A method for processing the pose of a launching well inner pipe and a pose correction device

Abstract

The application relates to the technical field of tunnel data processing, and discloses a starting well in-pipe pose processing method and a pose correction device. The starting well in-pipe pose processing method comprises the following steps: after installing the pose correction device and a pipe jacking machine head in a well, obtaining measurement information of a hole portal, and determining first position information of the pipe jacking machine head according to the measurement information during pipe jacking of the hole portal; obtaining first relationship information between the pipe jacking machine head and the hole portal according to the measurement information and the first position information, and displaying the first relationship information to a user; generating a first correction instruction of the pose correction device according to the first relationship information; and controlling the pose correction device to correct the pipe jacking machine head according to the first correction instruction, so that the pipe jacking machine head is located at the center of the hole portal. The application can realize real-time monitoring and correction of the pose of the pipe jacking machine head in the starting well of rectangular pipe jacking construction, and ensures pipe jacking effect.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel data processing, in particular to a launching shaft pipe pose processing method and a pose correction device. BACKGROUND

[0002] With the development of pipe jacking technology, the pipe jacking section is getting larger and larger, and the weight of rectangular pipe jacking equipment and pipe joints is also getting heavier, so it is impossible to lift the machine head into the launching shaft at one time, and the assembly of large-section rectangular pipe jacking equipment needs to be carried out in the launching shaft. Usually, 3 to 5 steel rails are arranged at the bottom of the pipe jacking launching shaft, and the rectangular pipe jacking machine is assembled on the steel rails; after the assembly is completed, the machine head is jacked along the direction of the steel rails; after the machine head is jacked, the rectangular pipe joint is placed on the steel rails and jacked to the portal.

[0003] The prior art has the following problems: the large-section rectangular pipe jacking machine head and pipe joint are not uniform in weight distribution (such as the cutter head is heavy and the tail shield is light; the pipe joint is longitudinally arranged with a steel ring on one side which is relatively heavy), and the friction with the lower steel rails cannot be kept uniform, so when the thrust cylinder is jacked forward, due to the uneven friction at the bottom, the rectangular pipe jacking machine head and pipe joint are prone to large deviation when entering the portal, resulting in poor sealing effect of the portal, easy leakage of water, and difficulty in correction.

[0004] Therefore, the prior art still needs to be improved and developed. SUMMARY

[0005] The main purpose of the present application is to provide a launching shaft pipe pose processing method and a pose correction device, which aims to solve the problem in the prior art that when the thrust cylinder is jacked forward, due to the uneven friction at the bottom, the large-section rectangular pipe jacking machine head and pipe joint are prone to large deviation when entering the portal, and it is difficult to correct in real time, thereby resulting in poor jacking effect.

[0006] The first aspect of the embodiment of the present application provides a launching shaft pipe pose processing method, which comprises the following steps:

[0007] After installing the pose correction device and the pipe jacking machine head in the shaft, the measurement information of the portal is obtained, and the first position information of the pipe jacking machine head is determined according to the measurement information during the jacking of the pipe jacking machine head to the portal;

[0008] According to the measurement information and the first position information, the first relationship information between the pipe jacking machine head and the portal is obtained, and the first relationship information is displayed to the user;

[0009] According to the first relationship information, a first correction instruction of the pose correction device is generated;

[0010] The pose rectification device is controlled to rectify the pipe jacking head according to the first rectification instruction, so that the pipe jacking head is located at the center of the portal.

[0011] Optionally, in an embodiment of the present application, the first position information of the pipe jacking head is obtained during the process of jacking the pipe jacking head into the portal, and then the method further comprises:

[0012] After the pipe section is spliced on the pipe jacking head, the second position information of the pipe section is determined according to the measurement information during the process of jacking the pipe jacking head into the portal;

[0013] According to the measurement information and the second position information, the second relationship information between the pipe section and the portal is obtained, and the second relationship information is displayed to the user;

[0014] According to the second relationship information, a second rectification instruction of the pose rectification device is generated;

[0015] The pose rectification device is controlled to rectify the pipe jacking head according to the first rectification instruction, so that the pipe jacking head is located at the center of the portal.

[0016] Optionally, in an embodiment of the present application, the measurement information comprises portal space coordinates;

[0017] The measurement information of the portal comprises:

[0018] A space coordinate system is constructed according to the portal space coordinates;

[0019] Portal measurement data of the portal is obtained, and the portal space coordinates in the space coordinate system are determined according to the portal measurement data.

[0020] Optionally, in an embodiment of the present application, the first position information comprises first space position coordinates;

[0021] The first position information of the pipe jacking head determined according to the measurement information comprises:

[0022] A first telescopic amount of the pose rectification device, a first size parameter of the pipe jacking head, a first horizontal distance between the pipe jacking head and a horizontal sensor, and a first vertical distance between the pipe jacking head and a vertical sensor are obtained;

[0023] According to the portal space coordinates, the first telescopic amount, the first size parameter, the first horizontal distance and the first vertical distance, the first space position coordinates of the pipe jacking head in the space coordinate system are obtained.

[0024] Optionally, in an embodiment of the present application, the first spatial position coordinate of the pipe jacking machine head in the spatial coordinate system is obtained according to the portal spatial coordinate, the first telescopic amount, the first size parameter, the first horizontal distance and the first vertical distance, specifically:

[0025] A spatial geometric transformation model is constructed, and the portal spatial coordinate, the first telescopic amount, the first size parameter, the first horizontal distance and the first vertical distance are input into the spatial geometric transformation model, and the first spatial position coordinate of the pipe jacking machine head in the spatial coordinate system is output.

