Automatic sensing monitoring system and method for pipe jacking underneath pass construction process

Abstract

The invention discloses an automatic sensing and monitoring system for a pipe jacking underneath pass construction process. The automatic sensing and monitoring system comprises a data acquisition system, an internet of things, a data processing system, a cloud server and a remote management terminal, the data acquisition system is used for acquiring settlement and horizontal displacement data of monitoring points in a construction monitoring area, and comprises GNSS receivers arranged at the monitoring points in the construction area; the data acquisition system sends acquired data to the data processing system through the Internet of Things; the data processing system is provided with a three-dimensional model of the terrain around the jacking pipe, corrects the three-dimensional model in real time according to the data acquired by the data acquisition system, obtains a ground surface settlement change three-dimensional motion cloud picture, and uploads the three-dimensional motion cloud picture to the cloud server in real time; and the remote management terminal communicates with the cloud server, downloads the three-dimensional motion cloud picture, and realizes remote on-site construction monitoring and management. According to the invention, the field work intensity can be greatly reduced, 24-hour unattended monitoring is realized, and the construction safety and efficiency are improved.

Description

Technical Field

[0001] The invention relates to an underground pipeline construction method, and in particular to an automatic sensing monitoring system and method for a pipe jacking construction process. Background Art

[0002] At present, with the continuous development of urban construction, underground pipeline construction has become increasingly frequent, among which pipe jacking construction is a common construction method.

[0003] Pipe jacking is a method of underground pipeline construction developed after shield construction. It does not require excavation of the surface layer and can cross roads, railways, rivers, ground buildings, underground structures and various underground pipelines. Pipe jacking construction uses the thrust of the main jacking cylinder and the pipeline relay room to push the tool pipe or tunnel boring machine from the working well through the soil layer to the receiving well for lifting. At the same time, the pipeline following the tool pipe or tunnel boring machine is buried between the two wells, in order to realize the construction method of trenchless laying of underground pipelines.

[0004] Pipe jacking is widely used in trenchless laying of various pipelines such as urban underground water supply and drainage pipelines, natural gas and oil pipelines, and communication cables. It can cross roads, railways, bridges, mountains, rivers, straits, and any buildings on the ground. Using this technology in cities can avoid demolition of existing structures on the ground, reduce environmental pollution, and keep urban traffic smooth.

[0005] Pipe jacking construction can easily cause ground subsidence and uplift, causing the entire structure to sink or rise. Excessive deformation can cause horizontal cracks in masonry structures, destroying the waterproofing of the structure and causing groundwater to seep in.

[0006] Uneven settlement extends to the surface and causes tilting of the structure, which in turn causes additional internal stress redistribution. When local stress exceeds the shear strength of the soil, the soil at the bottom of the building will be plastically damaged, causing the entire building to become unstable.

[0007] The uplift has a great impact on buildings, roads and underground pipelines. The uplift makes it easy for buildings to crack, and in severe cases, it causes the buildings to be damaged, affecting their normal use and reducing their service life.

[0008] Therefore, during the construction of pipe jacking, soil deformation must be monitored. Traditional soil monitoring methods usually require manual operation, which is labor-intensive and has monitoring blind spots. It is impossible to achieve all-weather monitoring, which is easy to cause safety hazards. Summary of the invention

[0009] The present invention provides an automatic sensing monitoring system and method for a pipe jacking construction process in order to solve the technical problems existing in the known technology.

[0010] The technical solution adopted by the present invention to solve the technical problems existing in the known technology is:

[0011] An automatic sensing monitoring system for the construction process of pipe jacking, including a data acquisition system, an Internet of Things, a data processing system, a cloud server and a remote management terminal; the data acquisition system is used to collect settlement and horizontal displacement data of monitoring points in the construction monitoring area, and includes a GNSS receiver arranged at the monitoring points in the construction area; the data acquisition system sends the collected data to the data processing system through the Internet of Things; the data processing system is provided with a three-dimensional model of the terrain around the pipe jacking, and according to the data collected by the data acquisition system, the three-dimensional model is corrected in real time to obtain a three-dimensional motion cloud map of surface settlement changes, and the three-dimensional motion cloud map is uploaded to the cloud in real time server; the remote management terminal communicates with the cloud server, which downloads the three-dimensional motion cloud map to realize remote on-site construction monitoring and management; the area within the circle with the center point of the jacking construction as the center and a radius of 5 to 6 times the construction depth is used as the construction monitoring area; the construction monitoring area is divided into multiple levels with diamond grids, and the diamond blocks with higher settlement sensitivity in the N-level diamond blocks are further divided with diamond grids to obtain multiple N+1-level diamond blocks, where N is greater than or equal to 1; the grid nodes are used as alternative monitoring points, and the alternative monitoring points are evaluated and selected according to the monitoring accuracy requirements, and GNSS receivers are deployed at the preferred monitoring points.

[0012] Furthermore, the remote management terminal includes a remote monitoring center and a mobile device; the remote monitoring center and the mobile device both download the jacking status data during the jacking construction process and the three-dimensional motion cloud map of the surrounding terrain from the cloud server; the mobile device adjusts and analyzes the three-dimensional model data of the remote monitoring center through the cloud server.

