Municipal water supply and drainage pipeline construction monitoring system and method based on pipe jacking technology

Abstract

The application relates to the technical field of municipal construction, in particular to a municipal water supply and drainage pipeline construction monitoring system and method based on pipe jacking technology, which comprises a control terminal, a positioning module and a storage module; the control terminal is a main control end of the system and is used for issuing execution commands; the positioning module is used for real-time positioning of pipe jacking equipment tunneling direction position information; the storage module is used for receiving the pipe jacking equipment tunneling direction position information positioned in real time by the positioning module, and storing the pipe jacking equipment tunneling direction position information; the real-time position information in the pipe jacking equipment operation process is acquired by configuring a positioning device on the pipe jacking equipment, so that whether the operation path of the pipe jacking equipment is a straight line is evaluated based on the acquired position information at each stage under the pipe jacking equipment operation state, and then the evaluation result is used to determine whether deviation occurs in pipeline laying, so that the safety and precision in the pipe jacking pipeline laying process of municipal water supply and drainage are effectively ensured.

Description

Technical Field

[0001] This invention relates to the field of municipal construction technology, specifically to a construction monitoring system and method for municipal water supply and drainage pipelines based on pipe jacking technology. Background Technology

[0002] Pipe jacking is a trenchless pipeline laying technology used in municipal construction. Its advantages include minimal or no impact on the surrounding environment, small construction site size, and low noise. It also allows for deep underground operations, an advantage unmatched by open-cut pipe laying. However, pipe jacking also has disadvantages, such as longer construction time and higher project costs.

[0003] However, during the laying of municipal water supply and drainage pipelines using the pipe jacking method, angular deviations in the jacking direction are prone to occur. These deviations accumulate during the jacking process, causing the jacked water supply and drainage pipelines to fail to connect with the intended pipes at the predetermined positions, or resulting in deviations between the final and set positions. Such deviations affect the accuracy of the water supply and drainage pipeline laying to a certain extent and may lead to rework, which is detrimental to ensuring the efficiency, accuracy, and safety of municipal water supply and drainage pipeline construction. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the existing technology, the present invention provides a construction monitoring system and method for municipal water supply and drainage pipelines based on pipe jacking technology, which solves the technical problems mentioned in the background.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] Firstly, a construction monitoring system for municipal water supply and drainage pipelines based on pipe jacking technology includes:

[0007] The control terminal is the main control terminal of the system, used to issue execution commands;

[0008] The positioning module is used to locate the position information of the pipe jacking equipment in the tunneling direction in real time;

[0009] The storage module is used to receive the real-time positioning information of the tunneling direction of the pipe jacking equipment from the positioning module and store the positioning information of the tunneling direction of the pipe jacking equipment.

[0010] The detection module is used to acquire the tunneling direction position information of the pipe jacking equipment stored in the storage module, and to determine whether the tunneling direction of the pipe jacking equipment has deviated based on the comparison of the tunneling direction position information.

[0011] The jump module is used to receive the judgment result of the detection module. If the judgment result is negative, it triggers a jump to the positioning module.

[0012] The evaluation module is used to receive the judgment result of the detection module. When the judgment result is yes, it further obtains the position information of the tunneling direction of the pipe jacking equipment and evaluates the deviation rate of the tunneling direction of the pipe jacking equipment based on the position information of the tunneling direction of the pipe jacking equipment.

[0013] The feedback module is used to receive the offset rate obtained by the evaluation module and perform the operation of sending the offset rate to the control terminal.

[0014] Furthermore, the positioning module has sub-modules at its lower level, including:

[0015] The loading unit is used to load drainage pipeline construction information.

[0016] The analysis unit is used to receive drainage pipeline construction information loaded in the loading unit and analyze the number of deployment modules based on the drainage pipeline construction information.

[0017] The drainage pipeline construction information loaded in the loading unit includes: the outer diameter of the pipeline, the span of the pipeline path, and the soil density of the pipeline laying area. The positioning module is deployed inside the pipe jacking equipment, and the number of positioning modules deployed is an integer multiple of four.

