Axis monitoring system for vertical jacking construction of seabed jacking pipe and control method

Abstract

The invention discloses an axis monitoring system and control method for seabed pipe jacking vertical jacking construction, the system comprises an axis monitoring module, a data transmission module, a data analysis module and a feedback control module, the axis monitoring module obtains construction technical parameter data in real time, and the data transmission module transmits the construction technical parameter data to the feedback control module; the data transmission module transmits data to the data analysis module for analysis and judges whether construction axis control meets expected requirements or not, and finally the feedback control module controls related construction equipment; the method comprises the steps of coordinate monitoring when the jacking device is in place, levelness monitoring when the jacking device is in place and in the construction period, jacking pipeline inclination monitoring, pipe joint axis consistency monitoring and construction axis deviation degree evaluation. By monitoring the construction control parameters in the vertical jacking construction process in real time and monitoring and rectifying the positions and postures of the jacking device and the pipe jacking pipeline in real time, the construction technical parameters are adjusted in real time, and then the construction quality is controlled.

Description

Technical Field

[0001] The invention belongs to the technical field of underground tunnel engineering, and relates to an axis monitoring system and a control method for vertical jacking construction of a submarine jacking pipe. Background Art

[0002] Drainage tunnels are important supporting buildings for large nuclear power plants in coastal areas. The drainage head structure of a drainage tunnel usually consists of a horizontal shield tunnel and multiple vertical jacking pipes. The vertical jacking method is widely used in the jacking pipe construction of the drainage head structure of a drainage tunnel due to its advantages such as short construction period, small impact on the environment and high economic benefits.

[0003] During the vertical jacking construction of the submarine jacking pipeline, the jacking equipment provides the pipe segment with a vertical upward repeated loading and unloading jacking force, which is equivalent to the jacking reaction force of the vertical downward repeated loading and unloading on the jacking equipment. If there are construction quality problems such as the jacking equipment is not reliably fixed, the horizontality is not maintained before the jacking equipment is fixed, and the vertical jacking base or foundation has excessive settlement during the vertical jacking construction, it may cause the jacking equipment to have an eccentric moment or uneven force, and then there is a risk of overturning; on the other hand, the friction resistance between the pipe segment and the reserved hole is significantly affected by the size of the gap and the verticality of the jacking pipeline. If the gap is improperly controlled or the inclination of the jacking pipeline is too large, it will cause the pipe segment to get stuck, the gap to leak, and other problems. In the submarine environment, leakage will cause high-pressure water and sediment to flow into the jacking pipeline, causing personal injury and scrapping of the water diversion project. These construction quality problems that are easy to occur and have serious consequences put forward higher requirements for the position and posture of the jacking device, the inclination of the jacking pipeline, and the consistency of the axis of the pipe segment during the entire process of the vertical jacking construction of the submarine jacking pipeline.

[0004] At present, the main way to ensure the quality of submarine vertical jacking is construction quality inspection, including checking construction records, checking the elevation of the top surface of the jacking pipe, checking the inclination of the jacking pipe, and checking the parallelism of the end faces of the pipe joints. These construction quality inspection methods are all post-inspections, and they cannot monitor and adjust the construction methods in real time during construction to control the construction quality. At present, it is urgent to propose a corresponding real-time monitoring control system and method for submarine vertical jacking construction, so as to realize the real-time monitoring of the technical parameters of submarine vertical jacking construction, the evaluation and control of the construction quality, and improve the information construction level of submarine vertical jacking construction. Summary of the invention

[0005] In view of the shortcomings of the existing technology, the present invention proposes an axis monitoring system and control method for the vertical jacking construction of a submarine jacking pipe, which is suitable for the axis monitoring and control in the vertical jacking construction of the jacking pipe of the drainage head structure of a submarine drainage tunnel, and is conducive to the real-time monitoring of the technical parameters of the vertical jacking construction of the submarine jacking pipe, and the control and evaluation of the construction quality.

[0006] In a first aspect, the present application discloses an axis monitoring system for vertical jacking construction of a submarine jacking pipe, the system comprising an axis monitoring module, a data transmission module, a data analysis module and a feedback control module;

[0007] The axis monitoring module includes a positioning device, a level measuring instrument, a three-way joint measuring sensor, and an inclinometer sensor; wherein the positioning device is arranged on the bracket of the jacking device to obtain the coordinate data of the jacking device; the level measuring instrument is arranged on the bracket of the jacking device to obtain the level data of the jacking device; the three-way joint measuring sensor is arranged at the joint of the inner surface of the pipe segment to obtain the three-way relative displacement between adjacent pipe segments, including axial relative displacement, radial relative displacement and tangential relative displacement; the inclinometer sensor is arranged on the inner surface of the pipe segment to obtain the inclination angle data of the pipe segment;

