A measurement and control system and method for precise reception of long-distance jacking pipe segments

Abstract

The invention discloses a measurement and control system and method for accurately receiving long-distance jacking pipe sections. The measurement and control system comprises an information acquisition module, an information transmission module, a data storage module, a data analysis module, an alarm module, a jacking machine correction module, an intelligent decision-making module and a relay room control module; the measurement and control method comprises position and posture monitoring of the jacking machine, position deviation analysis, posture deviation analysis, intelligent control of the position and posture correction of the jacking machine, measurement and control of the jacking machine reception and determination of the compensation length between relays; the real-time position and posture data of the jacking machine are monitored and analyzed by Internet of Things sensors and neural network technology, so as to realize intelligent, real-time and efficient monitoring and control of the position deviation and posture deviation of the jacking machine; by calculating the number of remaining entry pipe sections and the compensation length of each relay room, it is ensured that the front end face of the first jacking pipe section is located at the design position of the receiving well tunnel door, and the rear end face of the tail jacking pipe section is located at the design position of the starting well tunnel door.

Description

Technical Field

[0001] The invention belongs to the technical field of underground engineering construction, and relates to a measurement and control system and method for accurately receiving long-distance jacking pipe sections. Background Art

[0002] The pipe jacking construction technology is an underground pipeline laying technology that uses jacking equipment to push pipe sections into the ground one by one. Compared with traditional underground engineering construction technology, it has the advantages of low noise, low dust, low traffic impact, high efficiency and convenience. Therefore, it is widely used in the construction of urban underground water supply and drainage and power pipelines. The pipe sections used in the pipe jacking construction are usually prefabricated components of fixed length. In order to ensure that the pipe sections of the pipe jacking method accurately reach the receiving well, the length of the pipe jacking interval path is usually set to a multiple of the pipe section length. For short-distance straight pipe jacking, the pipe sections can usually be accurately received relatively easily, but for long-distance pipe jacking, the deviation between the actual travel path and the designed path during the pipe jacking construction process often makes it difficult to accurately receive the pipe sections of the pipe jacking. After the pipe jacking construction is completed, the front end of the first pipe section exceeds the design position of the receiving well tunnel door, and the rear end of the tail section of the pipe section does not reach the design position of the starting well tunnel door. Construction quality problems often occur.

[0003] The traditional solution to the problem of the pipe section protruding from the tunnel after the pipe section is received is to use a wire saw cutting method, which uses a wire saw to saw off the part of the pipe section protruding from the tunnel, and then carry out the connection structure processing of the pipe section at the entrance and exit of the tunnel. However, this method is not only time-consuming and labor-intensive, but also destroys the structural integrity of the pipe section. For long-distance pipe jacking structures that require prestressing, anchors and steel connectors are usually embedded at the ends of the first and last pipe sections, and the wire saw cutting method will damage the embedded anchors and steel connectors. In short, the wire saw cutting method is not suitable for long-distance pipe jacking structures because it affects the overall aesthetics, hinders the normal use of the working well, and hinders the connection structure of the pipe jacking machine at the entrance and exit of the tunnel.

[0004] In addition, in order to achieve accurate reception of the jacking pipe section, it is necessary to ensure that the jacking pipe section always advances along the predetermined trajectory, and thus it is necessary to correct the deviation of the jacking pipe section in real time during the construction process. In the current jacking construction method, there are common problems such as low degree of construction intelligence and dependence of the guide measurement accuracy on the construction personnel's operating skills. In addition, due to the complex and changeable geological environment, uneven force on the cutter head, uneven grouting, and uneven thrust, there is a deviation between the actual trajectory and the preset trajectory during the jacking construction. In particular, the long-distance jacking structure is more significantly restricted by the subjectivity, work accuracy and efficiency of the construction technicians. If the jacking construction process cannot be adjusted and controlled in a targeted manner according to the real-time situation of the jacking machine and the pipe section, the quality and efficiency of the jacking construction will be significantly adversely affected. Summary of the invention

[0005] In view of the deficiencies of the prior art, the present application proposes a measurement and control system and method for precise reception of long-distance pipe jacking pipe segments, which is applicable to the monitoring and control in the construction of long-distance pipe jacking structures and is beneficial to overcoming the construction technical problem that it is difficult to achieve precise reception of long-distance pipe jacking pipe segments.