[0026] Optionally, in an embodiment of the present application, the first relationship information includes a first relative position relationship graph and first offset data;

[0027] The first relationship information between the pipe jacking machine head and the portal is obtained according to the measurement information and the first position information, specifically including:

[0028] The first offset data between the pipe jacking machine head and the portal is calculated according to the portal spatial coordinate and the first spatial position coordinate;

[0029] The first relative position relationship graph between the pipe jacking machine head and the portal is generated according to the portal spatial coordinate, the first spatial position coordinate and the first offset data.

[0030] Optionally, in an embodiment of the present application, the first offset data includes a first offset direction and a corresponding first offset amount;

[0031] The first correction instruction of the pose correction device is generated according to the first relationship information, specifically including:

[0032] If the first offset amount is greater than a preset threshold, the first control parameter of the pose correction device is generated according to the first offset direction and the first offset amount;

[0033] The first correction instruction of the pose correction device is determined according to the first control parameter.

[0034] Optionally, in an embodiment of the present application, the first control parameter includes a first horizontal telescopic amount control parameter of a horizontal correction oil cylinder and a first vertical telescopic amount control parameter of a vertical correction oil cylinder;

[0035] The first control parameter of the pose correction device is generated according to the first offset direction and the first offset amount, specifically:

[0036] constructing a control model, inputting the first offset direction and the first offset amount into the control model, and generating a first horizontal telescopic amount control parameter of a horizontal telescopic cylinder and a first vertical telescopic amount control parameter of a vertical telescopic cylinder in the pose rectification device.

[0037] Optionally, in an embodiment of the present application, the controlling the pose rectification device to rectify the pipe jacking head according to the first rectification instruction further comprises:

[0038] updating the first offset amount to obtain a first updated offset amount;

[0039] if the first updated offset amount is greater than the preset threshold and the first updated offset amount is less than the first offset amount, adjusting the first control parameter, and updating the first rectification instruction of the pose rectification device according to the adjusted first control parameter until the first updated offset amount is less than the preset threshold.

[0040] The second aspect of the embodiment of the present application further provides a starting well pipe pose rectification device, wherein the starting well pipe pose rectification device is used to implement the starting well pipe pose processing method in any of the above solutions, and the starting well pipe pose rectification device comprises a displacement sensing module, an oil cylinder rectification module, a data wireless transmission module, and a wireless control module.

[0041] After the in-well installation pose rectification device and the pipe jacking head are installed, the displacement sensing module is used to obtain measurement information of a hole portal;

[0042] The data wireless transmission module is used to determine first position information of the pipe jacking head according to the measurement information during the pipe jacking head is jacked into the hole portal;

[0043] The wireless control module is used to obtain first relationship information between the pipe jacking head and the hole portal according to the measurement information and the first position information, and display the first relationship information to a user;

[0044] The wireless control module is used to generate a first rectification instruction of the pose rectification device according to the first relationship information;

[0045] The oil cylinder rectification module is used to control the pose rectification device to rectify the pipe jacking head according to the first rectification instruction, so that the pipe jacking head is located at the center of the hole portal.

[0046] Beneficial effects: the application provides a launching well inner pipe jacking pose processing method and pose correction device, the application pre-installs the pose correction device in the launching well, updates the position relationship between the portal and the machine head in real time and displays by monitoring the position information of the machine head during the pipe jacking machine head jacking, so as to correct the machine head by the pose correction device in the machine head deviation state, and correct the pipe section in the same way when the pipe section jacks after the pipe section jacking part and the pipe section are assembled, so that the application can realize real-time intelligent monitoring and correction of the machine head pipe section pose in the launching well of the rectangular pipe jacking construction, improve the jacking effect, improve the construction precision and efficiency, and reduce the construction cost and risk. The application can calculate and analyze multi-source data such as laser displacement sensor and oil cylinder extension amount, so as to realize real-time and high-precision calculation of six degrees of freedom pose of the pipe jacking machine head / pipe section (six degrees of freedom: horizontal deviation, vertical deviation, vertical movement, pitch angle, yaw angle and roll angle); the program algorithm with the portal center and the designed launching inclination as the control target is introduced, the real-time intelligent correction of the rectangular pipe jacking machine and pipe section in the launching well is realized, and the problem that the pipe jacking machine and pipe section at the bottom are difficult to accurately enter the portal due to uneven friction with the track in the launching well of the large-section rectangular pipe jacking is solved. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments described in the application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0048] Figure 1 It is a plan view of the rectangular pipe jacking pose correction device in the launching well of the application;

[0049] Figure 2 It is a longitudinal section view of the rectangular pipe jacking machine head pose correction device in the launching well of the application;

[0050] Figure 3 It is a transverse section view of the rectangular pipe jacking machine head pose correction device in the launching well of the application;

[0051] Figure 4 It is a longitudinal section view of the rectangular pipe jacking pipe section pose correction device in the launching well of the application;

[0052] Figure 5 It is a transverse section view of the rectangular pipe jacking pipe section pose correction device in the launching well of the application;

[0053] Figure 6 It is a schematic view of the gap between the portal and the machine head of the application;

[0054] Figure 7Figure 9 is a schematic view of the gap between the launching shaft and the pipe section of the present application;

[0055] Figure 8 Figure 10 is a layout of the bottom support system and the laser displacement sensor of the present application;

[0056] Figure 9 Figure 11 is a schematic view of the module and function of the pose rectification device for the rectangular pipe of the present application;

[0057] Figure 10 Figure 12 is a function flow chart of the pose rectification device for the pipe head and the pipe section in the launching shaft of the present application;

[0058] Figure 11 Figure 13 is a flow chart of the preferred embodiment of the pipe pose processing method in the launching shaft of the present application;

[0059] Figure 12 Figure 14 is a flow chart of the specific implementation steps of the entire execution process in the preferred embodiment of the pipe pose processing method in the launching shaft of the present application.