[0008] The data transmission module includes a coordinate data transmission device, a lifting device horizontality data transmission device, a three-way relative displacement data transmission device and an inclination data transmission device; the input end and the output end of the coordinate data transmission device are respectively connected to the positioning device and the data analysis module through wireless communication technology, so as to transmit the lifting device coordinate data collected by the positioning device; the input end and the output end of the lifting device horizontality data transmission device are respectively connected to the level measuring instrument and the data analysis module through wireless communication technology, so as to transmit the lifting device horizontality data collected by the level measuring instrument; the input end and the output end of the three-way relative displacement data transmission device are respectively connected to the three-way joint measuring sensor and the data analysis module through wireless communication technology, so as to transmit the three-way relative displacement data between adjacent pipe sections collected by the three-way joint measuring sensor; the input end and the output end of the inclination data transmission device are respectively connected to the inclinometer sensor and the data analysis module through wireless communication technology, so as to transmit the pipe section inclination data collected by the inclinometer sensor;

[0009] The data analysis module includes a data preprocessing unit, a data analysis unit and a signal output unit; the data preprocessing unit is used to receive the original data transmitted by the data transmission module, and preprocess the original data to reduce data noise and redundancy; the data analysis unit is used to calculate and analyze the data, and judge in real time whether the technical parameters of the vertical jacking construction of the submarine jacking pipe are within the expected range; the signal output unit generates a feedback control signal according to the analysis result of the data analysis unit, and transmits the feedback control signal to the feedback control module;

[0010] The feedback control module is used to control the relevant equipment of the vertical jacking construction according to the feedback control signal, and adjust the output parameters of the construction equipment in real time to achieve instant control of the construction quality; wherein the relevant construction equipment controlled by the feedback control module includes but is not limited to an alarm and a jacking device;

[0011] The second aspect of the present application discloses a control method for an axis system of a vertical jacking construction of a submarine jacking pipe, the method comprising:

[0012] S100, Coordinate monitoring of the jacking device when it is in place: When the jacking device is installed in place, coordinate monitoring should be carried out through the positioning device to avoid position deviation of the jacking device and thus position deviation of the jacking pipe axis; when constructing the nth jacking pipe, the coordinate deviation ΔS n Satisfies the following expression:

[0013]

[0014] Where Δx n , Δy n are the deviations between the actual coordinates of the jacking device and the design coordinates in the x and y directions when constructing the nth jacking pipe, [ΔS n ] is the positioning deviation limit;

[0015] When the data analysis module determines the coordinate deviation ΔS after analysis n If the requirements are not met, the feedback control module transmits the command to the alarm and triggers the alarm until the coordinate deviation ΔS is reduced by adjusting the position and posture of the lifting device. n Only after the requirements are met can the alarm be lifted and vertical lifting construction be carried out;

[0016] S200. Monitoring of the levelness of the jacking device during installation and construction: When the jacking device is installed, the levelness should be monitored by a level measuring instrument to avoid the levelness deviation of the jacking device and thus the inclination deviation of the jacking pipe axis. In addition, the jacking reaction force received by the jacking device during the vertical jacking construction may cause the jacking device support to tilt or the horizontal tunnel foundation to settle unevenly, which may lead to excessive deviation of the levelness of the jacking device and fail to ensure that the inclination of the jacking pipe axis is within the expected range. Therefore, it is necessary to monitor the levelness of the jacking device in real time during construction. The levelness θ of the jacking device is defined as the tangent value of the angle between the jacking device plane and the horizontal plane, and satisfies the following expression:

[0017] θ≤[θ]

[0018] Where, [θ] is the horizontal limit of the lifting device;

[0019] When the data analysis module determines that the horizontality θ of the jacking device does not meet the requirement after analysis, the feedback control module transmits the instruction to the alarm and triggers the alarm. The alarm can only be lifted and the vertical jacking construction can be continued after the horizontality θ of the jacking device meets the requirement by adjusting the posture of the jacking device.

[0020] S300, pipe jacking pipeline inclination monitoring: the pipe jacking pipeline is formed by sequentially splicing the pipe segments during the vertical jacking construction. When the splicing quality is insufficient, the inclination angles of adjacent pipe segments may be inconsistent. On the other hand, during the vertical jacking construction of the pipe jacking pipeline, the randomness and non-uniformity of the interaction between the pipe segments and the strata may cause the axis of some pipe segments to deviate from the expectation, thereby causing the inclination of the pipe jacking pipeline to exceed the limit. Therefore, it is necessary to carry out real-time monitoring of the pipe segment inclination angle by the inclinometer during the assembly and jacking of the pipe segments, so as to analyze and judge whether the inclination of the pipe jacking pipeline meets the requirements. The pipe segment inclination angle α n is the tangent of the angle between the pipe segment axis and the vertical line, and the inclination difference of adjacent pipe segments is Δα n Satisfies the following expression:

[0021] Δα n =|α n -α n-1 |≤[Δα n ]

[0022] Among them, α n is the inclination angle of the nth pipe segment, α n-1 is the inclination angle of the n-1th pipe segment, [Δα n ] is the limit of the difference in inclination angles between adjacent pipe sections;