[0006] In the first aspect of the present application, a measurement and control system for precise reception of long-distance pipe jacking pipe segments is disclosed. The measurement and control system includes an information acquisition module, an information transmission module, a data storage module, a data analysis module, an alarm module, a pipe jacking machine deviation correction module, an intelligent decision-making module, and a relay chamber control module;

[0007] The information acquisition module includes a positioning sensor, a pitch angle sensor, a roll angle sensor, and an azimuth angle sensor; the positioning sensor is installed on the pipe jacking machine and is used to obtain the real-time position coordinates of the pipe jacking machine; the pitch angle sensor is installed on the pipe jacking machine and is used to obtain the real-time pitch angle of the pipe jacking machine; the roll angle sensor is installed on the pipe jacking machine and is used to obtain the real-time roll angle of the pipe jacking machine; the azimuth angle sensor is installed on the pipe jacking machine and is used to obtain the real-time azimuth angle of the pipe jacking machine;

[0008] The information transmission module is used to establish remote connections and transmissions of information among the modules;

[0009] The data storage module is used to store the data generated and applied by the measurement and control system;

[0010] The data analysis module is used to calculate and analyze the data obtained by the information acquisition module, so as to obtain a data analysis result; the data analysis result includes the position deviation amount and attitude deviation amount of the pipe jacking machine, the distance between the front end of the pipe jacking machine and the inner wall of the receiving well, the receiving position coordinates of the pipe jacking machine, the remaining number of pipe segments entering the hole, the total compensation length required for the relay chambers, and the compensation length of each relay chamber;

[0011] The alarm module is installed in the launching shaft and on the pipe jacking machine and is used to send alarm information to construction technicians according to the data analysis result;

[0012] The pipe jacking machine deviation correction module includes a pipe jacking machine cylinder telescopic control device, a pipe jacking machine cutter head rotation control device, and a grouting control device; the pipe jacking machine cylinder telescopic control device is used to control the telescopic amount of the pipe jacking machine cylinder, the pipe jacking machine cutter head rotation control device is used to control the rotation speed and direction of the pipe jacking machine cutter head, and the grouting control device is used to control the grouting pressure and grouting volume;

[0013] The intelligent decision-making module adopts the deep neural network model technology. By inputting the position deviation amount and attitude deviation amount of the pipe jacking machine, it obtains the pipe jacking machine deviation correction control amount, and then controls the pipe jacking machine deviation correction module;

[0014] The relay chamber control module is used to control the telescoping of the jack cylinders in the relay chamber.

[0015] The second aspect of this application discloses a measurement and control method for precise reception of long-distance pipe jacking pipe segments, including the following steps:

[0016] S100. Monitoring the position and attitude of the pipe jacking machine: Obtain the real-time position and attitude data of the pipe jacking machine through the information acquisition module, including real-time position coordinates X a , Y a , Z a , real-time pitch angle U a , real-time roll angle V a and real-time azimuth W a ;

[0017] According to the design requirements for the axis of the pipe jacking structure in the design document, obtain the corresponding designed position and attitude data for the real-time position and attitude data of the pipe jacking machine, including designed position coordinates X d , Y d , Z d , designed pitch angle U d , designed roll angle V d and designed azimuth W d ;

[0018] Among them, X a and X d are both position coordinate components along the axis direction of the pipe jacking structure, Y a and Y d are both position coordinate components along the horizontal transverse direction of the pipe jacking structure axis, Z a and Z d are both position coordinate components along the vertical direction of the pipe jacking structure axis;

[0019] S200. Analysis of position deviation: According to the real-time position and attitude data and the designed position and attitude data of the pipe jacking machine, the data analysis module analyzes the position deviation amount of the pipe jacking machine in real time, including jacking deviation ΔX , plane deviation ΔY and elevation deviation ΔZ, as shown in the following expression:

[0020]

[0021] in,[ ΔX ] is the limit of the jacking deviation of the pipe jacking machine, [ ΔY ] is the plane deviation limit of the pipe jacking machine, [ ΔZ ] is the elevation deviation limit of the pipe jacking machine;

[0022] When the jacking deviation of the pipe jacking machine ΔX , Plane Deviation ΔY Or elevation deviation ΔZ If the requirements are not met, the alarm module triggers an alarm until the jacking deviation is reduced by adjusting the jacking machine. ΔX , Plane Deviation ΔY and elevation deviation ΔZ The alarm can be lifted only after the requirements are met;

[0023] S300, posture deviation analysis: according to the real-time position posture data and the designed position posture data of the pipe jacking machine, the posture deviation of the pipe jacking machine is analyzed in real time through the data analysis module, including the pitch angle deviation. ΔU a , Rolling angle deviation ΔV a and azimuth deviation ΔW a , as shown in the following expression:

[0024]

[0025] in,[ ΔU ] is the pitch angle deviation limit, [ ΔV ] is the roll angle deviation limit, [ ΔW ] is the azimuth deviation limit;

[0026] When the pitch angle deviation ΔU , Rolling angle deviation ΔV Or azimuth deviation ΔW When the limit value requirement is not met, the alarm is triggered by the alarm module until the pitch angle deviation is reduced by adjusting the pipe jacking machine. ΔU , Rolling angle deviation ΔV and azimuth deviation ΔW The alarm can be lifted only after the requirements are met;