[0013] Furthermore, the remote monitoring center includes an early warning module; the early warning module divides the early warning status of the monitoring point during the monitoring process into three levels according to the severity from small to large; the first level yellow early warning: the absolute value of the deformation and the deformation rate dual control indicators both reach 70% of the corresponding control value, or one of the dual control indicators reaches 85% of the corresponding control value; the second level orange early warning: the absolute value of the deformation and the deformation rate dual control indicators both reach 85% of the corresponding control value, or one of the dual control indicators reaches the corresponding control value; the third level red early warning: the absolute value of the deformation and the deformation rate dual control indicators both reach the corresponding control value; the early warning module sends the early warning status information to the mobile device through the cloud server.

[0014] Furthermore, the data acquisition system also includes a total station; monitoring points of the total station are arranged in the settlement sensitive area to supplement and correct the data, and the total station sends the detection data to the data processing system through the Internet of Things.

[0015] Furthermore, it also includes a solar panel and a battery. The solar panel charges the battery, and the battery stores electrical energy and supplies power to the data acquisition system.

[0016] The present invention also provides an automatic sensing monitoring method for the construction process of pipe jacking, which includes a data acquisition system, an Internet of Things, a data processing system, a cloud server and a remote management terminal; the data acquisition system is used to collect settlement and horizontal displacement data of monitoring points in the construction monitoring area, and includes a GNSS receiver arranged at the monitoring point in the construction area; the data acquisition system sends the collected data to the data processing system through the Internet of Things; the data processing system is provided with a three-dimensional model of the terrain around the pipe jacking, and the three-dimensional model is corrected in real time according to the data collected by the data acquisition system to obtain a three-dimensional motion cloud map of surface settlement changes, and the three-dimensional motion cloud map is uploaded in real time. The cloud map is sent to the cloud server; the remote management terminal communicates with the cloud server, which downloads the three-dimensional motion cloud map to realize remote on-site construction monitoring and management; the area within the circle with the center point of the jacking construction as the center and a radius of 5 to 6 times the construction depth is used as the construction monitoring area; the construction monitoring area is divided into multiple levels with diamond grids, and the diamond blocks with higher settlement sensitivity in the N-level diamond blocks are further divided with diamond grids to obtain multiple N+1-level diamond blocks, where N is greater than or equal to 1; the grid nodes are used as alternative monitoring points, and the alternative monitoring points are evaluated and selected according to the monitoring accuracy requirements, and GNSS receivers are deployed at the preferred monitoring points.

[0017] Furthermore, four reference measuring points are set up in the free field, which are respectively located at the reverse extension of the angular bisectors of the four corner points of the jacking pipe construction area. A GNSS receiver is arranged vertically downward and perpendicular to the excavation direction of the jacking pipe construction at each reference measuring point.

[0018] Furthermore, during the construction of the jacking pipe, a monitoring section is set up for each section of the jacking pipe to monitor surface settlement and deformation of the pipe lining segments; multiple section monitoring points are set up on the monitoring section, and GNSS receivers are deployed at the section monitoring points.

[0019] Furthermore, during the pipe jacking construction process, plane control points with mutual visibility between the two wells were established for joint measurement; total stations were set up at the plane control points for joint measurement, and six rounds of measurement using a Level II total station were used. The angle measurement accuracy was controlled according to a round difference of 9″, a 2C difference of 13″, and a zeroing difference of 6″, and the side length was measured round trip using a 2mm+2PPm total station.

[0020] Furthermore, the remote management terminal is provided with a remote monitoring center and a mobile device; the remote monitoring center and the mobile device are enabled to download the jacking status data and the three-dimensional motion cloud map of the surrounding terrain during the jacking construction process from the cloud server; the mobile device is enabled to adjust and analyze the three-dimensional model data of the remote monitoring center through the cloud server; the remote monitoring center is provided with an early warning module; the early warning module divides the early warning status of the monitoring point during the monitoring process into three levels according to the severity from small to large; the first level yellow early warning: the absolute value of the deformation and the deformation rate dual control index both reach 70% of the corresponding control value, or one of the dual control indexes reaches 85% of the corresponding control value; the second level orange early warning: the absolute value of the deformation and the deformation rate dual control index both reach 85% of the corresponding control value, or one of the dual control indexes reaches the corresponding control value; the third level red early warning: the absolute value of the deformation and the deformation rate dual control index both reach the corresponding control value; the early warning module sends the early warning status information to the mobile device through the cloud server.

[0021] The advantages and positive effects of the present invention are as follows: the present invention conducts all-round coverage monitoring of the monitoring area for pipe jacking construction, monitors the settlement status using GNSS technology, conducts high-precision three-dimensional monitoring of the overall dynamic deformation, and uploads the data to the cloud server in real time through the data processing system to realize on-site monitoring and progress tracking of mobile devices. By laying out settlement monitoring points and reference measuring points, combined with GNSS technology, soil deformation data can be accurately obtained to provide a scientific basis for engineering management and decision-making. Total station monitoring can also be supplemented for deformation-sensitive areas. The advantages of different monitoring methods are maximized to improve the efficiency of deformation monitoring for pipe jacking construction. The present invention can monitor soil deformation in real time, detect abnormalities in a timely manner and issue early warnings, which helps to avoid construction accidents.

[0022] The present invention conducts soil survey and zoning on the construction site, combines GNSS observation method and settlement monitoring point layout, and realizes real-time monitoring and early warning of soil deformation within the influence range of pipe jacking construction. Compared with traditional methods, the present invention can greatly reduce the intensity of on-site work, realize 24-hour unattended monitoring, and improve construction safety and efficiency.

[0023] The present invention can improve the safety and efficiency of pipe jacking construction, reduce human errors, and has important application prospects in engineering practice. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic structural diagram of an automatic sensing monitoring system for a pipe jacking construction process according to the present invention.

