Box culvert jacking posture monitoring method, system and equipment and medium

Abstract

The invention discloses a box culvert jacking attitude monitoring method, system and device and a medium, and the method comprises the steps: measuring a first distance between a distance measurement master station and a distance measurement slave station at equal period intervals by using the distance measurement master station; the change condition of the first distance is monitored, and the jacking position of the ranging slave station after single jacking is finished is obtained; when it is monitored that the change of the first distance exceeds a first distance threshold value, it is determined that the box culvert is in a jacking state; when it is monitored that the time when the first distance does not change exceeds a time threshold value or the change of the first distance does not exceed a second distance threshold value, it is affirmed that single jacking of the box culvert is finished, the first distance at the moment is recorded, and the jacking position of the distance measuring slave station is calculated; the jacking posture of the box culvert is monitored through the jacking position of the ranging slave station; and the steps are repeated until the box culvert reaches the maximum jacking stroke. In each jacking process, the jacking posture of the box culvert is monitored, the moving direction of the box culvert can be accurately estimated, and deviation in the jacking process can be found in time.

Description

Technical Field

[0001] The present invention relates to the technical field of construction monitoring, and in particular to a box culvert jacking posture monitoring method, system, equipment and medium. Background Art

[0002] Since the 21st century, the process of urbanization in my country has been accelerating, and the requirements for transportation construction have also been increasing. The level crossings of railways and highways in cities have become a "bottleneck" restricting the development of transportation. The level crossings of railways and highways are not only limited in terms of traffic throughput, but also have high safety risks. The traffic supply capacity of most railway and highway level crossings is increasingly unable to meet the increasing demand for traffic and passenger flow. The existing railway underpass project is a common solution to the problem of highway-railway interchange. During the construction process, the construction personnel slowly push the pre-set box culvert under the railway track through a hydraulic press. Due to the limitation of the hydraulic press's top range, it is usually pushed forward 1 meter each time, and the top-up process is completed in multiple times. The total top-up distance is generally 60-100 meters. At the same time, in order to ensure the correct posture of the box culvert, it is generally necessary for technical personnel to monitor the top-up process 24 hours a day, and after each top is completed, the level and inclinometer are used to manually measure the deviation of the center line of the front and rear mouths of the box culvert and the elevation difference of the four corners to provide guidance for the next step of top-up and posture correction.

[0003] In the prior art, on the one hand, manual measurement consumes manpower and is prone to problems such as fatigue and mismeasurement; on the other hand, the use of ordinary fully automatic measurement equipment, such as total stations, is prone to target loss due to the inability to estimate the direction of movement of the box culvert. Summary of the invention

[0004] The purpose of the present invention is to provide a box culvert jacking posture monitoring method, system, equipment and medium to solve the problems of the prior art that it consumes manpower, cannot accurately estimate the moving direction of the box culvert, and is prone to target loss.

[0005] In order to solve the above technical problems, a technical solution adopted by the present invention is to provide a box culvert jacking posture monitoring method, which includes the following steps: using a ranging master station to measure the first distance between the ranging master station and the ranging slave station at equal periodic intervals; monitoring the change of the first distance to obtain the jacking position of the ranging slave station after a single jacking is completed; wherein, when it is monitored that the change of the first distance exceeds a first distance threshold, the box culvert is determined to be in a jacking state; until it is monitored that the time without change of the first distance exceeds a time threshold, or the change of the first distance does not exceed a second distance threshold, it is determined that the single jacking of the box culvert is completed, the first distance at this time is recorded, and the jacking position of the ranging slave station is calculated; using the jacking position of the ranging slave station, the jacking posture of the box culvert is monitored; and the above steps are repeated until the box culvert reaches the maximum jacking distance.

[0006] In some embodiments, before using the ranging master station to measure the distance between the ranging master station and the ranging slave station at equal periodic intervals, the step also includes: installing the ranging master station and the ranging slave station, and recording initial parameters, the initial parameters including the position of the ranging master station, and the second distance between any of the ranging slave stations to another of the ranging slave stations, and the number of the ranging master stations is at least 2, and the number of the ranging slave stations is at least 4.

[0007] In some embodiments, the initial parameters also include a corrected position of the ranging slave station, and the recording of the initial parameters also includes the steps of: recording the initial distance between the ranging master station and the ranging slave station, and correcting the initial position of the ranging slave station to obtain the corrected position of the ranging slave station.

[0008] In some embodiments, the ranging master station includes The ranging slave station includes b The step of correcting the initial position of the ranging slave station to obtain the corrected position of the ranging slave station comprises: obtaining a first set of equations for correcting the initial position of the ranging slave station, wherein the first set of equations is: ; in, ; ; ,and ; Indicates n Ranging from the master station to the k Initial distance of ranging slave station; Indicates n The location coordinates of the ranging master station; Indicates k The initial position coordinates of the ranging slave station; Indicates k Distance measurement from station to The second distance of the ranging slave station; Indicates The initial position coordinates of the ranging slave station; solving the first set of equations to obtain the corrected position of the ranging slave station after the initial position is corrected.

