A multi-reference-based rectangular pipe jacking machine posture monitoring device and adjusting method

Abstract

The application discloses a rectangular pipe jacking machine posture monitoring device and adjusting method based on multiple references, which comprises a support frame, displacement devices, angle devices, monitoring devices and assembly devices are arranged on the support frame; the support frame is of a portal structure, arc-shaped electric sliding rails are fixedly connected between the support frames, an interconnection plate is fixedly connected between the arc-shaped electric sliding rails, and mounting frames are fixedly connected between the moving parts of the arc-shaped electric sliding rails. Through the cooperation of the displacement devices, the angle devices, the monitoring devices, the assembly devices, the motorized devices and the reference devices, the posture of the pipe jacking machine during the construction in the tunnel can be accurately monitored, the posture monitoring of the pipe jacking machine is quantified, accurate data support can be provided when the pipe jacking machine is rectified, the accuracy is not reduced due to the influence of the ground depth, and various construction routes in the tunnel can be set with reference.

Description

Technical Field

[0001] This invention relates to tunnel construction, and more particularly to a rectangular pipe jacking machine attitude monitoring device and adjustment method based on multiple references. Background Technology

[0002] During tunnel construction, tunnel boring machines (TBMs) are typically used for excavation, while pipe jacking machines are used for excavation in rectangular tunnels. Regardless of the method, equipment is required to excavate inside the tunnel. However, currently, it is difficult to monitor the attitude of pipe jacking machines during excavation. There are no reference points inside the tunnel, making it difficult to determine if there is any deviation in the excavation attitude or to monitor the excavation direction. Even with ground base stations, significant errors still exist. Because the tunnel is underground, ground base station signals generally require long-wave transmission, which results in less transmitted information and lower propagation accuracy. If the tunnel excavation depth is large, positioning becomes even more difficult, leading to frequent location mapping during pipe jacking machine construction and resulting in low construction efficiency.

[0003] Therefore, it is necessary to design a rectangular pipe jacking machine attitude monitoring device and adjustment method based on multiple references to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide a rectangular pipe jacking machine attitude monitoring device and adjustment method based on multiple references. Through the cooperation of displacement device, angle device, monitoring device, assembly device, motor device and reference device, the attitude of the pipe jacking machine during tunnel construction can be accurately monitored. The attitude monitoring of the pipe jacking machine is quantified, and it can provide accurate data support when the pipe jacking machine is correcting its course. The accuracy is not affected by the ground depth and can be set as a reference for various construction routes in the tunnel.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a rectangular pipe jacking machine attitude monitoring device based on multiple reference objects, comprising a support frame, wherein the support frame is provided with a displacement device, an angle device, a monitoring device and an assembly device;

[0006] The support frame is a portal frame structure. Arc-shaped electric slide rails are fixedly connected between the support frames. Interconnecting plates are fixedly connected between the arc-shaped electric slide rails. Mounting brackets are fixedly connected between the moving parts of the arc-shaped electric slide rails.

[0007] The mounting bracket is equipped with a displacement device, the displacement device is equipped with an angle device, and the angle device is equipped with a monitoring device. The monitoring device is used to detect the posture of the assembly device. The displacement device and the angle device are used to adjust the posture of the monitoring device. An assembly device is provided on one side of the monitoring device. The assembly device is used to be installed at the pipe jacking machine. The position of the assembly device corresponds to that of the monitoring device.

[0008] As a further improvement of the present invention, the displacement device includes a horizontal plate, which is fixedly connected between the mounting brackets. A horizontal electric slide rail is fixedly connected to the horizontal plate and is controlled by a servo. A vertical plate is fixedly connected to the moving part of the horizontal electric slide rail, and a vertical electric slide rail is fixedly connected to the vertical plate and is controlled by a servo. The angle device is installed at the moving part of the vertical electric slide rail.

[0009] As a further improvement of the present invention, the angle device includes a fixed frame, which is fixedly connected to the vertical electric slide rail moving part. A guide shaft is rotatably connected to the fixed frame, and a guide rotating frame is fixedly connected to the guide shaft. A guide servo motor is fixedly connected to the fixed frame, and the output shaft of the guide servo motor is connected to the guide shaft. A vertical shaft is rotatably connected to the guide rotating frame, and a vertical rotating frame is fixedly connected to the vertical shaft. A vertical servo motor is fixedly connected to the guide rotating frame, and the output shaft of the vertical servo motor is connected to the vertical shaft. A longitudinal shaft is rotatably connected to the vertical rotating frame, and a longitudinal rotating frame is fixedly connected to the longitudinal shaft. A longitudinal servo motor is fixedly connected to the vertical rotating frame, and the output shaft of the longitudinal servo motor is connected to the longitudinal shaft. The monitoring device is installed on the longitudinal rotating frame.