[0018] Furthermore, when analyzing the number of positioning modules deployed, the analysis unit calculates the number of positioning modules deployed using the following formula:

[0019]

[0020] In the formula: m is the number of positioning modules deployed; S is the span of the pipeline laying path; d is the outer diameter of the pipeline; ρ is the soil density of the pipeline laying area. Indicates rounding down;

[0021] Among them, when the positioning modules are inside the pipe jacking equipment, they are distributed in an equidistant ring shape, and each ring of positioning modules is recorded as a group, with no less than two groups, and the number of positioning modules in each ring group is equal.

[0022] Furthermore, when the positioning module performs the operation of locating the tunneling direction position information of the pipe jacking equipment, the system terminal user manually sets the operating cycle. The positioning module operates in real time according to the positioning cycle to locate the tunneling direction position information of the pipe jacking equipment. When the storage module receives the tunneling direction position information of the pipe jacking equipment, it distinguishes and stores the position information according to the source of the position information from the positioning module, and simultaneously monitors the number of operating cycles of the positioning module. When the positioning module reaches three sets of operating cycles, it triggers the storage module to package the latest three sets of operating cycles corresponding to the tunneling direction position information of the pipe jacking equipment and send them to the detection module.

[0023] Furthermore, the detection module internally includes sub-modules, including:

[0024] The matching unit is used to receive the positioning module deployment information and match the positioning modules with each other based on the positioning module deployment information;

[0025] The positioning module deployment information includes: the number of positioning modules in each ring-shaped distribution, the number of ring-shaped distribution groups of positioning modules, and the operation of positioning modules matching each other, that is, matching positioning modules with the same deployment location in each group of positioning modules.

[0026] Furthermore, the detection module's determination logic is as follows:

[0027]

[0028] In the formula: (x1,y1,z1), (x2,y2,z2), and (x3,y3,z3) are the coordinates obtained by the positioning module through matching by the matching unit in the three sets of running cycles, x3-x2=i, y3-y2=j, z3-z2=q, x2-x1=i′, y2-y1=j′, and z2-z1=q′;

[0029] Where (i, j, q) = (i′, j′, q′), and if at least one of i, j, q has a value of zero, the result is negative; otherwise, the result is positive.

[0030] Furthermore, when evaluating the offset rate of the pipe jacking equipment in the tunneling direction, the evaluation module calculates the offset rate based on the position information of the pipe jacking equipment in the tunneling direction using the following formula:

[0031]

[0032] In the formula, κ is the offset rate of the tunneling direction position information of the pipe jacking equipment; i = x3-x2, j = y3-y2, q = z3-z2, i′ = x2-x1, j′ = y2-y1, q′ = z2-z1; χ is the adjustment coefficient, and χ takes the value of 0 or 1; S is the span of the pipeline laying path; d is the outer diameter of the pipeline.

[0033] Furthermore, the system user reads the offset rate fed back by the feedback module on the control terminal, and then makes an autonomous decision to control the operation of the jump module based on the read offset rate. If the decision result at the decision stage is that the jump module is not controlled to run, the control terminal controls the tunneling equipment to stop running.

[0034] Furthermore, the control terminal is electrically connected to a positioning module via a medium. The positioning module is electrically connected to a loading unit and an analysis unit via a medium. The positioning module is electrically connected to a storage module via a medium. The storage module is electrically connected to a detection module via a medium. The detection module is electrically connected to a matching unit via a medium. The storage module and the matching unit are electrically connected to the analysis unit via a medium. The detection module is electrically connected to a jump module and an evaluation module via a medium. The evaluation module is electrically connected to a feedback module via a medium. The feedback module is electrically connected to the jump module via a medium.

