Cooperative control system for pipe roofing method construction equipment

Abstract

The invention discloses a pipe-roofing method construction equipment cooperative control system, and relates to the technical field of tunnel intelligent construction, and the method comprises the steps: building an initial mapping relation between construction parameters and stratum stability under different geological parameters in advance through a digital twin system according to a large number of pipe-roofing method construction cases; learning an optimal mapping relation between the stratum stability and the construction parameters under different geological parameters through a machine learning algorithm according to a small number of optimal pipe-roofing method construction cases, so as to optimize the initial mapping relation through the optimal mapping relation to obtain a good construction sample library; the specific pipe-roofing method construction process can be split into a multi-stage process, simulation is conducted stage by stage through the virtual modeling module, more accurate simulation stratum stability data are obtained, construction parameters matched with all construction equipment of a next node are determined from a construction sample library, and the stability of the stratum is improved. Cooperative scheduling is carried out through the pipe roofing construction whole process control platform, and the construction efficiency, safety and collaboration are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent tunnel construction, and in particular to a collaborative control system for pipe-roof construction equipment. Background Art

[0002] With the rapid development of urban infrastructure in my country, underground transportation has become an inevitable trend in the development of large cities, inevitably passing through densely built-up areas. Pipe-roof construction, with its advantages of high safety and minimal ground disturbance, has become a key technology for urban underground engineering.

[0003] The pipe curtain construction method is to form a horizontal construction curtain in the stratum. It generally relies on a small-diameter pipe jacking machine to push the steel pipes, and forms a closed or semi-closed pipe curtain through the lock connection between the steel pipes. Then, non-excavation construction of the underground space is realized under the protection of the pipe curtain. It includes multiple construction processes such as group pipe jacking construction, steel pipe cutting and welding and incision support, pipe curtain prefabricated structure construction and cavern earth excavation and transportation, involving a variety of construction equipment such as pipe curtain machines, grouting equipment, cutting and welding equipment, excavation machinery, slag discharge machinery and internal structure assembly machinery.

[0004] During the construction process, the steel pipe jacking speed and the drag-reducing grouting speed need to be adjusted in real time according to the friction resistance around the pipe and the stability of the tunnel face. The cutting and welding of each point of the steel pipe need to be staggered in different areas. The movement path and construction sequence of the earth-moving excavation robot in the tunnel need to be formulated according to the cross-section excavation method. The internal structure assembly speed needs to match the earth excavation speed. This makes it very difficult to coordinate the management and control of equipment and adjust and optimize parameters according to the construction site conditions during the pipe curtain method construction.

[0005] At present, the overall coordination of various construction equipment of the pipe curtain method is usually relied on by technical personnel at the construction site. Since the feedback of the ground conditions has lags and deviations when manual coordination is carried out, technical personnel need to consider the impact of different construction equipment on the ground stability one by one. The overall coordination efficiency, safety and coordination depend on the experience of technical personnel, resulting in low construction efficiency, poor safety and coordination. Summary of the Invention

[0006] Based on this, it is necessary to provide a collaborative control system for pipe curtain construction equipment to address the above technical issues.

[0007] The present invention provides a coordinated control system for pipe-curtain construction equipment, comprising: a pipe-curtain construction monitoring system, a pipe-curtain construction digital twin system, and a pipe-curtain construction full-process control platform. The pipe-curtain construction monitoring system includes multiple monitoring devices that monitor the construction site's strata and each stage of pipe-curtain construction in real time, and transmits the resulting monitoring data to the pipe-curtain construction digital twin system. The pipe-curtain construction digital twin system is communicatively connected to the pipe-curtain construction monitoring system and the pipe-curtain construction full-process control platform, respectively, to generate a three-dimensional construction model of the pipe-curtain construction based on the monitoring data from the previous stage of pipe-curtain construction. The previous stage of pipe-curtain construction is simulated based on the monitoring data and the three-dimensional construction model, obtaining simulated stratum stability data after the previous stage of pipe-curtain construction. Construction parameters for each piece of construction equipment in the next stage of pipe-curtain construction are then determined based on the simulated stratum stability data and a pre-established construction sample library. Finally, the pipe-curtain construction full-process control platform can obtain the construction parameters of each piece of construction equipment at different stages of pipe-curtain construction and transmit control instructions to each piece of construction equipment based on the construction parameters of each piece of construction equipment.