[0010] As a further improvement of the present invention, the monitoring device includes an installation module, which is fixedly connected to a longitudinal rotating frame. A matrix photosensitive sensor is installed on the other side of the installation module. The matrix photosensitive sensor is a collection of multiple photoresistor units, and each unit of the matrix photosensitive sensor is an independent circuit. A first laser ranging receiver is installed on both sides of the installation module.

[0011] As a further improvement of the present invention, the assembly device includes an assembly frame placed on one side of the mounting module. A light emitting head is fixedly connected to the center of the assembly frame. When the light emitting head is in operation, it will emit a high-frequency pulsed light signal. The light signal emitted by the light emitting head is a position light signal, which will be received and analyzed by the matrix photosensitive sensor. First laser rangefinders are fixedly connected to both sides of the mounting module. When the first laser rangefinders are in operation, they will emit a high-frequency pulsed light signal. The signal emitted by the first laser rangefinders is a distance light signal, which will be received and analyzed by the first optical ranging receiver.

[0012] As a further improvement of the present invention, a motorized device is also included, which is disposed at the support frame. The motorized device is used to enable the rectangular pipe jacking machine attitude monitoring equipment based on multiple references to have mobility and rapid self-attitude adjustment capability. Electric push rods are fixedly connected to both sides of the support frame. The electric push rods are servo controlled. A steering frame is fixedly connected to the base of each electric push rod. A four-corner frame is rotatably connected to each steering frame. A steering servo motor is installed at each of the four corner frames. The steering servo motors are connected to the shaft connection of the adjacent steering frame. A tracked motorized wheel module is fixedly connected to one side of each of the four corner frames.

[0013] As a further improvement of the present invention, a reference device is also included. This reference device is disposed on one side of the rectangular pipe jacking machine attitude monitoring device based on multiple reference objects. The reference device is used as a reference object to accurately calibrate the position and travel path of the rectangular pipe jacking machine attitude monitoring device based on multiple reference objects. An external frame is provided on one side of the rectangular pipe jacking machine attitude monitoring device based on multiple reference objects. The external frame has a structure with mounting holes. Supports are symmetrically fixedly connected to the external frame. Second laser rangefinders are fixedly connected to the other side of each support. A U-shaped frame is fixedly connected to the external frame, and the U-shaped frame is rotatably connected... A first adjusting frame is attached, and a first adjusting servo motor is fixedly connected to the U-shaped frame. The output shaft of the first adjusting servo motor is connected to the shaft connection of the first adjusting frame. Extension frames are symmetrically fixedly connected to both sides of the first adjusting frame. A second adjusting frame is rotatably connected to each extension frame. A second laser rangefinder is fixedly connected to each of the second adjusting frames. A second adjusting servo motor is fixedly connected to the first adjusting frame. An eccentric frame is fixedly connected to the shaft connection of the output shaft of the second adjusting servo motor and the shaft connection of the second adjusting frame. A connecting rod is connected between the eccentric frames. A positioning component is provided at the mounting frame.

[0014] As a further improvement of the present invention, the positioning component includes a connecting frame, which is fixedly connected to both sides of the mounting frame, and a host laser rangefinder is fixedly connected to the other side of the connecting frame.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] 1. By adopting a support frame portal structure, the present invention enables the rectangular pipe jacking machine attitude monitoring equipment based on multiple reference objects to not occupy the space of the pipe jacking machine's earth transport device. Through the monitoring device installed at the equipment and the three high-frequency pulse light signals emitted by the assembly device installed on the back side of the pipe jacking machine, the monitoring device can accurately detect the position and distance of the assembly device.

[0017] 2. By using displacement and angle devices to drive the monitoring device to move in order to follow the light signals emitted by the assembly device, the present invention enables the monitoring device to quickly and accurately determine various postures of the pipe jacking machine, including linear and axial offsets, and can quickly digitize the offset, so that the pipe jacking machine's correction process has accurate data support.

[0018] 3. By employing a motorized device, the present invention enables the rectangular pipe jacking machine attitude monitoring equipment based on multiple references to have rapid mobility within the tunnel, and at the same time, it can adjust and maintain its own attitude within the uneven tunnel after excavation.

[0019] 4. By employing multiple sets of reference devices deployed within the tunnel, and by laying a solid reference surface at the bottom of the tunnel and the ground shaft as a reference benchmark for tunnel construction, this invention enables the rectangular pipe jacking machine attitude monitoring equipment based on multiple reference objects to have precise attitude control, further ensuring the attitude monitoring of the pipe jacking machine. At the same time, it can solve the problem of poor ground base station signal during the construction of deep tunnels, and can accurately set the tunnel construction direction. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the first three-dimensional structure of the present invention.

[0021] Figure 2 This is a schematic diagram of the second three-dimensional structure of the present invention.

[0022] Figure 3 This is a schematic diagram of the third three-dimensional structure of the present invention.

[0023] Figure 4 This is a schematic diagram of the fourth three-dimensional structure of the present invention.

