacking equipment, and determine whether the center line and the elevation meet a preset condition.

[0084] If yes, the current state of the cutting tool disc is adjusted to a normal jacking state.

[0085] If no, the center line and the elevation of the cutting tool disc are adjusted according to a set deviation correction amount.

[0086] In a possible design, the control module 202 is further configured to acquire the earth pressure gauge value of the jacking equipment.

[0087] It is determined whether the earth pressure gauge value is within a preset interval range.

[0088] If yes, the current pump amount of the mud feeding and the mud suction is maintained.

[0089] If no, the pump amount of the mud feeding and the mud suction is adjusted until the earth pressure gauge value is within the preset interval range.

[0090] In a possible design, the control module 202 is further configured to acquire a current jacking amount of the jacking device;

[0091] determine whether the current jacking amount reaches a preset jacking amount;

[0092] if yes, measure a center line and an elevation of the jacking device, and perform correction on the center line and the elevation when the center line and the elevation do not satisfy a set amount;

[0093] if no, maintain a current jacking state.

[0094] Based on the same inventive concept, the embodiment of the present application further provides an electronic device, which can realize the functions of the control system of the jacking device, and refer to Figure 3 , the electronic device comprises:

[0095] at least one processor 301 and a memory 302 connected with the at least one processor 301, and the specific connection medium between the processor 301 and the memory 302 is not limited in the embodiment of the present application, Figure 3 for example, the processor 301 and the memory 302 are connected through a bus 300 in the embodiment of the present application. The bus 300 is represented by a thick line in the embodiment of the present application, and the connection modes between other components are only schematically illustrated, and are not limited. The bus 300 can be divided into an address bus, a data bus, a control bus, etc., and for the convenience of representation, Figure 3 only one thick line is used in the embodiment of the present application, but it does not mean that there is only one bus or only one type of bus. Alternatively, the processor 301 can also be called a controller, and the name is not limited. Figure 3

[0096] In the embodiment of the present application, the memory 302 stores instructions executable by the at least one processor 301, and the at least one processor 301 can execute the jacking device control method discussed above by executing the instructions stored in the memory 302. The processor 301 can realize the functions of various modules in the system shown in Figure 2 .

[0097] Among them, the processor 301 is the control center of the device, which can connect each part of the whole control device through various interfaces and lines, and through running or executing the instructions stored in the memory 302 and calling the data stored in the memory 302, the device various functions and processing data, so as to the whole monitoring of the device.

[0098] ​In a possible design, the processor 301 can include one or more processing units, and the processor 301 can integrate an application processor and a modem processor, where the application processor mainly processes operating systems, user interfaces, and application programs, and the modem processor mainly processes wireless communication. It can be understood that the modem processor can also not be integrated into the processor 301. In some embodiments, the processor 301 and the memory 302 can be implemented on the same chip, and in some embodiments, they can also be respectively implemented on independent chips.

[0099] The processor 301 can be a general-purpose processor, for example, a central processing unit (CPU), a digital signal processor, an application-specific integrated circuit, a field programmable gate array, or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, and can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the control method of the jacking device disclosed in the embodiments of the present application can be directly embodied as execution completed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0100] The memory 302 is a non-volatile computer-readable storage medium, which can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The memory 302 can include at least one type of storage medium, for example, can include a flash memory, a hard disk, a multimedia card, a card-type memory, a random access memory (RAM), a static random access memory (SRAM), a programmable read-only memory (PROM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic memory, a magnetic disk, an optical disk, and the like. The memory 302 is any other medium capable of carrying or storing desired program codes in the form of instructions or data structures and capable of being accessed by a computer, but is not limited thereto. The memory 302 in the embodiments of the present application can also be a circuit or any other device capable of implementing a storage function, for storing program instructions and / or data.

[0101] By designing and programming the processor 301, the code corresponding to the control method of the jacking device introduced in the foregoing embodiments can be fixed into the chip, so that the chip can execute the code when running Figure 1The steps of the control method of the jacking device of the embodiment shown. How to design and program the processor 301 is known to those skilled in the art, and will not be described here.

[0102] Based on the same inventive concept, the embodiment of the present application also provides a storage medium, which stores computer instructions, and when the computer instructions run on a computer, the computer instructions make the computer execute the control method of the jacking device discussed above.

[0103] In some possible implementation manners, various aspects of the control method of the jacking device provided by the present application can also be implemented in the form of a program product, which includes program codes for making the control device execute the steps in the control method of the jacking device according to various exemplary embodiments of the present application described above.