[0035] Secondly, the construction monitoring method for municipal water supply and drainage pipelines based on pipe jacking technology includes the following steps:

[0036] Step 1: Deploy positioning equipment on the pipe jacking equipment so that the positioning equipment can operate in real time during the operation of the pipe jacking equipment to locate the position information of the pipe jacking equipment in the tunneling direction;

[0037] Step 11: Design and deployment phase of positioning equipment;

[0038] Step 2: Receive the real-time location information of the pipe jacking equipment in the tunneling direction obtained during the operation of the positioning equipment, and distinguish and store the location information of the pipe jacking equipment in the tunneling direction;

[0039] Step 3: Obtain the stored tunneling direction position information of the pipe jacking equipment, and determine whether the tunneling direction of the pipe jacking equipment has deviated based on the tunneling direction position information;

[0040] Step 4: If the result of step 3 is yes, receive the tunneling direction position information of the pipe jacking equipment obtained in step 3, and calculate the tunneling direction offset rate of the pipe jacking equipment based on the tunneling direction position information of the pipe jacking equipment. If the result of step 3 is no, jump to step 1.

[0041] Step 5: Receive the offset rate calculation result of the pipe jacking equipment in the tunneling direction and feed the offset rate calculation result back to the user terminal.

[0042] Compared with known public technologies, the technical solution provided by this invention has the following beneficial effects:

[0043] 1. This invention provides a construction monitoring system for municipal water supply and drainage pipelines based on pipe jacking technology. During operation, the system acquires real-time location information of the pipe jacking equipment by configuring positioning devices on the equipment. Based on the acquired location information of the pipe jacking equipment at each stage of operation, the system assesses whether the operating path of the pipe jacking equipment is straight, and then uses the assessment results to determine whether there are any deviations in the pipeline laying, effectively ensuring the safety and accuracy of the municipal water supply and drainage pipeline pipe jacking laying process.

[0044] 2. In the operation of the system in this invention, the positioning equipment can be designed and deployed according to the actual situation of the water supply and drainage pipeline construction project. The design and deployment of the positioning equipment further constrains the accuracy of the system operation evaluation and judgment results, so that the system operation output results can be adjusted autonomously or adaptively by the system end user.

[0045] 3. This invention provides a construction monitoring method for municipal water supply and drainage pipelines based on pipe jacking technology. By executing the steps in this method, the stability of system operation can be further maintained, and based on the steps recorded in the method, a more stable operating logic for system operation can be provided. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0047] Figure 1 This is a schematic diagram of a construction monitoring system for municipal water supply and drainage pipelines based on pipe jacking technology.

[0048] Figure 2 This is a flowchart illustrating a construction monitoring method for municipal water supply and drainage pipelines based on pipe jacking technology.

[0049] The labels in the diagram represent: 1. Control terminal; 2. Positioning module; 21. Loading unit; 22. Analysis unit; 3. Storage module; 4. Detection module; 41. Matching unit; 5. Jump module; 6. Evaluation module; 7. Feedback module. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0051] The present invention will be further described below with reference to embodiments.

[0052] Example 1

[0053] This embodiment of the municipal water supply and drainage pipeline construction monitoring system based on pipe jacking technology, such as Figure 1As shown, a municipal water supply and drainage pipeline construction monitoring system based on pipe jacking technology includes:

[0054] Control terminal 1 is the main control terminal of the system, used to issue execution commands;

[0055] Positioning module 2 is used to locate the tunneling direction position information of the pipe jacking equipment in real time;

[0056] Storage module 3 is used to receive the real-time positioning information of the tunneling direction of the pipe jacking equipment from the positioning module 2 and store the positioning information of the tunneling direction of the pipe jacking equipment.

[0057] The detection module 4 is used to obtain the tunneling direction position information of the pipe jacking equipment stored in the storage module 3, and to determine whether the tunneling direction of the pipe jacking equipment has deviated based on the comparison of the tunneling direction position information of the pipe jacking equipment.

[0058] The jump module 5 is used to receive the judgment result of the detection module 4. When the judgment result is negative, it triggers a jump to the positioning module 2.

[0059] Evaluation module 6 is used to receive the judgment result of detection module 4. When the judgment result is yes, it further obtains the tunneling direction position information of the pipe jacking equipment and evaluates the tunneling direction deviation rate of the pipe jacking equipment based on the tunneling direction position information of the pipe jacking equipment.