[0024] Figure 5 This is a schematic diagram of the fifth three-dimensional structure of the present invention.

[0025] Figure 6 This is a schematic diagram of the first partial three-dimensional structure of the present invention.

[0026] Figure 7 This is a schematic diagram of the second partial three-dimensional structure of the present invention.

[0027] Figure 8 This is a schematic diagram of the first three-dimensional structure of the displacement device part of the present invention.

[0028] Figure 9 This is a schematic diagram of a second three-dimensional structure of the displacement device part of the present invention.

[0029] Figure 10 This is a schematic diagram of the first three-dimensional structure of the angle device part of the present invention.

[0030] Figure 11 This is a schematic diagram of a second three-dimensional structure of the angle device part of the present invention.

[0031] Figure 12 This is a three-dimensional structural diagram of the assembly device part of the present invention.

[0032] Figure 13 This is a first three-dimensional structural schematic diagram of the reference device portion of the present invention.

[0033] Figure 14 This is a second three-dimensional structural schematic diagram of the reference device portion of the present invention.

[0034] Figure 15 This is a schematic diagram of the third three-dimensional structure of the reference device portion of the present invention.

[0035] Figure 16 This is a schematic diagram of the assembly and construction of the present invention.

[0036] In the diagram: 1_Support frame, 2_Arc-shaped electric slide rail, 3_Interconnect board, 4_Mounting frame, 5_Displacement device, 6_Angle device, 7_Monitoring device, 8_Assembly device, 51_Horizontal plate, 52_Horizontal electric slide rail, 53_Vertical plate, 54_Vertical electric slide rail, 61_Fixed frame, 62_Infeed axis, 63_Infeed rotating frame, 64_Infeed servo motor, 65_Vertical axis, 66_Vertical rotating frame, 67_Vertical servo motor, 68_Longitudinal axis, 69_Longitudinal rotating frame, 610_Longitudinal servo motor, 71_Mounting module, 72_Matrix photosensitive sensor, 73_First laser rangefinder receiver, 81_Assembly frame, 82_Light emitting device Head, 83_First laser rangefinder transmitter, 9_Motor device, 91_Electric push rod, 92_Board adjustment frame, 93_Four-corner frame, 94_Board adjustment servo motor, 95_Tracked motorized wheel module, 10_Reference device, 101_External frame, 102_Bracket, 103_Second laser rangefinder receiver, 104_U-shaped frame, 105_First adjustment frame, 106_First adjustment servo motor, 107_Extension frame, 108_Second adjustment frame, 109_Second laser rangefinder transmitter, 1010_Second adjustment servo motor, 1011_Eccentric frame, 1012_Connecting rod, 11_Positioning component, 111_Connecting frame, 112_Main laser rangefinder receiver. Detailed Implementation

[0037] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0038] Example 1

[0039] like Figures 1-7 As shown, a rectangular pipe jacking machine attitude monitoring device based on multiple references includes a support frame 1, an arc-shaped electric slide rail 2, an interconnecting plate 3, a mounting frame 4, a displacement device 5, an angle device 6, a monitoring device 7, and an assembly device 8. The support frame 1 is a portal frame structure. Arc-shaped electric slide rails 2 are fixedly connected between the support frames 1. Interconnecting plates 3 are fixedly connected between the arc-shaped electric slide rails 2. The moving parts of the arc-shaped electric slide rails 2 are fixedly connected to the mounting frame 4. The mounting frame 4 is equipped with a displacement device 5. The displacement device 5 is equipped with an angle device 6. The angle device 6 is equipped with a monitoring device 7. The monitoring device 7 is used to detect the attitude of the assembly device 8. The displacement device 5 and the angle device 6 are used to adjust the attitude of the monitoring device 7. The assembly device 8 is located on one side of the monitoring device 7. The assembly device 8 is used to be installed at the pipe jacking machine. The position of the assembly device 8 corresponds to that of the monitoring device 7.

[0040] By adopting a support frame portal structure, the rectangular pipe jacking machine attitude monitoring equipment based on multiple reference objects can avoid occupying the space of the pipe jacking machine's earthwork transportation device. Through the monitoring device installed at the equipment and the three high-frequency pulse light signals emitted by the assembly device installed on the back side of the pipe jacking machine, the monitoring device can accurately detect the position and distance of the assembly device.

[0041] Example 2

[0042] like Figures 8-9 As shown, the displacement device 5 includes a horizontal plate 51, a horizontal electric slide rail 52, a vertical plate 53, and a vertical electric slide rail 54. The horizontal plate 51 is fixedly connected to the mounting bracket 4. The horizontal electric slide rail 52 is fixedly connected to the horizontal plate 51 and is controlled by a servo. The vertical plate 53 is fixedly connected to the moving part of the horizontal electric slide rail 52. The vertical electric slide rail 54 is fixedly connected to the vertical plate 53 and is controlled by a servo. The angle device 6 is installed at the moving part of the vertical electric slide rail 54.