[0027] S400, intelligent control of the position and posture correction of the pipe jacking machine: the pipe jacking machine jacking deviation obtained by real-time analysis in step S200 and step S300 ΔX , Plane Deviation ΔY , elevation deviation ΔZ , Pitch angle deviationΔU Roll angle deviation ΔV and azimuth deviation ΔW are used as input quantities, which are input into the intelligent decision-making module to obtain the deviation control quantity of the pipe jacking machine; the deviation control quantity of the pipe jacking machine includes but is not limited to the telescopic amount of the cylinder of the pipe jacking machine, the rotation speed and direction of the cutter head of the pipe jacking machine, the grouting pressure and the grouting volume; according to the deviation control quantity of the pipe jacking machine, the deviation correction module of the pipe jacking machine is continuously controlled in real time to realize the dynamic deviation correction of the position and attitude of the pipe jacking machine;

[0028] S500, Measurement and control of the pipe jacking machine: According to the real-time position coordinates of the pipe jacking machine X a , Y a , Z a , the distance between the front end of the pipe jacking machine and the inner wall of the receiving well is calculated in real time through the data analysis module L r ; when L r is less than the deceleration threshold L r , the pipe jacking machine is controlled to reduce its jacking speed; then, according to the real-time position and attitude data of the pipe jacking machine at this time, through the data analysis module, it is predicted that when the front end of the pipe jacking machine is flush with the inner wall of the receiving well, that is, when L r = 0, the receiving position coordinates of the pipe jacking machine are X ar , Y ar , Z ar ; according to the predicted receiving position coordinates of the pipe jacking machine, the preparation work for receiving the pipe jacking machine is done in advance;

[0029] S600, Determination of the compensation length of the relay section: When the front end of the pipe jacking machine is flush with the inner wall of the receiving well, the number of remaining pipe sections entering the hole N p and the total required compensation length of the relay section S are calculated through the data analysis module, and then the compensation length of each relay section is determined and the compensation operation is implemented through the relay section control module, so as to ensure that the front end face of the first pipe jacking pipe section is located at the designed position of the receiving well portal and the rear end face of the last pipe jacking pipe section is located at the designed position of the launching well portal.

[0030] Preferably, in step S400, after controlling the pipe jacking machine deviation correction module according to the pipe jacking machine deviation correction control amount, the real-time position and attitude data of the pipe jacking machine after deviation correction are obtained through the information acquisition module. Subsequently, the position deviation amount and attitude deviation amount of the pipe jacking machine after deviation correction are obtained according to step S200 and step S300. The pipe jacking machine deviation correction control amount, the position deviation amount and attitude deviation amount of the pipe jacking machine after deviation correction are used as training data to iteratively train the deep neural network model adopted by the intelligent decision-making module, thereby improving the prediction ability of the intelligent decision-making module.

[0031] Preferably, in step S600, when the front end of the pipe jacking machine is flush with the inner wall of the receiving well, the remaining number of pipe sections to be jacked into the hole N p and the total required compensation length of the relay chambers S satisfy the following expression:

[0032]

[0033] where D m is the length of the pipe jacking machine, D p1 is the jacking-in length of the pipe section of the pipe jacking machine that is being jacked into the hole at the launching well at this time, D t is the minimum required thickness of the post-cast door frame, D p is the length of a single pipe section of the pipe jacking; the int function is the floor function, and the mod function is the remainder function; the post-cast door frame is a pipe jacking pipeline door frame structure formed by later casting concrete, so the position of the post-cast door frame should be reserved after the pipe jacking machine reaches the designated position;

[0034] The number of relay chambers that need to achieve compensation through the telescopic oil cylinders N c satisfies the following expression:

[0035]

[0036] where D c is the maximum stroke of the adjustable oil cylinder of a single relay chamber;

[0037] Considering the rationality of force and the convenience of construction, for the relay chambers that need to achieve compensation through the telescopic oil cylinders, the compensation length of the relay chamber farthest from the receiving well L c1 satisfies the following expression:

[0038]

[0039] The compensation lengths of the relay chambers that need to be compensated by telescopic oil cylinders L c are taken as the maximum stroke of the adjustable oil cylinder of a single relay chamber, that is L c = D c 。