[0060] Feedback module 7 is used to receive the offset rate evaluated by evaluation module 6 and perform the operation of sending the offset rate to control terminal 1;

[0061] Positioning module 2 has sub-modules, including:

[0062] Loading unit 21 is used to load drainage pipeline construction information;

[0063] Analysis unit 22 is used to receive drainage pipeline construction information loaded in loading unit 21 and analyze the number of deployment modules 2 based on drainage pipeline construction information.

[0064] The drainage pipeline construction information loaded in the loading unit 21 includes: the outer diameter of the pipeline, the span of the pipeline path, and the soil density of the pipeline laying area. The positioning module 2 is deployed inside the pipe jacking equipment, and the number of positioning modules 2 deployed is an integer multiple of four.

[0065] The judgment logic of detection module 4 is as follows:

[0066]

[0067] In the formula: (x1,y1,z1), (x2,y2,z2), and (x3,y3,z3) are the coordinates obtained by the positioning module 2 through matching unit 41 in the three sets of running cycles, respectively, x3-x2=i, y3-y2=j, z3-z2=q, x2-x1=i′, y2-y1=j′, and z2-z1=q′;

[0068] Where (i, j, q) = (i′, j′, q′), and if at least one of i, j, q has a value of zero, the result is negative; otherwise, the result is positive.

[0069] When evaluating the deviation rate of the pipe jacking equipment in the tunneling direction, evaluation module 6 calculates the deviation rate based on the position information of the pipe jacking equipment in the tunneling direction using the following formula:

[0070]

[0071] In the formula, κ is the offset rate of the tunneling direction position information of the pipe jacking equipment; i = x3 - x2, j = y3 - y2, q = z3 - z2, i′ = x2 - x1, j′ = y2 - y1, q′ = z2 - z1; χ is the trimming coefficient, which takes the value of 0 or 1; S is the span of the pipeline laying path; d is the outer diameter of the pipeline.

[0072] The control terminal 1 is electrically connected to the positioning module 2 via a medium. The positioning module 2 is electrically connected to the loading unit 21 and the analysis unit 22 via a medium. The positioning module 2 is electrically connected to the storage module 3 via a medium. The storage module is electrically connected to the detection module 4 via a medium. The detection module 4 is electrically connected to the matching unit 41 via a medium. The storage module 3 and the matching unit 41 are electrically connected to the analysis unit 22 via a medium. The detection module 3 is electrically connected to the jump module 5 and the evaluation module 6 via a medium. The evaluation module 6 is electrically connected to the feedback module 7 via a medium. The feedback module 7 is electrically connected to the jump module 5 via a medium.

[0073] In this embodiment, the control terminal 1 controls the positioning module 2 to run real-time positioning of the tunneling direction position information of the pipe jacking equipment. The storage module 3 runs synchronously to receive the real-time positioning of the tunneling direction position information of the pipe jacking equipment from the positioning module 2 and stores the tunneling direction position information of the pipe jacking equipment. The detection module 4 runs afterward to obtain the tunneling direction position information of the pipe jacking equipment stored in the storage module 3. Based on the comparison of the tunneling direction position information of the pipe jacking equipment, it determines whether the tunneling direction of the pipe jacking equipment has deviated. The jump module 5 further receives the judgment result of the detection module 4. When the judgment result is negative, it triggers a jump to the positioning module 2. Then, the evaluation module 6 receives the judgment result of the detection module 4. When the judgment result is positive, it further obtains the tunneling direction position information of the pipe jacking equipment and evaluates the tunneling direction deviation rate of the pipe jacking equipment based on the tunneling direction position information of the pipe jacking equipment. Finally, the feedback module 7 receives the deviation rate evaluated by the evaluation module 6 and performs the operation of sending the deviation rate to the control terminal 1.