[0023] When the data analysis module determines the inclination difference Δα between adjacent pipe segments after analysis n If the requirements are not met, the feedback control module transmits the command to the alarm and triggers the alarm; if the problem of excessive inclination of the jacking pipe is caused by insufficient splicing quality, the splicing position and posture of the pipe segments should be adjusted until the inclination difference Δα of the adjacent pipe segments is n Only when the requirements are met can the alarm be lifted and vertical jacking construction can be continued; if the problem of excessive inclination of the jacking pipe is caused by the randomness and non-uniformity of the interaction between the pipe section and the formation, which causes the axis of some pipe sections to deviate from the expected value, the inclination difference Δα should be used to determine the deviation. n Corresponding to the azimuth angle β, the pressure value of the jack is adjusted so that the azimuth angle of the rotation direction of the combined torque is -β, thereby achieving inclination correction;

[0024] S400, pipe segment axis consistency monitoring: the jacking pipe is formed by sequentially splicing the pipe segments during the vertical jacking construction. When the splicing quality is insufficient, the axes of adjacent pipe segments may be inconsistent. On the other hand, during the vertical jacking construction of the jacking pipe, the randomness and non-uniformity of the interaction between the pipe segments and the formation may cause the axes of some pipe segments to deviate from expectations, thereby causing the problem of inconsistent pipe segment axes. Therefore, it is necessary to obtain the three-dimensional relative displacement between adjacent pipe segments through the three-dimensional seam measuring sensor during the assembly and jacking of the pipe segments, including axial relative displacement, radial relative displacement and tangential relative displacement, so as to obtain the relative opening and closing degree, relative misalignment degree and relative rotation degree between adjacent pipe segments. Among them, the relative opening and closing degree ΔL1 satisfies the following expression:

[0025] ΔL1≤[ΔL1]

[0026] Among them, the relative opening and closing degree ΔL1 is numerically equal to the axial relative displacement value obtained by the three-way joint measuring sensor, and [ΔL1] is the relative opening and closing degree limit;

[0027] The relative misalignment degree ΔL2 satisfies the following expression:

[0028] ΔL2≤[ΔL2]

[0029] Among them, the relative misalignment degree ΔL2 is numerically equal to the radial relative displacement value obtained by the three-way joint measuring sensor, and [ΔL2] is the relative misalignment degree limit;

[0030] The relative rotation degree ΔL3 satisfies the following expression:

[0031] ΔL3≤[ΔL3]

[0032] The relative rotation degree ΔL3 is numerically equal to the ratio of the tangential relative displacement value obtained by the three-way joint measuring sensor to the outer surface radius of the pipe segment, and [ΔL3] is the relative rotation degree limit;

[0033] When the data analysis module determines after analysis that the relative opening and closing degree ΔL1, the relative misalignment degree ΔL2 and the relative rotation degree ΔL3 between adjacent pipe sections do not meet the requirements, the feedback control module transmits the instruction to the alarm and triggers the alarm; if the problem of the inconsistency of the axes of adjacent pipe sections is caused by insufficient splicing quality, the splicing position and posture of the pipe sections should be adjusted until the relative opening and closing degree ΔL1, the relative misalignment degree ΔL2 and the relative rotation degree ΔL3 between the adjacent pipe sections meet the requirements at the same time, then the alarm can be lifted and the vertical jacking construction can be continued; if the problem of the inconsistency of the axes of adjacent pipe sections is caused by the randomness and non-uniformity of the interaction between the pipe sections and the formation, which causes the axes of some pipe sections to deviate from expectations, the vertical jacking construction should be stopped immediately and corrective measures should be taken;

[0034] S500, Construction axis deviation degree evaluation: The axis index score P is used to evaluate the axis deviation degree in the vertical jacking construction of the jacking pipe. The axis index score P satisfies the following expression:

[0035]

[0036] Among them, P n is the score value of the construction technical parameters in steps S100 to S400, wherein the construction technical parameters include the coordinate deviation ΔS n , the horizontality of the lifting device θ, the inclination difference of adjacent pipe sections Δα n , relative opening and closing degree ΔL1, relative misalignment degree ΔL2 and relative rotation degree ΔL3; for any of the construction technical parameters x n and its limit value [x n ], P n Satisfies the following expression:

[0037]

[0038] The axis index score P obtained based on this can be used to evaluate the degree of axis deviation in the vertical jacking construction of the jacking pipe; when the P value is in the interval of (0%, 25%], it is evaluated as qualified; when the P value is in the interval of (25%, 50%], it is evaluated as medium; when the P value is in the interval of (50%, 75%], it is evaluated as good; when the P value is in the interval of (75%, 100%], it is evaluated as excellent.