[0040] Compared with the prior art, the beneficial effects of the present invention are as follows: A measurement and control system for precise reception of long-distance jacking pipe sections is disclosed to solve the construction technical problem that it is difficult to achieve precise reception of long-distance jacking pipe sections, including an information acquisition module, an information transmission module, a data storage module, a data analysis module, an alarm module, a jacking machine deviation correction module, an intelligent decision-making module, and a relay chamber control module; in addition, the present invention also discloses a measurement and control method for precise reception of long-distance jacking pipe sections, including position and attitude monitoring of the jacking machine, position deviation analysis, attitude deviation analysis, intelligent control of position and attitude deviation correction of the jacking machine, measurement and control of jacking machine reception, and determination of relay chamber compensation lengths; the real-time position and attitude data of the jacking machine are monitored by sensors installed on the jacking machine to realize the automation, real-time and high-efficiency of monitoring and control of the position deviation amount and attitude deviation amount of the jacking machine; the neural network technology is used to predict the deviation correction control amount of the jacking machine in real time, without considering the complexity of the internal control process, which significantly reduces the complexity of the deviation correction control problem, and the neural network model is updated in real time according to the measured data, so that the neural network model can adapt to different geological conditions and construction environments and other factors and make more accurate predictions; the receiving position coordinates of the jacking machine are predicted based on the real-time position and attitude data of the jacking machine, so as to make preparations for the reception of the jacking machine in advance; by calculating the remaining number of pipe sections entering the hole and the compensation lengths of each relay chamber, it is ensured that the front end face of the first jacking pipe section is located at the designed position of the receiving well portal, and the rear end face of the last jacking pipe section is located at the designed position of the launching well portal. Description of the Drawings

[0041] Figure 1 is a connection schematic diagram of a measurement and control system for precise reception of long-distance jacking pipe sections according to the present invention;

[0042] Figure 2 is a flowchart of a measurement and control method for precise reception of long-distance jacking pipe sections according to the present invention;

[0043] Figure 3 is a structural schematic diagram of a long-distance jacking pipe section shown in an embodiment of the present invention;

[0044] Reference Numerals:

[0045] 1 - Information collection module, 11 - Positioning sensor, 12 - Pitch angle sensor, 13 - Roll angle sensor, 14 - Azimuth angle sensor, 2 - Information transmission module, 3 - Data storage module, 4 - Data analysis module, 5 - Alarm module, 6 - Pipe jacking machine deviation correction module, 61 - Pipe jacking machine cylinder telescopic control device, 62 - Pipe jacking machine cutter head rotation control device, 63 - Grouting control device, 7 - Intelligent decision-making module, 8 - Relay station control module, 91 - Launching shaft, 92 - Receiving shaft, 93 - Pipe jacking machine, 941 - First pipe jacking pipe section, 942 - Last pipe jacking pipe section, 95 - Relay station, 96 - Jacking direction. Detailed implementation manners

[0046] The following further elaborates on the implementation manners of the present invention in conjunction with the accompanying drawings and reference numerals, enabling those skilled in the art to implement it after studying this specification. 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.

[0047] The first aspect of this application discloses a measurement and control system for precise reception of long-distance pipe jacking pipe sections as Figures 1 - 3 shown. This measurement and control system includes an information collection module 1, an information transmission module 2, a data storage module 3, a data analysis module 4, an alarm module 5, a pipe jacking machine deviation correction module 6, an intelligent decision-making module 7, and a relay station control module 8;

[0048] The information collection module 1 includes a positioning sensor 11, a pitch angle sensor 12, a roll angle sensor 13, and an azimuth angle sensor 14; the positioning sensor 11 is installed on the pipe jacking machine 93 and is used to obtain the real-time position coordinates of the pipe jacking machine 93; the pitch angle sensor 12 is installed on the pipe jacking machine 93 and is used to obtain the real-time pitch angle of the pipe jacking machine 93; the roll angle sensor 13 is installed on the pipe jacking machine 93 and is used to obtain the real-time roll angle of the pipe jacking machine 93; the azimuth angle sensor 14 is installed on the pipe jacking machine 93 and is used to obtain the real-time azimuth angle of the pipe jacking machine 93;

[0049] The information transmission module 2 is used to establish a remote connection and transmission of information between each module;

[0050] The data storage module 3 is used to store the data generated and applied by this measurement and control system;

[0051] The data analysis module 4 is used to calculate and analyze the data obtained by the information collection module 1, so as to obtain a data analysis result; the data analysis result includes the position deviation amount and attitude deviation amount of the pipe jacking machine 93, the distance between the front end of the pipe jacking machine 93 and the inner wall of the receiving shaft 92, the receiving position coordinates of the pipe jacking machine 93, the number of remaining pipe sections to be jacked into the hole, the total compensation length required for the relay stations 95, and the compensation length of each relay station 95;

[0052] The alarm module 5 is installed in the starting shaft 91 and on the pipe jacking machine 93, and is used to send alarm information to construction technicians according to the data analysis results;

[0053] The pipe jacking machine deviation correction module 6 includes a pipe jacking machine cylinder telescopic control device 61, a pipe jacking machine cutter head rotation control device 62, and a grouting control device 63; the pipe jacking machine cylinder telescopic control device 61 is used to control the telescopic amount of the pipe jacking machine cylinder, the pipe jacking machine cutter head rotation control device 62 is used to control the rotation speed and direction of the pipe jacking machine cutter head, and the grouting control device 63 is used to control the grouting pressure and grouting volume;

[0054] The intelligent decision-making module 7 adopts the deep neural network model technology. By inputting the position deviation amount and attitude deviation amount of the pipe jacking machine 93, the pipe jacking machine deviation correction control amount is obtained, and then the pipe jacking machine deviation correction module 6 is controlled;

[0055] The relay jack control module 8 is used to control the telescopic movement of the relay jack cylinder.