[0043] like Figures 10-11 As shown, the angle device 6 includes a fixed frame 61, a forward shaft 62, a forward rotation frame 63, a forward servo motor 64, a vertical shaft 65, a vertical rotation frame 66, a vertical servo motor 67, a longitudinal shaft 68, a longitudinal rotation frame 69, and a longitudinal servo motor 610. The fixed frame 61 is fixedly connected to the moving part of the vertical electric slide rail 54. The forward shaft 62 is rotatably connected to the fixed frame 61. The forward rotation frame 63 is fixedly connected to the forward shaft 62. The forward servo motor 64 is fixedly connected to the fixed frame 61. The output shaft of the forward servo motor 64 is connected to the forward shaft 62. A vertical shaft 65 is rotatably connected to the advancing rotating frame 63. A vertical rotating frame 66 is fixedly connected to the vertical shaft 65. A vertical servo motor 67 is fixedly connected to the advancing rotating frame 63. The output shaft of the vertical servo motor 67 is connected to the vertical shaft 65. A longitudinal shaft 68 is rotatably connected to the vertical rotating frame 66. A longitudinal rotating frame 69 is fixedly connected to the longitudinal shaft 68. A longitudinal servo motor 610 is fixedly connected to the vertical rotating frame 66. The output shaft of the longitudinal servo motor 610 is connected to the longitudinal shaft 68. The monitoring device 7 is installed at the longitudinal rotating frame 69.

[0044] like Figure 8As shown, the monitoring device 7 includes a mounting module 71, a matrix photosensitive sensor 72, and a first laser ranging receiver 73. The mounting module 71 is fixedly connected to the longitudinal rotating frame 69. The matrix photosensitive sensor 72 is mounted on the other side of the mounting module 71. The matrix photosensitive sensor 72 is a collection of multiple photoresistor units, and each unit of the matrix photosensitive sensor 72 is an independent circuit. The first laser ranging receiver 73 is mounted on both sides of the mounting module 71.

[0045] By using displacement and angle devices to drive the monitoring device to move and follow the light signals emitted by the assembly device, the monitoring device can quickly and accurately determine various postures of the pipe jacking machine, including linear and axial offsets, and can quickly digitize the offset, so that the pipe jacking machine's correction process has accurate data support.

[0046] like Figure 12 As shown, the assembly device 8 includes an assembly frame 81, a light emitting head 82, and a first laser rangefinder 83. The assembly frame 81 is placed on one side of the mounting module 71, and the light emitting head 82 is fixedly connected to the center of the assembly frame 81. When the light emitting head 82 is running, it will emit a high-frequency pulse light signal. The light signal emitted by the light emitting head 82 is a position light signal, which will be received and analyzed by the matrix photosensitive sensor 72. The first laser rangefinder 83 is fixedly connected to both sides of the mounting module 71. When the first laser rangefinder 83 is running, it will emit a high-frequency pulse light signal. The signal emitted by the first laser rangefinder 83 is a distance light signal, which will be received and analyzed by the first laser rangefinder receiver.

[0047] Example 3

[0048] like Figure 2 As shown, it also includes a motorized device 9, which includes an electric push rod 91, a directional frame 92, a four-corner frame 93, a directional servo motor 94, and a tracked motorized wheel module 95. The motorized device 9 is located at the support frame 1. The motorized device 9 is used to enable the rectangular pipe jacking machine attitude monitoring equipment based on multiple references to have mobility and rapid self-attitude adjustment. Electric push rods 91 are fixedly connected to both sides of the support frame 1. The electric push rods 91 are servo controlled. A directional frame 92 is fixedly connected to the base of each electric push rod 91. A four-corner frame 93 is rotatably connected to each directional frame 92. A directional servo motor 94 is installed at each four-corner frame 93. The directional servo motor 94 is connected to the shaft connection of the adjacent directional frame 92. A tracked motorized wheel module 95 is fixedly connected to one side of each four-corner frame 93.

[0049] By employing a mobile device, the rectangular pipe jacking machine attitude monitoring equipment based on multiple references can achieve rapid mobility within the tunnel, while also adjusting and maintaining its own attitude within the uneven tunnel after excavation.