[0074] The sub-modules set under the positioning module 2 can further provide logic for the configuration and deployment of the positioning module 2, ensuring that the positioning module 2 can operate stably and provide the necessary data support for system operation;

[0075] Furthermore, by configuring the judgment logic and offset rate calculation formula of detection module 4, the stable output of the system's evaluation judgment results is further guaranteed, and the feedback of this numerical output result can bring convenience to users when operating the system.

[0076] Example 2

[0077] At the implementation level, based on Example 1, this example refers to... Figure 1 A further detailed description of the municipal water supply and drainage pipeline construction monitoring system based on pipe jacking technology in Example 1 is provided below:

[0078] When analyzing the number of positioning modules 2 deployed, analysis unit 22 calculates the number of positioning modules 2 deployed using the following formula:

[0079]

[0080] In the formula: m is the number of positioning modules 2 deployed; S is the span of the pipeline laying path; d is the outer diameter of the pipeline; ρ is the soil density of the pipeline laying area. Indicates rounding down;

[0081] Among them, when several groups of positioning modules 2 are inside the pipe jacking equipment, they are distributed in an equidistant ring shape, and each ring of positioning modules 2 is recorded as a group, with no less than two groups, and the number of positioning modules 2 in each ring group is equal.

[0082] The above formula was used to calculate the number of deployments of positioning module 2, and further provided the configuration and deployment logic of positioning module 2.

[0083] like Figure 1 As shown, when the positioning module 2 performs the operation of positioning the tunneling direction position information of the pipe jacking equipment, the system terminal user manually sets the running cycle. The positioning module 2 runs in real time according to the positioning cycle to locate the tunneling direction position information of the pipe jacking equipment. When the storage module 3 receives the tunneling direction position information of the pipe jacking equipment, it distinguishes and stores the position information according to the source of the position information, the positioning module 2, and synchronously monitors the number of running cycles of the positioning module 2. When the running cycle of the positioning module 2 reaches three sets, the storage module 3 is triggered to package the latest three sets of running cycles corresponding to the tunneling direction position information of the pipe jacking equipment and send them to the detection module 4.

[0084] Detection module 4 contains sub-modules, including:

[0085] The matching unit 41 is used to receive the deployment information of the positioning module 2 and perform mutual matching of the positioning modules 2 based on the deployment information of the positioning module 2;

[0086] The deployment information of the positioning module 2 includes: the number of positioning modules 2 in each ring, the number of ring-shaped positioning modules 2 groups, and the operation of the positioning module 2 matching each other, that is, matching the positioning modules 2 in the same deployment position in each group of positioning modules 2.

[0087] The above settings provide processing data for the operation of detection module 4, as well as triggering conditions and operating logic for its operation.

[0088] like Figure 1 As shown, the system user reads the offset rate fed back by the feedback module 7 on the control terminal 1, and further makes an autonomous decision to control the operation of the jump module 5 based on the read offset rate. If the decision result of the decision stage is that the jump module 5 is not controlled to run, the control terminal 1 controls the tunneling equipment to stop running.

[0089] Example 3

[0090] At the implementation level, based on Example 1, this example refers to... Figure 2 A further detailed description of the municipal water supply and drainage pipeline construction monitoring system based on pipe jacking technology in Example 1 is provided below:

[0091] A construction monitoring method for municipal water supply and drainage pipelines based on pipe jacking technology includes the following steps:

[0092] Step 1: Deploy positioning equipment on the pipe jacking equipment so that the positioning equipment can operate in real time during the operation of the pipe jacking equipment to locate the position information of the pipe jacking equipment in the tunneling direction;

[0093] Step 11: Design and deployment phase of positioning equipment;

[0094] Step 2: Receive the real-time location information of the pipe jacking equipment in the tunneling direction obtained during the operation of the positioning equipment, and distinguish and store the location information of the pipe jacking equipment in the tunneling direction;

[0095] Step 3: Obtain the stored tunneling direction position information of the pipe jacking equipment, and determine whether the tunneling direction of the pipe jacking equipment has deviated based on the tunneling direction position information;

[0096] Step 4: If the result of step 3 is yes, receive the tunneling direction position information of the pipe jacking equipment obtained in step 3, and calculate the tunneling direction offset rate of the pipe jacking equipment based on the tunneling direction position information of the pipe jacking equipment. If the result of step 3 is no, jump to step 1.