[0056] The second aspect of this application discloses a measurement and control method for accurate reception of long-distance pipe jacking pipe sections as Figures 1 - 3 shown, including the following steps:

[0057] S100. Position and attitude monitoring of the pipe jacking machine: When the pipe jacking machine 93 advances along the jacking direction 96, the real-time position and attitude data of the pipe jacking machine 93 are obtained through the information acquisition module 1, including the real-time position coordinates X a , Y a , Z a , real-time pitch angle U a , real-time roll angle V a and real-time azimuth angle W a ;

[0058] According to the design requirements for the axis of the pipe jacking structure in the design document, the corresponding design position and attitude data of the real-time position and attitude data of the pipe jacking machine 93 are obtained, including the design position coordinates X d , Y d , Z d , design pitch angle U d , design roll angle V d and design azimuth angle W d ;

[0059] in, X a and X d are the position coordinate components along the axis of the jacking pipe structure. Y a and Y d They are all horizontal position coordinate components along the axis of the jacking pipe structure. Z a and Z d They are all the position coordinate components vertically along the axis of the jacking pipe structure;

[0060] S200, position deviation analysis: According to the real-time position and posture data of the pipe jacking machine 93 and the designed position and posture data, the position deviation of the pipe jacking machine 93 is analyzed in real time by the data analysis module 4, including the jacking deviation ΔX , Plane Deviation ΔY and elevation deviation ΔZ , as shown in the following expression:

[0061] (1)

[0062] in,[ ΔX ] is the jacking deviation limit of the pipe jacking machine 93, [ ΔY ] is the plane deviation limit of the pipe jacking machine, [ ΔZ ] is the elevation deviation limit of the pipe jacking machine;

[0063] When the jacking deviation of the pipe jacking machine 93 ΔX , Plane Deviation ΔY Or elevation deviation ΔZ If the requirements are not met, the alarm is triggered by the alarm module 5 until the jacking deviation is reduced by adjusting the jacking machine 93. ΔX , Plane Deviation ΔY and elevation deviation Δ Z The alarm can be lifted only after the requirements are met;

[0064] In the specific implementation, the jacking deviation of the pipe jacking machine under typical working conditions ΔX 0.5mm, plane deviation ΔY 2.3mm, elevation deviation ΔZ 1.0mm; the jacking deviation limit of the pipe jacking machine [ ΔX ] is 3.0mm, the plane deviation limit of the pipe jacking machine [ ΔY ] is 3.0mm, the elevation deviation limit of the pipe jacking machine is [ ΔZ ] is 3.0 mm; obviously, the position deviation of the pipe jacking machine satisfies the formula (1) ΔX ≤[ ΔX ]、 ΔY ≤[ ΔY ]and ΔZ ≤[ ΔZ ] request, no alarm was triggered;

[0065] S300, posture deviation analysis: According to the real-time position posture data and the designed position posture data of the pipe jacking machine 93, the posture deviation of the pipe jacking machine 93 is analyzed in real time by the data analysis module 4, including the pitch angle deviation. ΔU a , Rolling angle deviation ΔV a and azimuth deviation ΔW a , as shown in the following expression:

[0066] (2)

[0067] in,[ ΔU ] is the pitch angle deviation limit, [ ΔV ] is the roll angle deviation limit, [ ΔW ] is the azimuth deviation limit;

[0068] When the pitch angle deviation ΔU , Rolling angle deviation ΔV Or azimuth deviation ΔW If the limit value requirement is not met, the alarm is triggered by the alarm module 5 until the pitch angle deviation is reduced by adjusting the pipe jacking machine 93. ΔU , Rolling angle deviation ΔV and azimuth deviation ΔW The alarm can be lifted only after the requirements are met;

[0069] In the specific implementation, the pitch angle deviation of the pipe jacking machine under typical working conditions ΔU 1.6 o , roll angle deviation ΔV 0.6 o , azimuth deviation ΔW 0.3 o , pitch angle deviation limit [ ΔU ] is 1.5 o , roll angle deviation limit [ ΔV ] is 1.5 o , azimuth deviation limit [ ΔW ] is 1.5 o ; Obviously, the posture deviation of the pipe jacking machine satisfies the following equation (2): ΔV ≤[ Δ V ]and ΔW ≤[ ΔW, but does not satisfy the ΔU ≤ ΔU , so the alarm is triggered by the said alarm module 5;

