A pipe jacking slag removal device and control method based on relay stations

Abstract

This application relates to the field of pipe jacking construction technology, specifically disclosing a pipe jacking slag removal device and control method based on a relay station. The relay station-based slag removal device includes: a relay station main body, a multi-source monitoring system, and a slag removal system. The multi-source monitoring system includes: a multi-modal sensor assembly, a data acquisition instrument, and a data control terminal. The multi-modal sensor assembly can acquire data such as pipe perimeter water and soil pressure, pipe surface strain, and position measurement during the jacking process. Based on this data, the data acquisition instrument accurately calculates the pipe perimeter frictional resistance, axial spacing, frictional resistance per unit length, and real-time pressure ratio, achieving proactive monitoring and prediction of slag accumulation risk. Furthermore, in this solution, the data control terminal can monitor in real time, improving the targeting and efficiency of slag treatment. When the slag removal system is not required, the high-pressure jet head and the crushing drill can retract radially along the relay station main body without affecting the device's advancement.

Description

Technical Field

[0001] This application relates to the field of pipe jacking construction technology, and in particular to a pipe jacking slag discharge device and control method based on a relay station. Background Technology

[0002] Pipe jacking is a trenchless underground pipeline construction method. It involves using hydraulic jacks within a working shaft to propel pipe sections along a pre-set axis, while a tunneling machine cuts through the soil ahead and removes the excavated material, thus laying the underground pipeline. Because this technology eliminates the need for large-scale surface excavation, it has minimal impact on surrounding traffic, buildings, and the ecological environment, and is widely used in municipal pipeline network renovation, underground utility tunnel construction, and cross-river pipeline laying projects.

[0003] In pipe jacking construction, slurry balance systems are a commonly used technique. These systems utilize slurry to balance the water and soil pressure at the excavation face, while simultaneously carrying away excavated rock debris through slurry circulation. However, slurry systems often cannot completely remove all rock debris, causing some sediment to settle between the pipe and the rock wall. This sediment initially settles at the bottom of the pipe, and as the sediment accumulates, its volume and height gradually increase, lifting the pipe and causing its upper part to contact the rock wall. This increases the friction during pipe jacking, leading to risks such as pipe jamming in long-distance pipe jacking projects, and even causing jacking failure. This risk is further increased when facing hard rock or in long-distance pipe jacking projects exceeding 100 meters, due to the large size and weight of the rock debris, which makes it easier to accumulate around the pipe, and the long jacking distance.

[0004] A relay station is a type of relay structure used in long-distance pipe jacking construction. Specifically, during construction, the long-distance pipe jacking is divided into multiple pipe sections. The relay station can be set between two pipe sections, and the extension and retraction of the relay cylinder enables relay jacking, thereby reducing the jacking load on a single working well. Simultaneously, to improve the slag removal function, some designs include slag cleaning holes and sediment storage boxes on the inner wall of the relay station. For example, the design in publication number CN209308692U discloses a sediment cleaning device for hard rock pipe jacking construction. This design sets a slag cleaning hole at the bottom front end of the relay station within the rock wall, allowing sediment such as rock debris deposited at the bottom of the pipe to enter the storage box for slag removal as the pipe advances.

[0005] However, the existing intermediate slag removal scheme relies on passive collection through the slag removal hole, which has poor slag removal effect. Furthermore, when pipe jamming occurs, staff need to check each pipe section one by one, resulting in low inspection efficiency. Summary of the Invention

[0006] In view of this, the purpose of this application is to provide a pipe jacking slag discharge device and control method based on intermediate stations, to solve some or all of the above-mentioned problems.

[0007] To achieve the above-mentioned technical objectives, the first aspect of this application provides a pipe jacking slag removal device based on a relay station, comprising: a relay station main body, a multi-source monitoring system, and a slag removal system;

[0008] The slag removal and discharge system includes: a slag discharge channel, multiple high-pressure injection heads, and multiple crushing drills;

[0009] The slag discharge channel is located inside the main body of the relay room;

[0010] The outer end of the slag discharge channel is connected to the outer surface of the main body of the relay room, and the outer end of the slag discharge channel can be opened and closed.

[0011] Multiple high-pressure jet heads and multiple crushing drills are arranged around the front end of the relay station body and are capable of moving radially along the relay station body;

[0012] The multi-source monitoring system includes: a multimodal sensor assembly, a data acquisition unit, and a data control terminal;

[0013] The multimodal sensor assembly is installed inside the relay station body to acquire data on the jacking process of the relay station body.

[0014] The jacking process data includes: the water and soil pressure value around the pipe, the strain value on the pipe surface, and the position measurement value;

[0015] The water and soil pressure value around the pipe includes multiple sets of relative data located at different circumferential positions of the main body of the relay station;

[0016] The data acquisition instrument is communicatively connected to the multimodal sensor assembly and is used to calculate the pipe circumferential friction value based on the pipe surface strain value, and also to calculate the axial distance between two adjacent relay bodies based on the position measurement value, and to calculate the frictional resistance per unit length based on the pipe circumferential friction value and the axial distance value, and to calculate the real-time pressure ratio and real-time pressure value of each group of relative data based on the pipe circumferential water and soil pressure value.

[0017] The data control terminal is electrically connected to the data acquisition instrument and the slag removal and discharge system. The data control terminal is used to locate the slag accumulation area according to the corresponding position measurement value when the frictional resistance per unit length reaches the preset clogging warning value, the real-time pressure ratio reaches the preset pressure ratio warning value, or the real-time pressure value reaches the preset pressure warning value. Then, it controls the high-pressure jet head and / or the crushing drill in the corresponding area to extend to the outside of the main body of the relay room and start.