[0039] Compared with the prior art, the beneficial effects of the present invention are as follows: in view of the problems of the position coordinates and horizontality of the jacking device, the inclination of the jacking pipeline and the consistency of the pipe section axis in the vertical jacking construction of the jacking pipeline of the drainage head structure of the submarine drainage tunnel, an axis monitoring system for the vertical jacking construction of the submarine jacking pipeline is disclosed, the system includes an axis monitoring module, a data transmission module, a data analysis module and a feedback control module, wherein the axis monitoring module is used to obtain the vertical jacking construction technical parameter data in real time, and then transmit the data to the data analysis module through the data transmission module, and then the data analysis module analyzes and determines whether the axis control of the vertical jacking construction of the submarine jacking pipeline meets the expected requirements, and finally the feedback control module controls the axis according to the feedback control signal The relevant equipment of vertical jacking construction is controlled, and the output parameters of the construction equipment are adjusted in real time to achieve instant control of the construction quality. In addition, the present invention also discloses a control method for the axis monitoring system of the vertical jacking construction of the submarine jacking pipe, which includes coordinate monitoring when the jacking device is in place, horizontality monitoring during the jacking device is in place and construction, inclination monitoring of the jacking pipe, consistency monitoring of the pipe section axis and evaluation of the degree of deviation of the construction axis. The method is suitable for the axis monitoring system of the vertical jacking construction of the submarine jacking pipe, which monitors the construction control parameters in real time during the vertical jacking construction process, monitors and corrects the position and posture of the jacking device and the jacking pipe in real time, thereby achieving real-time adjustment of construction technical parameters and controlling the construction quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a flow chart of a control method of an axis monitoring system for vertical jacking construction of a submarine jacking pipe according to the present invention;

[0041] Figure 2 It is a connection schematic diagram of the axis monitoring system for the vertical jacking construction of the submarine jacking pipe of the present invention;

[0042] Figure 3 It is a structural schematic diagram of the axis monitoring system for vertical jacking construction of submarine jacking pipe according to the present invention;

[0043] Figure markings: 1-axis monitoring module, 11-positioning device, 12-levelness measuring instrument, 13-three-way joint measuring sensor, 14-inclinometer sensor, 2-data transmission module, 21-coordinate data transmission device, 22-lifting device levelness data transmission device, 23-three-way relative displacement data transmission device, 24-inclination data transmission device, 3-data analysis module, 31-data preprocessing unit, 32-data analysis unit, 33-signal output unit, 4-feedback control module, 50-jacking pipeline, 51-pipe section, 52-jacking block, 60-jacking device, 61-jacking device bracket, 62-jack, 63-jacking device base, 70-horizontal tunnel. DETAILED DESCRIPTION

[0044] The following is a more detailed description of the embodiments of the present invention in conjunction with the accompanying drawings and the accompanying drawings so that a person skilled in the art can implement the embodiments after reading the description. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0045] The project based on this embodiment is the integrated design and construction project of the drainage tunnels of Units 3 and 4 of the Zhangzhou Nuclear Power Plant. The project adopts a drainage scheme of "shield starting pit + drilled and blasted tunnel + shield tunnel + drainage head". The drainage head structure of the drainage tunnel consists of a horizontal tunnel 70 and 10 vertical reinforced concrete jacking pipes 50.

[0046] The first aspect of the present invention provides Figure 1-3 An axis monitoring system for vertical jacking construction of a submarine jacking pipe is shown, the system comprising an axis monitoring module 1, a data transmission module 2, a data analysis module 3 and a real-time feedback control module 4;

[0047] The axis monitoring module 1 includes a positioning device 11, a level measuring instrument 12, a three-way joint measuring sensor 13, and an inclinometer sensor 14; wherein the positioning device 11 is arranged on the bracket of the jacking device, and is used to obtain the coordinate data of the jacking device; the level measuring instrument is arranged on the jacking device bracket 61, and is used to obtain the level data of the jacking device 60; the three-way joint measuring sensor 13 is arranged at the joint of the inner surface of the pipe segment 51, and is used to obtain the three-way relative displacement between adjacent pipe segments 51, including axial relative displacement, radial relative displacement and tangential relative displacement; the inclinometer sensor 14 is arranged on the inner surface of the pipe segment 51, and is used to obtain the pipe segment inclination angle data;

[0048] The data transmission module 2 includes a coordinate data transmission device 21, a lifting device horizontality data transmission device 22, a three-way relative displacement data transmission device 23 and an inclination data transmission device 24; the input end and the output end of the coordinate data transmission device 21 are respectively connected to the positioning device 11 and the data analysis module 3 through wireless communication technology, so as to transmit the lifting device coordinate data collected by the positioning device 11; the input end and the output end of the lifting device horizontality data transmission device 22 are respectively connected to the level measuring instrument 12 and the data analysis module 3 through wireless communication technology, so as to transmit the lifting device horizontality data collected by the level measuring instrument 12; the input end and the output end of the three-way relative displacement data transmission device 23 are respectively connected to the three-way joint measuring sensor 13 and the data analysis module 3 through wireless communication technology, so as to transmit the three-way relative displacement data between adjacent pipe sections 51 collected by the three-way joint measuring sensor 13; the input end and the output end of the inclination data transmission device 24 are respectively connected to the inclination measuring sensor 14 and the data analysis module 3 through wireless communication technology, so as to transmit the pipe section inclination data collected by the inclination measuring sensor 14;

[0049] The data analysis module 3 includes a data preprocessing unit 31, a data analysis unit 32 and a signal output unit 33; the data preprocessing unit 31 is used to receive the original data transmitted by the data transmission module 2, and preprocess the original data to reduce data noise and redundancy; the data analysis unit 32 is used to calculate and analyze the data, and judge in real time whether the technical parameters of the vertical jacking construction of the submarine jacking pipe are within the expected range; the signal output unit 33 generates a feedback control signal according to the analysis result of the data analysis unit 32, and transmits the feedback control signal to the feedback control module 4;