[0025] Figure 2 A work flow chart of an automatic sensing monitoring method for a pipe jacking construction process according to the present invention.

[0026] Figure 3A schematic diagram of the distribution of diamond grid monitoring points of the present invention.

[0027] Figure 4 Schematic diagram of the distribution of GNSS monitoring points on the pipe segments in the pipe jacking construction area.

[0028] Figure 5 Schematic diagram of plane control points monitored by total station. DETAILED DESCRIPTION

[0029] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0030] In the description of the present invention, the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention rather than requiring the present invention to be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. The terms "connected" and "connection" used in the present invention should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a direct connection or an indirect connection through an intermediate component; it can also be an electrical connection or signal transmission; for those of ordinary skill in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0031] See also Figures 1 to 5 An automatic sensing monitoring system for the construction process of pipe jacking includes a data acquisition system, an Internet of Things, a data processing system, a cloud server and a remote management terminal; the data acquisition system is used to collect settlement and horizontal displacement data of monitoring points in the construction monitoring area, and includes a GNSS receiver arranged at the monitoring points in the construction area; the data acquisition system sends the collected data to the data processing system through the Internet of Things; the data processing system is provided with a three-dimensional model of the terrain around the pipe jacking, and according to the data collected by the data acquisition system, the three-dimensional model is corrected in real time to obtain a three-dimensional motion cloud map of surface settlement changes, and the three-dimensional motion cloud map is uploaded to the data processing system in real time. Cloud server; the remote management terminal communicates with the cloud server, which downloads the three-dimensional motion cloud map to realize remote on-site construction monitoring and management; the area within the circle with the center point of the jacking construction as the center and a radius of 5 to 6 times the construction depth is used as the construction monitoring area; the construction monitoring area is divided into multiple levels with diamond grids, and the diamond blocks with higher settlement sensitivity in the N-level diamond blocks are further divided with diamond grids to obtain multiple N+1-level diamond blocks, where N is greater than or equal to 1; the grid nodes are used as alternative monitoring points, and the alternative monitoring points are evaluated and selected according to the monitoring accuracy requirements, and GNSS receivers are deployed at the preferred monitoring points.

[0032] GNSS means Global Navigation Satellite System in Chinese. GNSS receiver is an important part of satellite navigation and positioning system. It refers to a device that can receive and process satellite signals and obtain information such as user location.

[0033] The data acquisition system is used to collect the horizontal coordinates, horizontal displacement and settlement data of monitoring points in the construction area.

[0034] The data processing system is used to process the data collected by the data acquisition system to form a three-dimensional space-time model of the monitoring area.

[0035] Cloud servers are used to transmit and store data processed by data processing systems.

[0036] The remote management terminal is used to process, display and store the three-dimensional space-time model of the monitoring area.

[0037] First, the construction monitoring area is divided into a first-level diamond grid to obtain multiple first-level diamond blocks. The diamond blocks with higher settlement sensitivity in the first-level diamond blocks are further divided into diamond grids to obtain multiple second-level diamond blocks. By analogy, the diamond blocks with higher settlement sensitivity in the N-level diamond blocks are further divided into diamond grids to obtain multiple N+1-level diamond blocks. The judgment of settlement sensitivity can be based on historical data, construction personnel experience, etc.

[0038] The method for evaluating and selecting alternative monitoring points based on the monitoring accuracy requirements can adopt theoretical analysis methods, machine learning, simulation experimental methods, etc., or it can be based on historical data, construction personnel experience, etc.

[0039] Preferably, the remote management terminal may include a remote monitoring center and a mobile device; the remote monitoring center and the mobile device both download the jacking status data during the jacking construction process and the three-dimensional motion cloud map of the surrounding terrain from the cloud server; the mobile device adjusts and analyzes the three-dimensional model data of the remote monitoring center through the cloud server.

[0040] Preferably, the remote monitoring center may include an early warning module; the early warning module may divide the early warning status of the monitoring point during the monitoring process into three levels according to the severity from small to large; the first level yellow early warning: the absolute value of the deformation amount and the deformation rate dual control index both reach 70% of the corresponding control value, or one of the dual control indexes reaches 85% of the corresponding control value; the second level orange early warning: the absolute value of the deformation amount and the deformation rate dual control index both reach 85% of the corresponding control value, or one of the dual control indexes reaches the corresponding control value; the third level red early warning: the absolute value of the deformation amount and the deformation rate dual control index both reach the corresponding control value; the early warning module sends the early warning status information to the mobile device via the cloud server.

[0041] Deformation refers to the degree of deformation of a structure or equipment under the influence of force, temperature and other conditions, while the deformation rate refers to the amount of deformation that occurs per unit time. In the field of civil engineering, deformation usually refers to the phenomenon of shape or position change of soil or buildings under load, which can be divided into two categories: settlement and displacement. Settlement refers to vertical deformation, including sinking and rising; while displacement is a general term for deformations other than settlement, including horizontal displacement, tilt, deflection, cracks, convergence deformation, etc.

[0042] Reasonable setting of early warning value indicators of deformation and deformation rate, i.e. control value, is critical to the implementation of early warning system and to ensure engineering safety. The early warning value indicators of deformation are usually obtained through comprehensive research of historical data and theoretical analysis.

[0043] The early warning module can send the following early warning status to the mobile device through the cloud server: the absolute value of the deformation and the current value and historical data of the deformation rate, the early warning level, etc.

