BIM-based rectangular pipe jacking machine intelligent control system and method

Abstract

The application provides a BIM-based intelligent control system and method for a rectangular pipe jacking machine, and belongs to the technical field of intelligent control, and comprises: a first model construction module that simulates the size, material and connection relationship of each component of the pipe jacking machine and the working principle of key devices, and forms a pipe jacking machine BIM model; a second model construction module that constructs a physical and mechanical parameter model of different soil layers according to survey data, and details the existing pipeline type, position, buried depth, and the structure form, size and bearing capacity of the building foundation, and forms a construction environment BIM model; and a prediction and intelligent control module that sets the initial position and attitude of the pipe jacking machine based on the three-dimensional BIM model, inputs the design parameters of the jacking curve, simulates the dynamic behavior of the pipe jacking machine under different geological conditions in the simulation process, predicts possible problems of the pipe jacking machine, and intelligently controls and adjusts the pipe jacking machine, thereby improving the intelligent control precision.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to an intelligent control system and method for a rectangular pipe jacking machine based on BIM. Background Art

[0002] With the surge in demand for intensive development of urban underground space, rectangular pipe jacking technology has become a key technology in municipal engineering due to its ability to efficiently construct large-section underground passages (such as integrated pipeline corridors, subway transfers, and underground commercial connections). Compared to circular pipe jacking, rectangular pipe jacking offers advantages such as high cross-sectional space utilization. However, its large cross-sectional dimensions (typically >6m x 4m width x height), complex propulsion mechanical properties, and increased sensitivity to surrounding environmental influences pose significant challenges to intelligent construction control.

[0003] The pipe jacking machine model focused on the static display of the mechanical structure (size, material, and assembly relationships), but lacked the dynamic working logic of key devices (such as the pressure-displacement response model of the propulsion cylinder and the coupling relationship between the cutterhead torque and the formation strength), making it unable to support dynamic simulation of the construction process.

[0004] Geological model: Based on the survey report, it is constructed using a static layered value assignment method, ignoring the nonlinear mechanical properties of the soil (strain softening, creep, stress path dependence) and the parameter evolution under construction disturbance (such as soil strength attenuation caused by jacking disturbance), making it difficult to reflect the actual mechanical behavior;

[0005] Environmental model: Information on surrounding pipelines and building (structure) foundations is mostly recorded in two-dimensional drawings and discrete data, lacking three-dimensional spatial correlation modeling (such as the spatial distance between pipelines and pipe jacking machines, and the spatial superposition relationship between the bearing boundary of building foundations and pipe jacking disturbances), making it impossible to quantify the impact of construction on surrounding facilities.

[0006] The isolated modeling of the three leads to the lack of collaborative simulation capabilities of equipment, geology, and environment, and is unable to provide a global and dynamic analysis basis for construction control, resulting in low accuracy of intelligent control.

[0007] Therefore, the present invention proposes an intelligent control system and method for a rectangular pipe jacking machine based on BIM. Summary of the Invention

[0008] The present invention provides a BIM-based intelligent control system and method for a rectangular pipe jacking machine, which are used to solve the above-mentioned technical problems.

[0009] The present invention provides a BIM-based intelligent control system for a rectangular pipe jacking machine, comprising:

[0010] The first model building module is used to simulate the size, material and connection relationship of each component of the pipe jacking machine and the working principle of the key devices to form a BIM model of the pipe jacking machine;

[0011] The second model building module is used to construct physical and mechanical parameter models of different soil layers based on the survey data. At the same time, the type, location, and burial depth of existing pipelines in the surrounding area, as well as the structural form, size, and bearing capacity of building foundations, are recorded in detail to form a BIM model of the construction environment.

[0012] The model fusion module is used to fuse the pipe jacking machine BIM model, the physical and mechanical parameter model, and the construction environment BIM model to obtain a three-dimensional BIM model;

[0013] The prediction and intelligent control module is used to set the initial position and posture of the pipe jacking machine based on the three-dimensional BIM model, input the design parameters of the jacking curve, and simulate the dynamic behavior of the pipe jacking machine under different geological conditions during the simulation process, predict possible problems of the pipe jacking machine, and perform intelligent control and adjustment of the pipe jacking machine, wherein the dynamic behavior includes: the displacement of the pipe jacking machine during the advancement process, the change of posture, and the interaction with the surrounding soil, pipelines and building foundations.

[0014] Preferably, it also includes:

[0015] Real-time acquisition module, used to collect real-time operation data of the pipe jacking machine, including: position coordinates, pitch angle, roll angle, yaw angle, and thrust size and distribution of each propulsion cylinder;

[0016] The comparison and analysis module is used to extract the theoretical position, posture and thrust parameters of the pipe jacking machine on the designed jacking path from the three-dimensional BIM model, establish a corresponding relationship between real-time data and model parameters, compare the collected real-time data with the theoretical parameters in the three-dimensional BIM model in real time, and calculate the position deviation, posture deviation and thrust deviation.

[0017] Preferably, it also includes:

[0018] A scheme determination module is used to determine the optimal scheme for adjusting the posture of the pipe jacking machine through mathematical modeling and optimization calculation based on the soil resistance, thrust distribution of the propulsion cylinder, and force factors of the correction cylinder encountered by the pipe jacking machine during the curved jacking process;

[0019] The posture adjustment module is used to automatically calculate the extension and contraction amount of the correction cylinder and the thrust distribution of the propulsion cylinder that need to be adjusted based on the intelligent correction algorithm model when it detects that the posture deviation of the pipe jacking machine exceeds the allowable range. It then sends instructions to the control system of the pipe jacking machine to automatically adjust the posture of the pipe jacking machine;

[0020] The strategy correction module is used to collect the posture data of the pipe jacking machine in real time during the adjustment process, and feed it back to the intelligent correction algorithm model to form a closed-loop control and continuously optimize the correction strategy.