[0060] Explanation of Reference Signs:

[0061] 10, underground continuous wall; 11, lining wall in the launching shaft; 12, jacking shaft portal; 13, support beam; 14, steel rod; 15, pipe jacking machine front shield; 16, pipe jacking machine tail shield; 17, pipe jacking machine cutter head; 18, jacking iron; 19, jacking oil cylinder; 20, horizontal rectification oil cylinder; 21, laser displacement sensor;

[0062] 22, ground; 23, stratum; 24, reinforced soil in the launching shaft; 25, vertical rectification oil cylinder; 26, bottom plate groove;

[0063] 27, pipe section; 28, portal sealing ring;

[0064] 29, pipe jacking machine head; 30, gap between the portal and the machine head; 31, portal and sealing ring; 32, gap between the portal and the pipe section. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solutions and effects of the present application clearer and more explicit, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. The described embodiments are only possible technical implementations of the present application, and are not all possible implementations. Based on the embodiments in the present application, those skilled in the art can certainly combine the embodiments of the present application to obtain other embodiments without creative labor, and these embodiments are also within the protection scope of the present application.

[0066] In the related art, the large-weight rectangular pipe jacking machine head and the pipe joint have sliding friction with the steel rail, the friction force is large, the jacking resistance is large, a large amount of power is consumed in the long-time jacking process, and it is not economic and environmentally friendly. The reinforced concrete pipe joint is placed on the steel rail, and due to the small action area of the steel rail, stress concentration is easily generated at the contact surface, causing the concrete to crack during jacking, which is not conducive to the waterproof performance of the pipe jacking structure.

[0067] In the related deviation correction method, a cylinder is arranged between the front shield and the tail shield to correct the posture of the machine head; however, this correction method can only correct the posture of the front shield of the machine head by means of the cylinder, and the correction range is small, and it is impossible to correct the position and posture of the pipe jacking machine head and the pipe joint in the pipe jacking starting well. In the related adjustment device, the posture of the pipe jacking machine head is adjusted by the adjustment device of the bottom plate and the mounting platform; however, it is suitable for circular pipe jacking and not suitable for rectangular pipe jacking; it is impossible to realize real-time display of the position and posture of the pipe jacking machine head and the pipe joint, and it is impossible to realize real-time intelligent correction taking the relative position of the machine head and the pipe joint to the hole portal as the control target; it still adopts the traditional rail jacking mode, the friction force between the machine head and the pipe joint and the rail is large, the jacking resistance is large, and the mechanical transmission device is complex.

[0068] The present application can solve the problem of real-time intelligent monitoring and correction of the position and posture of the machine head and the pipe joint in the starting well in the related art.

[0069] The present application can realize the purpose of real-time monitoring and correction of the position and posture of the machine head and the pipe joint in the starting well in the rectangular pipe jacking construction. The present application can obtain the spatial position information of the rectangular pipe jacking machine head and the pipe joint in real time by arranging laser displacement sensors on the side wall and the bottom of the starting well and a data wireless transmission, storage and analysis system, including the horizontal position, the vertical position and the deflection posture, and displaying the spatial position relationship between the machine head and the pipe joint and the hole portal in real time after analysis on the display screen. The present application can realize vertical position adjustment of the machine head and the pipe joint by arranging a support system composed of a support beam and a steel rod on the bottom of the starting well, and arranging a vertical correction oil cylinder at the bottom of the support beam. The steel rod is provided with a horizontal correction oil cylinder on both sides to realize horizontal position adjustment of the machine head and the pipe joint. The correction oil cylinder can be directly controlled by the control system, and the machine head and the pipe joint are located at the center of the hole portal as the control target (set according to actual needs), and the position and posture of the machine head and the pipe joint are intelligently corrected based on the real-time monitoring data during the rectangular pipe jacking construction.

[0070] The technical solutions of the present application will be described in detail in the following specific embodiments. The following several specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described in detail in some embodiments.

[0071] The application provides a launching well in-pipe pose rectification device, wherein the launching well in-pipe pose rectification device is used for implementing the launching well in-pipe pose processing method in any one of the above solutions, and the launching well in-pipe pose rectification device comprises a displacement sensing module, an oil cylinder rectification module, a data wireless transmission module and a wireless control module.

[0072] After the in-pipe installation pose rectification device and the pipe jacking machine head are installed, the displacement sensing module is used for acquiring measurement information of a hole portal.

[0073] The data wireless transmission module is used for determining first position information of the pipe jacking machine head according to the measurement information during pipe jacking of the hole portal.

[0074] The wireless control module is used for obtaining first relationship information of the pipe jacking machine head and the hole portal according to the measurement information and the first position information, and displaying the first relationship information to a user.