[0009] In some embodiments, the ranging master station includes The ranging slave station includes b The step of calculating the jacking position of the ranging slave station comprises: obtaining a second set of equations for calculating the jacking position of the ranging slave station, wherein the second set of equations is: ; in, ; ; ,and ; Indicates n Ranging from the master station to the k The first distance of the ranging slave station; Indicates n The location coordinates of the ranging master station; Indicates k Coordinates of the jacking position of the ranging slave station; Indicates k Distance measurement from station to The second distance of the ranging slave station; Indicates The jacking position coordinates of the ranging slave station; solving the second set of equations to obtain the jacking position of the ranging slave station.

[0010] In some embodiments, the use of the jacking position of the ranging slave station to monitor the jacking posture of the box culvert includes: calculating the jacking distance, front mouth centerline deviation and rear mouth centerline deviation of the box culvert according to the jacking position of the ranging slave station.

[0011] The connection direction of at least two of the distance measuring main stations is set as the x-axis, the direction perpendicular to the ground is the y-axis, the box culvert jacking direction is the z-axis, and a three-dimensional rectangular coordinate system is established with one of the distance measuring main stations as the origin.

[0012] When the ranging slave stations include 8, the top distance is: ; in, Indicates the top stroke; Indicates i The z-axis coordinate of the jacking position of the ranging slave station; Indicates the i The z-coordinate of the corrected position of the ranging slave.

[0013] If the 1st to 4th ranging slave stations are set at the front opening of the box culvert, and the 5th to 8th ranging slave stations are set at the rear opening of the box culvert, then the centerline deviation of the front opening and the centerline deviation of the rear opening are respectively: ; ; in, Indicates the deviation of the anterior midline; Indicates j The x-axis coordinate of the jacking position of the ranging slave station; Indicates the j The x-axis coordinate of the corrected position of the ranging slave station; Indicates the deviation of the posterior midline; Indicates The x-axis coordinate of the jacking position of the ranging slave station; Indicates the The x-axis coordinate of the corrected position of the ranging slave.

[0014] In some embodiments, the use of the jacking position of the ranging slave station to monitor the jacking posture of the box culvert also includes: calculating the four-corner elevation differences of the box culvert according to the jacking position of the ranging slave station, the four-corner elevation differences including the first elevation difference, the second elevation difference, the third elevation difference and the fourth elevation difference.

[0015] Among them, if Ranging slave and The ranging slave stations are all set at the m On the high line, we have: ; in, ; Indicates m The elevation difference is used to determine the m Whether the height line deviates in the vertical direction; and Respectively represent the The y-axis coordinates of the jacking position and correction position of the ranging slave station, and Respectively represent the The y-axis coordinates of the jacking position and correction position of the ranging slave station.

[0016] The present invention also provides a box culvert jacking posture monitoring system, the system includes a ranging master station, a ranging slave station and a monitoring and analysis unit, the ranging master station is installed in the opposite direction of the box culvert jacking, and is used to send a ranging request to the ranging slave station at equal periodic intervals, and receive a ranging response signal returned by the ranging slave station, and measure a first distance between the ranging master station and the ranging slave station according to the ranging request and the ranging response signal; the ranging slave station is installed on the box culvert, and is used to receive the ranging request from the ranging master station and return the ranging response signal to the ranging master station; the monitoring and analysis unit is used to monitor the change of the first distance and obtain the jacking position of the ranging slave station after a single jacking is completed; and at the same time, the jacking posture of the box culvert is monitored by using the jacking position of the ranging slave station.

[0017] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0018] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0019] The beneficial effects of the present invention are as follows: the present invention discloses a method, system, equipment and medium for monitoring the jacking posture of a box culvert, the method comprising the following steps: using a ranging master station to measure the first distance between the ranging master station and the ranging slave station at equal periodic intervals; monitoring the change of the first distance to obtain the jacking position of the ranging slave station after a single jacking is completed; wherein, when it is monitored that the change of the first distance exceeds a first distance threshold, the box culvert is determined to be in a jacking state; until it is monitored that the time for which the first distance does not change exceeds a time threshold, or the change of the first distance does not exceed a second distance threshold, the single jacking of the box culvert is determined to be completed, the first distance at this time is recorded, and the jacking position of the ranging slave station is calculated; using the jacking position of the ranging slave station, the jacking posture of the box culvert is monitored; and the above steps are repeated until the box culvert reaches a maximum jacking distance. Among them, during each jacking process, the distance measuring master station and the distance measuring slave station are used to automatically measure the first distance between the two, so as to monitor the change of the first distance, and then monitor the jacking posture of the box culvert. It can accurately estimate the moving direction of the box culvert and promptly discover deviations in the jacking process, which is convenient for construction personnel to make adjustments, thereby ensuring that the next jacking position is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a flow chart of an embodiment of a method for monitoring the jacking posture of a box culvert according to the present invention; Figure 2 It is an overall schematic diagram of a scene in an embodiment of a box culvert jacking posture monitoring method of the present invention; Figure 3 It is a side view schematic diagram of a scene in an embodiment of a box culvert jacking posture monitoring method of the present invention; Figure 4 It is a specific flow chart of obtaining the correction position of the ranging slave station in an embodiment of a box culvert jacking posture monitoring method of the present invention; Figure 5 It is a specific flow chart of calculating the jacking position of the ranging slave station in an embodiment of a box culvert jacking posture monitoring method of the present invention; Figure 6 It is an overall schematic diagram of a scene in another embodiment of a box culvert jacking posture monitoring method of the present invention; Figure 7 It is a block diagram of a box culvert jacking posture monitoring system of the present invention; Figure 8 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention; Fig. 9 It is a schematic block diagram of an embodiment of a computer-readable storage medium of the present invention. DETAILED DESCRIPTION