[0018] Furthermore, the congestion warning value includes a first increase range and a second increase range;

[0019] The data control terminal is used to control the high-pressure jet head to start and perform high-pressure water pulse jetting at a pressure within a first preset range when the frictional resistance per unit length is within a first increase range.

[0020] The data control terminal is used to control the high-pressure jet head to start and perform high-pressure water jetting at a pressure within a second preset range when the frictional resistance per unit length is within the second amplification range.

[0021] The second increase range is greater than the first increase range, and the pressure of the second preset range is greater than the pressure of the first preset range.

[0022] Furthermore, the data control terminal is used to control the high-pressure injection head to enter the injection cycle mode when the frictional resistance per unit length is within the second increase range.

[0023] In the pumping cycle mode, the high-pressure jet head performs high-pressure water spraying for a first preset duration and negative pressure suction for a second preset duration.

[0024] Furthermore, the blockage warning value includes a third increment range;

[0025] The data control terminal is also used to control each of the high-pressure injection heads and each of the crushing drills to extend and start when the frictional resistance per unit length is within the third increase range or when the real-time pressure ratio reaches the preset pressure ratio warning value, and to control the grouting holes of the relay body to inject a preset amount of thixotropic mud to the outside.

[0026] The third increase range is greater than the second increase range.

[0027] Furthermore, the slag removal and discharge system includes multiple slag discharge channels;

[0028] The multiple slag discharge channels are evenly distributed around the main body of the relay station in a circular pattern.

[0029] Furthermore, the slag discharge channel can obtain the slag content of the mud entering the mud;

[0030] The data control terminal is also used to record the change in resistance and the amount of slag in the circumferential frictional resistance over time after the high-pressure jet head and / or the crushing drill is started.

[0031] The data control terminal is also used to substitute the resistance change and the slag content of the mud into a preset evaluation model, and record the evaluation results of the evaluation model.

[0032] Furthermore, the jacking process data also includes: images of the location of the excavated soil around the main body of the relay station.

[0033] Furthermore, the data control terminal is also used to determine the type of sediment based on the image of the slag location.

[0034] Furthermore, the data control terminal is used to locate the sediment accumulation area based on the position measurement value and the slag location image when the unit length frictional resistance reaches the preset stacking warning value, the real-time pressure ratio reaches the preset pressure ratio warning value, or the real-time pressure value reaches the preset pressure warning value, and to generate a sediment thickness distribution cloud map around the pipe after substituting the pipe periphery frictional resistance value into the preset resistance sediment thickness prediction model.

[0035] The high-pressure jet head can adjust its orientation according to the sediment accumulation area and the sediment thickness distribution cloud map around the pipe.

[0036] Furthermore, the slag removal and discharge system includes: multiple lifting rods;

[0037] Multiple lifting rods are evenly arranged around the front end of the main body of the relay station;

[0038] The lifting rod is retractable along the radial direction of the relay body, so as to drive the outer end of the lifting rod to retract into the relay body or extend to the outside of the relay body;

[0039] The high-pressure jet head and the rock breaker are respectively connected to the outer end of the lifting rod.

[0040] Furthermore, the main body of the relay station is provided with an installation interval;

[0041] The outer end of the lifting rod is provided with a tool compartment;

[0042] The high-pressure jet head and the rock-breaking drill are slidably disposed within the tool compartment along the axial direction of the main body of the relay station.

[0043] Furthermore, the inner wall of the installation interval is provided with a sealing element;

[0044] The seal is used to abut against both sides of the tool compartment.

[0045] Furthermore, the main body of the relay station includes: an inner shell, an outer shell, and a relay cylinder;

[0046] The inner housing is movably disposed within the outer housing along a first direction;

[0047] The relay cylinder is housed within the outer casing, and its output end is connected to the inner casing.

[0048] Furthermore, the front end of the outer shell is provided with a retractable annular socket;

[0049] The inner housing is installed inside the annular socket and is sealed to the annular socket by a snap fastener and a socket seal.

[0050] Furthermore, the front end of the inner housing is provided with a front insertion port;

[0051] The rear end of the outer casing is provided with a rear end connector.

[0052] Furthermore, the multimodal sensor assembly includes: a pore water pressure gauge, an earth pressure gauge, a surface strain gauge, and a displacement locator;

[0053] The pore water pressure gauge, the soil pressure gauge, and the surface strain gauge are all multiple and are evenly distributed around the main body of the relay station in a circular pattern.

[0054] The displacement locator is disposed within the main body of the relay station;

[0055] The water and soil pressure values ​​around the pipe include pore water pressure and soil pressure.

[0056] The pore water pressure gauge is used to measure the pore water pressure value;

[0057] The earth pressure gauge is used to measure the earth pressure value;

[0058] The surface strain gauge is used to measure the strain value on the surface of the tube;

[0059] The displacement locator is used to measure the position measurement value.

[0060] Furthermore, the slag discharge channel includes: a collection chamber, a screw conveyor assembly, and a slag discharge port;

[0061] One end of the collecting cavity is openably and closably connected to the outer surface of the relay body, and the other end is connected to one end of the spiral conveying assembly;

[0062] The other end of the spiral conveyor assembly is connected to one end of the slag discharge port;

[0063] The other end of the slag discharge port is connected to the slag discharge pipeline inside the main body of the relay room.