[0075] The wireless control module is used for generating a first rectification instruction of the pose rectification device according to the first relationship information.

[0076] The oil cylinder rectification module is used for controlling the pose rectification device to rectify the pipe jacking machine head according to the first rectification instruction, so that the pipe jacking machine head is located at the center of the hole portal.

[0077] Specifically, referring to Figures 1-8 , the pose rectification device in the preferred embodiment of the application. The rectification device comprises a support beam, a steel bar, a horizontal rectification oil cylinder, a vertical rectification oil cylinder, a laser displacement monitoring sensor and an intelligent control system, as shown in Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 , the rectangular pipe jacking machine head and the pipe joint are in rolling friction with the bottom during pipe jacking, which can effectively reduce the pipe jacking resistance, and the horizontal position rectification can be performed by adjusting the position of the steel bar. As shown in Figure 1 、 Figure 3 and Figure 5 , the horizontal rectification oil cylinder can be used for adjusting the horizontal position of the rectangular pipe jacking machine head and the pipe joint, and the vertical rectification oil cylinder can be used for adjusting the vertical position and attitude of the rectangular pipe jacking machine head and the pipe joint. Through real-time monitoring and data analysis, the pipe jacking attitude of the rectangular pipe jacking machine head and the pipe joint and the relative position of the pipe jacking attitude and the hole portal are obtained, as shown in Figure 6 and Figure 7Based on the deviation between the real-time pose data and the preset pose control target, a correction control command is generated. The intelligent control system then controls the vertical and horizontal correction cylinders to correct the position and attitude of the rectangular pipe jacking head and pipe sections. The storage medium can store computer programs, which can store the three-dimensional spatial position and attitude information of the rectangular pipe jacking head and pipe sections inside the starting shaft, as well as their relative spatial position information with the tunnel entrance, and generate a digital twin three-dimensional information model.

[0078] See Figure 1 A launching shaft lining wall 11 is provided in the diaphragm wall 10, and a jacking portal 12 is provided in both the diaphragm wall 10 and the launching shaft lining wall 11; see also Figure 1 and Figure 8 A support beam 13 is installed below the rectangular pipe jacking machine, and multiple steel bars 14 are connected to the support beam 13. Figure 8 (The structure of the steel bar 14 varies at different heights). The pipe jacking machine includes a front shield 15, a tail shield 16, a cutterhead 17, and a jacking iron 18. A jacking cylinder 19 is installed on the inner lining wall 11 of the starting shaft, corresponding to the jacking iron 18. Multiple horizontal correction cylinders 20 and laser displacement sensors 21 are installed on both sides of the front shield 15. (See also...) Figure 2 The lining wall 11 of the launching shaft is surrounded by the stratum 23 beneath the ground surface 22. The side of the lining wall 11 closest to the cutterhead is reinforced soil 24. Multiple vertical correction cylinders 25 are installed at the lower end of the support beam at the bottom of the pipe jacking machine. (See also...) Figure 3 and Figure 5 The vertical correction cylinder 25 is mounted on the groove 26 in the base plate. (See also...) Figure 4 Multiple jacking pipe sections 27 are provided between the jacking iron 18 and the tail shield 16 of the pipe jacking machine, and a portal sealing ring 28 is provided on the inner wall of the jacking portal 12. See also Figure 6 The outer side of the tunnel jacking machine head 29 is the gap 30 between the tunnel entrance and the machine head; the outer side of the gap 30 between the tunnel entrance and the machine head is the gap between the tunnel entrance and the sealing ring 31; see also Figure 7 The outer side of the jacking pipe section 27 is the gap between the tunnel portal and the pipe section 32, and the outer side of the gap between the tunnel portal and the pipe section 32 is the tunnel portal and the sealing ring 31.

[0079] Specifically, during the horizontal position monitoring process, such as Figure 3 , Figure 5 , Figure 6 , Figure 7 and Figure 8 By deploying laser displacement sensors on both sides of the starting shaft, the horizontal position of the rectangular pipe jacking machine head and pipe sections can be monitored in real time, and the monitoring data can be transmitted to a data storage medium in real time via a wireless transmission module. During vertical position monitoring, such as... Figure 6 , Figure 7 and Figure 8As shown, by arranging a laser displacement sensor at the bottom of the starting well, the vertical position of the rectangular pipe jacking machine head and the pipe joint can be monitored in real time, and the monitoring data is transmitted to the data storage medium in real time through the wireless transmission module. In the monitoring data processing system, based on the monitoring data and the size parameters of the rectangular pipe jacking machine and the pipe joint, the spatial position coordinates of the machine head and the pipe joint are automatically calculated by the data analysis program stored in the storage medium, and a three-dimensional space diagram of the machine head and the pipe joint is generated on the display screen.

[0080] As shown in Figure 9 The pose correction device includes a bottom support module, a displacement sensing module, an oil cylinder correction module, a data wireless transmission module, a wireless control module, and the like. The bottom support module mainly includes a longitudinal support beam and a horizontal steel bar, and is matched with a wireless receiving and storage medium module. The modules work together to realize real-time intelligent correction of the pose of the machine head and the pipe joint. The working flowchart is shown in Figure 10 The main parameters of the intelligent pose correction device of the machine head and the pipe joint during operation include the three-dimensional space coordinates of the machine head and the pipe joint monitored by the displacement sensing module, the oil cylinder correction force and the correction displacement. These parameters are transmitted to the data storage medium through the wireless transmission module, and the relative distance between the machine head and the pipe joint and the portal is obtained through the built-in data analysis program. The analyzed data is uploaded to the cloud through wireless transmission, and a three-dimensional model diagram containing the pose information of the rectangular pipe jacking machine head and the pipe joint and the relative position information of the portal is displayed on the display screen.