[0050] like Figures 13-15 As shown, it also includes a reference device 10, which includes an external frame 101, a bracket 102, a second laser rangefinder receiver 103, a U-shaped frame 104, a first adjustment frame 105, a first adjustment servo motor 106, an extension frame 107, a second adjustment frame 108, a second laser rangefinder transmitter 109, a second adjustment servo motor 1010, an eccentric frame 1011, a connecting rod 1012, and a positioning component 11. The reference device 10 is located on one side of the rectangular pipe jacking machine attitude monitoring equipment based on multiple reference objects. The reference device 10 is used as a reference object to accurately calibrate the position and travel path of the rectangular pipe jacking machine attitude monitoring equipment based on multiple reference objects. An external frame 101 is provided on one side of the rectangular pipe jacking machine attitude monitoring equipment based on multiple reference objects. The external frame 101 has a structure with mounting holes. A bracket 102 is symmetrically fixedly connected to the external frame 101. A first adjustment servo motor 106 is fixedly connected to the other side of the bracket 102. Two laser rangefinder receivers 103 are connected to an external frame 101 with a U-shaped frame 104 fixedly connected to it. A first adjustment frame 105 is rotatably connected to the U-shaped frame 104. A first adjustment servo motor 106 is fixedly connected to the U-shaped frame 104. The output shaft of the first adjustment servo motor 106 is connected to the shaft connection of the first adjustment frame 105. Extension frames 107 are symmetrically fixedly connected to both sides of the first adjustment frame 105. A second adjustment frame 108 is rotatably connected to each extension frame 107. A second laser rangefinder transmitter 109 is fixedly connected to each second adjustment frame 108. A second adjustment servo motor 1010 is fixedly connected to the first adjustment frame 105. An eccentric frame 1011 is fixedly connected to the shaft connection of the output shaft of the second adjustment servo motor 1010 and the shaft connection of the second adjustment frame 108. A connecting rod 1012 is connected between the eccentric frames 1011. A positioning component 11 is provided at the mounting frame 4.

[0051] like Figure 2 As shown, the positioning component 11 includes a connecting frame 111 and a host laser rangefinder 112. The connecting frame 111 is fixedly connected to both sides of the mounting frame 4, and the host laser rangefinder 112 is fixedly connected to the other side of the connecting frame 111.

[0052] By employing multiple sets of reference devices deployed within the tunnel, and by laying a solid reference surface at the bottom of the tunnel and the ground shaft as a reference benchmark for tunnel construction, the rectangular pipe jacking machine attitude monitoring equipment based on multiple reference objects can achieve precise control over its own attitude, further ensuring the attitude monitoring of the pipe jacking machine. At the same time, it can solve the problem of poor ground base station signal during the construction of deep tunnels, and can accurately set the tunnel construction direction.

[0053] Example 4

[0054] like Figures 1-16 As shown, an adjustment method for a rectangular pipe jacking machine attitude monitoring device based on multiple references is described:

[0055] When the pipe jacking machine is inside the tunnel, the rectangular pipe jacking machine attitude monitoring device based on multiple reference points can be placed inside a section of the excavated standard route tunnel, with the device positioned behind the pipe jacking machine. The assembly device 8 is then horizontally and vertically installed at the center of the back side of the pipe jacking machine. The device is then installed inside the tunnel via an external support 102. The mounting frame 4 is rotated via an arc-shaped electric slide rail 2, and the device is kept horizontal and vertical using a spirit level or level instrument. The device is aligned with the desired tunnel excavation direction. With the assembly device 8 and the monitoring device 7 aligned on the same centerline, the rectangular pipe jacking machine attitude monitoring equipment based on multiple reference points can then be activated. When the pipe jacking machine is in the tunneling state, the assembly device 8 can be activated, emitting high-frequency pulse light signals. One signal indicates the position of the assembly device 8 (one signal), and the other indicates the distance to the assembly device 8 (two signals). The high-frequency pulse light signals emitted by the assembly device 8 will illuminate the monitoring device 7. The monitoring device 7 will analyze the emitted high-frequency light signals, analyzing the emission distance and emission position, i.e., enabling the monitoring device... The position and distance of the assembly device 8 are analyzed by the monitoring device 7. By analyzing the position and distance of the assembly device 8, the position and distance of the pipe jacking machine can be determined. Furthermore, the tunneling posture of the pipe jacking machine can be determined from the analyzed position and distance. When the monitoring device 7 receives and analyzes the high-frequency pulse light signal emitted by the assembly device 8 in real time, if the tunneling position of the pipe jacking machine shifts, the light signal emitted by the assembly device 8 will also shift at the monitoring device 7. In this case, the monitoring device 7 will receive light signals emitted by the assembly device 8 from different positions, and the light signal indicating distance emitted by the assembly device 8 will not be able to illuminate the monitoring device 7. At this time, the monitoring device 7 loses the light signal indicating distance. When the monitoring device 7 is in operation, the displacement device 5 will control the displacement device 5 to work. The displacement device 5 will drive the angle device 6 and the monitoring device 7 to run parallel or vertically, so that the center of the monitoring device 7 will move back to the position light signal emitted by the assembly device 8. If the center of the monitoring device 7 receives the position light signal and the distance light signal after the displacement device 5 is running, and the distance expressed by the two light signals is equal, it means that the assembly device 8 is in a linear offset in one direction, horizontal, vertical or longitudinal. It can be known that the pipe jacking machine is in this offset state. And through the displacement information of the displacement device 5, the linear offset value of the assembly device 8 and the pipe jacking machine can be known.If, after the displacement device 5 is activated, the center of the monitoring device 7 only receives a light signal indicating position, and there is only one light signal indicating distance or it cannot be received by the monitoring device 7, it indicates that the assembly device 8 and the pipe jacking machine are axially offset on one or more axes, that is, the pipe jacking machine is tilted on one or more axes. At this time, the monitoring device 7 will control the angle device 6 to operate, and the angle device 6 will drive the monitoring device 7 to rotate on three axes, so that the monitoring device 7 can perform scanning work until the monitoring device 7 receives the two light signals indicating distance again. At this time, the axial displacement of the assembly device 8 and the pipe jacking machine can be known through the rotation information of each axis of the angle device 6. Offset values; After determining the offset values ​​of the pipe jacking machine and the assembly device 8, the pipe jacking machine can be precisely corrected. During the pipe jacking machine correction process, the monitoring device 7 will also receive optical signals in real time. Once the displacement device 5 and the angle device 6 are reset, it can be determined that the pipe jacking machine is in the required tunneling posture. Thus, through the high-frequency pulse signals emitted by the assembly device 8, and through the receiving status of the monitoring device 7 and the control of the displacement device 5 and the angle device 6, the tunneling posture of the pipe jacking machine in the tunnel can be quickly understood, and the posture of the pipe jacking machine can be precisely quantified to facilitate correction. This provides precise data support for the pipe jacking machine correction process.