[0064] Furthermore, the slag discharge channel includes: a screening machine;

[0065] The two ends of the screening machine are respectively connected to the other end of the collection chamber and one end of the screw conveyor assembly.

[0066] Furthermore, the data control terminal includes a wireless transmission module, a main controller, a storage module, a human-machine interlock module, and a battery module that are electrically connected to each other;

[0067] The wireless transmission module is used to push a manual intervention signal to the human-machine interface when the automatic control of the main controller fails, and the manual intervention signal is isolated from the automatic control signal of the main controller through a dual-signal interlocking circuit.

[0068] The second aspect of this solution provides a method for controlling slag discharge in pipe jacking based on intermediate relay stations, including:

[0069] S1. Used to acquire jacking process data of the main body of the relay station, the jacking process data includes: water and soil pressure value around the pipe, strain value on the pipe surface and position measurement value, the water and soil pressure value around the pipe includes multiple sets of relative data located at different circumferential positions of the main body of the relay station;

[0070] S2. Calculate the pipe perimeter friction value based on the pipe perimeter water and soil pressure value and the pipe surface strain value; calculate the axial distance between two adjacent relay bodies based on the position measurement value; calculate the unit length friction value based on the pipe perimeter friction value and the axial distance value; and calculate the real-time pressure ratio and real-time pressure value of each group of relative data based on the pipe perimeter water and soil pressure value.

[0071] S3. Determine whether the frictional resistance per unit length reaches the preset blockage warning value, whether the real-time pressure ratio reaches the preset pressure ratio warning value, and whether the real-time pressure value reaches the preset pressure warning value. If at least one of the determination results is yes, then locate the sediment accumulation area according to the corresponding position measurement value, and then control the high-pressure jet head and / or crushing drill in the corresponding area to extend to the outside of the main body of the relay room and start it.

[0072] As can be seen from the above technical solutions, this application provides a pipe jacking slag removal device and control method based on a relay station; wherein, the pipe jacking slag removal device based on a relay station includes: a relay station main body, a multi-source monitoring system and a slag removal system; the multi-source monitoring system includes: a multi-modal sensor assembly, a data acquisition instrument and a data control terminal; the multi-modal sensor assembly can acquire jacking process data such as pipe perimeter water and soil pressure value, pipe surface strain value and position measurement value, and the data acquisition instrument accurately calculates the pipe perimeter friction resistance value, axial spacing value, unit length friction resistance and real-time pressure ratio based on these data, realizing active monitoring and prediction of slag accumulation risk.

[0073] Furthermore, in this solution, the data control terminal can locate the sludge accumulation area by combining position measurement values ​​when the frictional resistance per unit length reaches the blockage warning value, the real-time pressure ratio reaches the pressure ratio warning value, or the real-time pressure value reaches the preset pressure warning value. Then, it controls the high-pressure jetting head and / or crushing drill to extend and operate in the corresponding area. This significantly improves the targeting and efficiency of sludge treatment compared to the existing method of manually checking each pipe section when pipes are stuck. When the sludge removal system is not required, the high-pressure jetting head and crushing drill can retract radially along the main body of the relay station without affecting the advancement of the device.

[0074] Therefore, this solution can improve the efficiency and effectiveness of slag removal and discharge, and reduce the occurrence of pipe jamming accidents through active monitoring. Attached Figure Description

[0075] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0076] Figure 1 A schematic diagram of the structure of a pipe jacking and slag removal device based on a relay cylinder in the retracted state, provided for an embodiment of this application;

[0077] Figure 2 A cross-sectional view of a multimodal sensor assembly and data acquisition instrument inside a pipe jacking and slag removal device based on a relay station, provided in an embodiment of this application;

[0078] Figure 3 For along Figure 1 Cross-sectional view at position BB;

[0079] Figure 4 A schematic diagram of the structure of a pipe jacking and slag removal device based on a relay cylinder in the extended state, provided for an embodiment of this application;

[0080] In the picture:

[0081] 10. Main body of the relay station; 11. Inner shell; 111. Buckle; 112. Front end socket; 12. Outer shell; 121. Annular socket; 122. Rear end socket; 13. Relay cylinder; 101. Installation interval; 102. Seal;

[0082] 20. Multi-source monitoring system; 21. Multimodal sensor assembly; 211. Pore water pressure gauge; 212. Earth pressure gauge; 213. Surface strain gauge; 214. Displacement locator; 215. Vision sensor; 22. Data acquisition instrument; 23. Data control terminal;

[0083] 30. Slag removal and discharge system; 31. Slag discharge channel; 311. Collection chamber; 312. Screw conveyor assembly; 313. Slag discharge port; 314. Screening machine; 32. Crushing drill; 33. High-pressure injection head; 331. Rotating shaft; 34. Lifting rod; 341. Tool compartment; 342. Lifting plate;

[0084] 100. Slag;

[0085] 200. Annular space gap;

[0086] 300. Surrounding rock. Detailed Implementation

[0087] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments in this application specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection claimed in this application.

[0088] In the description of the embodiments of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0089] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a replaceable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0090] Please see Figure 1 The first aspect of this application provides a pipe jacking and slag discharge device based on a relay station, including: a relay station main body 10, a multi-source monitoring system 20 and a slag cleaning and discharge system 30.