[0021] Preferably, it also includes:

[0022] The sensor data acquisition module is used to collect geological sensor data in real time during the advancement of the pipe jacking machine, including: soil hardness, water content, porosity, and the advancement speed and thrust of the pipe jacking machine;

[0023] A dynamic adjustment module is used to dynamically adjust the pressure and speed of the propulsion cylinder based on the correspondence between geological conditions and propulsion parameters pre-established in the three-dimensional BIM model and in combination with real-time collected geological sensor data;

[0024] When encountering hard soil, the pressure of the propulsion cylinder will be automatically increased and the propulsion speed will be reduced;

[0025] When entering soft soil layers, reduce the pressure in the propulsion cylinder and increase the propulsion speed;

[0026] A control module is recommended to optimize the thrust distribution of the propulsion cylinder according to the real-time position and posture of the pipe jacking machine and the designed jacking path. Through adaptive propulsion control, the pipe jacking machine can achieve smooth jacking under different geological conditions.

[0027] Preferably, it also includes:

[0028] Remote monitoring and operation module, which is used to establish a communication connection between the pipe jacking machine and the remote monitoring center based on Internet technology, so as to realize remote monitoring and operation of the pipe jacking machine;

[0029] In the remote monitoring center, operators can view the pipe jacking machine's operating data, construction environment information in the 3D BIM model, and visualized construction status in real time through the monitoring platform.

[0030] The instruction sending module is used when the pipe jacking machine is in a complex or dangerous environment. The operator sends instructions through the remote control center to advance, correct or stop the pipe jacking machine.

[0031] Preferably, it also includes:

[0032] Build a module for building a data analysis platform that centrally processes data from pipe jacking machines and 3D BIM models;

[0033] A parameter prediction module is used to analyze the relationship between geological conditions and the propulsion parameters of the pipe jacking machine based on the data analysis platform, establish a prediction model, and predict the optimal propulsion parameters of the pipe jacking machine under different geological conditions;

[0034] A factor finding module is used to analyze the relationship between the posture deviation of the pipe jacking machine and the sensor data and propulsion parameters based on the data analysis platform, and find out the factors affecting the posture deviation;

[0035] The generation module is used to generate various reports and charts based on the data analysis platform, including: construction progress report, equipment operation status report and quality inspection report.

[0036] Preferably, the prediction and intelligent control module includes:

[0037] Building a unit for modeling possible risk factors during pipe jacking construction and establishing a risk assessment model;

[0038] The value acquisition unit is used to predict and analyze the dynamic behavior of the pipe jacking machine during construction through the risk assessment model to obtain a mapping risk factor table of possible problems, and to evaluate and obtain a risk value. When the risk value exceeds a set threshold, an early warning signal is automatically issued and corresponding risk response measures are provided.

[0039] Preferably, the first model building module includes:

[0040] System modeling unit, used to establish a four-dimensional parameter system, including: geometric parameters, physical parameters, connection parameters and control parameters;

[0041] Hierarchical modeling unit, used for hierarchical component modeling, including: basic components, subsystem integration, and overall assembly modeling;

[0042] Principle modeling unit, used to model the working principles of key devices, including propulsion dynamics modeling and correction kinematics modeling;

[0043] The model forming unit is used to verify the strength of components through finite element analysis, verify the rationality of connection constraints using multi-body dynamics software, iteratively modify the parameter system according to the simulation results, and form the BIM model of the pipe jacking machine.

[0044] Preferably, the value acquisition unit includes:

[0045] The collection subunit is used to collect possible risk factors during the construction of the pipe jacking machine and establish a risk factor collection ,in, is the i-th risk factor, n represents the total number of risk factors;

[0046] The indicator determination subunit is used to determine the corresponding impact indicator set for the i-th risk factor , where m represents the total number of impact indicators;

[0047] The risk model construction sub-unit is used to determine the weights of various risk factors and influencing indicators through the hierarchical analysis method and to build a risk assessment model;

[0048] A vector acquisition subunit is used to input the collected data related to the pipe jacking machine into the risk assessment model, and analyze the dynamic behavior of the pipe jacking machine during the construction process through the constructed dynamic prediction algorithm to obtain a state vector;

[0049] The dynamic prediction algorithm is as follows:

[0050] ,

[0051] in, represents the state vector at time k; represents the state transition matrix; represents the input matrix; represents the input vector; represents the process noise vector; represents the state vector at time k+1;

[0052] The table construction subunit is used to estimate and predict the state vector through the Kalman filter algorithm to obtain the state prediction value at the future moment during the construction process of the pipe jacking machine, and then analyze the possible risk factors and classify the risks to obtain a mapping risk factor table;

[0053] a value calculation subunit, configured to calculate a risk value Fz based on the mapped risk factor table using a risk assessment model;

[0054] ,

[0055] in, is the weight of the i1th risk factor; n1 is the number of risk factors, m1 is the number of influencing indicators, is the weight of the j1th influencing indicator under the i1th risk factor; is the static deviation of the j1th influencing indicator under the i1th risk factor; is the associated confidence of the j1th influencing indicator under the i1th risk factor determined based on the mapped risk factor table; is the mapping table correction coefficient of the i1th risk factor; is the weight correction coefficient of the jth influencing indicator of the i1th risk factor; a masking function representing the confidence of the association; Based on The static deviation term, the dynamic rate based on time t, and the Multidimensional risk function of the synergistic coupling term;

[0056] ,

[0057] in, is the confidence threshold.