[0021] In order to facilitate the understanding of the present invention, the present invention is described in more detail below in conjunction with the accompanying drawings and specific embodiments. Preferred embodiments of the present invention are provided in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0022] It should be noted that, unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more related listed items.

[0023] like Figure 1-Figure 3 As shown, a box culvert jacking posture monitoring method of the present invention is shown, comprising the following steps: Step S1: using the ranging master station, measuring the first distance between the ranging master station and the ranging slave station at equal periodic intervals.

[0024] It should be noted that the present application adopts RDD (RFID Distance Determination) ranging equipment, which includes a ranging master station and a ranging slave station. Among them, the ranging master station is installed in the opposite direction of the box culvert jacking direction, and the ranging slave station is installed on the box culvert 1, and the ranging master station includes at least 2, and the ranging slave station includes at least 4, and if 4 ranging slave stations are included, the 4 ranging slave stations are respectively set at the high lines of the four edges of the box culvert 1, and the 2 ranging slave stations located at the two high lines of the same side opening (front / rear) of the box culvert 1 are not on the same horizontal plane to ensure accurate monitoring of the jacking posture of the box culvert 1. The first distance is the straight-line distance between a ranging master station and the corresponding ranging slave station after the corresponding ranging slave station completes one jacking of the box culvert 1. The jacking direction of the box culvert is the direction of the railway line 16. During the jacking process of the box culvert 1, the box culvert 1 gradually approaches the railway line 16 along the jacking direction of the box culvert until the box culvert 1 is pushed under the railway track to complete the jacking operation of the box culvert 1.

[0025] Before step S1, it is also necessary to install the ranging master station and the ranging slave station and record the initial parameters, which include the position of the ranging master station and the second distance between any ranging slave station and another ranging slave station.

[0026] like Figure 2 and Figure 3As shown, the first distance measuring master station 11 and the second distance measuring master station 12 are respectively fixed on the working platform 15 in front of the jacking equipment 14 through the vertical pole 13, and the first distance measuring master station 11 and the second distance measuring master station 12 are perpendicular to the jacking direction of the box culvert. The first distance measuring slave station 21, the second distance measuring slave station 22, the third distance measuring slave station 23, the fourth distance measuring slave station 24, the fifth distance measuring slave station 25, the sixth distance measuring slave station 26, the seventh distance measuring slave station 27 and the eighth distance measuring slave station 28 are respectively fixed to the front surface / rear surface side wall of the box culvert 1 through expansion bolts. During installation, it is necessary to ensure that there is no obstruction between the distance measuring master station and each distance measuring slave station. Among them, the opening on the side of the box culvert 1 away from the working platform 15 and close to the railway line 16 is the front opening, and the opening on the side of the box culvert 1 close to the working platform 15 is the rear opening.

[0027] It should be noted that, for the convenience of understanding and expression, the position of the ranging master station in the initial parameters, as well as the initial position and jacking position of the ranging slave station mentioned later are all reflected by corresponding three-dimensional coordinates.

[0028] The direction of the line connecting at least two distance measuring master stations is set as the x-axis, the direction perpendicular to the ground is the y-axis, the box culvert jacking direction is the z-axis, and a three-dimensional rectangular coordinate system is established with one of the distance measuring master stations as the origin.

[0029] In this embodiment, two ranging master stations and eight ranging slave stations are provided, and the two ranging master stations are spaced 1 meter apart at equal height, and the arrangement direction of the two ranging master stations is perpendicular to the jacking direction of the box culvert. Therefore, before the RDD ranging equipment starts working, the spacing between the two ranging master stations and the second distance between the eight ranging slave stations can be measured by a laser ranging tool.

[0030] Combination Figure 2 , taking the first distance measuring master station 11 as the origin and the box culvert top-moving direction as the positive direction of the z-axis, a left-hand rectangular coordinate system is established. Among them, the direction from the first distance measuring master station 11 to the second distance measuring master station 12 is the positive direction of the x-axis, and the direction from the first distance measuring master station 11 to the box culvert top-moving direction through the vertical pole is the positive direction of the y-axis.