[0097] Step 5: Receive the offset rate calculation result of the pipe jacking equipment in the tunneling direction and feed the offset rate calculation result back to the user terminal.

[0098] In summary, the system in the above embodiments acquires the real-time location information of the pipe jacking equipment during operation by configuring positioning devices on the pipe jacking equipment. Based on the acquired location information of the pipe jacking equipment at each stage of operation, it assesses whether the operating path of the pipe jacking equipment is straight, and then uses the assessment results to determine whether there are any deviations in the pipeline laying, effectively ensuring the safety and accuracy of the municipal water supply and drainage pipeline pipe jacking laying process. Furthermore, during operation, the system can design and deploy positioning devices according to the actual situation of the water supply and drainage pipeline construction project, thereby further constraining the accuracy of the system operation assessment results and allowing the system operation output results to be autonomously or adaptively adjusted by the system end user. At the same time, the method in the embodiments can further maintain the stability of system operation, and based on the steps described in the method, it can provide a more stable operating logic for system operation.

[0099] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A construction monitoring system for municipal water supply and drainage pipelines based on pipe jacking technology, characterized in that, include: The control terminal (1) is the main control terminal of the system, used to issue execution commands; The positioning module (2) is used to locate the tunneling direction position information of the pipe jacking equipment in real time; The storage module (3) is used to receive the real-time positioning information of the tunneling direction of the pipe jacking equipment from the positioning module (2) and store the tunneling direction position information of the pipe jacking equipment. The detection module (4) is used to obtain the tunneling direction position information of the pipe jacking equipment stored in the storage module (3), and to determine whether the tunneling direction of the pipe jacking equipment has deviated based on the comparison of the tunneling direction position information of the pipe jacking equipment. The jump module (5) is used to receive the judgment result of the detection module (4). When the judgment result is negative, it triggers the jump to the positioning module (2) to run. The evaluation module (6) is used to receive the running judgment result of the detection module (4). When the judgment result is yes, it further obtains the tunneling direction position information of the pipe jacking equipment and evaluates the tunneling direction offset rate of the pipe jacking equipment based on the tunneling direction position information of the pipe jacking equipment. The feedback module (7) is used to receive the offset rate evaluated by the evaluation module (6) and perform the operation of sending the offset rate to the control terminal (1); The positioning module (2) has sub-modules at its lower level, including: Loading unit (21) is used to load drainage pipeline construction information; Analysis unit (22) is used to receive drainage pipeline construction information loaded in loading unit (21) and to analyze the number of deployment modules (2) based on drainage pipeline construction information. The drainage pipeline construction information loaded in the loading unit (21) includes: the outer diameter of the pipeline, the span of the pipeline path, and the soil density of the pipeline laying area. The positioning module (2) is deployed inside the pipe jacking equipment, and the number of positioning modules (2) deployed is an integer multiple of four. When analyzing the number of positioning modules (2) deployed, the analysis unit (22) calculates the number of positioning modules (2) deployed using the following formula: ； In the formula: The number of positioning modules (2) deployed; For the span of the pipeline route; To lay the outer diameter of the pipe; The soil density in the pipeline laying area, Indicates rounding down; Among them, when several groups of the positioning modules (2) are installed inside the pipe jacking equipment, they are distributed in an equidistant ring shape, and each ring-shaped distribution of the positioning modules (2) is recorded as a group, with no less than two groups, and the number of positioning modules (2) in each ring group is equal. When the positioning module (2) performs the operation of positioning the tunneling direction position information of the pipe jacking equipment, the system terminal user manually sets the running cycle. The positioning module (2) locates the tunneling direction position information of the pipe jacking equipment in real time according to the running cycle. When the storage module (3) receives the tunneling direction position information of the pipe jacking equipment, it distinguishes and stores the position information according to the location information source positioning module (2), and synchronously monitors the number of running cycles of the positioning module (2). When the running cycle of the positioning module (2) reaches three sets, it triggers the storage module (3) to package the latest three sets of running cycle corresponding to the tunneling direction position information of the pipe jacking equipment and send it to the detection module (4). The detection module (4) has a sub-module, including: The matching unit (41) is used to receive the deployment information of the positioning module (2) and perform mutual matching of the positioning modules (2) based on the deployment information of the positioning module (2); The deployment information of the positioning module (2) includes: the number of positioning modules (2) in each group that are distributed in a ring, the number of groups of positioning modules (2) that are distributed in a ring, and the operation of the matching unit (41) to match the positioning modules (2) is to match the positioning modules (2) with the same deployment position in each group of positioning modules (2). The detection module (4) makes the following judgment: ； In the formula: , , The coordinates are obtained by the positioning module (2) matched by the matching unit (41) in the three sets of operating cycles. , ; in, ,and If at least one set of values ​​is zero, the result is negative; otherwise, the result is positive.