[0081] It should be noted that after the pipe jacking machine head is partially jacked into the portal, the pipe jacking pipe joint is spliced on the pipe jacking machine head, and then the joint is monitored and corrected in real time. The correction of the pipe jacking machine head and the pipe jacking pipe piece is not performed simultaneously. Only when the machine head or the joint is jacked into the portal, the corresponding pipe jacking machine head or joint is corrected.

[0082] The starting well pipe jacking pose processing method described in the preferred embodiment of the present application is shown in Figure 11 The starting well pipe jacking pose processing method includes the following steps:

[0083] In step S101, after installing the pose correction device and the pipe jacking machine head in the well, the measurement information of the portal is obtained, and the first position information of the pipe jacking machine head is determined according to the measurement information during the jacking of the pipe jacking machine head into the portal.

[0084] It is worth mentioning that in the starting well, the push pipe head and the pipe joint position automatic monitoring sensor are arranged, the three-dimensional space position and attitude data of the rectangular push pipe head and the pipe joint are generated through real-time wireless data transmission, storage and program analysis, a vertical correction oil cylinder is arranged at the bottom of the starting well to adjust the vertical height of the rectangular push pipe head and the pipe joint, and a horizontal correction oil cylinder is arranged on both sides of the starting well to adjust the horizontal position of the rectangular push pipe head and the pipe joint; based on the real-time monitoring data and the oil cylinder automatic correction control system, the position and attitude of the rectangular push pipe and the pipe joint are adjusted in real time, so that the optimal target value of the push control is reached, such as the rectangular push pipe head and the pipe joint being located at the center of the hole portal.

[0085] In a possible implementation, the measurement information includes hole portal space coordinates. A space coordinate system is constructed according to the hole portal space coordinates; hole portal measurement data of the hole portal is acquired, and hole portal space coordinates in the space coordinate system are determined according to the hole portal measurement data.

[0086] Specifically, a three-dimensional rectangular coordinate system is established with the geometric center of the hole portal underground continuous wall and the stratum contact surface as the origin; the hole portal three-dimensional coordinates are determined through initial measurement, and the absolute coordinates of the head / joint are calculated in combination with real-time data of the laser sensor.

[0087] In a possible implementation, the first position information includes first space position coordinates. A first telescopic amount of the pose correction device, a first size parameter of the push pipe head, a first horizontal distance between the push pipe head and the horizontal sensor, and a first vertical distance between the push pipe head and the vertical sensor are acquired; according to the hole portal space coordinates, the first telescopic amount, the first size parameter, the first horizontal distance and the first vertical distance, first space position coordinates of the push pipe head in the space coordinate system are obtained.

[0088] Specifically, the distance (XY direction coordinates) from the head side wall to the sensor and the vertical distance (Z coordinates) from the bottom to the sensor are collected in real time by the laser displacement sensor, the Z-axis displacement is calculated in combination with the telescopic amount of the pushing oil cylinder, and the real-time three-dimensional coordinates (head space position coordinates) of the head are generated through space geometric algorithm.

[0089] In a possible implementation, a space geometric transformation model is constructed, the hole portal space coordinates, the first telescopic amount, the first size parameter, the first horizontal distance and the first vertical distance are input into the space geometric transformation model, and the first space position coordinates of the push pipe head in the space coordinate system are output.

[0090] Specifically, the input parameters include: portal space coordinates (reference point), jacking machine size parameters (such as machine length / diameter), hydraulic system extension amount (axial / radial displacement during pushing), horizontal / vertical distance monitoring value (real-time measurement of the offset of the machine head relative to the reference point). The above parameters are input into a spatial geometric transformation model (such as a coordinate system conversion matrix, kinematics equation), and the accurate position of the machine head in the global coordinate system is obtained by solving. The output result is the first spatial position coordinates (X, Y, Z three-dimensional coordinate values) of the jacking machine head, which is used for deviation correction control.

[0091] In step S102, according to the measurement information and the first position information, the first relationship information between the jacking machine head and the portal is obtained, and the first relationship information is displayed to the user.

[0092] In a possible implementation, the first relationship information includes first relative position relationship graph and first offset data. The first offset data between the jacking machine head and the portal is calculated according to the portal space coordinates and the first spatial position coordinates; the first relative position relationship graph between the jacking machine head and the portal is generated according to the portal space coordinates, the first spatial position coordinates and the first offset data.

[0093] Specifically, based on the difference between the portal target coordinates and the machine head real-time coordinates, the horizontal offset and the vertical offset are calculated; the offset is compared with the preset threshold value (such as 5mm), and if it is out of limit, the deviation correction instruction is triggered. In the relative position relationship graph generation process, the portal target coordinates, the machine head real-time coordinates and the offset data are converted into a three-dimensional space model, and the relative position (such as the offset direction and magnitude of front and back, left and right, up and down) of the machine head and the portal can be dynamically displayed in the graph, and the safety level is marked with color gradient.

[0094] In step S103, according to the first relationship information, the first deviation correction instruction of the pose deviation correction device is generated.