[0008] At least one of the above technical solutions adopted by the present invention can achieve the following beneficial effects: The present invention uses a digital twin system to pre-construct an initial mapping relationship between construction parameters and stratum stability under different geological parameters based on a large number of pipe-curtain construction cases, and uses a machine learning algorithm to learn the preferred mapping relationship between stratum stability and construction parameters under different geological parameters based on a small number of preferred pipe-curtain construction cases, thereby optimizing the initial mapping relationship through the preferred mapping relationship to obtain a good construction sample library. The specific pipe-curtain construction process can be divided into a multi-stage process, and simulation is performed stage by stage through a virtual modeling module to obtain more accurate simulated stratum stability data, and the construction parameters that match each construction equipment at the next node are determined from the construction sample library, so as to perform collaborative scheduling through the pipe-curtain construction full process control platform, thereby improving construction efficiency, safety and coordination. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 A schematic diagram of the structure of a coordinated control system for pipe-roof construction equipment provided by the present invention; Figure 2 A schematic diagram of a control system flow chart provided by the present invention; Figure 3 This is a schematic diagram of a three-dimensional construction model established by simulation provided by the present invention. DETAILED DESCRIPTION

[0010] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0011] The technical solutions provided by various embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0012] Figure 1 This is a schematic diagram of the structure of a coordinated control system for pipe curtain construction equipment in the present invention. Figure 1 As shown. It includes the pipe-roof construction monitoring system, the pipe-roof construction digital twin system and the pipe-roof construction full-process control platform.

[0013] Specifically, the pipe-roof construction monitoring system may include a variety of monitoring equipment, which is used to monitor the strata of the construction site and each stage of the pipe-roof construction in real time through the monitoring equipment, and send the obtained monitoring data to the pipe-roof construction digital twin system.

[0014] The monitoring equipment may include speed sensors, thrust sensors, flow meters, strain gauges, pressure gauges, convergence meters, multi-point displacement meters, weight sensors, inertial navigation systems and monitoring systems.

[0015] Among them, pressure gauges, convergence gauges, and multi-point displacement gauges are used for real-time monitoring of the construction site's strata. Inertial navigation systems and strain gauges are used for real-time monitoring of the pipe-roof steel pipes during pipe-roof construction. Velocity sensors, thrust sensors, flow meters, weight sensors, and monitoring systems are all used for real-time monitoring of each construction phase. This allows for real-time monitoring of the construction site's strata, the pipe-roof steel pipes, and the construction process at each stage.

[0016] Typically, when implementing the pipe-roof construction method, engineering geological parameters are first obtained based on the design plan and field tests. These parameters include tunnel cross-sectional dimensions, burial depth, soil density, elastic modulus, cohesion, and internal friction angle. Soil density can be measured using the knife-ring method (for fine-grained soils), the water injection method (for coarse-grained soils), or the wax seal method (for hard soils). Elastic modulus, cohesion, and internal friction angle can be measured using triaxial compression tests.

[0017] The so-called real-time monitoring of the ground at the construction site may be real-time monitoring of ground displacement, deformation of surrounding pipelines, tunnel face displacement and tunnel face pressure.

[0018] Real-time monitoring of each stage of pipe-roof construction can include monitoring of each piece of construction equipment and their respective processes. This equipment can include pipe jacking machines, pipe-roof cutting and welding robots, grouting equipment, excavation robots, slag removal equipment, and a trolley for assembling the pipe-roof internal structure. Monitoring data from each stage of pipe-roof construction can include data on steel pipe jacking, pipe-roof cutting and welding, pipe-roof pouring, earthwork excavation, and assembly of the pipe-roof internal structure.