[0070] S400, intelligent control of the position and attitude correction of the pipe jacking machine: The jacking deviation of the pipe jacking machine obtained by real-time analysis in step S200 and step S300 ΔX , plane deviation ΔY , elevation deviation ΔZ , pitch angle deviation ΔU , roll angle deviation ΔV and azimuth deviation ΔW are used as input quantities and input to the said intelligent decision-making module 7 to obtain the deviation correction control quantity of the pipe jacking machine; the deviation correction control quantity of the pipe jacking machine includes but is not limited to the telescopic amount of the pipe jacking machine cylinder, the rotation speed and direction of the pipe jacking machine cutter head, the grouting pressure and the grouting volume; according to the deviation correction control quantity of the pipe jacking machine, the deviation correction module of the pipe jacking machine is continuously controlled in real time to realize the dynamic deviation correction of the position and attitude of the pipe jacking machine;

[0071] In specific implementation, after controlling the deviation correction module 6 of the pipe jacking machine according to the deviation correction control quantity of the pipe jacking machine, the real-time position and attitude data of the pipe jacking machine 93 after deviation correction are obtained through the information acquisition module 1, and then the position deviation amount and attitude deviation amount of the pipe jacking machine 93 after deviation correction are obtained according to step S200 and step S300; the deviation correction control quantity of the pipe jacking machine, the position deviation amount and attitude deviation amount of the pipe jacking machine 93 after deviation correction are used as training data to iteratively train the deep neural network model adopted by the intelligent decision-making module 7, so as to improve the prediction ability of the intelligent decision-making module 7;

[0072] S500, measurement and control of the pipe jacking machine reception: According to the real-time position coordinates of the pipe jacking machine X a , Y a , Z a , the distance between the front end of the pipe jacking machine and the inner wall of the receiving well is calculated in real time through the data analysis module 4 L r ; when L r is less than the deceleration threshold L r , control the pipe jacking machine 93 to reduce its jacking speed; then according to the real-time position and attitude data of the pipe jacking machine 93 at this time, through the data analysis module 4, predict that when the front end of the pipe jacking machine is flush with the inner wall of the receiving well, that is, when L r = 0, the receiving position coordinates of the pipe jacking machine are X ar ,Y ar , Z ar ]; According to the predicted receiving position coordinates of the pipe jacking machine 93, make preparations for receiving the pipe jacking machine 93 in advance;

[0073] In the specific implementation, the deceleration threshold [ L r ] is 50cm; the preparation work for receiving the pipe jacking machine 93 includes chiseling the concrete of the tunnel door and installing the guide rail;

[0074] S600, determination of compensation length between relays: when the front end of the pipe jacking machine is flush with the inner wall of the receiving well, the number of remaining pipe sections entering the hole is calculated by the data analysis module 4 N p and the total compensation length between required relays S , and then determine the compensation length of each relay and implement compensation operation through the relay control module 8, so as to ensure that the front end face of the first section jacking pipe section 941 is located at the designed position of the tunnel door of the receiving well 92, and the rear end face of the tail section jacking pipe section 942 is located at the designed position of the tunnel door of the starting well 91;

[0075] In the specific implementation, when the front end of the pipe jacking machine 93 is flush with the inner wall of the receiving well 92, the number of remaining pipe sections entering the hole is N p and the total compensation length between required relays S Satisfies the following expression:

[0076] (3)

[0077] in, D m is the length of the pipe jacking machine, D p1 is the entry length of the top pipe section of the launch well that is currently entering the hole. D t The minimum thickness required for post-cast door frame. D p is the length of a single jacking pipe section; the int function is a rounding down function, and the mod function is a remainder function; the post-cast door frame is a jacking pipe door frame structure formed by pouring concrete later, so the position of the post-cast door frame should be reserved after the jacking machine 93 is excavated into place;

[0078] In specific implementation, the length of the pipe jacking machine D m 5.6m, the length of the top pipe section entering the hole in the launch well at this time D p1 The minimum thickness of the post-cast door frame is 1.5m. D t 0.5m, the length of a single jacking pipe sectionD p is 2.0 m. According to Equation (3), the remaining number of pipe sections entering the tunnel N p and the total compensating length of the required relay chambers S are calculated as shown in the following equations:

[0079] (4)

[0080] The maximum stroke of the adjustable oil cylinder of a single relay chamber D c is 0.5 m. Then the number of relay chambers that need to achieve compensation through the telescopic oil cylinder N c satisfies the following expression:

[0081] (5)

[0082] Considering the rationality of force and construction convenience, for the relay chambers that need to achieve compensation through the telescopic oil cylinder, the compensating length of the relay chamber farthest from the receiving well L c1 satisfies the following expression:

[0083] (6)

[0084] The compensating lengths of the remaining relay chambers that need to achieve compensation through the telescopic oil cylinder L c are taken as the maximum stroke of the adjustable oil cylinder of a single relay chamber, that is L c = D c ; In specific implementation, the number of relay chambers that need to achieve compensation through the telescopic oil cylinder N c is 1. Therefore, no other relay chambers need to achieve compensation through the telescopic oil cylinder.