[0056] When the monitoring device 7 does not receive a position-indicating light signal emitted by the assembly device 8 at its center, that is, when the position-indicating light signal emitted by the assembly device 8 is at a non-central position of the monitoring device 7, the monitoring device 7 will control the horizontal electric slide rail 52 and the vertical electric slide rail 54 to move, causing the angle device 6 and the monitoring device 7 to move linearly, thereby moving the center of the monitoring device 7 to the position-indicating light signal emitted by the assembly device 8; through the displacement information of the horizontal electric slide rail 52 and the vertical electric slide rail 54, the linear offset value of the assembly device 8 and the pipe jacking machine can be known.

[0057] When the monitoring device 7 receives a position-indicating light signal emitted from the assembly device 8 at its center, and the distance-indicating light signal emitted from the assembly device 8 is not received by the monitoring device 7, the monitoring device 7 will control the forward servo motor 64, the vertical servo motor 67, and the longitudinal servo motor 610 to operate, causing the forward rotating frame 63, the vertical rotating frame 66, and the longitudinal rotating frame 69 to rotate, thereby causing the monitoring device 7 to rotate on three axes until the monitoring device 7 receives two distance-indicating light signals emitted from the assembly device 8; through the rotation information of the forward servo motor 64, the vertical servo motor 67, and the longitudinal servo motor 610, the axial offset values ​​of the assembly device 8 and the pipe jacking machine can be determined.

[0058] The position-indicating light signal emitted by the assembly device 8 illuminates the matrix photosensitive sensor 72. The initial position is determined by the light illuminating the central independent unit of the matrix photosensitive sensor 72, which corresponds to the center of the direction of the tunnel excavation. The distance-indicating light signal emitted by the assembly device 8 illuminates the first laser ranging receiver 73. When the pipe jacking machine and the assembly device 8 experience positional shifts during excavation, the position-indicating light signal emitted by the assembly device 8 will illuminate a non-central unit of the matrix photosensitive sensor 72, while the distance-indicating light signal will not be received by the first laser ranging receiver 73. In this case, the installation module 71 will be moved by the shifting light. The installation module 71 is moved so that the central unit of the matrix photosensitive sensor 72 moves toward the position indicated by the light signal, enabling the central unit of the matrix photosensitive sensor 72 to receive the position indicated by the light signal. If the upper unit of the matrix photosensitive sensor 72 receives the position indicated by the light signal, the installation module 71 will be moved downwards. After this, if neither of the first laser rangefinders 73 receives the distance indicated by the light signal, the installation module 71 will rotate so that both of the first laser rangefinders 73 can receive the distance indicated by the light signal. In this way, the angle and relative position of the installation module 71 indicate the angle and relative position of the pipe jacking machine.

[0059] The assembly frame 81 can be installed at the center of the back side of the pipe jacking machine. When the light emitter and the first laser rangefinder 83 are activated, three high-frequency pulse light signals will be emitted. One of them is a light signal indicating the position of the assembly device 8, and there is one of them. The other two are light signals indicating the distance of the assembly device 8.

[0060] Activating the tracked motorized wheel module 95 enables the rectangular pipe jacking machine attitude monitoring device based on multiple references to move rapidly within the tunnel. Furthermore, by controlling the directional servo motor 94 and the electric push rod 91, the height position and tilt angle of the support frame 1 can be changed to cope with the uneven terrain after excavation within the tunnel, allowing the rectangular pipe jacking machine attitude monitoring device based on multiple references to maintain the required attitude within the tunnel.