[0058] The present invention provides an intelligent control method for a rectangular pipe jacking machine based on BIM, comprising:

[0059] Step 1: Simulate the size, material, and connection relationship of each component of the pipe jacking machine, as well as the working principle of key devices, to form a BIM model of the pipe jacking machine;

[0060] Step 2: Based on the survey data, construct a physical and mechanical parameter model of different soil layers. At the same time, enter the type, location, and burial depth of existing pipelines in the surrounding area, as well as the structural form, size, and bearing capacity of the building foundation in detail to form a BIM model of the construction environment.

[0061] Step 3: Integrate the pipe jacking machine BIM model, the physical and mechanical parameter model, and the construction environment BIM model to obtain a three-dimensional BIM model;

[0062] Step 4: Set the initial position and posture of the pipe jacking machine based on the three-dimensional BIM model, input the design parameters of the jacking curve, and simulate the dynamic behavior of the pipe jacking machine under different geological conditions during the simulation process, predict possible problems of the pipe jacking machine, and perform intelligent control and adjustment of the pipe jacking machine, wherein the dynamic behavior includes: the displacement of the pipe jacking machine during the advancement process, the change of posture, and the interaction with the surrounding soil, pipelines and building foundations.

[0063] Compared with the prior art, the present invention has the following advantages:

[0064] By constructing a BIM model of the pipe jacking machine and the construction environment, digital simulation and visualization of pipe jacking construction are achieved. Combined with real-time data acquisition and intelligent control technology, the machine's propulsion and deviation correction can be dynamically adjusted, improving construction accuracy and efficiency and reducing construction accidents caused by posture deviation. Remote monitoring and data analysis capabilities enable managers to monitor construction status in real time, optimize construction parameters, predict construction risks, and take timely countermeasures, effectively ensuring the safety and quality of pipe jacking construction while reducing construction costs and the impact on the surrounding environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0066] Figure 1This is a structural diagram of an intelligent control system for a rectangular pipe jacking machine based on BIM provided by an embodiment of the present invention;

[0067] Figure 2 A flowchart of an intelligent control method for a rectangular pipe jacking machine based on BIM is provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0068] 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 the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0069] The present invention provides a BIM-based intelligent control system for rectangular pipe jacking machines. Figure 1 Shown, including:

[0070] The first model building module is used to simulate the size, material and connection relationship of each component of the pipe jacking machine and the working principle of the key devices to form a BIM model of the pipe jacking machine;

[0071] The second model building module is used to construct physical and mechanical parameter models of different soil layers based on the survey data. At the same time, the type, location, and burial depth of existing pipelines in the surrounding area, as well as the structural form, size, and bearing capacity of building foundations, are recorded in detail to form a BIM model of the construction environment.

[0072] The model fusion module is used to fuse the pipe jacking machine BIM model, the physical and mechanical parameter model, and the construction environment BIM model to obtain a three-dimensional BIM model;

[0073] The prediction and intelligent control module is used to set the initial position and posture of the pipe jacking machine based on the three-dimensional BIM model, input the design parameters of the jacking curve, and simulate the dynamic behavior of the pipe jacking machine under different geological conditions during the simulation process, predict possible problems of the pipe jacking machine, and perform intelligent control and adjustment of the pipe jacking machine, wherein the dynamic behavior includes: the displacement of the pipe jacking machine during the advancement process, the change of posture, and the interaction with the surrounding soil, pipelines and building foundations.

[0074] Preferably, it also includes:

[0075] Real-time acquisition module, used to collect real-time operation data of the pipe jacking machine, including: position coordinates, pitch angle, roll angle, yaw angle, and thrust size and distribution of each propulsion cylinder;

[0076] The comparison and analysis module is used to extract the theoretical position, posture and thrust parameters of the pipe jacking machine on the designed jacking path from the three-dimensional BIM model, establish a corresponding relationship between real-time data and model parameters, compare the collected real-time data with the theoretical parameters in the three-dimensional BIM model in real time, and calculate the position deviation, posture deviation and thrust deviation.

[0077] Preferably, it also includes:

[0078] A scheme determination module is used to determine the optimal scheme for adjusting the posture of the pipe jacking machine through mathematical modeling and optimization calculation based on the soil resistance, thrust distribution of the propulsion cylinder, and force factors of the correction cylinder encountered by the pipe jacking machine during the curved jacking process;

[0079] The posture adjustment module is used to automatically calculate the extension and contraction amount of the correction cylinder and the thrust distribution of the propulsion cylinder that need to be adjusted based on the intelligent correction algorithm model when it detects that the posture deviation of the pipe jacking machine exceeds the allowable range. It then sends instructions to the control system of the pipe jacking machine to automatically adjust the posture of the pipe jacking machine;

[0080] The strategy correction module is used to collect the posture data of the pipe jacking machine in real time during the adjustment process, and feed it back to the intelligent correction algorithm model to form a closed-loop control and continuously optimize the correction strategy.