[0050] The feedback control module 4 is used to control the relevant equipment of the vertical jacking construction according to the feedback control signal, and adjust the output parameters of the construction equipment in real time to achieve instant control of the construction quality; wherein the relevant construction equipment controlled by the feedback control module includes but is not limited to the alarm and the jacking device 60;

[0051] The second aspect of the present application discloses a control method for an axis monitoring system for vertical jacking construction of a submarine jacking pipe, which specifically comprises the following steps:

[0052] S100, coordinate monitoring when the jacking device is in place: when the jacking device 60 is installed in place, the coordinate monitoring should be carried out through the positioning device 11 to avoid the position deviation of the jacking device 60 and thus the axis position deviation of the jacking pipe 50; when constructing the nth jacking pipe 50, the coordinate deviation ΔS n Satisfies the following expression:

[0053]

[0054] Where Δx n , Δy n are the deviations between the actual coordinates and the designed coordinates of the jacking device 60 in the x and y directions when constructing the nth jacking pipe 50, [ΔS n ] is the positioning deviation limit;

[0055] When the data analysis module 3 determines the coordinate deviation ΔS after analysis n If the requirements are not met, the feedback control module 4 transmits the command to the alarm and triggers the alarm until the coordinate deviation ΔS is reduced by adjusting the position and posture of the lifting device 60. n Only after the requirements are met can the alarm be lifted and vertical lifting construction be carried out;

[0056] In a specific implementation, the positioning deviation limit value [ΔS n ] is 30 mm, and when constructing a typical jacking pipe 50, the Δx of the jacking device 60 is n and Δy n are 23mm and 18mm respectively, then the coordinate deviation ΔS n is 29.2 mm, satisfying ΔS n ≤[ΔS n ], no alarm was triggered;

[0057] S200, monitoring of the levelness of the jacking device in place and during construction: When the jacking device 60 is installed in place, the levelness should be monitored by the level measuring instrument 12 to avoid the levelness deviation of the jacking device 60 and thus the inclination deviation of the axis of the jacking pipe 50; in addition, the jacking reaction force received by the jacking device 60 during the vertical jacking construction may cause the jacking device base 63 to tilt or the foundation of the horizontal tunnel 70 to settle unevenly, thereby causing the levelness deviation of the jacking device 60 to be too large and unable to ensure that the inclination of the axis of the jacking pipe 50 is within the expected range. Therefore, it is necessary to monitor the levelness of the jacking device 60 in real time during construction; the levelness θ of the jacking device is defined as the tangent value of the angle between the plane where the jacking device bracket 61 is located and the horizontal plane, and satisfies the following expression:

[0058] θ≤[θ] (2)

[0059] Where, [θ] is the horizontal limit of the lifting device;

[0060] When the data analysis module 3 determines that the horizontality θ of the jacking device does not meet the requirement after analysis, the feedback control module 4 transmits the instruction to the alarm and triggers the alarm until the horizontality θ of the jacking device meets the requirement by adjusting the posture of the jacking device 60, and then the alarm can be lifted and the vertical jacking construction can be continued;

[0061] In a specific implementation, the horizontal limit value [θ] of the jacking device is 0.5%, and when constructing a typical jacking pipe 50, the horizontality θ of the jacking device 60 is 0.3%, which satisfies θ≤[θ], and no alarm is triggered;

[0062] S300, monitoring of the inclination of the jacking pipe: the jacking pipe 50 is formed by sequentially splicing the pipe segments 51 during the vertical jacking construction. When the splicing quality is insufficient, the inclination angles of adjacent pipe segments 51 may be inconsistent. On the other hand, during the vertical jacking construction of the jacking pipe 50, the randomness and non-uniformity of the interaction between the pipe segments 51 and the formation may cause the axis of some of the pipe segments 51 to deviate from the expectation, thereby causing the inclination of the jacking pipe 50 to exceed the limit. Therefore, it is necessary to carry out real-time monitoring of the inclination of the pipe segment 51 by the inclinometer 14 during the assembly and jacking of the pipe segment 51, so as to analyze and determine whether the inclination of the jacking pipe 50 meets the requirements. The inclination angle α of the pipe segment 51 n is the tangent value of the angle between the axis of the pipe segment 51 and the vertical line, and the inclination difference Δα between adjacent pipe segments n Satisfies the following expression:

[0063] Δα n =|α n -α n-1 |≤[Δα n ] (3)

[0064] Among them, α n is the inclination angle of the nth pipe segment, α n-1 is the inclination angle of the n-1th pipe segment, [Δα n ] is the limit of the difference in inclination angles between adjacent pipe sections;