[0044] Preferably, the data acquisition system may also include a total station; monitoring points of the total station may be arranged in the settlement sensitive area to supplement and correct the data, and the total station sends the detection data to the data processing system through the Internet of Things.

[0045] Total station, or total station electronic tachometer, refers to a device that automatically displays necessary observation data such as slant distance, zenith distance (vertical angle), horizontal angle, etc., once observed on a side station, and obtains horizontal distance, height difference, and point coordinates almost at the same time. If the data terminal collected by the total station tachometer in the field is connected to a computer or plotter through a transmission interface, and equipped with data processing software and plotting software, the automation of mapping can be realized. It is widely used in precision engineering measurement or deformation monitoring fields such as large-scale ground buildings and underground tunnel construction.

[0046] Preferably, a solar panel and a storage battery may also be included, wherein the solar panel charges the storage battery, and the storage battery stores electrical energy and supplies power to the data acquisition system.

[0047] The present invention also provides an automatic sensing monitoring method for a pipe jacking construction process, which comprises a data acquisition system, an Internet of Things, a data processing system, a cloud server and a remote management terminal; the data acquisition system is used to collect settlement and horizontal displacement data of monitoring points in a construction monitoring area, and comprises a GNSS receiver arranged at the monitoring points in the construction area; the data acquisition system sends the collected data to the data processing system through the Internet of Things; the data processing system is provided with a three-dimensional model of the terrain around the pipe jacking, and the three-dimensional model is corrected in real time according to the data collected by the data acquisition system to obtain a three-dimensional motion cloud map of surface settlement changes, and the three-dimensional motion cloud map is uploaded to the cloud server in real time; the remote management terminal communicates with the cloud server, and downloads the three-dimensional motion cloud map to realize remote on-site construction monitoring and management; the area within a circle with the center point of the pipe jacking construction as the center and a radius of 5 to 6 times the construction depth is taken as the construction monitoring area; according to the settlement sensitivity, the construction monitoring area is divided into multiple levels with a diamond grid, the grid nodes are taken as candidate monitoring points, the candidate monitoring points are evaluated and selected according to the monitoring accuracy requirements, and the GNSS receiver is arranged at the preferred monitoring point.

[0048] Preferably, four reference measuring points can also be set in the free field, which are respectively located at the reverse extension of the angular bisectors of the four corner points of the jacking pipe construction area, and a GNSS receiver is arranged at each reference measuring point vertically downward and perpendicular to the excavation direction of the jacking pipe construction.

[0049] Preferably, during the construction process of the jacking pipe, a monitoring section can be set for each section of the jacking pipe to monitor the surface settlement and deformation of the pipe lining segments; multiple section monitoring points are set on the monitoring section, and GNSS receivers are deployed at the section monitoring points.

[0050] Preferably, during the pipe jacking construction process, plane control points with mutual visibility between the two wells can be established for joint measurement; a total station can be set up at the plane control points of the joint measurement, and a level II total station can be used for six rounds of measurement. The angle measurement accuracy can be controlled according to the round difference of 9", the 2C difference of 13", and the zeroing difference of 6", and the side length can be measured round trip using a 2mm+2PPm total station.

[0051] Preferably, the remote management terminal can be provided with a remote monitoring center and a mobile device; the remote monitoring center and the mobile device can both download the jacking status data during the jacking construction process and the three-dimensional motion cloud map of the surrounding terrain from the cloud server; and the mobile device can adjust and analyze the three-dimensional model data of the remote monitoring center through the cloud server.

[0052] Preferably, the remote monitoring center may be provided with an early warning module; the early warning module may divide the early warning status of the monitoring point during the monitoring process into three levels according to the severity from small to large; the first level yellow early warning: the absolute value of the deformation amount and the deformation rate dual control index both reach 70% of the corresponding control value, or one of the dual control indexes reaches 85% of the corresponding control value; the second level orange early warning: the absolute value of the deformation amount and the deformation rate dual control index both reach 85% of the corresponding control value, or one of the dual control indexes reaches the corresponding control value; the third level red early warning: the absolute value of the deformation amount and the deformation rate dual control index both reach the corresponding control value; the early warning module sends the early warning status information to the mobile device via the cloud server.

[0053] The following is a preferred embodiment of the present invention to further illustrate the working process and working principle of the present invention:

[0054] An automatic sensing monitoring system for a pipe jacking construction process comprises a data acquisition system, an Internet of Things, a data processing system, a cloud server and a remote management terminal; the data acquisition system is used to collect settlement and horizontal displacement data of monitoring points in a construction monitoring area, and comprises a dual-frequency GNSS receiver arranged at the monitoring points in the construction area; the data acquisition system sends the collected data to the data processing system through the Internet of Things; the data processing system is provided with a three-dimensional model of the terrain around the pipe jacking, and the three-dimensional model is corrected in real time according to the data collected by the data acquisition system to obtain a three-dimensional motion cloud map of surface settlement changes, and the three-dimensional motion cloud map is uploaded to the data processing system in real time. Cloud server; the remote management terminal communicates with the cloud server, which downloads the three-dimensional motion cloud map to realize remote on-site construction monitoring and management; the area within the circle with the center point of the jacking construction as the center and a radius of 5 to 6 times the construction depth is used as the construction monitoring area; the construction monitoring area is divided into multiple levels with diamond grids, and the diamond blocks with higher settlement sensitivity in the N-level diamond blocks are further divided with diamond grids to obtain multiple N+1-level diamond blocks, where N is greater than or equal to 1; the grid nodes are used as alternative monitoring points, and the alternative monitoring points are evaluated and selected according to the monitoring accuracy requirements, and GNSS receivers are deployed at the preferred monitoring points.