[0081] Preferably, it also includes:

[0082] The sensor data acquisition module is used to collect geological sensor data in real time during the advancement of the pipe jacking machine, including: soil hardness, water content, porosity, and the advancement speed and thrust of the pipe jacking machine;

[0083] A dynamic adjustment module is used to dynamically adjust the pressure and speed of the propulsion cylinder based on the correspondence between geological conditions and propulsion parameters pre-established in the three-dimensional BIM model and in combination with real-time collected geological sensor data;

[0084] When encountering hard soil, the pressure of the propulsion cylinder will be automatically increased and the propulsion speed will be reduced;

[0085] When entering soft soil layers, reduce the pressure in the propulsion cylinder and increase the propulsion speed;

[0086] A control module is recommended to optimize the thrust distribution of the propulsion cylinder according to the real-time position and posture of the pipe jacking machine and the designed jacking path. Through adaptive propulsion control, the pipe jacking machine can achieve smooth jacking under different geological conditions.

[0087] Preferably, it also includes:

[0088] Remote monitoring and operation module, which is used to establish a communication connection between the pipe jacking machine and the remote monitoring center based on Internet technology, so as to realize remote monitoring and operation of the pipe jacking machine;

[0089] In the remote monitoring center, operators can view the pipe jacking machine's operating data, construction environment information in the 3D BIM model, and visualized construction status in real time through the monitoring platform.

[0090] The instruction sending module is used when the pipe jacking machine is in a complex or dangerous environment. The operator sends instructions through the remote control center to advance, correct or stop the pipe jacking machine.

[0091] Preferably, it also includes:

[0092] Build a module for building a data analysis platform that centrally processes data from pipe jacking machines and 3D BIM models;

[0093] A parameter prediction module is used to analyze the relationship between geological conditions and the propulsion parameters of the pipe jacking machine based on the data analysis platform, establish a prediction model, and predict the optimal propulsion parameters of the pipe jacking machine under different geological conditions;

[0094] A factor finding module is used to analyze the relationship between the posture deviation of the pipe jacking machine and the sensor data and propulsion parameters based on the data analysis platform, and find out the factors affecting the posture deviation;

[0095] The generation module is used to generate various reports and charts based on the data analysis platform, including: construction progress report, equipment operation status report and quality inspection report.

[0096] Preferably, the prediction and intelligent control module includes:

[0097] Building a unit for modeling possible risk factors during pipe jacking construction and establishing a risk assessment model;

[0098] The value acquisition unit is used to predict and analyze the dynamic behavior of the pipe jacking machine during construction through the risk assessment model to obtain a mapping risk factor table of possible problems, and to evaluate and obtain a risk value. When the risk value exceeds a set threshold, an early warning signal is automatically issued and corresponding risk response measures are provided.

[0099] Preferably, the first model building module includes:

[0100] System modeling unit, used to establish a four-dimensional parameter system, including: geometric parameters, physical parameters, connection parameters and control parameters;

[0101] Hierarchical modeling unit, used for hierarchical component modeling, including: basic components, subsystem integration, and overall assembly modeling;

[0102] Principle modeling unit, used to model the working principles of key devices, including propulsion dynamics modeling and correction kinematics modeling;

[0103] The model forming unit is used to verify the strength of components through finite element analysis, verify the rationality of connection constraints using multi-body dynamics software, iteratively modify the parameter system according to the simulation results, and form the BIM model of the pipe jacking machine.

[0104] In this embodiment, the pipe jacking machine is a trenchless construction device that pushes pipes into the soil layer section by section by jacking. For example, in the construction of urban underground drainage pipes, it avoids road excavation and reduces the impact on traffic and residents' lives.

[0105] Component dimensions are geometric parameters such as length, width, and height of each component of the pipe jacking machine. For example, the cutter head diameter and machine body length can be measured from the design drawings.

[0106] The material refers to the material that constitutes the components of the pipe jacking machine. For example, the cutter head is made of high-strength and wear-resistant alloy steel, and the machine body is made of high-quality steel to ensure strength and durability.

[0107] The connection relationship is the assembly method between parts, such as bolt connection, welding, etc. For example, the head and body of the pipe jacking machine are fixedly connected by high-strength bolts.

[0108] Key devices are those that play a crucial role in the operation of the pipe jacking machine, such as the propulsion system and the correction system. The propulsion system consists of a propulsion cylinder that provides jacking power through hydraulic drive; the correction system changes the posture of the pipe jacking machine by adjusting the extension and contraction of the correction cylinder.

[0109] A BIM model, or Building Information Modeling, is a digital 3D model that integrates geometric, physical, and functional information about an engineering object. The pipe jacking machine BIM model is created using professional modeling software such as Revit and Catia, based on the dimensions, materials, and connection relationships of the machine's components.

[0110] Survey data is soil layer information obtained through geological surveys, including soil layer type, depth, physical and mechanical properties, etc. Data can be obtained through methods such as drilling and static penetration testing.

[0111] The physical and mechanical parameter model is to model the physical and mechanical parameters of different soil layers, such as density, compression modulus, internal friction angle, etc. , the compression modulus is 3-8MPa.

[0112] The construction environment refers to the surrounding conditions within the construction area of ​​the pipe jacking machine, including existing pipelines (such as gas pipelines, water pipelines) and building foundations.

[0113] Pipeline types include metal gas pipes, plastic drainage pipes, etc.

[0114] The location and burial depth of the pipeline are determined by underground pipeline detectors.

[0115] Common building foundation structures include strip foundations and raft foundations. For example, if a residential building uses a strip foundation, the size is determined according to the building design, and the bearing capacity must meet the building load requirements.