[0065] When the data analysis module 3 determines the inclination difference Δα between adjacent pipe segments after analysis n If the requirement is not met, the feedback control module 4 transmits the instruction to the alarm and triggers the alarm; if the problem of the over-limit inclination of the jacking pipe 50 is caused by insufficient splicing quality, the splicing position and posture of the pipe segment 51 should be adjusted until the inclination difference Δα of the adjacent pipe segments is n Only when the requirements are met can the alarm be lifted and the vertical jacking construction can be continued; if the problem of the over-limit inclination of the jacking pipe 50 is caused by the randomness and non-uniformity of the interaction between the pipe section 51 and the formation, which causes the axis of some of the pipe sections 51 to deviate from the expected value, the inclination difference Δα should be used.n Corresponding to the azimuth angle β, the pressure value of the jack 62 is adjusted so that the azimuth angle of the combined torque rotation direction is -β, thereby achieving inclination correction;

[0066] In the specific implementation, the limit value of the inclination difference between adjacent pipe sections [Δα n ] is 0.15%, and when constructing a typical jacking pipe 50, during the splicing process of the pipe segments 51, the inclination angle α of the nth pipe segment n is 0.06%, the inclination angle α of the n-1th pipe segment n-1 The difference in inclination angles of adjacent pipe sections is 0.16%. n is 0.10%, satisfying Δα n ≤[Δα n ] requirements, no alarm was triggered; during the vertical jacking construction, the inclination difference of adjacent pipe sections Δα n The maximum value is 0.20%, and the corresponding azimuth is due east. The difference in the inclination angles of adjacent pipe sections has exceeded the limit. At this time, the lifting force provided by the jack 62 is 1600kN, and there are 4 jacks 62, which are respectively located in the east, west, south and north directions of the axis. The lifting force provided by each jack 62 is 400kN. In order to keep the resultant force of the lifting force provided by the jack 62 unchanged and adjust the azimuth of the rotation direction of the resultant torque to due west, the lifting force provided by the jack located in the east of the axis is adjusted to 500kN, the lifting force provided by the jack located in the west of the axis is adjusted to 300kN, and the lifting force provided by the jacks located in the south and north directions of the axis is maintained at 400kN. Then, according to the inclination difference Δα of adjacent pipe sections, n The feedback control module 4 continuously adjusts the resultant force of the lifting force of the jack 62 until Δα is satisfied. n ≤[Δα n ] requirements;

[0067] S400, pipe segment axis consistency monitoring: the jacking pipe is formed by sequentially splicing the pipe segments during the vertical jacking construction. When the splicing quality is insufficient, the axes of adjacent pipe segments may be inconsistent. On the other hand, during the vertical jacking construction of the jacking pipe, the randomness and non-uniformity of the interaction between the pipe segments and the formation may cause the axes of some pipe segments to deviate from expectations, thereby causing the problem of inconsistent pipe segment axes. Therefore, it is necessary to obtain the three-dimensional relative displacement between adjacent pipe segments through the three-dimensional seam measuring sensor during the assembly and jacking of the pipe segments, including axial relative displacement, radial relative displacement and tangential relative displacement, so as to obtain the relative opening and closing degree, relative misalignment degree and relative rotation degree between adjacent pipe segments. Among them, the relative opening and closing degree ΔL1 satisfies the following expression:

[0068] ΔL1≤[ΔL1] (4)

[0069] Among them, the relative opening and closing degree ΔL1 is numerically equal to the axial relative displacement value obtained by the three-way joint measuring sensor, and [ΔL1] is the relative opening and closing degree limit;

[0070] The relative misalignment degree ΔL2 satisfies the following expression:

[0071] ΔL2≤[ΔL2] (5)

[0072] Among them, the relative misalignment degree ΔL2 is numerically equal to the radial relative displacement value obtained by the three-way joint measuring sensor, and [ΔL2] is the relative misalignment degree limit;

[0073] The relative rotation degree ΔL3 satisfies the following expression:

[0074] ΔL3≤[ΔL3] (6)

[0075] The relative rotation degree ΔL3 is numerically equal to the ratio of the tangential relative displacement value obtained by the three-way joint measuring sensor to the outer surface radius of the pipe segment, and [ΔL3] is the relative rotation degree limit;

[0076] When the data analysis module determines after analysis that the relative opening and closing degree ΔL1, the relative misalignment degree ΔL2 and the relative rotation degree ΔL3 between adjacent pipe sections do not meet the requirements, the feedback control module transmits the instruction to the alarm and triggers the alarm; if the problem of the inconsistency of the axes of adjacent pipe sections is caused by insufficient splicing quality, the splicing position and posture of the pipe sections should be adjusted until the relative opening and closing degree ΔL1, the relative misalignment degree ΔL2 and the relative rotation degree ΔL3 between the adjacent pipe sections meet the requirements at the same time, then the alarm can be lifted and the vertical jacking construction can be continued; if the problem of the inconsistency of the axes of adjacent pipe sections is caused by the randomness and non-uniformity of the interaction between the pipe sections and the formation, which causes the axes of some pipe sections to deviate from expectations, the vertical jacking construction should be stopped immediately and corrective measures should be taken;

[0077] In a specific implementation, the relative opening degree limit [ΔL1] is 2.0 mm, the relative misalignment degree limit [ΔL2] is 20 mm, and the relative rotation degree limit [ΔL3] is 2.0%; and when constructing a typical jacking pipe 50, the relative opening degree ΔL1 measured under the most unfavorable condition is 1.5 mm, the relative misalignment degree ΔL2 is 5.7 mm, and the relative rotation degree ΔL3 is 0.85%, which meets the requirements of formula (4), formula (5) and formula (6);