[0019] In one or more embodiments of the present invention, the data of steel pipe jacking using the pipe curtain method may include the jacking axis of the pipe curtain steel pipe, the posture of the pipe curtain steel pipe, deformation of the top iron, deformation of the pipe curtain steel pipe, jacking resistance, and deformation of the pipe curtain. The jacking axis of the pipe curtain steel pipe may be obtained by a laser pointer; the posture of the pipe curtain steel pipe may be obtained by a posture sensor and a displacement sensor installed inside the pipe jacking machine. The posture sensor may include an accelerometer and a gyroscope for measuring the tilt and rotation of the pipe jacking machine, and the displacement sensor is used to measure the propulsion distance and direction of the pipe jacking machine. Combined with the data from the posture sensor, the three-dimensional position and posture of the pipe jacking machine are determined; the deformation of the top iron and pipe curtain steel pipe may be obtained by strain gauges on the surface; and the jacking resistance may be obtained by the pressure sensor on the hydraulic system propulsion system and the load of the drive motor.

[0020] The top force of the pipe curtain steel pipe can also be calculated according to the following formula: Where, P is the top force of the pipe curtain steel pipe; L is the jacking length of the steel pipe, m; D 1 is the outer diameter of the jacking steel pipe, m; P f is the friction resistance per unit area around the pipe, kPa; P s is the head-on resistance of the pipe jacking machine during jacking (values are shown in Table 1), kN. Table 1 shows the end resistance per unit area of soil in different strata in the present invention. P s Schematic table of values.

[0021] Table 1 End resistance of soil per unit area in different strata P s Value

[0022] The pipe curtain cutting and welding data may include the deformation of the pipe curtain after cutting. The cutting and welding robot coordinates may be obtained by an inertial navigation system, and the deformation of the pipe curtain after cutting may be obtained by a strain gauge.

[0023] Pipe curtain pouring data can include soil displacement after grouting. The coordinates of the grouting robot can be obtained by an inertial navigation system, and the grouting construction progress can be remotely monitored using flow sensors and a cloud-based monitoring platform.

[0024] Earthwork excavation data can include the coordinates of the excavator robot, the amount of slag discharged, and the shape of the slag. The coordinates of the excavator robot can be obtained through an inertial navigation system; the amount of slag discharged can be obtained through the speed of the screw conveyor or scraper and the weight sensor installed on it; and the shape of the slag can be obtained through the vision system inside the steel pipe.

[0025] The internal structure assembly data for the tube roof can include the assembly trolley coordinates, support structure deformation, and internal structure assembly progress. The assembly trolley coordinates can be obtained from an inertial navigation system; support structure deformation can be measured using a convergence meter and multi-point displacement meter; and the internal structure assembly progress can be remotely monitored using a cloud-based monitoring platform.

[0026] The pipe-curtain construction digital twin system is communicated with the pipe-curtain construction monitoring system and the pipe-curtain construction full-process control platform respectively. The pipe-curtain construction digital twin system may include a virtual modeling module, a numerical simulation module, and a data analysis and optimization module.

[0027] Among them, the data analysis and optimization module is used to determine the stratum response data corresponding to different construction parameters under different geological parameters based on multiple pipe-curtain construction cases, construct the initial mapping relationship between construction parameters and stratum stability under different geological parameters, and learn the optimal mapping relationship between stratum stability and construction parameters under different geological parameters based on preset optimal pipe-curtain construction cases through a machine learning algorithm to obtain a construction parameter optimization model; the stratum stability under different geological parameters in the initial mapping relationship is used as the input of the construction parameter optimization model, and the construction parameters under different geological parameters in the initial mapping relationship are optimized to obtain a construction sample library.

[0028] For example, the data analysis and optimization module can collect a large number of pipe-roof construction cases and obtain data such as stratum response data corresponding to different construction parameters under different geological parameters. For geological parameters and construction parameters, please refer to the corresponding descriptions above. The stratum response data may include surface displacement, deformation of surrounding pipelines, tunnel face displacement and pressure. Among them, surface displacement is measured by a total station; deformation of surrounding pipelines is obtained by displacement sensors; tunnel face displacement is obtained by displacement meters and convergence meters, and underground radar is used to detect the front of the tunnel face to detect possible hidden dangers such as cavities and faults in advance, thereby estimating tunnel face displacement; tunnel face pressure is measured by the pressure sensor on the cutterhead.