[0085] It can be seen that by monitoring the real-time position and attitude data of the pipe jacking machine through the sensors installed on the pipe jacking machine, the automation, real-time and high-efficiency of the monitoring and control of the position deviation and attitude deviation of the pipe jacking machine are realized; the neural network technology is used to predict the deviation correction control amount of the pipe jacking machine in real time, without considering the complexity of the internal control process, which significantly reduces the complexity of the deviation correction control problem, and the neural network model is updated in real time according to the measured data, so that the neural network model can adapt to different geological conditions, construction environments and other factors and make more accurate predictions; the receiving position coordinates of the pipe jacking machine are predicted according to the real-time position and attitude data of the pipe jacking machine, so as to make preparations for the reception of the pipe jacking machine in advance; by calculating the number of remaining pipe sections entering the hole and the compensation length of each relay jack, it is ensured that the front end face of the first pipe jacking pipe section is located at the designed position of the portal of the receiving well, and the rear end face of the last pipe jacking pipe section is located at the designed position of the portal of the launching well.

[0086] The above are one or more embodiments of the present invention, and the description is relatively specific and detailed, but it should not be understood as a limitation to the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims

1. A measurement and control system for precise reception of long-distance pipe jacking pipe segments, comprising an information acquisition module, an information transmission module, a data storage module, a data analysis module, an alarm module, a pipe jacking machine deviation correction module, an intelligent decision-making module, and a relay chamber control module; The information acquisition module includes a positioning sensor, a pitch angle sensor, a roll angle sensor, and an azimuth angle sensor; the positioning sensor is installed on the pipe jacking machine and is used to obtain the real-time position coordinates of the pipe jacking machine; the pitch angle sensor is installed on the pipe jacking machine and is used to obtain the real-time pitch angle of the pipe jacking machine; the roll angle sensor is installed on the pipe jacking machine and is used to obtain the real-time roll angle of the pipe jacking machine; the azimuth angle sensor is installed on the pipe jacking machine and is used to obtain the real-time azimuth angle of the pipe jacking machine; The information transmission module is used to establish a remote connection and transmission of information between each module; The data storage module is used to store the data generated and applied by this measurement and control system; The data analysis module is used to calculate and analyze the data obtained by the information collection module, so as to obtain the data analysis results; the data analysis results include the position deviation and attitude deviation of the pipe jacking machine, the distance between the front end of the pipe jacking machine and the inner wall of the receiving well, the receiving position coordinates of the pipe jacking machine, the remaining number of pipe segments to be jacked into the hole, the total compensation length required for the relay chambers and the compensation length of each relay chamber; among which, When the front end of the pipe jacking machine is flush with the inner wall of the receiving well, the remaining number of pipe sections for entering the hole N p and the total compensation length of the required relay chambers S shall satisfy the following expression: Among them, D m is the length of the pipe jacking machine, D p1 is the entry length of the pipe jacking pipe section that is entering the hole at the launching shaft at this time, D t is the minimum thickness required for the post-cast door frame, D p is the length of a single pipe jacking pipe section; the int function is the floor function, and the mod function is the remainder function; The alarm module is installed in the launching shaft and on the pipe jacking machine and is used to send alarm information to construction technicians according to the data analysis result; The pipe jacking machine deviation correction module includes a pipe jacking machine oil cylinder telescopic control device, a pipe jacking machine cutter head rotation control device, and a grouting control device; the pipe jacking machine oil cylinder telescopic control device is used to control the telescopic amount of the pipe jacking machine oil cylinder, the pipe jacking machine cutter head rotation control device is used to control the rotation speed and direction of the pipe jacking machine cutter head, and the grouting control device is used to control the grouting pressure and grouting volume; The intelligent decision-making module adopts the deep neural network model technology. By inputting the position deviation amount and attitude deviation amount of the pipe jacking machine, the pipe jacking machine deviation correction control amount is obtained, and then the pipe jacking machine deviation correction module is controlled; The relay chamber control module is used to control the telescopic of the relay chamber jack oil cylinder.