[0091] In pipe jacking construction, a relay station is a structure set between two pipe sections, which uses the extension and retraction of relay cylinders to achieve relay jacking and reduce the jacking load on a single working well. In actual construction, multiple pipe sections and multiple relay stations need to be set up. Therefore, in this embodiment, multiple sets of the relay station main body 10, the multi-source monitoring system 20, and the slag removal and discharge system 30 are set up and respectively set in the aforementioned relay stations, with the relay station main body 10 serving as the main structure of the relay station.

[0092] Specifically, the main body 10 of the relay station serves as the foundation for the installation and operation of the entire relay station. The slag removal and discharge system 30 includes: a slag discharge channel 31, multiple high-pressure jet heads 33, and multiple crushing drills 32. The slag discharge channel 31 is located within the main body 10 of the relay station; its outer end connects to the outer surface of the main body 10 and can be opened and closed. The multiple high-pressure jet heads 33 and multiple crushing drills 32 are arranged around the front end of the main body 10 and can move radially along the main body 10. The crushing drills 32 can be equipped with spiral cutterheads with hard alloy teeth embedded in their surface, capable of crushing large-diameter slag, facilitating subsequent flushing and discharge by the high-pressure jet heads 33. The high-pressure jet heads 33 can spray high-pressure water to disperse the crushed slag and direct it towards the slag discharge channel 31. Simultaneously, the high-pressure water can loosen the soil in the pipe-blocking area at the front end of the relay station, assisting in slag discharge. Wear-resistant liners are installed inside the slag discharge channel 31.

[0093] In this embodiment, the outer end of the slag discharge channel 31 can be equipped with an electrically controlled opening and closing valve. When slag removal is not required, the outer end of the slag discharge channel 31 can be closed to ensure the airtightness of the relay room main body 10 and prevent backflow of mud or sediment. When slag removal is required, the outer end of the slag discharge channel 31 opens, allowing mud and sediment located outside the relay room main body 10 to enter the slag discharge channel 31. In this embodiment, the inner end of the slag discharge channel 31 is connected to one end of a collection pipe; the other end of the collection pipe leads to an external collection device along the interior of the relay room and pipe sections. The method of exporting mud and sediment from the slag discharge channel 31 to the outside via a collection pipe is existing technology and will not be described in detail in this embodiment.

[0094] Meanwhile, in this embodiment, the high-pressure jet head 33 and the breaker drill 32 can retract radially along the intermediate body 10 when no slag removal is required, avoiding interference with the jacking process and reducing the risk of collision damage. When slag removal is required, both can extend out of the intermediate body 10 to perform the operation.

[0095] The multi-source monitoring system 20 includes a multimodal sensor assembly 21, a data acquisition unit 22, and a data control terminal 23. Multiple multi-source monitoring systems 20 located in different relay stations can share the same data control terminal 23. The data acquisition unit 22 is communicatively connected to the multimodal sensor assembly 21. The data control terminal 23 is electrically connected to the data acquisition unit 22 and the slag removal and discharge system 30.

[0096] The multimodal sensor assembly 21 is installed inside the main body 10 of the relay station to acquire jacking process data of the main body 10 of the relay station; the jacking process data includes: the water and soil pressure value around the pipe, the strain value on the pipe surface and the position measurement value.

[0097] In this embodiment, the water and soil pressure value around the pipeline reflects the pressure around the pipeline. It can be measured by multiple sets of pressure gauges arranged in a ring, with each set of pressure gauges measuring a set of relative data. Therefore, the water and soil pressure value around the pipeline includes multiple sets of relative data located at different circumferential positions on the main body 10 of the relay station. Each set of pressure gauges includes a first pressure gauge assembly and a second pressure gauge assembly, which are symmetrically arranged on the main body 10 of the relay station, so that the relative data includes two water and soil pressure values ​​at symmetrical positions on the main body 10 of the relay station. In one embodiment, both the first and second pressure gauge assemblies include a soil pressure gauge and a pore water pressure gauge. In one embodiment, four sets of pressure gauges are arranged around the outer periphery of the main body 10 of the relay station, which can be divided into upper and lower groups, left and right groups, upper left and lower right groups, and upper right and lower left groups based on their placement. By comparing two water and soil pressure values ​​in the same group, the pressure situation at symmetrical positions on the main body 10 of the relay station can be obtained, thereby determining the direction of pressure on the main body 10 of the relay station, and further determining the position of the main body 10 of the relay station and the pipe section in the annular space gap, and thus determining the pipe jamming situation.

[0098] The strain value of the pipe surface is used to reflect the degree of deformation of the pipe surface, and it can be measured by a surface strain gauge.

[0099] The position measurement value is used to reflect the current location of the relay body 10, which can be obtained by measuring the position sensor.

[0100] In this embodiment, the data acquisition device 22 has the function of local data storage and wireless transmission, and it can adopt LoRa+4G dual-mode communication. In this scheme, the data between the main bodies 10 of each relay station can be transmitted to the ground control center through multi-hop relay technology, with a transmission delay of <200ms, which meets the real-time control requirements and realizes wireless transmission of data upload and control command issuance under long-distance jacking conditions. Each sensor used for data acquisition and the data acquisition device 22 can be of vibrating wire type, which can adapt to the complex working environment inside the pipe jacking and has good reliability, sensitivity and installation convenience.

[0101] The data acquisition instrument 22 is used to calculate the pipe circumferential friction value ΔF based on the pipe surface strain value, and also to calculate the axial distance value ΔL between two adjacent relay bodies 10 based on the position measurement value. It is also used to calculate the frictional resistance per unit length based on the pipe circumferential friction value and the axial distance value, and to calculate the real-time pressure ratio and real-time pressure value of each group of relative data based on the pipe circumferential water and soil pressure value.