[0029] The data analysis and optimization module can also establish a numerical model of pipe-roof construction under different geological parameters based on the collected data, carry out numerical simulations on different construction cases, analyze the formation response data and construction monitoring data under different construction parameters, and construct an initial mapping relationship between construction parameters and formation stability under different geological parameters.

[0030] The specific process is as follows: (1) Establish a numerical model of the pipe-roof construction tunnel in ANSYS software According to the design plan, the tunnel parameters and steel pipe layout parameters are determined. Examples of different tunnel and steel pipe layout parameters are shown in Table 2.

[0031] Table 2 Examples of tunnel and steel pipe layout parameters

[0032] The soil can be regarded as a homogeneous and isotropic ideal elastic-plastic body that satisfies the Mohr-Coulomb criterion and is simulated using 8-node hexahedron elements. The steel pipe is considered as an elastic material and is simulated using 6-node triangular shell elements. The pipe sections are welded to transmit bending moment and axial force. The mud layer is considered as an elastic material and is simulated using 8-node hexahedron elements.

[0033] Table 3 Examples of physical and mechanical parameters used in calculations

[0034] The forward thrust on the front face of the pipe jacking tunnel was assumed to be a uniformly distributed circular load. The model's horizontal boundary distance was 6 m. Normal displacement constraints were applied to the sides, a fixed constraint was applied to the bottom, and a free boundary condition was applied to the top. The Mohr-Coulomb model was used as the soil constitutive model for the calculation. The parameters for the stratum, slurry, and steel pipe were determined based on the engineering geological survey report and the construction plan. Examples of the physical and mechanical parameters used are shown in Table 3.

[0035] (2) Numerical simulation of different construction cases Simulation method: ① Soil bin pressure simulation: The soil bin pressure is considered as a uniformly distributed load, and the magnitude is taken as the soil side pressure at the center of the tunnel face.

[0036] ② Over-excavation gap grouting simulation: Synchronous grouting is used to fill the over-excavation gap during construction, assuming that the slurry fills the entire void volume.

[0037] ③Simulation of jacking pipe drag reduction grouting: In the calculation simulation, the friction effect of the steel pipe on the grouting layer is simulated by applying tangential friction force to the mud layer. Its direction is the jacking direction of the steel pipe, and its magnitude is the friction resistance per unit area.

[0038] (3) Data analysis under different construction parameters By calculating and analyzing ground response data and construction monitoring data under different construction parameters, the impact of different construction parameters on ground deformation was analyzed, and a mapping relationship between construction parameters and ground stability under different geological parameters was established. A sample library for pipe-roof construction was established. Construction monitoring data includes pipe-roof jacking data, pipe-roof cutting and welding data, pipe-roof pouring data, earthwork excavation data, and pipe-roof internal structure assembly data.

[0039] The initial mapping relationship between different construction parameters and formation stability under different geological parameters can be shown in Table 4.

[0040] Table 4 Examples of initial mapping relationships between different construction parameters and stratum stability

[0041] When optimizing the initial mapping relationship, a machine learning algorithm can be used. The machine learning algorithm can be selected from BP neural network, genetic algorithm and particle swarm optimization algorithm. The example of using BP neural network to optimize the steel pipe jacking parameters is as follows: (1) Determine the number of network layers. A single hidden layer neural network is selected, that is, the neural network structure is a three-layer structure consisting of an input layer, a hidden layer, and an output layer.

[0042] (2) Determine the number of neurons in each layer. The network input layer parameters include four components: tunnel depth, cross-section diameter, soil cohesion, and soil internal friction angle. The output layer parameters include two components: steel pipe jacking speed and steel pipe jacking force.

[0043] (3) Select the Sigmoid function as the activation function.

[0044] (4) Sample design. Through literature research and field data, 100 preset and optimal pipe-roof construction cases were determined as training samples. 90 training samples were selected as learning samples, and 10 were selected as test samples.

[0045] (5) The learning process continuously updates the weights and bias terms in the selected neural network until the loss function is small enough, at which point the construction parameter optimization model can be obtained.