2. A measurement and control method for precise reception of long-distance pipe jacking pipe segments, characterized in that, For a measurement and control system for precise reception of long-distance pipe jacking pipe segments as described in claim 1, the measurement and control method includes the following steps: S100. Position and attitude monitoring of the pipe jacking machine: Obtain the real-time position and attitude data of the pipe jacking machine through the information acquisition module, including real-time position coordinates X a , Y a , Z a , real-time pitch angle U a , real-time roll angle V a and real-time azimuth angle W a ; According to the design requirements for the axis of the pipe jacking structure in the design document, obtain the design position and attitude data corresponding to the real-time position and attitude data of the pipe jacking machine, including design position coordinates X d , Y d , Z d , design pitch angle U d , design roll angle V d and design azimuth angle W d ; Among them, X a and X d are both position coordinate components along the axis direction of the pipe jacking structure, Y a and Y d are both position coordinate components along the horizontal transverse direction of the axis of the pipe jacking structure, Z a and Z d are both position coordinate components along the vertical direction of the axis of the pipe jacking structure; S200. Position deviation analysis: According to the real-time position and attitude data of the pipe jacking machine and the designed position and attitude data, the data analysis module analyzes the position deviation amount of the pipe jacking machine in real time, including the jacking deviation ΔX , the planar deviation ΔY and the elevation deviation ΔZ , as shown in the following expressions: Among them, ΔX is the jacking deviation limit value of the pipe jacking machine, ΔY is the planar deviation limit value of the pipe jacking machine, ΔZ is the elevation deviation limit value of the pipe jacking machine; When the jacking deviation of the pipe jacking machine ΔX , Plane Deviation ΔY Or elevation deviation ΔZ If the requirements are not met, the alarm module triggers an alarm until the jacking deviation is reduced by adjusting the jacking machine. ΔX , Plane Deviation ΔY and elevation deviation ΔZ The alarm can be lifted only after the requirements are met; S300, Attitude Deviation Analysis: Based on the real-time position and attitude data of the pipe jacking machine and the designed position and attitude data, the attitude deviation amount of the pipe jacking machine is analyzed in real time by the data analysis module, including the pitch angle deviation ΔU a , the roll angle deviation ΔV a and the azimuth angle deviation ΔW a , as shown in the following expressions: Among them, ΔU is the pitch angle deviation limit value, ΔV is the roll angle deviation limit value, ΔW is the azimuth angle deviation limit value; When the pitch angle deviation ΔU , Rolling angle deviation ΔV Or azimuth deviation ΔW When the limit value requirement is not met, the alarm is triggered by the alarm module until the pitch angle deviation is reduced by adjusting the pipe jacking machine. ΔU , Rolling angle deviation ΔV and azimuth deviation ΔW The alarm can be lifted only after the requirements are met; S400. Intelligent control for correcting the position and attitude of the pipe jacking machine: Input the jacking deviation, ΔX plane deviation, ΔY elevation deviation, ΔZ pitch angle deviation, ΔU roll angle deviation, ΔV and azimuth angle deviation ΔW obtained from the real-time analysis in steps S200 and S300 into the intelligent decision-making module to obtain the pipe jacking machine deviation correction control quantity; the pipe jacking machine deviation correction control quantity includes but is not limited to the telescopic amount of the pipe jacking machine cylinder, the rotation speed and direction of the pipe jacking machine cutter head, the grouting pressure and the grouting volume; perform real-time continuous control on the pipe jacking machine deviation correction module according to the pipe jacking machine deviation correction control quantity to achieve dynamic deviation correction of the position and attitude of the pipe jacking machine; S500, Measurement and Control for Jacking Machine Reception: Based on the real-time position coordinates of the jacking machine X a , Y a , Z a , the data analysis module calculates in real time the distance between the front end of the jacking machine and the inner wall of the receiving well L r ; When L r is less than the deceleration threshold L r , control the jacking machine to reduce its jacking speed; Subsequently, based on the real-time position and attitude data of the jacking machine at this time, through the data analysis module, predict that when the front end of the jacking machine is flush with the inner wall of the receiving well, that is, when L r = 0, the receiving position coordinates of the jacking machine are X ar , Y ar , Z ar ; Based on the predicted receiving position coordinates of the jacking machine, make preparations for the reception of the jacking machine in advance; S600. Determination of the compensation length of the relay section: When the front end of the pipe jacking machine is flush with the inner wall of the receiving well, the data analysis module calculates the number of remaining pipe sections to be jacked into the well N p and the total required compensation length of the relay section S , and then determines the compensation length of each relay section and implements the compensation operation through the relay section control module; among them, the number of relay sections that need to achieve compensation through the telescopic oil cylinder N c satisfies the following expression: Among them, D c is the maximum adjustable stroke of the oil cylinder for a single relay room; Considering the rationality of force bearing and construction convenience, for the relay chamber that needs to achieve compensation through the telescopic oil cylinder, the compensation length of the relay chamber farthest from the receiving well L c1 satisfies the following expression: The compensation lengths of the remaining intermediate sections that need to achieve compensation through telescopic cylinders L c are taken as the maximum stroke of the adjustable cylinders for a single intermediate section, that is L c = D c 。 3. The measurement and control method for precise reception of long-distance jacking pipe joints according to claim 2, characterized in that In step S400, after controlling the pipe jacking machine deviation correction module according to the pipe jacking machine deviation correction control amount, the real-time position and attitude data of the pipe jacking machine after deviation correction are obtained through the information acquisition module. Subsequently, the position deviation amount and attitude deviation amount of the pipe jacking machine after deviation correction are obtained according to step S200 and step S300; the pipe jacking machine deviation correction control amount, the position deviation amount and attitude deviation amount of the pipe jacking machine after deviation correction are used as training data to perform iterative training on the deep neural network model adopted by the intelligent decision-making module.

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