[0102] In this embodiment, the pipe circumferential frictional resistance value ΔF can be calculated from the pipe surface strain values ​​between two adjacent intermediate body 10. For example, if the pipe surface strain value of the first intermediate body 10 is a1 and the pipe surface strain value of the second intermediate body 10 is a2, then the pipe circumferential frictional resistance value ΔF between the first intermediate body 10 and the second intermediate body 10 is obtained by multiplying the absolute value of the difference between a1 and a2 by the material's elastic modulus.

[0103] The axial spacing value ΔL refers to the distance between two adjacent relay body 10s. It can be calculated from the length of the relay body 10 and the length of the pipe section. Generally, the axial spacing value ΔL is equal to the number of pipe sections between two adjacent relay body 10s multiplied by the length of a single pipe section plus the length of the relay itself.

[0104] The frictional resistance per unit length (ΔF / ΔL) is the ratio of the circumferential frictional resistance value ΔF to the axial spacing value ΔL. In practical applications, by real-time monitoring of the above data for each relay body 10, the frictional resistance gradient curve of the frictional resistance per unit length (ΔF / ΔL) over time can be obtained for each relay body 10. For example, the data control terminal 23 can be set to generate a frictional resistance gradient curve based on data collected every 2 seconds.

[0105] The real-time pressure ratio is obtained by comparing two water and soil pressure values ​​from each relative group of data in the pipe perimeter water and soil pressure values, such as comparing two water pressure values ​​and comparing two pore water pressure values; in this embodiment, comparison refers to the ratio obtained by dividing the two. The real-time pressure value is obtained by subtracting the initial value of the pressure gauge from the measured value of each relative group of data in the pipe perimeter water and soil pressure values.

[0106] The data control terminal 23 can be a box-like structure, placed on a support inside the main body 10 of the relay room, as far away from the slag discharge channel as possible to reduce the impact of slag leakage and cable current. The data acquisition instrument 22 mainly includes a main controller, a measurement module, a wiring port, a storage module, and a battery device. The data control terminal 23 compares the data calculated above with preset slag accumulation warning values, pressure ratio warning values, and pressure warning values ​​to determine whether the frictional resistance per unit length has reached the slag accumulation warning value, whether the real-time pressure ratio has reached the pressure ratio warning value, and whether the real-time pressure value has reached the preset pressure difference warning value. If any warning condition is met, the data control terminal 23 immediately and accurately locates the slag accumulation area based on the corresponding position measurement value, and then sends a control command to the slag cleaning and discharge system 30 to control the high-pressure jet head 33 and / or the crushing drill 32 in the corresponding area to extend to the outside of the main body 10 of the relay room and start. For example, when the frictional resistance per unit length between the first relay body 10 and the second relay body 10 reaches the preset blockage warning value, the high-pressure injection head 33 and / or the breaker drill 32 on the first relay body 10 and the second relay body 10 are controlled to extend and start.

[0107] In this embodiment, the blockage warning value, pressure ratio warning value, and pressure warning value are all preset values, which can be obtained from model simulation or from actual construction conditions in previous pipe jacking operations. It should be noted that in embodiments where each soil and water pressure value includes one soil pressure value and one pore water pressure value, the pressure ratio warning value includes one soil pressure ratio warning value and one water pressure ratio warning value; the pressure warning value includes one soil pressure warning value and one water pressure warning value. Simultaneously, the real-time pressure ratio value of each set of relative data includes one soil pressure ratio and one water pressure ratio; the real-time pressure value of each set of relative data includes two soil pressure values ​​located symmetrically and two water pressure differences located symmetrically. During comparison, the multiple sets of real-time pressure ratios and real-time pressure values ​​calculated from multiple sets of relative data are compared with the pressure ratio warning value and the pressure warning value, specifically comparing soil pressure values ​​with soil pressure warning values, soil pressure ratios with soil pressure ratio warning values, water pressure ratios with water pressure ratio warning values, and water pressure values ​​with water pressure warning values.

[0108] If an anomaly occurs in the real-time pressure ratio and / or real-time pressure value comparison warning value of a single set of relative group data, it indicates that there is local mud and sand accumulation or pipeline displacement at the corresponding position of the main body 10 of the relay room; if an anomaly occurs in the real-time pressure ratio and / or real-time pressure value comparison warning value of multiple sets of relative group data in different directions, it indicates that the outer circumferential space of the main body 10 of the relay room may be filled with slag and soil. Considering factors such as strata, it is necessary to adjust the jacking speed and jacking mode, and start the slag removal work if necessary.

[0109] In this embodiment, after obtaining multiple sets of relative data through multiple sets of pressure gauges, the real-time pressure ratio and the real-time pressure value are calculated simultaneously. The real-time pressure ratio can intuitively reflect the pressure difference at the symmetrical positions of the relay body 10, thereby intuitively determining whether the relay body 10 is offset or tilted. The real-time pressure value can determine the force on the outer periphery of the relay body 10, avoiding the situation where the pressure at the symmetrical positions of the relay body 10 increases simultaneously but cannot be reflected in the real-time pressure ratio.