[0046] Afterwards, the stratum stability under different geological parameters in the initial mapping relationship can be used as the input of the construction parameter optimization model, and the construction parameters under different geological parameters in the initial mapping relationship can be optimized to obtain a construction sample library.

[0047] During application, in one or more embodiments of the present invention, the virtual modeling module is used to generate a three-dimensional construction model of the pipe-roof construction method based on monitoring data of the previous stage of the pipe-roof construction method.

[0048] The numerical simulation module is used to simulate the previous stage of the pipe-roof method construction based on the monitoring data of the previous stage of the pipe-roof method construction and the three-dimensional construction model.

[0049] The data analysis and optimization module is also used to obtain the simulated stratum stability data after the previous stage of pipe-curtain construction based on the simulation results, and to determine the construction parameters matching the simulated stratum stability data from the construction sample library as the construction parameters of each construction equipment in the next stage of pipe-curtain construction.

[0050] The whole process control platform of pipe curtain construction is used to obtain the construction parameters of each construction equipment at different stages of pipe curtain construction, and send control instructions to each construction equipment according to the construction parameters of each construction equipment.

[0051] Specifically, after the pipe-curtain construction monitoring system acquires monitoring data, the pipe-curtain construction digital twin system can be used to generate a three-dimensional construction model of the pipe-curtain construction method based on the monitoring data from the previous stage of the pipe-curtain construction method. Simulation of the previous stage of the pipe-curtain construction method is then performed based on the monitoring data and the three-dimensional construction model to determine the construction parameters of each construction equipment for the next stage of the pipe-curtain construction method based on the simulation process. The three-dimensional construction model may include physical entities such as the construction site's geological environment, underground pipelines, and pipe-curtain components, as well as the equipment, materials, and personnel involved in the construction. Figure 2 This is a flow chart of a control system in the present invention.

[0052] The pipe-roof construction digital twin system simulates and analyzes each stage of pipe-roof construction based on field data, obtaining parameters such as ground stability under the current construction state and predicting potential problems. For example, the pipe-roof construction digital twin system can promptly access the latest construction data to simulate and analyze the on-site construction process. Combined with collected field data, it analyzes ground safety and construction equipment utilization under current construction parameters, provides optimization recommendations for construction parameters and future ground reinforcement measures, and verifies these recommendations using numerical simulation.

[0053] Furthermore, the pipe curtain construction digital twin system can also include a data acquisition and integration module, a visualization module and a data storage module.

[0054] Therefore, the virtual modeling module is used to generate a three-dimensional construction model of the pipe-roof construction method based on the monitoring data of the previous stage of the pipe-roof construction method. The three-dimensional construction model of the pipe-roof construction method includes: the geological environment of the construction site, underground pipelines, pipe-roof components, various construction equipment and materials required for construction. Figure 3 As shown, Figure 3 This is a schematic diagram of a three-dimensional construction model established by simulation in the present invention.

[0055] The data acquisition and integration module is used to obtain the monitoring data of the previous stage of pipe curtain construction sent by the pipe curtain construction monitoring system and transmit it to the numerical simulation module.

[0056] The numerical simulation module is used to obtain the three-dimensional construction model generated by the virtual modeling module, and simulate the previous stage of the pipe-curtain method construction based on the monitoring data of the previous stage of the pipe-curtain method construction to obtain the simulated stratum stability data after the previous stage of the pipe-curtain method construction.

[0057] The data analysis and optimization module is used to analyze the stratum stability based on the simulation results of the numerical simulation module, and to determine the construction parameters that match the simulated stratum stability data from the construction sample library as the construction parameters of each construction equipment in the next stage of the pipe-curtain method construction, and to issue a danger warning when the stratum stability is lower than the preset threshold.

[0058] The visualization module displays the pipe-roof construction information interface and responds to user actions. This interface includes a 3D construction model, monitoring data, simulation process, construction parameters for each equipment at each stage of the pipe-roof construction, and hazard warning information. Users can interact with the digital twin system through this interface to view construction data, perform operations, and make decisions.