[0055] The data collection system includes: solar panels, lithium batteries, base station processors, antennas, transmission modules, 5G IoT cards, data collectors, and dual-frequency GNSS receivers. Solar panels can charge and store energy under sunlight and transmit the electrical energy to the lithium batteries below for storage.

[0056] The battery stores and releases electrical energy to provide continuous and stable power supply to the data acquisition system, ensuring the normal startup and continuous operation of the device; the dual-frequency GNSS receiver performs relative positioning between GNSS receivers and satellite positioning, measures the baseline vector between multiple GNSS receivers, and offsets the main part of the ionospheric error in the atmosphere, greatly improving the measurement accuracy; the data collector records and stores the real-time baseline vector relative data information of the dual-frequency GNSS receiver, and the base analysis terminal processor processes the received data in real time, and transmits the collected coordinate position, settlement data, and GNSS acquisition time through the data transmission module and the 5G Internet of Things card. The antenna is used as a transmission medium to transmit it to the data processing system in real time.

[0057] The data acquisition system and its components are waterproofed, such as aluminum alloy or stainless steel housing, which has the advantages of good moisture resistance, light weight and high strength. The data acquisition system is waterproofed before use.

[0058] The automatic sensor monitoring system for the pipe jacking construction process also includes solar panels and batteries. The solar panels charge the batteries, the batteries store electrical energy, and supply power to the data acquisition system.

[0059] GNSS receivers are deployed at the grid nodes in the monitoring area to obtain the depth information and horizontal coordinate position information of different monitoring points. After receiving the feedback signal from the data acquisition system, the data processing system stores the monitoring time, horizontal coordinate position, settlement amount, and serial number of different monitoring points, and stores and records them according to the above information.

[0060] The data processing system inputs the coordinate position, settlement data, and GNSS acquisition time into the three-dimensional model of the environment around the jacking pipe. Combined with the settlement of the reference measuring points, the settlement of the three-dimensional model is corrected to obtain a three-dimensional motion cloud map of the settlement changes. At the same time, it is uploaded to the cloud server in real time to realize remote management terminal communication, remote on-site monitoring and progress tracking, and the linkage mechanism between interval and surface monitoring and environmental monitoring is strengthened.

[0061] The design of the monitoring grid should meet the monitoring requirements. When determining the specific location, the uniform distribution of observation points is usually considered. Usually, a monitoring point is set at a fixed distance. The problem with this monitoring method is that the monitoring area is often large, and it is easy to inaccurately monitor the deformation of parts that are greatly affected by construction and have obvious settlement. In addition, during the monitoring process, it is easy to cause waste of monitoring resources and ineffective arrangement of settlement points.

[0062] In the conventional monitoring process, the grid monitoring method is usually evenly arranged. Generally, an observation point is set every 15-30m around the house. Observation points should be set at the corners of the building foundation, on both sides of the settlement joints or expansion joints, column bases, the foundation connection between new and old buildings, and places where geological conditions change. Choose appropriate observation points, usually choose the center line of the roadbed, both sides of the roadbed and key positions for observation, determine the initial reference elevation of the observation point for subsequent displacement observation, and install appropriate displacement measurement equipment. Usually, inclinometers, boremeters and other equipment are used for observation. When installing the equipment, it is necessary to ensure the stability and accuracy of the equipment, calibrate and debug it, and conduct regular observations and records to monitor the changes in roadbed settlement. Frequency design refers to the design of the time interval and number of observations. According to the specific conditions and requirements of the project, the frequency of observation can be determined based on experience and actual conditions. Settlement observation points should be set at locations on the building that can show the settlement and deformation characteristics of the building. They should be firm and reliable and easy to observe. The location and number of observation points should be determined according to the structure, load and geological conditions of the foundation.

[0063] The construction monitoring area is divided into multiple levels with diamond grids, and the diamond blocks with higher settlement sensitivity in the N-level diamond blocks are further divided with diamond grids to obtain multiple N+1-level diamond blocks, where N is greater than or equal to 1; the grid nodes are used as candidate monitoring points, and the candidate monitoring points are evaluated and selected according to the monitoring accuracy requirements, and GNSS receivers are deployed at the preferred monitoring points. In the evaluation and division process of the diamond grid, the diamond grid is evaluated and divided according to the different monitoring accuracy requirements. According to the level of monitoring accuracy requirements, the diamond grid can be divided into diamonds of different sizes to meet the monitoring accuracy requirements at different locations. In this way, the distribution density of monitoring points can be flexibly adjusted, making the monitoring points denser at key locations and relatively loose at secondary locations, so as to better capture the subtle changes in soil deformation and improve the accuracy and real-time performance of monitoring.

[0064] The grid side length is 3 to 6 meters. For sensitive areas and important areas of settlement, the grid side length is reduced and the diamond grid points are increased in density.

[0065] The selection of observation points is more scientific and reasonable, the measurement accuracy is higher, and the settings of GNSS receivers can be reduced, saving costs.

[0066] Four reference measuring points are set up in the free field, which are located at the reverse extension of the angular bisectors of the four corner points of the jacking pipe construction area. A GNSS receiver is arranged at each reference measuring point vertically downward and perpendicular to the excavation direction of the jacking pipe construction.