[0061] In the early stages of tunnel construction, a set of reference devices 10 can be installed at the bottom of the vertical shaft connecting the tunnel to the ground, and a solid reference surface can be laid as a reference for tunnel construction. The external frame 101 of the set of reference devices 10 can be installed on the reference surface, and the second laser ranging transmitter 109 can be oriented towards the tunnel excavation direction. When the rectangular pipe jacking machine attitude monitoring equipment based on multiple reference objects is placed in the tunnel, the second laser ranging transmitter 109 can be activated to emit a high-frequency pulse light signal. This light signal is a reference light signal, which is directed to the positioning component 11. After the positioning component 11 receives the light signal, the distance between the rectangular pipe jacking machine attitude monitoring equipment based on multiple reference objects and the reference position, as well as its own attitude, can be determined. During the tunnel construction process, multiple sets of reference devices 10 can be deployed in the tunnel, with the reference devices 10 interconnected through the second laser ranging transmitter 109 and the second laser ranging receiver 103. The system establishes a communication mechanism, with the innermost set of reference devices 10 serving as relay reference points for the rectangular pipe jacking machine attitude monitoring equipment based on multiple reference points. Through communication between the second laser ranging transmitter 109 and the second laser ranging receiver 103, each reference device 10 can function as a reference. During tunnel curves or slope construction, the angle of the second laser ranging transmitter 109 can be adjusted by controlling the first adjusting servo motor 106 and the second adjusting servo motor 1010, enabling it to emit light signals with an angle relative to the reference position. After analyzing the angles and distances between multiple sets of reference devices 10, the distance between two reference devices 10 can be used as a chord length to precisely control the curve position of the rectangular pipe jacking machine attitude monitoring equipment based on multiple reference points. This allows the equipment to assist the pipe jacking machine in achieving accuracy during tunnel curve construction.

[0062] The light signal emitted from the second laser ranging transmitter 109 at the innermost part of the tunnel will illuminate the host laser ranging receiver 112. Through the reference light signals emitted by the two second laser ranging transmitters 109, the rectangular pipe jacking machine attitude monitoring equipment based on multiple reference objects can have precise control over its own attitude, further ensuring the attitude monitoring of the pipe jacking machine. At the same time, it can solve the problem of poor ground base station signal during the construction of deep tunnels, and can accurately set the tunnel construction direction.

[0063] By combining displacement devices, angle devices, monitoring devices, assembly devices, motor devices, and reference devices, the posture of the pipe jacking machine during tunnel construction can be precisely monitored. The posture monitoring of the pipe jacking machine is quantifiable, providing accurate data support when the pipe jacking machine is correcting its course. The accuracy is not affected by the ground depth and can be referenced for setting various construction routes within the tunnel.

[0064] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A rectangular pipe jacking machine attitude monitoring device based on multiple reference objects, comprising a support frame (1), characterized in that: The support frame (1) is equipped with a displacement device (5), an angle device (6), a monitoring device (7), an assembly device (8), a motor device (9), and a reference device (10). The support frame (1) is a portal structure. Arc-shaped electric slide rails (2) are fixedly connected between the support frames (1). Interconnecting plates (3) are fixedly connected between the arc-shaped electric slide rails (2). Mounting brackets (4) are fixedly connected between the moving parts of the arc-shaped electric slide rails (2). The mounting bracket (4) is provided with a displacement device (5), the displacement device (5) is provided with an angle device (6), and the angle device (6) is provided with a monitoring device (7). The monitoring device (7) is used to detect the posture of the assembly device (8). The displacement device (5) and the angle device (6) are used to adjust the posture of the monitoring device (7). The assembly device (8) is provided on one side of the monitoring device (7). The assembly device (8) is used to be installed at the pipe jacking machine. The position of the assembly device (8) corresponds to that of the monitoring device (7). The monitoring device (7) includes an installation module (71), a matrix photosensitive sensor (72) is installed on the other side of the installation module (71), and a first laser rangefinder (73) is installed on both sides of the installation module (71). The assembly device (8) includes an assembly frame (81), with a light emitting head (82) fixedly connected to the center of the assembly frame (81). When the light emitting head (82) is running, it will emit a high-frequency pulse light signal, which will be received and analyzed by the matrix photosensitive sensor (72). A first laser rangefinder (83) is fixedly connected to both sides of the mounting module (71). When the first laser rangefinder (83) is running, it will emit a high-frequency pulse light signal, which will be received and analyzed by the first laser range receiver (73). The motorized device (9) is used to enable the rectangular pipe jacking machine attitude monitoring equipment based on multiple references to have mobility and rapid attitude adjustment capability; The reference device (10) is used as a reference to accurately calibrate the position and travel route of the rectangular pipe jacking machine attitude monitoring device based on multiple references.