[0095] In a possible implementation, the first offset data includes a first offset direction and a corresponding first offset amount. If the first offset amount is greater than a preset threshold value, the first control parameter of the pose deviation correction device is generated according to the first offset direction and the first offset amount; the first deviation correction instruction of the pose deviation correction device is determined according to the first control parameter.

[0096] Specifically, based on the offset direction and size, the deviation correction oil cylinder adjustment instruction is generated through a fuzzy control algorithm. For example, when the X direction is offset, the left horizontal deviation correction oil cylinder is contracted and the right one is elongated to push the machine head to the left.

[0097] In a possible implementation, the first control parameter includes a first horizontal telescopic amount control parameter of the horizontal rectification oil cylinder and a first vertical telescopic amount control parameter of the vertical rectification oil cylinder. A control model is constructed, the first offset direction and the first offset amount are input into the control model, and the first horizontal telescopic amount control parameter of the horizontal rectification oil cylinder and the first vertical telescopic amount control parameter of the vertical rectification oil cylinder are generated.

[0098] Specifically, the input parameters include a first offset direction (such as left / right, up / down) and a first offset amount (such as horizontal offset ΔX and vertical offset ΔY); the offset parameters are converted into telescopic amount control parameters of the rectification oil cylinder (horizontal oil cylinder elongation ΔLx=0.4 m and vertical oil cylinder shortening amount ΔLy) by using a fuzzy control or PID control algorithm.

[0099] In step S104, the pose rectification device is controlled to rectify the pipe jacking machine head according to the first rectification instruction, so that the pipe jacking machine head is located at the center of the portal.

[0100] In a possible implementation, the first offset amount is updated to obtain a first updated offset amount; if the first updated offset amount is greater than a preset threshold and the first updated offset amount is less than the first offset amount, the first control parameter is adjusted, and the first rectification instruction of the pose rectification device is updated according to the adjusted first control parameter until the first updated offset amount is less than the preset threshold.

[0101] Specifically, the rectification instruction is transmitted to the rectification oil cylinder through the wireless control module to drive the rectification oil cylinder to extend or retract to the target displacement amount; at the same time, the system automatically stops the jacking oil cylinder to avoid rectification interference in the jacking process. The rectification oil cylinder adjusts the position of the machine head or the pipe section according to the instruction, and the displacement sensor and the pressure sensor feedback the rectification effect in real time. The feedback data are compared with the target value, and if the offset amount is still greater than the threshold, the rectification strategy is iteratively adjusted (such as increasing the telescopic amount of the oil cylinder or optimizing the control algorithm parameters).

[0102] In a possible implementation, after the pipe jacking machine head jacks into the portal, a pipe section is spliced on the pipe jacking machine head, and the pose of the pipe section is measured and rectified. The second position information of the pipe section is determined according to the measurement information during the jacking of the pipe jacking machine head into the portal; the second relationship information between the pipe section and the portal is obtained according to the measurement information and the second position information, and the second relationship information is displayed to the user; the second rectification instruction of the pose rectification device is generated according to the second relationship information; and the pose rectification device is controlled to rectify the pipe section according to the second rectification instruction, so that the pipe section is located at the center of the portal.

[0103] It is worth mentioning that the steps of measuring and correcting the position of the pipe section are the same as the steps of measuring and correcting the position of the pipe head, and will not be repeated here.

[0104] In the embodiments of the present application, the following advantages are achieved:

[0105] First, the position and attitude of the rectangular pipe head and pipe section can be monitored in real time, and the data is stored and processed through wireless transmission to generate a three-dimensional space model of the rectangular pipe head and pipe section and the relative position information thereof with the portal, thereby providing real-time guidance for the position and attitude correction of the rectangular pipe jacking in the launching shaft.

[0106] Second, the position and attitude of the rectangular pipe head and pipe section can be corrected in real time. Based on the three-dimensional space position information of the head and pipe section after monitoring and processing analysis, and the space relative position thereof with the portal, the head and pipe section can be controlled to reach the position control target (e.g., the head and pipe section are located in the central region of the portal, and the distance between the head and pipe section and the four sides of the portal is equal) by controlling the horizontal displacement and underwater displacement of the correction oil cylinder. This can reduce the position deviation of the rectangular pipe head and pipe section, significantly improve the construction accuracy of the rectangular pipe, and reduce the uneven contact force between the rectangular pipe and the portal sealing ring, thereby improving the waterproof ability and service life of the portal sealing ring.

[0107] Third, by arranging a rolling steel bar at the bottom of the launching shaft, the sliding friction between the rectangular pipe and the pipe section and the traditional jacking track can be optimized to rolling friction, which can significantly reduce the jacking resistance, reduce the correction difficulty of the rectangular pipe head and pipe section, reduce power consumption, and reduce construction cost. In addition, the steel bar is in uniform contact with the rectangular pipe section in the transverse direction, which avoids damage to the reinforced concrete pipe section caused by the concentrated force of the track position during jacking.

[0108] Referring to Figure 12 , the specific implementation of the present application will be described in combination with a specific application scenario.

[0109] Step K1, a vertical correction oil cylinder vertical groove is reserved during the construction of the lining wall bottom plate in the pipe jacking launching shaft.