[0116] The jacking curve is the trajectory of the pipe jacking machine as it advances underground. Design parameters include curve radius, slope, etc. In the modeling software, set the initial position and posture of the pipe jacking machine according to the design requirements and enter the jacking curve parameters.

[0117] Dynamic behavior refers to the change in the motion state of the pipe jacking machine during the advancement process.

[0118] Displacement is the distance the pipe jacking machine moves in the jacking direction, which can be measured in real time by a displacement sensor installed on the pipe jacking machine.

[0119] Attitude changes include pitch angle (up and down tilt angle of the pipe jacking machine), roll angle (left and right tilt angle), and yaw angle (horizontal offset angle), and data is collected through attitude sensors such as gyroscopes.

[0120] Interaction refers to the mechanical influence between the pipe jacking machine and the surrounding soil, pipelines, and building foundations. For example, the pipe jacking machine squeezes the surrounding soil as it advances, which can cause soil deformation and affect the stability of surrounding pipelines and building foundations.

[0121] Real-time data acquisition uses various sensors to obtain real-time data on the pipe jacking machine's operation. For example, pressure sensors collect the thrust of the propulsion cylinder, and angle sensors collect pitch, roll, and yaw angles.

[0122] The intelligent deviation correction algorithm is based on mathematical models and optimization algorithms. It calculates the extension and retraction of the correction cylinder and the thrust distribution of the propulsion cylinder based on the machine's posture deviation. For example, it uses a PID control algorithm to adjust control parameters in real time based on deviations to achieve automatic deviation correction.

[0123] Closed-loop control is to feed back the actual data after the pipe jacking machine posture adjustment into the intelligent correction algorithm model, compare it with the theoretical parameters, continuously optimize the correction strategy, and form a control loop.

[0124] Geological sensors are used to detect parameters such as soil hardness, moisture content, and porosity. For example, a penetration hardness tester can measure soil hardness, while a moisture sensor can measure moisture content.

[0125] The remote monitoring center is a remote control platform built using internet technology. Operators can view the pipe jacking machine's operating data and construction environment information in real time and remotely control the machine. For example, a VPN connection is established between the pipe jacking machine and the remote monitoring center.

[0126] The data analysis platform is a software system that centrally processes and analyzes data from pipe jacking machines and BIM models. Using big data analysis techniques, it analyzes the relationship between geological conditions and propulsion parameters, as well as posture deviations and sensor data, and generates various reports and charts.

[0127] The risk assessment model is a mathematical model that models and evaluates risk factors during pipe jacking construction. For example, it considers risk factors such as soil instability and pipeline collisions, and determines the risk value through probability analysis and impact assessment.

[0128] The four-dimensional parameter system includes geometric parameters (component dimensions), physical parameters (material properties), connection parameters (connection method and strength), and control parameters (propulsion and correction parameters), which are used to comprehensively describe the characteristics of the pipe jacking machine.

[0129] Hierarchical component modeling is a step-by-step modeling process from basic components (such as a single cylinder), subsystem integration (propulsion system, correction system) to the overall assembly to ensure the accuracy and completeness of the model.

[0130] Finite element analysis is the use of finite element software (such as ANSYS) to perform strength analysis on pipe jacking machine components, simulate the stress and strain distribution of the components under load, and verify whether the component strength meets the requirements.

[0131] Multi-body dynamics software, such as ADAMS, is used to verify the rationality of the connection constraints between the pipe jacking machine components and simulate the mechanical behavior of the pipe jacking machine during movement.

[0132] The beneficial effects of this technical solution include: by constructing a BIM model of the pipe jacking machine and the construction environment, digital simulation and visualization of pipe jacking construction are achieved. Combined with real-time data acquisition and intelligent control technology, the machine's propulsion and deviation correction can be dynamically adjusted, improving construction accuracy and efficiency and reducing construction accidents caused by posture deviation. Remote monitoring and data analysis capabilities enable managers to monitor construction status in real time, optimize construction parameters, predict construction risks, and take timely countermeasures, effectively ensuring the safety and quality of pipe jacking construction, reducing construction costs and the impact on the surrounding environment.

[0133] The present invention provides a BIM-based intelligent control system for a rectangular pipe jacking machine, a value acquisition unit, comprising:

[0134] The collection subunit is used to collect possible risk factors during the construction of the pipe jacking machine and establish a risk factor collection ,in, is the i-th risk factor, n represents the total number of risk factors;

[0135] The indicator determination subunit is used to determine the corresponding impact indicator set for the i-th risk factor , where m represents the total number of impact indicators;

[0136] The risk model construction sub-unit is used to determine the weights of various risk factors and influencing indicators through the hierarchical analysis method and to build a risk assessment model;

[0137] A vector acquisition subunit is used to input the collected data related to the pipe jacking machine into the risk assessment model, and analyze the dynamic behavior of the pipe jacking machine during the construction process through the constructed dynamic prediction algorithm to obtain a state vector;

[0138] The dynamic prediction algorithm is as follows:

[0139] ,

[0140] in, represents the state vector at time k; represents the state transition matrix; represents the input matrix; represents the input vector; represents the process noise vector; represents the state vector at time k+1;

[0141] The table construction subunit is used to estimate and predict the state vector through the Kalman filter algorithm to obtain the state prediction value at the future moment during the construction process of the pipe jacking machine, and then analyze the possible risk factors and classify the risks to obtain a mapping risk factor table;

[0142] a value calculation subunit, configured to calculate a risk value Fz based on the mapped risk factor table using a risk assessment model;

[0143] ,

[0144] in, is the weight of the i1th risk factor; n1 is the number of risk factors, m1 is the number of influencing indicators, is the weight of the j1th influencing indicator under the i1th risk factor; is the static deviation of the j1th influencing indicator under the i1th risk factor; is the associated confidence of the j1th influencing indicator under the i1th risk factor determined based on the mapped risk factor table; is the mapping table correction coefficient of the i1th risk factor; is the weight correction coefficient of the jth influencing indicator of the i1th risk factor; a masking function representing the confidence of the association; Based on The static deviation term, the dynamic rate based on time t, and the Multidimensional risk function of the synergistic coupling term;

[0145] ,

[0146] in, is the confidence threshold.