2. The rectangular pipe jacking machine attitude monitoring device based on multiple reference objects according to claim 1, characterized in that: The displacement device (5) includes a horizontal plate (51), which is fixedly connected between the mounting brackets (4). A horizontal electric slide rail (52) is fixedly connected to the horizontal plate (51). The horizontal electric slide rail (52) is controlled by a servo. A vertical plate (53) is fixedly connected to the moving part of the horizontal electric slide rail (52). A vertical electric slide rail (54) is fixedly connected to the vertical plate (53). The vertical electric slide rail (54) is controlled by a servo. The angle device (6) is installed at the moving part of the vertical electric slide rail (54).

3. The rectangular pipe jacking machine attitude monitoring device based on multiple reference objects according to claim 2, characterized in that: The angle device (6) includes a fixed frame (61), which is fixedly connected to the moving part of the vertical electric slide rail (54). A guide shaft (62) is rotatably connected to the fixed frame (61), and a guide rotation frame (63) is fixedly connected to the guide shaft (62). A guide servo motor (64) is fixedly connected to the fixed frame (61), and the output shaft of the guide servo motor (64) is connected to the guide shaft (62). A vertical shaft (65) is rotatably connected to the guide rotation frame (63), and a vertical rotating arm is fixedly connected to the vertical shaft (65). A rotating frame (66) is provided, and a vertical servo motor (67) is fixedly connected to the forward rotating frame (63). The output shaft of the vertical servo motor (67) is connected to the vertical shaft (65). A longitudinal shaft (68) is rotatably connected to the vertical rotating frame (66). A longitudinal rotating frame (69) is fixedly connected to the longitudinal shaft (68). A longitudinal servo motor (610) is fixedly connected to the vertical rotating frame (66). The output shaft of the longitudinal servo motor (610) is connected to the longitudinal shaft (68). The monitoring device (7) is installed on the longitudinal rotating frame (69).

4. The rectangular pipe jacking machine attitude monitoring device based on multiple reference objects according to claim 3, characterized in that: The mounting module (71) is fixedly connected to the longitudinal rotating frame (69). The matrix photosensitive sensor (72) is a collection of multiple photoresistor units, and each unit of the matrix photosensitive sensor (72) is an independent circuit.

5. The rectangular pipe jacking machine attitude monitoring device based on multiple reference objects according to claim 4, characterized in that: The mounting bracket (81) is placed on one side of the mounting module (71). The light signal emitted by the light emitting head (82) is a light signal indicating the position. The light signal indicating the position is received and analyzed by the matrix photosensitive sensor (72). The light signal emitted by the first laser rangefinder (83) is a light signal indicating the distance. The light signal indicating the distance is received and analyzed by the first laser rangefinder (73).

6. The rectangular pipe jacking machine attitude monitoring device based on multiple reference objects according to claim 5, characterized in that: The motor device (9) is located at the support frame (1). Electric push rods (91) are fixedly connected to both sides of the support frame (1). The electric push rods (91) are servo controlled. A steering frame (92) is fixedly connected to the base of each electric push rod (91). A four-corner frame (93) is rotatably connected to each steering frame (92). A steering servo motor (94) is installed at each of the four-corner frames (93). The steering servo motor (94) is connected to the shaft connection of the adjacent steering frame (92). A tracked motor wheel module (95) is fixedly connected to one side of each of the four-corner frames (93).

7. The rectangular pipe jacking machine attitude monitoring device based on multiple reference objects according to claim 6, characterized in that: The reference device (10) is located on one side of the rectangular pipe jacking machine attitude monitoring device based on multiple reference objects. An external frame (101) is provided on one side of the rectangular pipe jacking machine attitude monitoring device based on multiple reference objects. The external frame (101) has a structure with mounting holes. Supports (102) are symmetrically fixedly connected to the external frame (101). Second laser rangefinders (103) are fixedly connected to the other side of each support (102). A U-shaped frame (104) is fixedly connected to the external frame (101). A first adjusting frame (105) is rotatably connected to the U-shaped frame (104). A first adjusting servo motor (106) is fixedly connected to the U-shaped frame (104). The first adjusting servo motor (106) outputs... The shaft is connected to the shaft connection of the first adjustment frame (105). Extension frames (107) are symmetrically fixedly connected to both sides of the first adjustment frame (105). The extension frames (107) are rotatably connected to the second adjustment frame (108). The second adjustment frame (108) is fixedly connected to the second laser rangefinder transmitter (109). The first adjustment frame (105) is fixedly connected to the second adjustment servo motor (1010). The output shaft of the second adjustment servo motor (1010) is fixedly connected to the shaft connection of the second adjustment frame (108). The eccentric frame (1011) is connected to the eccentric frame (1012). The mounting frame (4) is provided with a positioning component (11).

8. The rectangular pipe jacking machine attitude monitoring device based on multiple reference objects according to claim 7, characterized in that: The positioning component (11) includes a connecting frame (111), which is fixedly connected to both sides of the mounting frame (4), and a host laser rangefinder (112) is fixedly connected to the other side of the connecting frame (111).

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