[0059] The data storage module is used to store construction parameters and process data for each stage of the pipe-roof construction method and for each piece of equipment. It also updates the pipe-roof construction sample library. For example, cases with good optimization results can be stored in the built-in construction sample library to provide reference for the next construction.

[0060] The construction parameters of each construction equipment may include pipe curtain method steel pipe jacking parameters, pipe curtain cutting and welding parameters, pipe curtain casting parameters, earth excavation and transportation parameters and pipe curtain internal structure assembly parameters.

[0061] Among them, the parameters of the pipe curtain method steel pipe jacking include the pipe curtain steel pipe jacking speed, the pipe curtain steel pipe propulsion force, the drag reduction grouting speed, the mud replacement speed and the jacking pressure applied by the pipe jacking machine to the pipe curtain steel pipe.

[0062] The standard value of steel pipe jacking resistance can be calculated as follows: F 0 = π D 1 Lf k + N F , N F = π( D g - t ) tR .

[0063] Where, F 0 is the standard value of the total jacking resistance of the steel pipe (kN); D 1 is the outer diameter of the jacking steel pipe (m); L is the jacking length of the steel pipe (m); f k is the average frictional resistance between the outer wall of the steel pipe and the surrounding soil layer (kN / m2), which can be obtained according to Table 1; N F is the head-on resistance of the steel pipe jacking (kN); Dg is the outer diameter of the pilot tube (m); t is the thickness of the pilot tube cutting edge (m); R is the unit soil resistance at the excavation working surface (kN / m2), which can be taken as (300~500) kN / m2 according to the soil conditions, as shown in Table 5. Table 5 shows the average friction resistance between the outer wall of a steel pipe and its surrounding soil layer in the present invention (kN / m 2 ).

[0064] Table 5 Average frictional resistance between the outer wall of the steel pipe and its surrounding soil layer (kN / m 2 )

[0065] Pipe curtain cutting and welding parameters include the number of cutting and welding robots, cutting and welding positions, and cutting and welding sequence. Pipe curtain casting parameters include the number of tied rebars, the number of grouting robots, grouting pressure, and pouring sequence. Earthwork excavation parameters include the number of excavation robots, excavation speed, slag discharge speed, and excavation sequence. Pipe curtain internal structure assembly parameters include the support structure assembly speed and assembly sequence.

[0066] Table 6 shows an example of construction optimization recommendations for the next phase of pipe-roof construction based on the simulation results for the previous phase of pipe-roof construction. Table 6 illustrates an example of construction optimization recommendations for different abnormal situations. These recommendations correspond to changes in the construction parameters of each piece of construction equipment.

[0067] Table 6 Examples of construction optimization suggestions for different abnormal situations

[0068] Furthermore, in one or more embodiments of the present invention, the data analysis and optimization module can analyze formation stability based on simulation results, providing safety analysis and parameter optimization recommendations. The full-process control platform for pipe-roof construction can issue three-level warning signals for hazardous construction areas and distribute pipe-roof construction optimization instructions to various pieces of construction equipment via a wireless communication system. Specifically, the full-process control platform can issue adjustment instructions to construction equipment based on process optimization recommendations provided by the pipe-roof construction digital twin system, collaboratively managing and controlling the construction of each piece of equipment.

[0069] Among them, the three-level warning signals are specifically expressed as follows: "Red warning" corresponds to the situation where the formation is very likely to become unstable and control measures must be taken; "Orange warning" corresponds to the situation where the formation is likely to become unstable and it is recommended to take control measures; "Yellow warning" corresponds to the situation where the risk of formation instability is relatively low, but it is recommended to optimize the construction process and improve equipment utilization.

[0070] Each construction equipment can make construction adjustments after receiving instructions from the control platform, and the pipe curtain construction monitoring system will send the adjusted monitoring data to the pipe curtain construction full process control platform.