[0147] In this embodiment, risk factors refer to various potential factors that may lead to adverse consequences such as construction accidents, quality problems, or increased costs during the construction process. For example, risk factors can be comprehensively identified through reviewing historical construction data, exchanging expert experience, and conducting on-site surveys of the construction environment. For example, from past urban underground pipeline jacking construction cases, risk factors such as pipe jacking machine jamming due to complex geological conditions, gas leaks due to collisions with surrounding pipelines, and other risk factors such as the sudden appearance of quicksand layers in the soil and failures in the pipe jacking machine's propulsion system have been collected.

[0148] In this embodiment, for each collected risk factor, a specific set of indicators is determined that can describe and measure the likelihood and impact of the risk. These indicators further refine the risk factors to more accurately assess them. For example, construction technology experts, geological engineers, equipment maintenance personnel, and others are organized to discuss and determine corresponding indicators based on the nature and characteristics of the risk factors. For example, for the risk factor of the sudden appearance of quicksand in the soil layer, the thickness of the quicksand layer, the moisture content of the quicksand layer, and the probability of its occurrence are determined as impact indicators.

[0149] In this example, the Analytic Hierarchy Process (AHP) was used to assign weights to each risk factor and its corresponding influencing indicator, constructing a mathematical model for assessing the construction risk of a pipe jacking machine. The weights reflect the relative importance of each factor and indicator in the risk assessment. The risk assessment problem was first decomposed into a target layer (pipe jacking machine construction risk assessment), a criterion layer (risk factors), and an indicator layer (influencing indicators). Then, using methods such as expert scoring, a judgment matrix was constructed to calculate the weights of each factor and indicator. For example, if experts believe that the risk of soil geological conditions is more important than the risk of equipment failure, they would be assigned corresponding scores in the judgment matrix. Assume that the AHP calculation results in a weight of 0.6 for the soil geological condition risk, a weight of 0.3 for the quicksand thickness indicator, and a weight of 0.2 for the quicksand moisture content indicator.

[0150] In this embodiment, various relevant data collected during the pipe jacking machine's operation, such as its position coordinates, propulsion speed, and soil pressure, are input into a constructed risk assessment model. A dynamic prediction algorithm is then used to analyze the machine's dynamic behavior, generating a state vector reflecting the machine's current operational status. Various sensors (displacement sensors, pressure sensors, gyroscopes, etc.) installed on the machine collect data in real time. This data is then formatted and fed into the risk assessment model's dynamic prediction algorithm module for calculation. For example, at a specific moment, the machine's displacement, attitude, and thrust data are collected and calculated using the dynamic prediction algorithm to generate a state vector.

[0151] In this embodiment, a state transition matrix and an input matrix are established based on the mechanical principles and engineering experience of pipe jacking machine construction. For example, the input matrix is ​​determined based on the dynamic characteristics of the pipe jacking machine's propulsion system, and the state transition matrix is ​​determined based on the effects of the soil on the pipe jacking machine. The algorithm is implemented through programming, such as using the Python NumPy library for matrix operations.

[0152] In this embodiment, a Kalman filter algorithm is implemented in a computer program to iteratively update and predict the state vector obtained by the dynamic prediction algorithm. Based on the prediction results, combined with pre-set risk classification rules, risk factors are classified. For example, when it is predicted that the posture deviation of the pipe jacking machine exceeds a certain range, the risk factor of the pipe jacking machine posture loss of control is classified into the equipment operation risk category. For example, after the Kalman filter algorithm prediction, it is found that the pipe jacking machine may have difficulty in advancing at some point in the future due to changes in soil hardness. The risk factor of soil hardness mutation is included in the mapping risk factor table and classified under the geological risk category.

[0153] In this embodiment, the risk factor weights, impact indicator weights, associated confidences, and other parameters in the mapped risk factor table are substituted into the risk value calculation formula for calculation. For example, the formula calculation is implemented using a programming language, and the calculation result is output as the risk value.

[0154] The beneficial effects of this technical solution include: through systematic risk factor collection and analysis, combined with the analytic hierarchy process (AHP), dynamic prediction algorithms, and Kalman filtering algorithms, it enables quantitative assessment and dynamic prediction of pipe jacking machine construction risks. This system can proactively identify potential risk factors during construction and intuitively reflect the magnitude of risk through risk value calculation. This helps construction managers promptly understand construction risk conditions, implement targeted preventive measures, and reduce the probability of construction accidents.

[0155] The present invention provides an intelligent control method for a rectangular pipe jacking machine based on BIM, such as Figure 2 Shown, including:

[0156] Step 1: Simulate the size, material, and connection relationship of each component of the pipe jacking machine, as well as the working principle of key devices, to form a BIM model of the pipe jacking machine;

[0157] Step 2: Based on the survey data, construct a physical and mechanical parameter model of different soil layers. At the same time, enter the type, location, and burial depth of existing pipelines in the surrounding area, as well as the structural form, size, and bearing capacity of the building foundation in detail to form a BIM model of the construction environment.