[0110] In this embodiment, the risk of pipeline blockage can be determined by the magnitude of the frictional resistance per unit length, combined with the blockage warning value. The pressure distribution of the pipeline can be determined by comparing the pressure ratio warning value with the pressure warning value. Specifically, under ideal conditions, the pressure distribution around the main body 10 of the relay station is relatively stable. However, when sediment begins to accumulate in the main body 10 of the relay station, such as when sediment accumulates at the bottom, the sediment will exert additional support on the bottom of the main body 10 of the relay station, causing a significant increase in the pressure measured by the pressure gauge at the bottom of the main body 10 of the relay station. If the pressure change at the top of the pipe is relatively small (sludge deposits downwards, there is a certain gap in the annulus outside the top of the pipe, and the main body 10 of the relay station will not directly contact the surrounding rock due to the sediment at the bottom), causing a sudden change in the real-time pressure ratio, then the bottom of the pipe section needs to be cleaned of sediment. If the pressure at the top of the pipe changes synchronously (sludge also accumulates to the annulus outside the top of the pipe, causing the top of the main body 10 of the relay station to directly contact the sludge), causing a small change in the real-time pressure ratio but a change in the real-time pressure value, then sediment needs to be cleaned in all directions of pressure change. Therefore, changes in the real-time pressure ratio can be used to characterize the condition of sediment.

[0111] This solution enables targeted cleaning of sediment areas by real-time acquisition of unit length frictional resistance, real-time pressure ratio, and real-time pressure value, combined with location measurements. The treated sediment and slurry are discharged through the slag discharge channel 31, forming a workflow of monitoring, calculation, judgment, location, cleaning, and discharge. Specifically, the multi-source monitoring system 20's active monitoring and calculation capabilities allow for early prediction of sediment accumulation and pipe jamming risks. Combined with intelligent control from the data control terminal 23, it enables rapid location of sediment accumulation areas and activation of corresponding cleaning equipment. This changes the traditional passive cleaning method that requires gradual investigation of sediment locations, resulting in more thorough and efficient cleaning. It is particularly suitable for hard rock or long-distance pipe jacking projects exceeding 100 meters, effectively addressing the problem of large rock debris particle size and easy accumulation. It significantly reduces the risks of increased construction friction and pipe jamming caused by sediment accumulation, decreasing the probability of pipe jacking failure. Simultaneously, it reduces the jacking load on the intermediate hydraulic cylinders, extending equipment lifespan.

[0112] Meanwhile, in this scheme, when the real-time pressure ratio reaches the preset pressure ratio warning value or the real-time pressure value reaches the preset pressure warning value, the data control terminal 23 can locate the position of the corresponding pressure gauge according to the relative group data that triggers the warning, thereby controlling the high-pressure injection head 33 and / or the rock drill 32 at the corresponding position to start.

[0113] It is worth noting that this solution establishes a complete closed-loop operation process encompassing monitoring, location, slag removal, and slag discharge. In the field of pipe jacking construction, to reduce the frictional resistance around the pipe, some existing technologies use monitoring data on pipe section status and jacking progress to construct a grouting volume prediction model to output tiered grouting commands, relying on grouting or supplementary grouting to adjust the frictional environment around the pipe. These technologies essentially alleviate or remedy existing frictional resistance, aiming to improve the contact condition. Unlike these existing technologies, this solution is used to predict and solve the problem of slag accumulation, especially during jacking. If the rock debris generated during pipe head cutting is not completely discharged, it will gradually deposit between the pipe and the rock wall, and existing technologies lack a way to actively monitor and treat this type of deposited slag. In this solution, based on the slag discharge device in the intermediate station, the monitoring area is creatively located in the main body 10 of the intermediate station. Through the coordinated work of the main body 10 of the intermediate station, the multi-source monitoring system 20, and the slag removal and discharge system 30, an active management system for slag accumulation is constructed. Among them, the main body 10 of the relay station, as a load-bearing structure set between the two pipe sections, can not only realize the function of relay station forced jacking, but also provide a stable installation environment for most of the components of the multi-source monitoring system 20 and the slag removal and discharge system 30, and serve as an operating carrier, so that it can directly act on the slag-prone area in the middle of the pipeline, achieving the technical effect of both overall operation status judgment and local risk precise positioning.

[0114] In one implementation, the aforementioned multimodal sensor assembly 21 may include: a pore water pressure gauge 211, an earth pressure gauge 212, a surface strain gauge 213, and a displacement locator 214; the pore water pressure gauge 211, the earth pressure gauge 212, and the surface strain gauge 213 are all multiple and are evenly distributed circumferentially around the relay station body 10, and their spacing can be set according to the pipe diameter of the relay station body 10; the displacement locator 214 is disposed inside the relay station body 10; as mentioned above, the relative group data includes pore water pressure value and earth pressure value; the pore water pressure gauge 211 is used to measure the pore water pressure value; the earth pressure gauge 212 is used to measure the earth pressure value; the surface strain gauge 213 is used to measure the pipe surface strain value; and the displacement locator 214 is used to measure the position measurement value.

[0115] In practical applications, the pore water pressure value can be measured using the following formula:

[0116] .

[0117] In the formula: It is the real-time pressure value experienced by the pore pressure gauge, that is, the pore water pressure value; These are the calibration coefficients of the pore pressure gauge, which are factory parameters and can be provided by the manufacturer. It is the zero-point output frequency value of the pore pressure gauge, which is also the initial data that can be collected after the pore water pressure gauge 211 is installed; It is the measured output frequency value, which is the experimental process data collected continuously at the same time intervals as the jacking time; This is the temperature correction factor, which is a factory parameter and can be provided by the manufacturer. It is the change in temperature relative to the reference measuring point; an increase in temperature is positive, and a decrease is negative.

[0118] The earth pressure value can be measured using the following formula by the earth pressure gauge 212:

[0119] .