[0071] The present invention provides a collaborative control system for pipe curtain method construction equipment, including: a pipe curtain construction monitoring system, a pipe curtain construction digital twin system and a pipe curtain construction full process control platform. Among them, the pipe curtain construction monitoring system includes a variety of monitoring equipment, which uses the monitoring equipment to perform real-time monitoring of the strata of the construction site and each stage of the pipe curtain method construction, and sends the obtained monitoring data to the pipe curtain construction digital twin system. The pipe curtain construction digital twin system is respectively communicated with the pipe curtain construction monitoring system and the pipe curtain construction full process control platform, so as to generate a three-dimensional construction model of the pipe curtain method construction based on the monitoring data of the previous stage of the pipe curtain method construction, and simulate the previous stage of the pipe curtain method construction based on the monitoring data and the three-dimensional construction model to obtain the construction parameters of each construction equipment in the next stage of the pipe curtain method construction. Finally, the pipe curtain construction full process control platform is used to obtain the construction parameters of each construction equipment at different stages of the pipe curtain method construction, and send control instructions to each construction equipment according to the construction parameters of each construction equipment.

[0072] The present invention establishes a virtual model of the entire pipe-curtain construction process through a digital twin system, uses numerical simulation to analyze and predict stratum stability and construction safety, and obtains on-site stratum data and construction data of the previous stage in real time to optimize the construction parameters of the next stage. Adjustment instructions and early warning information are issued through the pipe-curtain construction full-process control platform. Under the premise of ensuring construction safety, the coordinated construction of various equipment is realized, thereby improving the efficiency and intelligence level of pipe-curtain construction.

[0073] It should also be noted that the terms "include", "comprising" or any other variations thereof in the present invention are intended to cover non-exclusive inclusion, that is, in addition to the elements listed in the present invention, other elements that are not explicitly listed may also be included.

[0074] The various embodiments of the present invention are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0075] The foregoing is merely an embodiment of the present invention and is not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A coordinated control system for pipe-roof construction equipment, characterized in that: include: Pipe-roof construction monitoring system, pipe-roof construction digital twin system and pipe-roof construction full-process control platform; The pipe-roof construction monitoring system includes a variety of monitoring equipment for real-time monitoring of the ground at the construction site and each stage of the pipe-roof construction, and sends the obtained monitoring data to the pipe-roof construction digital twin system; The pipe-roof construction digital twin system includes a virtual modeling module, a numerical simulation module, and a data analysis and optimization module; The data analysis and optimization module is used to determine the formation response data corresponding to different construction parameters under different geological parameters based on multiple pipe-roof construction cases, and to construct an initial mapping relationship between the construction parameters and the formation stability under different geological parameters; to learn the mapping relationship between the formation stability and the construction parameters under different geological parameters based on preset pipe-roof construction cases through a machine learning algorithm, and to obtain a construction parameter optimization model; to use the formation stability under different geological parameters in the initial mapping relationship as input to the construction parameter optimization model, and to optimize the construction parameters under different geological parameters in the initial mapping relationship to obtain a construction sample library; The virtual modeling module is used to generate a three-dimensional construction model of the pipe-curtain method construction based on the monitoring data of the previous stage of the pipe-curtain method construction; the numerical simulation module is used to simulate the previous stage of the pipe-curtain method construction based on the monitoring data of the previous stage of the pipe-curtain method construction and the three-dimensional construction model; the data analysis and optimization module is used to obtain simulated stratum stability data after the previous stage of the pipe-curtain method construction based on the simulation results, and determine the construction parameters matched with the simulated stratum stability data from the construction sample library as the construction parameters of each construction equipment in the next stage of the pipe-curtain method construction; The pipe-roof construction whole process control platform is used to obtain the construction parameters of each construction equipment at different stages of the pipe-roof construction method, and send control instructions to each construction equipment according to the construction parameters of each construction equipment.

2. The pipe-roof construction equipment collaborative control system according to claim 1, characterized in that: The monitoring equipment includes: a speed sensor, a thrust sensor, a flow meter, a strain gauge, a pressure gauge, a convergence meter, a multi-point displacement meter, a weight sensor, an inertial navigation system and a monitoring system; Pressure gauges, convergence gauges, and multi-point displacement gauges are used to monitor the ground at the construction site in real time; and, Inertial navigation systems and strain gauges for real-time monitoring of pipe-roof steel pipes during pipe-roof construction; and Speed sensors, thrust sensors, flow meters, weight sensors and monitoring systems are used to monitor each construction stage in real time.