[0104] Those skilled in the art should understand that the embodiments of the present application can be provided in the form of a method, a system, or a computer program product. Therefore, the present application can be in the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can be in the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0105] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the computer or other programmable data processing devices generate a device implemented in the flowcharts and / or block diagrams. Figure 1 The device that implements the function specified in one flow or multiple flows and / or blocks. Figure 1 The device that implements the function specified in one flow or multiple flows and / or blocks.

[0106] These computer program instructions can also be stored in a computer-readable storage medium, which can guide the computer or other programmable data processing devices to work in a specific manner, so that the instructions stored in the computer-readable storage medium produce a manufactured product including instruction devices, which implement the flowcharts and / or block diagrams. Figure 1 The device that implements the function specified in one flow or multiple flows and / or blocks. Figure 1 The device that implements the function specified in one flow or multiple flows and / or blocks.

[0107] These computer program instructions can also be loaded into a computer or other programmable data processing devices, so that a series of operational steps are performed on the computer or other programmable data processing devices to generate computer-implemented processes, thus the instructions executed on the computer or other programmable data processing devices provide processes for implementing the functions specified in the flowchart Figure 1 one or more flows and / or blocks Figure 1 one or more blocks or steps of the functions specified in the flowchart

[0108] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application belong to the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. A control method of a jacking apparatus, characterized by, The method comprises: obtaining the center line and the elevation of the jacking equipment, and determining whether the center line and the elevation meet preset conditions; if yes, adjusting the current state of the cutting disc of the jacking equipment to a normal jacking state; if no, correcting the center line and the elevation of the cutting disc according to a set correction amount; obtaining the rotating speed and the torque of the cutting disc of the jacking equipment; determining the current displacement of the cutting disc according to the rotating speed and the torque of the cutting disc; determining whether the current displacement reaches a preset threshold; if yes, adjusting the working state of the cutting disc to a set working state with a set rotating speed and a set torque; if no, adjusting the rotating speed and the torque of the cutting disc until the displacement of the cutting disc reaches the preset threshold.

2. The method of claim 1, wherein, After adjusting the working state of the cutting disc to the set working state with the set rotating speed and the set torque, the method further comprises: obtaining the earth pressure gauge value of the jacking equipment; determining whether the earth pressure gauge value is within a preset interval range; if yes, maintaining the current pump amount of the mud intake and the mud suction; if no, adjusting the pump amount of the mud intake and the mud suction until the earth pressure gauge value is within the preset interval range.

3. The method of claim 1, wherein, After adjusting the working state of the cutting disc to the set working state with the set rotating speed and the set torque, the method further comprises: obtaining the current jacking amount of the jacking equipment; determining whether the current jacking amount reaches a preset jacking amount; if yes, measuring the center line and the elevation of the jacking equipment, and correcting the center line and the elevation when the center line and the elevation do not meet a set amount; if no, maintaining the current jacking state.

4. A control system for a jacking apparatus, characterized by, The system comprises: an obtaining module for obtaining the rotating speed and the torque of the cutting disc of the jacking equipment; a control module for determining the current displacement of the cutting disc according to the rotating speed and the torque of the cutting disc; determining whether the current displacement reaches a preset threshold; if yes, adjusting the working state of the cutting disc to a set working state with a set rotating speed and a set torque; if no, adjusting the rotating speed and the torque of the cutting disc until the displacement of the cutting disc reaches the preset threshold; wherein the control module is further configured to obtain the center line and the elevation of the jacking equipment, and determine whether the center line and the elevation meet preset conditions; if yes, adjusting the current state of the cutting disc to a normal jacking state; if no, correcting the center line and the elevation of the cutting disc according to a set correction amount.

5. The system of claim 4, wherein, The control module is further configured to obtain the earth pressure gauge value of the jacking equipment; determining whether the earth pressure gauge value is within a preset interval range; if yes, maintaining the current pump amount of the mud intake and the mud suction; if no, adjusting the pump amount of the mud intake and the mud suction until the earth pressure gauge value is within the preset interval range.

6. The system of claim 4, wherein, The control module is further configured to obtain the current jacking amount of the jacking equipment; determining whether the current jacking amount reaches a preset jacking amount; if yes, measuring the center line and the elevation of the jacking equipment, and correcting the center line and the elevation when the center line and the elevation do not meet a set amount; if no, maintaining the current jacking state. If yes, the center line and elevation of the jacking equipment are measured, and the center line and elevation are corrected when the center line and elevation do not meet the set amount; If no, the current jacking state is maintained.

7. An electronic device, comprising: The method comprises the steps of: a memory for storing a computer program; a processor for executing the computer program stored in the memory to realize the method steps in any one of claims 1-3. The computer program is stored in the computer readable storage medium, and the computer program is executed by the processor to realize the method steps in any one of claims 1-3.

8. A computer-readable storage medium, characterized in that, ​

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