[0031] Therefore, the position coordinates of the first ranging master station 11 are , the position coordinates of the second ranging master station 12 are , the initial position coordinates of the 8 ranging slave stations are According to the initial position coordinates of the 8 ranging slave stations, the k Ranging slave and The second distance between ranging slave stations is , ; ,and . Thus, the position coordinates of the two ranging master stations are and , and the second distance between all the ranging slave stations in the 8 ranging slave stations Recorded as initial parameters.

[0032] In some other embodiments, the midpoint of the line connecting the first ranging master station 11 and the second ranging master station 12 may be used as the origin to establish a left-hand rectangular coordinate system, and corresponding initial parameters may be obtained, which may be further used in subsequent monitoring and analysis steps.

[0033] It should be noted that since there is an observation platform (a part of the working platform 15, the test main station and the working platform 15 are generally 0.5 to 1 meter apart near the edge of the box culvert 1, and this part can be called the observation platform) and jacking equipment between the ranging slave station and the ranging master station, it will cause large errors in the measurement. Therefore, the distance between each ranging master station and each ranging slave station, as well as the initial position of each ranging slave station, are not recorded as initial parameters.

[0034] Furthermore, the initial parameters also include the corrected position of the ranging slave station obtained by the RDD ranging device. When the RDD ranging device starts working, it also includes the steps of recording the initial distance between the ranging master station and the ranging slave station, and correcting the initial position of the ranging slave station to obtain the corrected position of the ranging slave station.

[0035] like Figure 4 As shown, the initial position of the ranging slave station is corrected to obtain the corrected position of the ranging slave station, including the following sub-steps: Step S01: Obtain a first set of equations for correcting an initial position of a ranging slave station.

[0036] Among them, if the ranging master station includes The ranging slave stations include b Then the first set of equations is: ; in, ; ; ,and ; Indicates n Ranging from the master station to the k Initial distance of ranging slave station; Indicates n The location coordinates of the ranging master station; Indicates k The initial position coordinates of the ranging slave station; Indicates k Distance measurement from station to The second distance of the ranging slave station; Indicates The initial position coordinates of the ranging slave station.

[0037] Step S02: Solve the first set of equations to obtain the corrected position of the ranging slave station after the initial position is corrected.

[0038] Since there must be errors in the distance measurement, the first set of equations will have no solution. Therefore, this application introduces a particle swarm optimization algorithm to limit the x-axis coordinates and y-axis coordinates of the correction position by the length and width of the front / rear opening of the box culvert itself, and to limit the z-axis coordinates of the correction position by the length of the observation platform and the jacking equipment in the jacking direction, as well as the distance between the front and rear openings of the box culvert itself, to solve the first set of equations. k Initial position coordinates of the ranging slave station The optimal solution is k Corrected position coordinates of the ranging slave station after position correction ,and , and the corrected position coordinates Recorded as initial parameters.

[0039] In this embodiment, =2, b =8, when the RDD distance measuring device starts working, n Ranging from the master station to the k After the initial distance measurement of the ranging slave station is performed for the first time, the first n Ranging from the master station to the k The initial distance of the ranging slave station is , and according to the first set of equations k Initial position coordinates of the ranging slave station Correction is performed to obtain the k Corrected position coordinates of the ranging slave station .

[0040] After all the initial parameters are determined, the operation of step S1 is performed. In step S1, a ranging master station sends a ranging request to each ranging slave station at an equal periodic interval (preferably 1 second). After receiving the ranging request from the ranging master station, each ranging slave station generates a corresponding ranging response signal and returns the ranging response signal to the ranging master station. Then, after the ranging master station receives the ranging response signal returned by each ranging slave station, the ranging master station parses and obtains the first distance between the ranging master station and each ranging slave station according to the ranging request and the ranging response signal.

[0041] Step S2: monitor the change of the first distance and obtain the jacking position of the ranging slave station after a single jacking is completed.

[0042] In this embodiment, for a ranging master station and a corresponding ranging slave station, when the change of the first distance is monitored to exceed the first distance threshold, the box culvert is determined to be in a jacking state; until the time when the first distance is monitored to remain unchanged exceeds the time threshold, or the change of the first distance does not exceed the second distance threshold, the single jacking of the box culvert is determined to be completed, the first distance at this time is recorded, and the jacking position of the ranging slave station is calculated.

[0043] Furthermore, the first distance threshold is 1 cm, the time threshold is 10 s, and the second distance threshold is 0.5 cm.

[0044] In some other embodiments, the first distance threshold, the time threshold, and the second distance threshold may also adopt other values ​​to meet different accuracy requirements.

[0045] like Figure 5 As shown, the calculation of the jacking position of the ranging slave station includes the following sub-steps: Step S21: Obtain a second set of equations for calculating the jacking position of the ranging slave station.

[0046] Among them, if the ranging master station includes The ranging slave stations include b Then the second set of equations is: ; in, ; ; ,and ; Indicates n Ranging from the master station to the k The first distance of the ranging slave station; Indicates n The location coordinates of the ranging master station; Indicates k Coordinates of the jacking position of the ranging slave station; Indicates k Distance measurement from station to The second distance of the ranging slave station; Indicates The coordinates of the jacking position of the ranging slave station.