[0078] S500, Construction axis deviation degree evaluation: The axis index score P is used to evaluate the axis deviation degree in the vertical jacking construction of the jacking pipe. The axis index score P satisfies the following expression:

[0079]

[0080] Among them, P n is the score value of the construction technical parameters in steps S100 to S400, wherein the construction technical parameters include the coordinate deviation ΔS n , the horizontality of the lifting device θ, the inclination difference of adjacent pipe sections Δα n , relative opening and closing degree ΔL1, relative misalignment degree ΔL2 and relative rotation degree ΔL3; for any of the construction technical parameters x n and its limit value [x n ], P n Satisfies the following expression:

[0081]

[0082] The axis index score P obtained based on this can be used to evaluate the degree of axis deviation in the vertical jacking construction of the jacking pipe. When the P value is in the interval (0%, 25%], it is evaluated as qualified; when the P value is in the interval (25%, 50%], it is evaluated as medium; when the P value is in the interval (50%, 75%], it is evaluated as good; when the P value is in the interval (75%, 100%], it is evaluated as excellent;

[0083] In a specific implementation, when constructing a typical pipe jacking pipeline 50, according to formula (8), P1=2.7%, P2=40.0%, P3=0%, P4=25.0%, P5=71.5%, P6=57.5% are calculated, and according to formula (7), the axis index score P=32.8% is calculated, that is, the axis deviation degree of the vertical jacking construction of the pipe jacking pipeline is medium.

[0084] The above are one or more embodiments of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. An axis monitoring system for vertical jacking construction of submarine jacking pipes, comprising an axis monitoring module, a data transmission module, a data analysis module and a real-time feedback control module; The axis monitoring module includes a positioning device, a level measuring instrument, a three-way seam measuring sensor, and an inclinometer sensor; wherein, The positioning device is arranged on the bracket of the jacking device, and is used to obtain the coordinate data of the jacking device; the level measuring instrument is arranged on the bracket of the jacking device, and is used to obtain the level data of the jacking device; the three-way seam measuring sensor is arranged at the seam of the inner surface of the pipe segment, and is used to obtain the three-way relative displacement between adjacent pipe segments, including axial relative displacement, radial relative displacement and tangential relative displacement; the inclinometer sensor is arranged on the inner surface of the pipe segment, and is used to obtain the inclination angle data of the pipe segment; The data transmission module includes a coordinate data transmission device, a lifting device horizontality data transmission device, a three-way relative displacement data transmission device and an inclination data transmission device; the input end and the output end of the coordinate data transmission device are respectively connected to the positioning device and the data analysis module through wireless communication technology, so as to transmit the lifting device coordinate data collected by the positioning device; the input end and the output end of the lifting device horizontality data transmission device are respectively connected to the level measuring instrument and the data analysis module through wireless communication technology, so as to transmit the lifting device horizontality data collected by the level measuring instrument; the input end and the output end of the three-way relative displacement data transmission device are respectively connected to the three-way joint measuring sensor and the data analysis module through wireless communication technology, so as to transmit the three-way relative displacement data between adjacent pipe sections collected by the three-way joint measuring sensor; the input end and the output end of the inclination data transmission device are respectively connected to the inclinometer sensor and the data analysis module through wireless communication technology, so as to transmit the pipe section inclination data collected by the inclinometer sensor; The data analysis module includes a data preprocessing unit, a data analysis unit and a signal output unit; the data preprocessing unit is used to receive the raw data transmitted by the data transmission module and preprocess the raw data; the data analysis unit is used to calculate and analyze the data, and judge in real time whether the technical parameters of the vertical jacking construction of the submarine jacking pipe are within the expected range; the signal output unit generates a feedback control signal according to the analysis result of the data analysis unit, and transmits the feedback control signal to the feedback control module; The feedback control module is used to control the relevant equipment of the vertical jacking construction according to the feedback control signal, and adjust the output parameters of the construction equipment in real time to achieve instant control of the construction quality; wherein the relevant construction equipment controlled by the feedback control module includes but is not limited to alarms and jacking devices.