2. The municipal water supply and drainage pipeline construction monitoring system based on pipe jacking technology according to claim 1, characterized in that, When evaluating the offset rate of the tunneling direction of the pipe jacking equipment, the evaluation module (6) calculates the offset rate based on the position information of the tunneling direction of the pipe jacking equipment using the following formula: ； In the formula, The offset rate of the tunneling direction position information of the pipe jacking equipment; , ; This is the adjustment factor. The value can be 0 or 1; For the span of the pipeline route; To lay the outer diameter of the pipe.

3. The municipal water supply and drainage pipeline construction monitoring system based on pipe jacking technology according to claim 1, characterized in that, The system user reads the offset rate fed back by the feedback module (7) on the control terminal (1), and then makes an autonomous decision to control the jump module (5) to run based on the read offset rate. If the decision result of the decision stage is that the jump module (5) is not controlled to run, the control terminal (1) controls the tunneling equipment to stop running.

4. The municipal water supply and drainage pipeline construction monitoring system based on pipe jacking technology according to claim 1, characterized in that, The control terminal (1) is electrically connected to a positioning module (2) via a medium. The positioning module (2) is electrically connected to a loading unit (21) and an analysis unit (22) via a medium. The positioning module (2) is electrically connected to a storage module (3) via a medium. The storage module is electrically connected to a detection module (4) via a medium. The detection module (4) is electrically connected to a matching unit (41) via a medium. The storage module (3) and the matching unit (41) are electrically connected to the analysis unit (22) via a medium. The detection module (4) is electrically connected to a jump module (5) and an evaluation module (6) via a medium. The evaluation module (6) is electrically connected to a feedback module (7) via a medium. The feedback module (7) is electrically connected to the jump module (5) via a medium.

5. A method for monitoring the construction of municipal water supply and drainage pipelines based on pipe jacking technology, wherein the method is an implementation method of the municipal water supply and drainage pipeline construction monitoring system based on pipe jacking technology as described in any one of claims 1-4, characterized in that, Includes the following steps: Step 1: Deploy a positioning module on the pipe jacking equipment so that the positioning module can operate in real time during the operation of the pipe jacking equipment to locate the position information of the pipe jacking equipment in the tunneling direction; Step 11: Design and deployment phase of the positioning module; Step 2: Receive the real-time location information of the pipe jacking equipment in the tunneling direction obtained during the operation of the positioning module, and distinguish and store the location information of the pipe jacking equipment in the tunneling direction. Step 3: Obtain the stored tunneling direction position information of the pipe jacking equipment, and determine whether the tunneling direction of the pipe jacking equipment has deviated based on the tunneling direction position information; Step 4: If the result of step 3 is yes, receive the tunneling direction position information of the pipe jacking equipment obtained in step 3, and calculate the tunneling direction offset rate of the pipe jacking equipment based on the tunneling direction position information of the pipe jacking equipment. If the result of step 3 is no, jump to step 2. Step 5: Receive the offset rate calculation result of the pipe jacking equipment in the tunneling direction and feed the offset rate calculation result back to the user terminal.

Images