[0067] The reference measuring points are used to compare the settlement conditions and correct the monitored settlement values ​​of the jacking construction. The reference measuring points are located at the reverse extension of the angular bisectors of the four corner positions of the jacking construction, 10 times the jacking construction depth from the jacking construction center, to reduce the disturbance caused by the jacking construction on the monitoring points. The monitoring direction of each reference measuring point is arranged vertically downward, perpendicular to the excavation direction of the jacking construction, to accurately monitor the settlement.

[0068] Carry out total station monitoring in sensitive impact areas. The total station uploads settlement data to the cloud server through the Internet of Things, corrects and supplements the three-dimensional model, calibrates the forward direction of the jacking construction, and ensures the accuracy of the construction direction. During the jacking construction process, in order to ensure the smooth connection between the two wells, a plane control point with mutual line of sight between the two wells is established. Use total station observation to improve the observation accuracy as much as possible to ensure the accuracy of the jacking excavation direction, set two high control points, and try to use known control points. If they cannot be used due to actual conditions, closely measure the relationship between them and establish independent line-of-sight control points. The continuous measurement uses six measurement rounds of a Class II total station. The angle measurement accuracy is controlled by a measurement round difference of 9″, a 2C difference of 13″, and a zeroing difference of 6″. The side length is measured by a 2mm+2PPm total station in round trips.

[0069] We conduct all-round monitoring of the monitoring area for pipe jacking construction, use GNSS technology to monitor the settlement status, and supplement the total station monitoring of deformation-sensitive areas. We maximize the advantages of different monitoring methods, improve the efficiency of deformation monitoring for pipe jacking construction, conduct high-precision and three-dimensional monitoring of the overall dynamics of deformation, and upload the data to the cloud server in real time through the data processing system to realize on-site monitoring and progress tracking of mobile devices.

[0070] In this way, the distribution density of monitoring points can be flexibly adjusted, making the monitoring points denser at key locations and relatively sparse at secondary locations, thereby better capturing subtle changes in soil deformation and improving the accuracy and real-time nature of monitoring.

[0071] During the pipe jacking construction process, a monitoring section is arranged for each section of the pipe jacking, and GNSS monitoring points are arranged at the monitoring points of the section. The vertical displacement monitoring points of the channel structure are buried by drilling holes directly on the lining segments with an electric hammer, burying the top surface GNSS monitoring point fixtures and fixing them with quick-drying cement. The starting base point is arranged on the bottom platform of the starting well, and stainless steel measurement marks for total station monitoring are arranged. The horizontal displacement and settlement of the observation point are measured by a stable working point. The total station working point uses the control base point for detection, and the GNSS monitoring point uses relative positioning and control points for detection. The total station is used to carry out more accurate measurements, and the longitudinal changes of the channel ring can be grasped. The GNSS monitoring points are used in the monitoring of the pipe jacking process to reduce the pressure of manual observation and reduce the workload.

[0072] The monitoring data of the construction process is uploaded to the data processing system for processing, and the warning status of the monitoring points during the monitoring process is divided into three levels according to the severity from small to large:

[0073] The first level is yellow warning, both the absolute value of deformation and the deformation rate dual control indicators reach 70% of the control value; or one of the dual control indicators reaches 85% of the control value; the second level is orange warning, both the absolute value of deformation and the deformation rate dual control indicators reach 85% of the control value; or one of the dual control indicators reaches the control value; the third level is red warning, both the absolute value of deformation and the deformation rate dual control indicators reach the control value.

[0074] The data processing system receives the wireless signals fed back by the GNSS monitoring points, obtains the location of the monitoring points and the real-time monitoring time information, and obtains the settlement data of the monitoring points by integrating the relative positioning of the GNSS dual-frequency signals. The data processing system stores the relevant data of settlement monitoring points with different numbers, draws a three-dimensional settlement curve, and uses the location information to mark the location of each measuring point in the three-dimensional graph, collects date information, and realizes data visualization.

[0075] The remote management terminal sets up a remote monitoring center and a mobile device; enables the remote monitoring center and the mobile device to download the jacking status data and the three-dimensional motion cloud map of the surrounding terrain during the jacking construction process from the cloud server; enables the mobile device to adjust and analyze the three-dimensional model data of the remote monitoring center through the cloud server; the remote monitoring center is equipped with an early warning module; the early warning module divides the early warning status of the monitoring point during the monitoring process into three levels according to the severity from small to large; the first level yellow early warning: the absolute value of the deformation and the deformation rate dual control indicators both reach 70% of the control value, or one of the dual control indicators reaches 85% of the control value; the second level orange early warning: the absolute value of the deformation and the deformation rate dual control indicators both reach 85% of the control value, or one of the dual control indicators reaches the control value; the third level red early warning: the absolute value of the deformation and the deformation rate dual control indicators both reach the control value; the early warning module sends the early warning status information to the mobile device through the cloud server.

[0076] Mobile devices communicate with the cloud server at the same time. Mobile devices include mobile phones, tablet computers, etc. Mobile devices can obtain the three-dimensional space-time model of the pipe jacking status and surrounding terrain during the pipe jacking construction process through the cloud server, realize the sharing of model data information, and facilitate construction managers to view model information at any time. Mobile devices can perform basic operations and analysis on the model data of the remote monitoring center through the cloud server. Basic operations include input of total station observation data of plane control points, manual correction of error points, display of monitoring values ​​of GNSS monitoring points at different times, monitoring values ​​of different monitoring points, distribution of GNSS monitoring points, etc., and real-time monitoring of settlement deformation of pipe jacking construction.