[0047] Step S22: Solve the second set of equations to obtain the jacking position of the ranging slave station.

[0048] Among them, the particle swarm optimization algorithm is used to limit the x-axis coordinate and y-axis coordinate of the jacking position by the length and width of the front / rear opening of the box culvert, and the z-axis coordinate of the jacking position by the single jacking distance of the jacking equipment to solve the second set of equations, and the first set of equations can be obtained. k The jacking position coordinates after a single jacking from the ranging station .

[0049] In this embodiment, a particle swarm optimization algorithm is used to optimize and solve the jacking position coordinates of the ranging slave station after a single jacking of the box culvert, so that the corresponding jacking position coordinates of the ranging slave station are more accurate and the calculation error is reduced.

[0050] Step S3: Using the jacking position of the ranging slave station, monitor the jacking posture of the box culvert.

[0051] It should be noted that the jacking posture of the box culvert can be reflected by the jacking distance of the box culvert, the centerline deviation of the front opening, the centerline deviation of the rear opening and the elevation difference of the four corners.

[0052] In the present application, step S3 includes: calculating the top distance, the front mouth centerline deviation and the rear mouth centerline deviation of the box culvert according to the top position of the ranging slave station.

[0053] like Figure 2 / Figure 6 As shown in the figure, when there are 8 ranging slave stations, the top distance of box culvert 1 can be obtained as: ; in, Indicates top stroke; Indicates i The z-axis coordinate of the jacking position of the ranging slave station; Indicates i The z-coordinate of the corrected position of the ranging slave.

[0054] It should be noted that the jacking distance here is the average value of the distance between the jacking position of each ranging slave station and the corresponding correction position, specifically referring to the distance value that has been jacked along the jacking direction of the box culvert 1.

[0055] In order to facilitate the expression of formulas, Figure 6 As shown, when the first ranging slave station 21 to the fourth ranging slave station 24 are set at the front opening of the box culvert 1, and the fifth ranging slave station 25 to the eighth ranging slave station 28 are set at the rear opening of the box culvert 1, the centerline deviation of the front opening and the centerline deviation of the rear opening of the box culvert 1 can be obtained as follows: ; ; in, Indicates deviation of the anterior midline; Indicates j The x-axis coordinate of the jacking position of the ranging slave station; Indicates j The x-axis coordinate of the corrected position of the ranging slave station; Indicates deviation of the posterior midline; Indicates The x-axis coordinate of the jacking position of the ranging slave station; Indicates The x-axis coordinate of the corrected position of the ranging slave.

[0056] It should be noted that the smaller the absolute values ​​of the front mouth centerline deviation and the rear mouth centerline deviation, the more accurate the moving position of the box culvert 1 is. When the obtained front mouth centerline deviation and the rear mouth centerline deviation are a positive value and a negative value, it indicates that the box culvert 1 has rotated as a whole with a certain point in the middle as the center. When the obtained front mouth centerline deviation and the rear mouth centerline deviation are of the same positive and negative value, it indicates that the box culvert 1 as a whole has deviated in the horizontal direction of the arrangement of the ranging main station.

[0057] Combination Figure 6 , if the front mouth centerline deviation is positive and the back mouth centerline deviation is negative, it means that the box culvert 1 has rotated clockwise as a whole with a certain point in the middle of the box culvert 1 as the center; if the front mouth centerline deviation is negative and the back mouth centerline deviation is positive, it means that the box culvert 1 has rotated counterclockwise as a whole with a certain point in the middle of the box culvert 1 as the center. If the front mouth centerline deviation and the back mouth centerline deviation are both positive, it means that the box culvert 1 is offset to the right (along the positive direction of the x-axis) as a whole; if the front mouth centerline deviation and the back mouth centerline deviation are both negative, it means that the box culvert 1 is offset to the left (along the negative direction of the x-axis) as a whole.

[0058] Furthermore, step S3 also includes: calculating the elevation differences of the four corners of the box culvert according to the jacking position of the ranging slave station, and the elevation differences of the four corners include a first elevation difference, a second elevation difference, a third elevation difference and a fourth elevation difference.

[0059] In order to facilitate the expression of formulas, Figure 2 As shown, the box culvert 1 includes a first height line 10 corresponding to the first elevation difference, a second height line 20 corresponding to the second elevation difference, a third height line 30 corresponding to the third elevation difference, and a fourth height line 40 corresponding to the fourth elevation difference. The first elevation difference, the second elevation difference, the third elevation difference, and the fourth elevation difference can be used to determine whether the four height lines corresponding to the box culvert 1 have deviations in the vertical direction.

[0060] Among them, Ranging slave and The ranging slave stations are all set at the first m On the high line, we have: ; in, ; Indicates m elevation difference; and Respectively represent The y-axis coordinates of the jacking position and correction position of the ranging slave station, and Respectively represent The y-axis coordinates of the jacking position and correction position of the ranging slave station.