[0110] Step K2, a rectangular pipe vertical correction oil cylinder, a bottom laser displacement sensor, a support beam and a steel bar are arranged at the bottom of the launching shaft, horizontal correction oil cylinders and laser displacement sensors are arranged at both sides of the launching shaft, and a remote control system, a data wireless receiving and storage medium are arranged.

[0111] Step K3, the horizontal height of the steel bar is measured, and the vertical correction oil cylinder is adjusted to reach the design height of the bottom contour of the head and pipe section.

[0112] Step K4, the rectangular pipe head assembly is hoisted into the launching shaft and assembled above the steel bar; the horizontal correction oil cylinder is adjusted to make the head reach the designed horizontal position.

[0113] Step K5, chisel out the underground continuous wall in the range of the starting well portal, take the geometric center of the contact surface between the underground continuous wall in the range of the starting well portal and the stratum as the coordinate zero point, adopt a three-dimensional rectangular coordinate system, take the right side of the jacking axis as positive in the X direction, take the upper part as positive in the Y direction, take the jacking direction of the pipe jacking as positive in the Z direction, and record the three-dimensional space coordinates of the portal and the rectangular pipe jacking head (the XY direction coordinates can be obtained through horizontal and vertical laser displacement sensors, and the Z direction coordinates can be calculated through the extension distance of the jacking cylinder).

[0114] Step K6, the jacking cylinder is extended, the rectangular pipe jacking head is jacked forward (Z+ direction) through the jacking iron; the position and posture of the head are monitored in real time, and the data are stored in the data storage medium through wireless transmission and uploaded to the cloud end for processing by the data analysis system, to generate a three-dimensional space model containing space coordinates, and to calculate the relative position offset from the portal in real time.

[0115] Step K7, if the offset reaches a preset threshold (such as 5 mm), a correction instruction is generated; the jacking cylinder is automatically stopped, and the correction cylinder is started. The correction cylinder automatically extends and retracts by a corresponding horizontal and vertical target displacement amount, so that the jacking cylinder is automatically started after reaching the designed position.

[0116] Step K8, the steps K6 and K7 are cycled until the rectangular pipe jacking head is jacked into the stratum according to the designed position.

[0117] Step K9, the jacking cylinder and the jacking iron are retracted, the pipe joint is hoisted into the starting well, the jacking cylinder and the jacking iron are extended, and the steps K6 and K7 are repeated to gradually jack the pipe joint into the stratum according to the designed position.

[0118] Step K10, the pipe jacking construction is completed, and all the devices are removed, which can be reused in the next construction.

[0119] Secondly, the starting well internal pipe jacking pose processing system according to the embodiments of the present application is described with reference to the accompanying drawings, which is applied to the starting well internal pipe jacking pose processing method in any of the above-mentioned schemes.

[0120] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above-mentioned terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, the different embodiments or examples described in the present specification and the features of the different embodiments or examples can be combined and combined by those skilled in the art without contradiction.

[0121] Furthermore, the terms "first", "second", "third", etc. are used herein only to describe different steps in a flowchart, and do not imply or suggest a relative importance of the steps so designated. That is, a step designated "first" or "second" can implicitly or explicitly include one or more of the steps so designated. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise explicitly specified.

[0122] Any process or method descriptions or blocks in flow charts herein, and elsewhere, can be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are possible. In some embodiments, the processes or methods described herein can be accomplished by the functional equivalent of hardware, firmware, and / or software executing on a processor, and / or by a combination of these, as will be understood by those skilled in the art. For example, a process can be implemented using executable instructions stored in memory and executed by a suitable instruction execution system or device.

[0123] Logic and / or steps represented in flow charts, and elsewhere herein, can be embodied in computer-readable storage media, which can be any available media that can be accessed by a general purpose or special purpose computing system, device, or network, including the Internet, to retrieve, store, communicate or transport programs for implementation or execution by computing devices. By way of example, such computer-readable storage media can comprise RAM, ROM, EEPROM, CD- ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired programs in computer-readable form. When information is transferred or provided over a network or the Internet or other communications link or channel, computer-readable storage media include any available media that can be used to carry or store desired information and that can be accessed by a general purpose or special purpose computing system, device, or network. Combinations of the above should also be included within the scope of computer-readable media. Accordingly, the application is not limited to any particular programming language, code, or implementations.

[0124] It should be understood that portions of the application can be implemented in hardware, software, firmware, or combinations thereof. In the above embodiments, the N steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As such, if implemented in hardware, and in another embodiment, any of the following technologies, or combinations thereof, can be used: discrete logic circuitry having logic gates for implementing logic functions upon an application of data signals, application-specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field-programmable gate arrays (FPGA), and the like.

[0125] Those skilled in the art can understand that all or part of the steps carried out by the above-mentioned embodiment methods can be completed by programs instructing related hardware, and the programs can be stored in a computer readable storage medium, and when the programs are executed, one or a combination of the steps of the method embodiments is included.

[0126] In addition, each functional unit in each embodiment of the present application can be integrated into one processing module, or each unit can be physically present alone, or two or more units can be integrated into one module. The above-mentioned integrated module can be realized in the form of hardware or in the form of a software functional module. When the integrated module is realized in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0127] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present application.

[0128] It should be understood that the application of the present application is not limited to the above examples, and those skilled in the art can improve or change the above-mentioned examples according to the above-mentioned description, and all these improvements and changes shall fall within the scope of the claims of the present application.