3. The pipe-roof construction equipment collaborative control system according to claim 1, characterized in that: The monitoring data of the formation include surface displacement, deformation of surrounding pipelines, tunnel face displacement and tunnel face pressure.

4. The pipe-roof construction equipment collaborative control system according to claim 1, characterized in that: The construction equipment includes a pipe jacking machine, a pipe curtain cutting and welding robot, a grouting device, an excavation robot, a slag discharge device and a trolley for assembling the internal structure of the pipe curtain; The data analysis and optimization module is used to construct an initial mapping relationship between the construction parameters of each type of construction equipment and the stability of the formation under different geological parameters for each type of construction equipment, and to optimize the construction parameters of the construction equipment in the initial mapping relationship.

5. The pipe-roof construction equipment collaborative control system according to claim 1, characterized in that: The monitoring data of each stage of the pipe curtain method construction includes: pipe curtain method steel pipe jacking data, pipe curtain cutting and welding data, pipe curtain pouring data, earthwork excavation and transportation data and pipe curtain internal structure assembly data; Among them, the data of steel pipe jacking using the pipe curtain method include the jacking axis of the pipe curtain steel pipe, the posture of the pipe curtain steel pipe, the deformation of the top iron, the deformation of the pipe curtain steel pipe, the jacking resistance and the deformation of the pipe curtain; the data of pipe curtain cutting and welding include the deformation of the pipe curtain after cutting; the data of pipe curtain casting include the displacement of the soil after grouting; the data of earth excavation and transportation include the coordinates of the excavation robot, the amount of slag discharged and the shape of the slag; the data of assembly of the internal structure of the pipe curtain include the coordinates of the assembly trolley, the deformation of the support structure and the construction progress of the internal structure assembly.

6. The pipe-roof construction equipment collaborative control system according to claim 1, characterized in that: The pipe-roof construction digital twin system also includes a data acquisition and integration module, a visualization module, and a data storage module; The virtual modeling module is used to generate a three-dimensional construction model of the pipe-roof construction method based on the monitoring data of the previous stage of the pipe-roof construction method; the three-dimensional construction model of the pipe-roof construction method includes: solid models corresponding to the geological environment of the construction site, underground pipelines, pipe-roof components, various construction equipment and materials required for construction; The data acquisition and integration module is used to obtain the monitoring data of the previous stage of the pipe-roof construction sent by the pipe-roof construction monitoring system and transmit it to the numerical simulation module; The data analysis and optimization module is also used to issue a danger warning when the simulated formation stability data is less than a preset threshold; The visualization module is used to display the pipe-roof construction information interface to the user and respond to user operations; the pipe-roof construction information interface includes a three-dimensional construction model, various monitoring data, simulation process, construction parameters of each construction equipment at each stage of the pipe-roof construction, and danger warning information; The data storage module is used to store the construction parameters and construction process data of each construction equipment in each stage of the pipe-roof method construction.

7. The pipe-roof construction equipment collaborative control system according to claim 1, characterized in that: The construction parameters of each construction equipment include: pipe curtain method steel pipe jacking parameters, pipe curtain cutting and welding parameters, pipe curtain casting parameters, earthwork excavation and transportation parameters and pipe curtain internal structure assembly parameters; The pipe curtain method steel pipe jacking parameters include: pipe curtain steel pipe jacking speed, pipe curtain steel pipe propulsion force, drag reduction grouting speed, mud replacement speed and jacking pressure applied by the pipe jacking machine to the pipe curtain steel pipe; Pipe curtain cutting and welding parameters include: number of cutting and welding robots, cutting and welding positions, and cutting and welding sequence; The pipe curtain casting parameters include: the number of tied steel bars, the number of pipe curtain grouting robots, the grouting pressure and the pouring sequence; Earthwork excavation and transportation parameters include: number of excavation robots, earthwork excavation speed, slag discharge speed and excavation and transportation sequence; The assembly parameters of the structure inside the pipe roof include: assembly speed and assembly sequence of the support structure.

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