[0061] Among them, if m If the elevation difference is negative, it means m The terrain corresponding to the high line is lower; if the m If the elevation difference is positive, it means m The terrain at the high line is higher. Before the next jacking, corresponding measures can be taken to make corresponding adjustments.

[0062] In this embodiment, 8 ranging slave stations are used to monitor and analyze the jacking posture of the box culvert 1. Compared with the case of using 4 ranging slave stations, the use of 8 ranging slave stations can ensure more accurate data while ensuring the accuracy of the analysis.

[0063] In some other embodiments, other numbers of ranging master stations and ranging slave stations may also be used to meet different data accuracy requirements.

[0064] Step S4: Repeat the above steps until the box culvert reaches the maximum top stroke.

[0065] It should be noted that after each jacking is completed, the jacking distance increases continuously until the box culvert 1 reaches the maximum jacking distance. The maximum jacking distance refers to the distance from the jacking start position to the jacking completion position of the box culvert 1. Among them, when the box culvert 1 reaches the jacking completion position, the box culvert 1 reaches the accurate position under the railway track, and the corresponding jacking operation is completed.

[0066] In the present application, the jacking posture of the box culvert 1 is monitored for each jacking. When an error occurs in a certain jacking, timely adjustments can be made during the next jacking, thereby ensuring that the box culvert 1 can be accurately in place after the last jacking.

[0067] Based on the same inventive concept, Figure 7 As shown, the present invention further provides a box culvert jacking posture monitoring system, the system includes a ranging master station 101, a ranging slave station 102 and a monitoring and analysis unit 103.

[0068] The ranging master station 101 is installed in the opposite direction of the box culvert jacking, and is used to send ranging requests to the ranging slave station 102 at equal periodic intervals and receive ranging response signals returned by the ranging slave station 102. According to the ranging requests and ranging response signals, the first distance between the ranging master station 101 and the ranging slave station 102 is measured.

[0069] The ranging slave station 102 is installed on the box culvert, and is used to receive the ranging request from the ranging master station 101 and return a ranging response signal to the ranging master station 101 .

[0070] The monitoring and analysis unit 103 is used to monitor the change of the first distance and obtain the jacking position of the ranging slave station 102 after a single jacking is completed; at the same time, the jacking position of the ranging slave station 102 is used to monitor the jacking posture of the box culvert.

[0071] In the present application, other technical features of the above-mentioned box culvert jacking posture monitoring system are the same as the features disclosed in the above-mentioned method embodiment, and will not be repeated here.

[0072] Based on the same inventive concept, the present application also provides an electronic device, which includes a processor, a memory and a communication circuit, and the processor is connected to the memory and the communication circuit respectively; wherein the communication circuit is used for communication connection, the memory is used to store a computer program, and the processor is used to execute the computer program to implement the above method.

[0073] See also Figure 8 The electronic device described in the embodiment of the present application may specifically include a processor 210 and a memory 220. The memory 220 is coupled to the processor 210.

[0074] The processor 210 is used to control the operation of the electronic device. The processor 210 may also be referred to as a CPU (Central Processing Unit). The processor 210 may be an integrated circuit chip with signal processing capabilities. The processor 210 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor may be a microprocessor or the processor 210 may also be any conventional processor, etc.

[0075] The memory 220 is used to store computer programs, and may be a RAM, a ROM, or other types of storage terminals. Specifically, the memory 220 may include one or more computer-readable storage media, which may be non-transitory or transient. The memory 220 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage terminals, flash memory storage terminals. In some embodiments, the non-transitory computer-readable storage medium in the memory 220 is used to store at least one program code.

[0076] The processor 210 is used to execute the computer program stored in the memory 220 to implement the methods described in the various method embodiments of the present application.

[0077] In some embodiments, the electronic device may further include: a peripheral terminal interface 230 and at least one peripheral terminal. The processor 210, the memory 220 and the peripheral terminal interface 230 may be connected via a bus or a signal line. Each peripheral terminal may be connected to the peripheral terminal interface 230 via a bus, a signal line or a circuit board. Specifically, the peripheral terminal includes: at least one of a radio frequency circuit 240, a display screen 250, an audio circuit 260 and a power supply 270.

[0078] The peripheral terminal interface 230 may be used to connect at least one peripheral terminal related to I / O (Input / output) to the processor 210 and the memory 220. In some embodiments, the processor 210, the memory 220, and the peripheral terminal interface 230 are integrated on the same chip or circuit board; in some other implementations, any one or two of the processor 210, the memory 220, and the peripheral terminal interface 230 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

[0079] The radio frequency circuit 240 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 240 communicates with the communication network and other IoT devices through electromagnetic signals, and the radio frequency circuit 240 is the communication circuit of the electronic device. The radio frequency circuit 240 converts the electrical signal into an electromagnetic signal for transmission, or converts the received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 240 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, an operator identity module card, and the like. The radio frequency circuit 240 can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G and 5G), a wireless local area network and / or a WiFi (Wireless Fidelity) network. In some embodiments, the radio frequency circuit 240 may also include circuits related to NFC (Near Field Communication), which is not limited in this application.