[0158] Step 3: Integrate the pipe jacking machine BIM model, the physical and mechanical parameter model, and the construction environment BIM model to obtain a three-dimensional BIM model;

[0159] Step 4: Set the initial position and posture of the pipe jacking machine based on the three-dimensional BIM model, input the design parameters of the jacking curve, and simulate the dynamic behavior of the pipe jacking machine under different geological conditions during the simulation process, predict possible problems of the pipe jacking machine, and perform intelligent control and adjustment of the pipe jacking machine, wherein the dynamic behavior includes: the displacement of the pipe jacking machine during the advancement process, the change of posture, and the interaction with the surrounding soil, pipelines and building foundations.

[0160] The beneficial effects of this technical solution include: by constructing a BIM model of the pipe jacking machine and the construction environment, digital simulation and visualization of pipe jacking construction are achieved. Combined with real-time data acquisition and intelligent control technology, the machine's propulsion and deviation correction can be dynamically adjusted, improving construction accuracy and efficiency and reducing construction accidents caused by posture deviation. Remote monitoring and data analysis capabilities enable managers to monitor construction status in real time, optimize construction parameters, predict construction risks, and take timely countermeasures, effectively ensuring the safety and quality of pipe jacking construction, reducing construction costs and the impact on the surrounding environment.

[0161] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A BIM-based intelligent control system for rectangular pipe jacking machines, characterized in that: include: The first model building module is used to simulate the size, material and connection relationship of each component of the pipe jacking machine and the working principle of the key devices to form a BIM model of the pipe jacking machine; The second model building module is used to construct physical and mechanical parameter models of different soil layers based on the survey data. At the same time, the type, location, and burial depth of existing pipelines in the surrounding area, as well as the structural form, size, and bearing capacity of building foundations, are recorded in detail to form a BIM model of the construction environment. The model fusion module is used to fuse the pipe jacking machine BIM model, the physical and mechanical parameter model, and the construction environment BIM model to obtain a three-dimensional BIM model; A prediction and intelligent control module is used to set the initial position and posture of the pipe jacking machine based on the three-dimensional BIM model, input the design parameters of the jacking curve, and simulate the dynamic behavior of the pipe jacking machine under different geological conditions during the simulation process, predict possible problems of the pipe jacking machine, and perform intelligent control and adjustment of the pipe jacking machine, wherein the dynamic behavior includes: the displacement and posture change of the pipe jacking machine during the advancement process, and the interaction with the surrounding soil, pipelines and building foundations; A scheme determination module is used to determine the optimal scheme for adjusting the posture of the pipe jacking machine through mathematical modeling and optimization calculation based on the soil resistance, thrust distribution of the propulsion cylinder, and force factors of the correction cylinder encountered by the pipe jacking machine during the curved jacking process; The posture adjustment module is used to automatically calculate the extension and contraction amount of the correction cylinder and the thrust distribution of the propulsion cylinder that need to be adjusted based on the intelligent correction algorithm model when it detects that the posture deviation of the pipe jacking machine exceeds the allowable range. It then sends instructions to the control system of the pipe jacking machine to automatically adjust the posture of the pipe jacking machine; A strategy correction module is used to collect the posture data of the pipe jacking machine in real time during the adjustment process, and feed it back to the intelligent correction algorithm model to form a closed-loop control and continuously optimize the correction strategy; Build a module for building a data analysis platform that centrally processes data from pipe jacking machines and 3D BIM models; A parameter prediction module is used to analyze the relationship between geological conditions and the propulsion parameters of the pipe jacking machine based on the data analysis platform, establish a prediction model, and predict the optimal propulsion parameters of the pipe jacking machine under different geological conditions; A factor finding module is used to analyze the relationship between the posture deviation of the pipe jacking machine and the sensor data and propulsion parameters based on the data analysis platform, and find out the factors affecting the posture deviation; The generation module is used to generate various reports and charts based on the data analysis platform, including: construction progress report, equipment operation status report and quality inspection report.

2. The BIM-based rectangular pipe jacking machine intelligent control system according to claim 1 is characterized in that: Also includes: Real-time acquisition module, used to collect real-time operation data of the pipe jacking machine, including: position coordinates, pitch angle, roll angle, yaw angle, and thrust size and distribution of each propulsion cylinder; The comparison and analysis module is used to extract the theoretical position, posture and thrust parameters of the pipe jacking machine on the designed jacking path from the three-dimensional BIM model, establish a corresponding relationship between real-time data and model parameters, compare the collected real-time data with the theoretical parameters in the three-dimensional BIM model in real time, and calculate the position deviation, posture deviation and thrust deviation.

3. The BIM-based rectangular pipe jacking machine intelligent control system according to claim 1 is characterized in that: Also includes: The sensor data acquisition module is used to collect geological sensor data in real time during the advancement of the pipe jacking machine, including: soil hardness, water content, porosity, and the advancement speed and thrust of the pipe jacking machine; A dynamic adjustment module is used to dynamically adjust the pressure and speed of the propulsion cylinder based on the correspondence between geological conditions and propulsion parameters pre-established in the three-dimensional BIM model and in combination with real-time collected geological sensor data; When encountering hard soil, the pressure of the propulsion cylinder will be automatically increased and the propulsion speed will be reduced; When entering soft soil layers, reduce the pressure in the propulsion cylinder and increase the propulsion speed; A control module is recommended to optimize the thrust distribution of the propulsion cylinder according to the real-time position and posture of the pipe jacking machine and the designed jacking path. Through adaptive propulsion control, the pipe jacking machine can achieve smooth jacking under different geological conditions.