[0129] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the above-mentioned embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A launching shaft jacking pipe pose processing method, characterized in that, The in-well top pipe pose processing method comprises: After the in-well installation pose correction device and the pipe jacking head are installed, measurement information of the hole portal is acquired, and first position information of the pipe jacking head is determined according to the measurement information during pipe jacking of the pipe jacking head into the hole portal; According to the measurement information and the first position information, first relationship information of the pipe jacking head and the hole portal is obtained, and the first relationship information is displayed to a user; According to the first relationship information, a first correction instruction of the pose correction device is generated; The pose correction device is controlled to correct the pipe jacking head according to the first correction instruction, so that the pipe jacking head is located at the center of the hole portal; The first position information of the pipe jacking head is acquired during pipe jacking of the pipe jacking head into the hole portal, and then the method further comprises: After the pipe jacking head is spliced with a pipe section, second position information of the pipe section is determined according to the measurement information during pipe jacking of the pipe jacking head into the hole portal; According to the measurement information and the second position information, second relationship information of the pipe section and the hole portal is obtained, and the second relationship information is displayed to a user; According to the second relationship information, a second correction instruction of the pose correction device is generated; The pose correction device is controlled to correct the pipe section according to the second correction instruction, so that the pipe section is located at the center of the hole portal; The measurement information comprises hole portal space coordinates; The measurement information of the hole portal is acquired, and specifically comprises: A space coordinate system is constructed according to the hole portal space coordinates; Hole portal measurement data of the hole portal is acquired, and hole portal space coordinates in the space coordinate system are determined according to the hole portal measurement data; The first position information comprises first space position coordinates; The first position information of the pipe jacking head is determined according to the measurement information, and specifically comprises: A first extension amount of the pose correction device, first size parameters of the pipe jacking head, a first horizontal distance between the pipe jacking head and a horizontal sensor, and a first vertical distance between the pipe jacking head and a vertical sensor are acquired; According to the hole portal space coordinates, the first extension amount, the first size parameters, the first horizontal distance, and the first vertical distance, first space position coordinates of the pipe jacking head in the space coordinate system are obtained; The first relationship information comprises a first relative position relationship diagram and first offset data; The first relationship information of the pipe jacking head and the hole portal is obtained according to the measurement information and the first position information, and specifically comprises: According to the hole portal space coordinates and the first space position coordinates, first offset data of the pipe jacking head and the hole portal is calculated; According to the hole portal space coordinates, the first space position coordinates, and the first offset data, a first relative position relationship diagram of the pipe jacking head and the hole portal is generated.

2. The launching in-well pipe pose processing method according to claim 1, characterized in that, According to the hole portal space coordinates, the first extension amount, the first size parameters, the first horizontal distance, and the first vertical distance, first space position coordinates of the pipe jacking head in the space coordinate system are obtained, and specifically are: A spatial geometry transformation model is constructed, and the spatial geometry transformation model is input with the portal spatial coordinates, the first extension amount, the first size parameter, the first horizontal distance, and the first vertical distance, and outputs a first spatial position coordinate of the pipe jacking machine head in the spatial coordinate system.

3. The launching in-well pipe pose processing method of claim 1, wherein, The first offset data includes a first offset direction and a corresponding first offset amount. The first relationship information is used to generate a first correction instruction of the pose correction device. If the first offset amount is greater than a preset threshold, a first control parameter of the pose correction device is generated according to the first offset direction and the first offset amount. The first control parameter is used to determine a first correction instruction of the pose correction device.

4. The launching pit pipe pose processing method according to claim 3, characterized in that, The first control parameter includes a first horizontal extension amount control parameter of a horizontal correction oil cylinder and a first vertical extension amount control parameter of a vertical correction oil cylinder. The first control parameter of the pose correction device is generated according to the first offset direction and the first offset amount, and specifically includes: A control model is constructed, and the control model is input with the first offset direction and the first offset amount to generate the first horizontal extension amount control parameter of the horizontal correction oil cylinder and the first vertical extension amount control parameter of the vertical correction oil cylinder in the pose correction device.

5. The launching in-well pipe pose processing method of claim 3, wherein, The pose correction device is controlled to correct the pipe jacking machine head according to the first correction instruction, and then further includes: The first offset amount is updated to obtain a first updated offset amount. If the first updated offset amount is greater than the preset threshold and the first updated offset amount is less than the first offset amount, the first control parameter is adjusted, and the first correction instruction of the pose correction device is updated according to the adjusted first control parameter until the first updated offset amount is less than the preset threshold.

6. A launching well in-pipe pose rectification device, characterized in that, The launching well pipe pose correction device is used to implement the launching well pipe pose processing method of any one of claims 1-5, and the launching well pipe pose correction device includes a displacement sensing module, an oil cylinder correction module, a data wireless transmission module, and a wireless control module. After the pose correction device and the pipe jacking machine head are installed in the well, the displacement sensing module is used to obtain measurement information of the portal. The data wireless transmission module is used to determine first position information of the pipe jacking machine head according to the measurement information during the pipe jacking machine head jacking into the portal. The wireless control module is used to obtain first relationship information of the pipe jacking machine head and the portal according to the measurement information and the first position information, and display the first relationship information to a user. The wireless control module is used to generate a first correction instruction of the pose correction device according to the first relationship information. The oil cylinder correction module is used to control the pose correction device to correct the pipe jacking machine head according to the first correction instruction, so that the pipe jacking machine head is located at the center of the portal.

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