[0120] In the formula: It is the real-time pressure value experienced by the earth pressure gauge, also known as the earth pressure value; A is the calibration coefficient of the earth pressure gauge, which is a factory parameter. It is the zero-point output frequency modulus value of the earth pressure gauge, which is the initial data that can be collected after the earth pressure gauge 212 is installed; It is the measured output frequency modulus value, which is the experimental process data continuously collected at the same time intervals as the jacking time; This is the temperature correction factor, which is a factory parameter and can be provided by the manufacturer. It is the change in temperature relative to the reference measuring point; an increase in temperature is positive, and a decrease is negative.

[0121] When the surface strain gauge 213 measures the strain value of the tube surface, the following formula can be used to calculate the strain value of the tube surface of the structure being measured: .

[0122] In the formula: It is the change in strain of the measured structure (10) -6 / F), which is the strain value on the tube surface; B is the resolution of the strain gauge (10). -6 / F), which is a factory parameter; It is the frequency modulus (F) measured in real time by the strain gauge; It is the strain gauge reference measurement frequency modulus (F), which is also the initial data that can be collected after the surface strain gauge 213 is installed; It is the temperature compensation coefficient of the strain gauge (10) -6 ( / F / ℃) can be obtained by consulting an existing table; It is the temperature change relative to the reference measuring point. Increase The sign before is "+", and the sign after is "-".

[0123] In practical applications, the modulus measured by the surface strain gauge 213 is F4 as mentioned above. Then, the strain value of the pipe surface of the measured structure can be obtained by calculating using the above formula.

[0124] In a further improved embodiment, multiple slag discharge channels 31 can be provided within the main body 10 of the relay station; the multiple slag discharge channels 31 are evenly distributed circumferentially around the main body 10 of the relay station. Multiple slag discharge holes are provided on the main body 10 of the relay station; the outer ends of the slag discharge channels 31 communicate with the slag discharge holes. The aforementioned opening and closing valves are provided on the slag discharge holes. The inner ends of each slag discharge channel 31 are all connected to the same collection pipe.

[0125] In this embodiment, the blockage warning value includes a first increment range and a second increment range. The data control terminal 23 is used to control the high-pressure injection head 33 to start and perform high-pressure water pulse injection at a pressure within a first preset range when the frictional resistance per unit length falls within the first increment range. The data control terminal 23 is also used to control the high-pressure injection head 33 to start and perform high-pressure water injection at a pressure within a second preset range when the frictional resistance per unit length falls within the second increment range. The second increment range is greater than the first increment range, and the pressure within the second preset range is greater than the pressure within the first preset range.

[0126] In this embodiment, the first increase range can be an increase of 10% or more and less than 30% in the unit length frictional resistance (which is initially equal to the unit length frictional resistance benchmark value), that is, the unit length frictional resistance (ΔF / ΔL) is in the range of 1.1F0 or more and less than 1.3F0. Here, F0 is the ratio of the pipe circumferential frictional resistance value to the axial spacing value when the jacking process is stable, i.e., the unit length frictional resistance benchmark value in the stable state. This value can be obtained from data measured under the same terrain, recorded data from previous construction, or simulated data.

[0127] The friction gradient curve corresponding to the first increase range is gently sloping, which corresponds to the initial accumulation of sediment around the pipe. This sediment mainly consists of fine-grained silt, loose slag, and other easily suspended materials. This type of sediment has not formed a hardened layer, and its resistance to jacking is relatively mild. At this time, the data control terminal 23 initiates the first-level response slag discharge strategy, controlling the main body 10 of the relay station in the sediment concentration area to activate 1-2 slag discharge holes. At the same time, it controls the high-pressure jet head 33 in this area to start and perform high-pressure water pulse jetting at a pressure within the first preset range (e.g., 15-30 MPa). The jetting mode can adopt a short pulse form of "5 seconds each time, 30 seconds interval". The loose sediment is suspended by water flow disturbance and then smoothly enters the mud circulation system for discharge. This ensures that the risk is mitigated in a mild and efficient manner in the early stage of sediment accumulation, avoiding energy waste.

[0128] In this embodiment, the second increase range is the increase in frictional resistance per unit length that is greater than or equal to 30% and less than or equal to 80%, that is, the frictional resistance per unit length (ΔF / ΔL) is in the range of greater than or equal to 1.3F0 and less than 1.8F0.

[0129] The second increase range corresponds to a significant increase in sediment accumulation, which mainly consists of blocky slag, small-diameter rock debris, and some compacted sediment. These deposits have a high density and have formed a preliminary compacted layer, making it difficult to completely remove them with simple water flow disturbance. At this time, the data control terminal 23 switches to the second-level response slag removal strategy, controlling the high-pressure jet head 33 to perform high-pressure water jetting at a pressure within the second preset range (e.g., 30-35 MPa) to break up the compacted layer formed by the sediment. Simultaneously, the high-pressure jet head 33 enters the suction-jet circulation mode. In this mode, the high-pressure jet head 33 cyclically performs high-pressure water jetting for a first preset duration (e.g., 10-20 seconds) and negative pressure suction for a second preset duration (because the sediment after high-pressure jetting is in a suspended or loose state, it needs to be quickly adsorbed before it redepositions; for example, it can be set to 8-15 seconds, which can be set according to needs and operational conditions in actual applications). Through the suction-jet circulation method, the accumulated blocky and compacted sediment is continuously cleaned until the frictional resistance per unit length shows a downward trend.