4. The BIM-based intelligent control system for rectangular pipe jacking machines according to claim 1 is characterized in that: Also includes: Remote monitoring and operation module, which is used to establish a communication connection between the pipe jacking machine and the remote monitoring center based on Internet technology, so as to realize remote monitoring and operation of the pipe jacking machine; In the remote monitoring center, operators can view the pipe jacking machine's operating data, construction environment information in the 3D BIM model, and visualized construction status in real time through the monitoring platform. The instruction sending module is used when the pipe jacking machine is in a complex or dangerous environment. The operator sends instructions through the remote control center to advance, correct or stop the pipe jacking machine.

5. The BIM-based intelligent control system for rectangular pipe jacking machines according to claim 1 is characterized in that: The prediction and intelligent control module includes: Building a unit for modeling possible risk factors during pipe jacking construction and establishing a risk assessment model; The value acquisition unit is used to predict and analyze the dynamic behavior of the pipe jacking machine during construction through the risk assessment model to obtain a mapping risk factor table of possible problems, and to evaluate and obtain a risk value. When the risk value exceeds a set threshold, an early warning signal is automatically issued and corresponding risk response measures are provided.

6. The BIM-based intelligent control system for rectangular pipe jacking machines according to claim 1 is characterized in that: The first model building module includes: System modeling unit, used to establish a four-dimensional parameter system, including: geometric parameters, physical parameters, connection parameters and control parameters; Hierarchical modeling unit, used for hierarchical component modeling, including: basic components, subsystem integration, and overall assembly modeling; Principle modeling unit, used to model the working principles of key devices, including propulsion dynamics modeling and correction kinematics modeling; The model forming unit is used to verify the strength of components through finite element analysis, verify the rationality of connection constraints using multi-body dynamics software, iteratively modify the parameter system according to the simulation results, and form the BIM model of the pipe jacking machine.

7. The BIM-based intelligent control system for rectangular pipe jacking machines according to claim 5 is characterized in that: Value acquisition unit, including: The collection subunit is used to collect possible risk factors during the construction of the pipe jacking machine and establish a risk factor collection ,in, is the i-th risk factor, n represents the total number of risk factors; The indicator determination subunit is used to determine the corresponding impact indicator set for the i-th risk factor , where m represents the total number of impact indicators; The risk model construction sub-unit is used to determine the weights of various risk factors and influencing indicators through the hierarchical analysis method and to build a risk assessment model; A vector acquisition subunit is used to input the collected data related to the pipe jacking machine into the risk assessment model, and analyze the dynamic behavior of the pipe jacking machine during the construction process through the constructed dynamic prediction algorithm to obtain a state vector; The dynamic prediction algorithm is as follows: ， in, represents the state vector at time k; represents the state transition matrix; represents the input matrix; represents the input vector; represents the process noise vector; represents the state vector at time k+1; The table construction subunit is used to estimate and predict the state vector through the Kalman filter algorithm to obtain the state prediction value at the future moment during the construction process of the pipe jacking machine, and then analyze the possible risk factors and classify the risks to obtain a mapping risk factor table; a value calculation subunit, configured to calculate a risk value Fz based on the mapped risk factor table using a risk assessment model; ， in, is the weight of the i1th risk factor; n1 is the number of risk factors, m1 is the number of influencing indicators, is the weight of the j1th influencing indicator under the i1th risk factor; is the static deviation of the j1th influencing indicator under the i1th risk factor; is the associated confidence of the j1th influencing indicator under the i1th risk factor determined based on the mapped risk factor table; is the mapping table correction coefficient of the i1th risk factor; is the weight correction coefficient of the jth influencing indicator of the i1th risk factor; a masking function representing the confidence of the association; Based on The static deviation term, the dynamic rate based on time t, and the Multidimensional risk function of the synergistic coupling term; ， in, is the confidence threshold.

8. A BIM-based intelligent control method for a rectangular pipe jacking machine, applied to the BIM-based intelligent control system for a rectangular pipe jacking machine according to any one of claims 1 to 7, characterized in that: include: Step 1: Simulate the size, material, and connection relationship of each component of the pipe jacking machine, as well as the working principle of key devices, to form a BIM model of the pipe jacking machine; Step 2: Based on the survey data, construct a physical and mechanical parameter model of different soil layers. At the same time, enter the type, location, and burial depth of existing pipelines in the surrounding area, as well as the structural form, size, and bearing capacity of the building foundation in detail to form a BIM model of the construction environment. Step 3: Integrate the pipe jacking machine BIM model, the physical and mechanical parameter model, and the construction environment BIM model to obtain a three-dimensional BIM model; Step 4: Set the initial position and posture of the pipe jacking machine based on the three-dimensional BIM model, input the design parameters of the jacking curve, and simulate the dynamic behavior of the pipe jacking machine under different geological conditions during the simulation process, predict possible problems of the pipe jacking machine, and perform intelligent control and adjustment of the pipe jacking machine, wherein the dynamic behavior includes: the displacement of the pipe jacking machine during the advancement process, the change of posture, and the interaction with the surrounding soil, pipelines and building foundations.

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