[0080] The display screen 250 is used to display the UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When the display screen 250 is a touch display screen, the display screen 250 also has the ability to collect touch signals on the surface or above the surface of the display screen 250. The touch signal can be input to the processor 210 as a control signal for processing. At this time, the display screen 250 can also be used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards. In some embodiments, the display screen 250 can be one, set on the front panel of the electronic device; in other embodiments, the display screen 250 can be at least two, respectively set on different surfaces of the electronic device or in a folding design; in other embodiments, the display screen 250 can be a flexible display screen, set on a curved surface or a folding surface of the electronic device. Even, the display screen 250 can also be set to a non-rectangular irregular shape, that is, a special-shaped screen. The display screen 250 can be made of materials such as LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode, organic light-emitting diode).

[0081] The audio circuit 260 may include a microphone and a speaker. The microphone is used to collect sound waves from the operator and the environment, and convert the sound waves into electrical signals and input them into the processor 210 for processing, or input them into the radio frequency circuit 240 to achieve voice communication. For the purpose of stereo acquisition or noise reduction, there may be multiple microphones, which are respectively arranged in different parts of the electronic device. The microphone may also be an array microphone or an omnidirectional acquisition microphone. The speaker is used to convert the electrical signal from the processor 210 or the radio frequency circuit 240 into sound waves. The speaker may be a traditional film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signal into sound waves audible to humans, but also convert the electrical signal into sound waves inaudible to humans for purposes such as ranging. In some embodiments, the audio circuit 260 may also include a headphone jack.

[0082] The power supply 270 is used to power various components in the electronic device. The power supply 270 can be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When the power supply 270 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is charged through a wired line, and a wireless rechargeable battery is a battery that is charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0083] For a detailed description of the functions and execution processes of each functional module or component in the electronic device embodiment of the present application, reference can be made to the description in the above-mentioned method embodiments of the present application, which will not be repeated here.

[0084] In the several embodiments provided in the present application, it should be understood that the disclosed electronic devices and methods can be implemented in other ways. For example, the various embodiments of the electronic devices described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0085] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0086] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0087] Based on the same inventive concept, the present application also provides a computer-readable storage medium storing a computer program, which can be executed by a processor to implement the above method.

[0088] See also Fig. 9 , if the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium 300. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions / computer programs to enable an IoT device (which can be a personal computer, server, or network terminal, etc.) or a processor (processor) to execute all or part of the steps of each implementation method of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks or optical disks, and electronic terminals such as computers, mobile phones, laptops, tablet computers, cameras, etc. having the above-mentioned storage media.

[0089] The description of the execution process of the program data in the computer-readable storage medium can refer to the description in the above-mentioned method embodiments of the present application, and will not be repeated here.

[0090] It can be seen that the present invention discloses a method, system, equipment and medium for monitoring the jacking posture of a box culvert. The method includes the following steps: using a ranging master station to measure the first distance between the ranging master station and the ranging slave station at equal periodic intervals; monitoring the change of the first distance to obtain the jacking position of the ranging slave station after a single jacking is completed; wherein, when it is monitored that the change of the first distance exceeds the first distance threshold, the box culvert is determined to be in a jacking state; until it is monitored that the time when the first distance does not change exceeds the time threshold, or the change of the first distance does not exceed the second distance threshold, the single jacking of the box culvert is determined to be completed, the first distance at this time is recorded, and the jacking position of the ranging slave station is calculated; using the jacking position of the ranging slave station, the jacking posture of the box culvert is monitored; repeating the above steps until the box culvert reaches the maximum jacking distance. wherein, in each jacking process, the ranging master station and the ranging slave station are used to automatically measure the first distance between the two, so as to monitor the change of the first distance, and then monitor the jacking posture of the box culvert, which can accurately estimate the moving direction of the box culvert, timely discover the deviation in the jacking process, and facilitate the construction personnel to make adjustments, thereby ensuring that the next jacking position is more accurate.

[0091] The above are only embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any equivalent structural transformations made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are included in the protection scope of the present invention.

Claims

1. A box culvert jacking posture monitoring method, characterized in that: The method comprises the following steps: Using a ranging master station, measuring a first distance between the ranging master station and a ranging slave station at equal periodic intervals; Monitor the change of the first distance to obtain the jacking position of the ranging slave station after the single jacking is completed; wherein, when it is monitored that the change of the first distance exceeds the first distance threshold, the box culvert is determined to be in the jacking state; until it is monitored that the time for which the first distance does not change exceeds the time threshold, or the change of the first distance does not exceed the second distance threshold, the single jacking of the box culvert is determined to be completed, the first distance at this time is recorded, and the jacking position of the ranging slave station is calculated; Using the jacking position of the ranging slave station, the jacking posture of the box culvert is monitored; Repeat the above steps until the box culvert reaches the maximum top stroke.