2. A control method, characterized in that: The axis monitoring system for vertical jacking construction of a submarine jacking pipe according to claim 1, wherein the control method comprises the following steps: S100, coordinate monitoring when the jacking device is in place: when the jacking device is installed in place, coordinate monitoring should be carried out through the positioning device 11; when constructing the nth jacking pipe, the coordinate deviation ΔS n Satisfies the following expression: Where Δx n , Δy n are the deviations between the actual coordinates of the jacking device and the designed coordinates in the x and y directions when constructing the nth jacking pipe, [ΔS n ] is the positioning deviation limit; When the data analysis module determines the coordinate deviation ΔS after analysis n If the requirements are not met, the feedback control module transmits the command to the alarm and triggers the alarm until the coordinate deviation ΔS is reduced by adjusting the position and posture of the lifting device. n Only after the requirements are met can the alarm be lifted and vertical lifting construction be carried out; S200, levelness monitoring during installation and construction of the jacking device: When the jacking device is installed and during construction, the levelness monitoring shall be carried out by the levelness measuring instrument; the levelness θ of the jacking device is defined as the tangent value of the angle between the plane where the jacking device bracket is located and the horizontal plane, and satisfies the following expression: θ≤[θ] Where, [θ] is the horizontal limit of the lifting device; When the data analysis module determines that the horizontality θ of the jacking device does not meet the requirement after analysis, the feedback control module transmits the instruction to the alarm and triggers the alarm. The alarm can only be lifted and the vertical jacking construction can be continued after the horizontality θ of the jacking device meets the requirement by adjusting the posture of the jacking device. S300, top pipe inclination monitoring: the pipe section inclination angle α n is the tangent value of the angle between the axis of the pipe section and the vertical line, and the inclination difference Δα between adjacent pipe sections n Satisfies the following expression: Da n =|a n -a n-1 |≤[Da n ] Among them, α n is the inclination angle of the nth pipe segment, α n-1 is the inclination angle of the n-1th pipe segment, [Δα n ] is the limit of the difference in inclination angles between adjacent pipe sections; When the data analysis module determines the inclination difference Δα between adjacent pipe segments after analysis n If the requirements are not met, the feedback control module transmits the instruction to the alarm and triggers the alarm; if the problem of the over-limit of the inclination of the jacking pipe 50 is due to insufficient splicing quality, the splicing position and posture of the pipe segment should be adjusted until the inclination difference Δα of the adjacent pipe segments is n Only when the requirements are met can the alarm be lifted and vertical jacking construction can be continued; if the problem of the jacking pipe 0 inclination exceeding the limit is caused by the randomness and non-uniformity of the interaction between the pipe section and the formation, which causes the axis of some of the pipe sections to deviate from the expected, the inclination difference Δα should be used. n Corresponding to the azimuth angle β, the pressure value of the jack is adjusted so that the azimuth angle of the rotation direction of the combined torque is -β, until the inclination correction is achieved; S400, pipe segment axis consistency monitoring: During the assembly and jacking of the pipe segments, the three-way relative displacement between adjacent pipe segments is obtained by the three-way joint measuring sensor, including axial relative displacement, radial relative displacement and tangential relative displacement, so as to obtain the relative opening and closing degree, relative misalignment degree and relative rotation degree between adjacent pipe segments; wherein the relative opening and closing degree ΔL1 satisfies the following expression: ΔL1≤[ΔL1] Among them, the relative opening and closing degree ΔL1 is numerically equal to the axial relative displacement value obtained by the three-way joint measuring sensor, and [ΔL1] is the relative opening and closing degree limit; The relative misalignment degree ΔL2 satisfies the following expression: ΔL2≤[ΔL2] Among them, the relative misalignment degree ΔL2 is numerically equal to the radial relative displacement value obtained by the three-way joint measuring sensor, and [ΔL2] is the relative misalignment degree limit; The relative rotation degree ΔL3 satisfies the following expression: ΔL3≤[ΔL3] The relative rotation degree ΔL3 is numerically equal to the ratio of the tangential relative displacement value obtained by the three-way joint measuring sensor to the outer surface radius of the pipe segment, and [ΔL3] is the relative rotation degree limit; When the data analysis module determines after analysis that the relative opening and closing degree ΔL1, the relative misalignment degree ΔL2 and the relative rotation degree ΔL3 between adjacent pipe sections do not meet the requirements, the feedback control module transmits the instruction to the alarm and triggers the alarm; if the problem of the inconsistency of the axes of adjacent pipe sections is caused by insufficient splicing quality, the splicing position and posture of the pipe sections should be adjusted until the relative opening and closing degree ΔL1, the relative misalignment degree ΔL2 and the relative rotation degree ΔL3 between the adjacent pipe sections meet the requirements at the same time, then the alarm can be lifted and the vertical jacking construction can be continued; if the problem of the inconsistency of the axes of adjacent pipe sections is caused by the randomness and non-uniformity of the interaction between the pipe sections and the formation, which causes the axes of some pipe sections to deviate from expectations, the vertical jacking construction should be stopped immediately and corrective measures should be taken; S500, Construction axis deviation degree evaluation: The axis index score P is used to evaluate the axis deviation degree in the vertical jacking construction of the jacking pipe. The axis index score P satisfies the following expression: Among them, P n is the score value of the construction technical parameters in steps S100 to S400, wherein the construction technical parameters include the coordinate deviation ΔS n , the horizontality of the lifting device θ, the inclination difference of adjacent pipe sections Δα n , relative opening and closing degree ΔL1, relative misalignment degree ΔL2 and relative rotation degree ΔL3; for any of the construction technical parameters x n and its limit value [x n ], P n Satisfies the following expression: The axis index score P obtained based on this can be used to evaluate the degree of axis deviation in the vertical jacking construction of the jacking pipe. When the P value is in the interval of (0%, 25%], it is rated as qualified; when the P value is in the interval of (25%, 50%], it is rated as medium; when the P value is in the interval of (50%, 75%], it is rated as good; when the P value is in the interval of (75%, 100%], it is rated as excellent.

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