[0077] The three-dimensional model of the environmental soil body for pipe jacking construction is analyzed and corrected with the reference measuring points to improve the monitoring accuracy, and emergency feedback is provided for deformation during the construction process. At the same time, the sensitive deformation area during the construction excavation process is monitored, and three-level multiple alarms are set. When the detection data is abnormal, it is notified immediately by SMS, fax, broadcast, etc. Measures such as personnel intervention and road blocking are taken in a timely manner to ensure construction safety.

[0078] An automatic sensing monitoring method for a pipe jacking construction process. The monitoring method comprises the following steps:

[0079] Step 1: Determine the location of the GNSS monitoring point:

[0080] Using the GNSS diamond grid monitoring method, the impact area within the 5D range of the pipe jacking construction depth is used as the monitoring area, and the project area is divided into several diamond grids. The diamond grids are evaluated and divided according to the monitoring accuracy requirements. GNSS settlement monitoring points are arranged at the grid nodes after evaluation, and the monitoring point spacing is 3-5m. Four control measuring points are set in the free field, which are located at the reverse extension of the angular bisectors of the four angular positions of the pipe jacking construction. The monitoring direction of each measuring point is arranged vertically downward, perpendicular to the excavation direction of the pipe jacking construction. During the pipe jacking construction process, a monitoring section is arranged for each section of the pipe jacking, and GNSS monitoring points are arranged at the monitoring point position of the section. During the pipe jacking construction process, in order to ensure the smooth connection between the two wells, a plane control point with mutual visibility between the two wells is established. The measuring points are arranged by total station observation to maximize the observation accuracy.

[0081] Step 2: Install and debug the device:

[0082] During the construction of the jacking pipe, the monitoring point uses a dual-frequency GNSS receiver as a relative positioning signal receiving device. The equipment is assembled, debugged, and relatively positioned to determine the frequency and reference of the receiver. It is tested whether the signal from the settlement monitoring point can be transmitted normally and whether the data processing system can normally receive the feedback data from the dual-frequency GNSS receiver.

[0083] Step 3: Actual measurement and monitoring:

[0084] The data acquisition system conducts real-time monitoring of the settlement values ​​of the diamond grids covered by the monitoring area. During the process of pipe jacking, the deformation values ​​of each section of the pipe lining segment are monitored in real time, with an emphasis on monitoring the rapid changes in surface settlement during pipe jacking construction and the large deformation of the pipe lining segments. Total station monitoring is used to supplement data, increase the accuracy of monitoring details, and obtain surface changes in a timely manner. The time of real-time monitoring and acquisition is recorded during each monitoring.

[0085] Step 4, integrated analysis:

[0086] The data acquisition system transmits the measured data to the data processing system in real time through the 5G Internet of Things, and transmits the shear wave velocity and measuring point location information to the data processing system. The data processing system conducts a preliminary analysis of the field data and automatically transmits the processed data to the remote management terminal at a regular interval. The remote management terminal integrates the data, screens the error data, and corrects the deformation results.

[0087] Step 5, adjust and add monitoring points:

[0088] For settlement-sensitive areas, total station monitoring is added to supplement and correct data, forming a GNSS total station observation method. Total station monitoring is added to deformation-sensitive areas. The advantages of different monitoring methods are maximized to improve the efficiency of deformation monitoring during pipe jacking construction, and high-precision three-dimensional monitoring of the overall dynamics of deformation is achieved.

[0089] The above-mentioned data acquisition system, Internet of Things, data processing system, cloud server, remote management terminal, remote monitoring center, mobile device, total station, GNSS receiver, early warning module, solar panel, lithium battery, base analysis terminal processor, antenna, transmission module, 5G Internet of Things card, data collector, dual-frequency GNSS receiver, etc. can all adopt applicable components, functional modules and devices in the prior art, or adopt components, functional modules and devices in the prior art and be constructed by conventional technical means.

[0090] The embodiments described above are only used to illustrate the technical ideas and features of the present invention, and their purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. The patent scope of the present invention cannot be limited only by this embodiment, that is, any equivalent changes or modifications made to the spirit disclosed by the present invention still fall within the patent scope of the present invention.

Claims

1. An automatic sensing monitoring system for pipe jacking construction process, characterized in that: It includes a data acquisition system, an Internet of Things, a data processing system, a cloud server and a remote management terminal; the data acquisition system is used to collect settlement and horizontal displacement data of monitoring points in the construction monitoring area, and includes a GNSS receiver arranged at the monitoring points in the construction area; the data acquisition system sends the collected data to the data processing system through the Internet of Things; The data processing system is provided with a three-dimensional model of the terrain around the jacking pipe. According to the data collected by the data acquisition system, the three-dimensional model is corrected in real time to obtain a three-dimensional motion cloud map of surface settlement changes, and the three-dimensional motion cloud map is uploaded to the cloud server in real time; the remote management terminal communicates with the cloud server, downloads the three-dimensional motion cloud map, and realizes remote on-site construction monitoring and management; the area within the circle with the jacking pipe construction center point as the center and a radius of 5 to 6 times the construction depth is used as the construction monitoring area; the construction monitoring area is divided into multiple levels with diamond grids, and the diamond blocks with higher settlement sensitivity in the N-level diamond blocks are further divided with diamond grids to obtain multiple N+1-level diamond blocks, where N is greater than or equal to 1; the grid nodes are used as candidate monitoring points, and the candidate monitoring points are evaluated and selected according to the monitoring accuracy requirements, and GNSS receivers are deployed at the selected monitoring points.