2. The box culvert jacking posture monitoring method according to claim 1 is characterized in that: Before using the ranging master station to measure the distance between the ranging master station and the ranging slave station at equal periodic intervals, the method further includes the following steps: The ranging master station and the ranging slave station are installed, and initial parameters are recorded. The initial parameters include the position of the ranging master station and the second distance between any ranging slave station and another ranging slave station. The ranging master stations include at least 2 and the ranging slave stations include at least 4.

3. The box culvert jacking posture monitoring method according to claim 2 is characterized in that: The initial parameters also include the corrected position of the ranging slave station, and the recording of the initial parameters also includes the steps of: The initial distance between the ranging master station and the ranging slave station is recorded, and the initial position of the ranging slave station is corrected to obtain the corrected position of the ranging slave station.

4. The box culvert jacking posture monitoring method according to claim 3 is characterized in that: The ranging master station includes The ranging slave station includes b The step of correcting the initial position of the ranging slave station to obtain the corrected position of the ranging slave station comprises: A first set of equations for correcting the initial position of the ranging slave station is obtained, wherein the first set of equations is: ； in, ; ; ,and ; Indicates n Ranging from the master station to the k Initial distance of ranging slave station; Indicates n The location coordinates of the ranging master station; Indicates k The initial position coordinates of the ranging slave station; Indicates k Distance measurement from station to The second distance of the ranging slave station; Indicates The initial position coordinates of the ranging slave station; The first set of equations is solved to obtain a corrected position of the ranging slave station after the initial position is corrected.

5. The box culvert jacking posture monitoring method according to claim 1 is characterized in that: The ranging master station includes The ranging slave station includes b The step of calculating the jacking position of the ranging slave station comprises: A second set of equations for calculating the jacking position of the ranging slave station is obtained, wherein the second set of equations is: ； in, ; ; ,and ; Indicates n Ranging from the master station to the k The first distance of the ranging slave station; Indicates n The location coordinates of the ranging master station; Indicates k Coordinates of the jacking position of the ranging slave station; Indicates k Distance measurement from station to The second distance of the ranging slave station; Indicates Coordinates of the jacking position of the ranging slave station; The second set of equations is solved to obtain the jacking position of the ranging slave station.

6. The box culvert jacking posture monitoring method according to claim 1 is characterized in that: The method of monitoring the jacking posture of the box culvert by using the jacking position of the ranging slave station includes: According to the jacking position of the ranging slave station, the jacking distance, the front opening centerline deviation and the rear opening centerline deviation of the box culvert are calculated; The connection direction of at least two of the distance measuring master stations is set as the x-axis, the direction perpendicular to the ground is the y-axis, the box culvert jacking direction is the z-axis, and one of the distance measuring master stations is used as the origin to establish a three-dimensional rectangular coordinate system; When the ranging slave stations include 8, the top distance is: ； in, Indicates the top stroke; Indicates i The z-axis coordinate of the jacking position of the ranging slave station; Indicates the i The z-axis coordinate of the corrected position of the ranging slave station; If the 1st to 4th ranging slave stations are set at the front opening of the box culvert, and the 5th to 8th ranging slave stations are set at the rear opening of the box culvert, then the centerline deviation of the front opening and the centerline deviation of the rear opening are respectively: ； ； in, Indicates the deviation of the anterior midline; Indicates j The x-axis coordinate of the jacking position of the ranging slave station; Indicates the j The x-axis coordinate of the corrected position of the ranging slave station; Indicates the deviation of the posterior midline; Indicates The x-axis coordinate of the jacking position of the ranging slave station; Indicates the The x-axis coordinate of the corrected position of the ranging slave.

7. The box culvert jacking posture monitoring method according to claim 6 is characterized in that: The method of monitoring the jacking posture of the box culvert by using the jacking position of the ranging slave station further includes: Calculating the elevation differences of the four corners of the box culvert according to the jacking position of the ranging slave station, wherein the elevation differences of the four corners include a first elevation difference, a second elevation difference, a third elevation difference and a fourth elevation difference; Among them, if Ranging slave and The ranging slave stations are all set at the m On the high line, we have: ； in, ; Indicates m The elevation difference is used to determine the m Whether the height line deviates in the vertical direction; and Respectively represent the The y-axis coordinates of the jacking position and correction position of the ranging slave station, and Respectively represent the The y-axis coordinates of the jacking position and correction position of the ranging slave station.

8. A box culvert jacking posture monitoring system, characterized in that: The system includes a ranging master station, a ranging slave station and a monitoring and analysis unit. The ranging master station is installed in the opposite direction of the box culvert jacking, and is used to send ranging requests to the ranging slave station at equal periodic intervals, and receive ranging response signals returned by the ranging slave station, and measure the first distance between the ranging master station and the ranging slave station according to the ranging request and the ranging response signal; The ranging slave station is installed on the box culvert, and is used to receive the ranging request of the ranging master station and return the ranging response signal to the ranging master station; The monitoring and analysis unit is used to monitor the change of the first distance and obtain the jacking position of the distance measuring slave station after a single jacking is completed; at the same time, the jacking posture of the box culvert is monitored by using the jacking position of the distance measuring slave station.

9. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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