2. The automatic sensing monitoring system for pipe jacking construction process according to claim 1 is characterized in that: The remote management terminal includes a remote monitoring center and a mobile device; both the remote monitoring center and the mobile device download the jacking status data and the three-dimensional motion cloud map of the surrounding terrain during the jacking construction process from the cloud server; the mobile device adjusts and analyzes the three-dimensional model data of the remote monitoring center through the cloud server.

3. The automatic sensing monitoring system for the pipe jacking construction process according to claim 2 is characterized in that: The remote monitoring center includes an early warning module; the early warning module divides the early warning status of the monitoring point during the monitoring process into three levels according to the severity from small to large; the first level yellow early warning: the absolute value of the deformation amount and the deformation rate dual control index both reach 70% of the corresponding control value, or one of the dual control indexes reaches 85% of the corresponding control value; the second level orange early warning: the absolute value of the deformation amount and the deformation rate dual control index both reach 85% of the corresponding control value, or one of the dual control indexes reaches the corresponding control value; Level 3 red warning: Both the absolute value of deformation and the deformation rate dual control indicators reach the corresponding control values; The warning module sends the warning status information to the mobile device through the cloud server.

4. The automatic sensing monitoring system for the pipe jacking construction process according to claim 1 is characterized in that: The data acquisition system also includes a total station; monitoring points of the total station are deployed in settlement-sensitive areas to supplement and correct data, and the total station sends the detection data to the data processing system through the Internet of Things.

5. The automatic sensing monitoring system for the pipe jacking construction process according to claim 1 is characterized in that: It also includes a solar panel and a battery. The solar panel charges the battery, and the battery stores electrical energy and supplies power to the data acquisition system.

6. An automatic sensing monitoring method for the pipe jacking construction process, characterized in that: A data acquisition system, an Internet of Things, a data processing system, a cloud server and a remote management terminal are set up; the data acquisition system is used to collect settlement and horizontal displacement data of monitoring points in the construction monitoring area, and includes a GNSS receiver arranged at the monitoring points in the construction area; the data acquisition system sends the collected data to the data processing system through the Internet of Things; The data processing system is provided with a three-dimensional model of the terrain around the jacking pipe. According to the data collected by the data acquisition system, the three-dimensional model is corrected in real time to obtain a three-dimensional motion cloud map of surface settlement changes, and the three-dimensional motion cloud map is uploaded to the cloud server in real time; the remote management terminal communicates with the cloud server, downloads the three-dimensional motion cloud map, and realizes remote on-site construction monitoring and management; the area within the circle with the jacking pipe construction center point as the center and a radius of 5 to 6 times the construction depth is used as the construction monitoring area; the construction monitoring area is divided into multiple levels with diamond grids, and the diamond blocks with higher settlement sensitivity in the N-level diamond blocks are further divided with diamond grids to obtain multiple N+1-level diamond blocks, where N is greater than or equal to 1; the grid nodes are used as candidate monitoring points, and the candidate monitoring points are evaluated and selected according to the monitoring accuracy requirements, and GNSS receivers are deployed at the selected monitoring points.

7. The automatic sensing monitoring method for the pipe jacking construction process according to claim 6 is characterized in that: Four reference measuring points are also set up in the free field, which are located at the reverse extension of the angular bisectors of the four corner points of the jacking pipe construction area. A GNSS receiver is arranged vertically downward and perpendicular to the excavation direction of the jacking pipe construction at each reference measuring point.

8. The automatic sensing monitoring method for pipe jacking construction process according to claim 6 is characterized in that: During the construction of the jacking pipe, a monitoring section is set up for each section of the jacking pipe to monitor the surface settlement and deformation of the pipe lining segments; multiple section monitoring points are set up on the monitoring section, and GNSS receivers are deployed at the section monitoring points.

9. The automatic sensing monitoring method for the pipe jacking construction process according to claim 6 is characterized in that: During the pipe jacking construction process, plane control points with mutual visibility between the two wells were established for joint measurement; total stations were set up at the plane control points for joint measurement, and six rounds of measurement using a Level II total station were used. The angle measurement accuracy was controlled according to a round difference of 9″, a 2C difference of 13″, and a zeroing difference of 6″, and the side length was measured round trip using a 2mm+2PPm total station.

10. The automatic sensing monitoring method for the pipe jacking construction process according to claim 5, characterized in that: The remote management terminal sets up a remote monitoring center and mobile devices; the remote monitoring center and mobile devices download the jacking status data and the three-dimensional motion cloud map of the surrounding terrain during the jacking construction process from the cloud server; the mobile device adjusts and analyzes the three-dimensional model data of the remote monitoring center through the cloud server; the remote monitoring center is equipped with an early warning module; the early warning module divides the early warning status of the monitoring point during the monitoring process into three levels according to the severity from small to large; the first level yellow early warning: the absolute value of the deformation and the deformation rate dual control indicators both reach 70% of the corresponding control value, or one of the dual control indicators reaches 85% of the corresponding control value; the second level orange early warning: the absolute value of the deformation and the deformation rate dual control indicators both reach 85% of the corresponding control value, or one of the dual control indicators reaches the corresponding control value; Level 3 red warning: Both the absolute value of deformation and the deformation rate dual control indicators reach the corresponding control values; The warning module sends the warning status information to the mobile device through the cloud server.

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