[0130] In this embodiment, the high-pressure injection head 33 is a dual-chamber integrated nozzle, which internally comprises a high-pressure water chamber and a negative pressure suction chamber. The head can switch between the injection port and suction port via an electromagnetic reversing valve (this is prior art). The high-pressure water chamber is connected to a water pipe and pump that connects each relay station main body 10 to each pipe section. The negative pressure suction chamber is connected to a slag discharge pipe (different from the slag discharge channel 31, it is an independent pipe structure set within the relay station main body 10 and the jacking pipe section) via a negative pressure pump. The electromagnetic reversing valve, water pump, and negative pressure pump can all be controlled by a data control terminal 23.

[0131] In one embodiment, the blockage warning value includes a third increment range; the data control terminal 23 is also used to control each high-pressure jet head 33 and each crusher 32 to extend and start when the frictional resistance per unit length is within the third increment range or when the real-time pressure ratio reaches the preset pressure ratio warning value, and to control the grouting holes of the relay body 10 to spray a preset amount of thixotropic mud to the outside.

[0132] In this embodiment, the third increase range is defined as the increase in frictional resistance per unit length (ΔF / ΔL) being greater than 80%, that is, frictional resistance per unit length (ΔF / ΔL) being in the range greater than 1.8F0.

[0133] Specifically, as the frictional resistance per unit length (ΔF / ΔL) increases, the data control terminal 23 has initiated different response slag removal strategies based on the degree of increase. This indicates that the previous response slag removal strategy has failed or that the frictional resistance per unit length has suddenly changed. The corresponding actual situation is generally the appearance of a large amount of densely accumulated large-diameter rock debris around the pipe, a highly compacted slag layer, or even the slag partially blocking the pipe, leading to a sharp increase in jacking resistance. If not dealt with forcefully and promptly, the pipe jacking construction may be halted. At this point, the data control terminal initiates the third-level response slag removal strategy, controlling all slag removal holes to open synchronously. All high-pressure jet heads 33 and each crushing drill rig 32 extend radially along the main body 10 of the relay station and start synchronously. Through the synergistic effect of high-pressure water jets and mechanical crushing, large-diameter rock debris and compacted sediment are rapidly decomposed. Simultaneously, the grouting holes on the main body 10 of the relay station are controlled to inject a preset amount of thixotropic mud externally. The thixotropic mud reduces the friction coefficient around the pipe, assisting in the slag removal operation. During this process, the data control terminal 23 can automatically adjust the jacking parameters, such as implementing an intermittent operation mode of "jacking 0.5m, stopping jacking, slag removal 1min," to avoid interference between the jacking action and sediment accumulation, maximizing the slag removal force to quickly alleviate the risk of pipe jamming. The method of discharging thixotropic mud through the grouting holes on the main body 10 of the relay station is existing technology and will not be elaborated upon.

[0134] To achieve real-time evaluation and continuous optimization of slag removal efficiency, the data control terminal 23 records the changes in resistance reduction slope (ΔF / Δt) and mud slag content during the execution of each slag removal strategy. The quantitative analysis of these two factors is used to evaluate the effectiveness of a single slag removal operation. Simultaneously, the system automatically records the optimal slag removal parameters for different sediment types in different strata (such as sandstone and clay), forming a dedicated knowledge base for subsequent similar construction scenarios. For sensitive strata such as water-rich sand layers, the data control terminal 23 can automatically reduce the jet pressure of the high-pressure jet head 33 and the crushing amplitude of the breaker drill 32, and shorten the single operation time, effectively preventing water inrush and sand surge accidents during construction. Furthermore, the system's built-in genetic algorithm can dynamically optimize parameters such as the jet angle and timing combination of the high-pressure jet head 33 based on real-time construction data, further reducing slag removal energy consumption while ensuring slag removal effectiveness, achieving intelligent, efficient, and safe slag removal operations.

[0135] In this embodiment, when the intelligent control system malfunctions (such as sensor disconnection, sudden geological changes, or other abnormal operating conditions), the data control terminal 23 will push a manual intervention prompt to the human-machine interface (HMI), prompting the operator to open the backup slag discharge channel 31 or adjust the relay cylinder grouping, among other emergency measures. Manual operation signals and automatic control signals are isolated through a dual-signal interlocking circuit, effectively preventing conflicts between the two types of commands.

[0136] Compared to existing pipe-blocking slag removal methods, this invention can accurately locate the blockage and perform targeted slag removal, significantly improving slag removal efficiency, reducing construction delays caused by pipe blockage, and lowering construction costs. Furthermore, by integrating multiple slag removal-related functional mechanisms into the main body 10 of the relay station, the functional dimensions of the relay station are expanded. Combined with intelligent monitoring and control modules, the slag removal operation is automated and intelligent, reducing the difficulty and workload of manual intervention while improving the safety of the slag removal process. For different types of pipe blockage conditions, such as blockage by lumpy hard objects or soil accumulation, effective treatment can be achieved through a combination of methods including crushing, high-pressure water flushing, and drilling rig crushing. It possesses good adaptability and practicality and can be widely applied to the treatment of pipe blockage slag removal problems in various pipe jacking projects.

[0137] In one embodiment, the slag discharge channel 31 can obtain the slag content of the mud entering the mud; the data control terminal 23 is also used to record the change in resistance value of the pipe periphery friction value over time and the slag content of the mud after the high-pressure injection head 33 and / or the crushing drill 32 are started; the data control terminal 23 is also used to substitute the change in resistance and the slag content of the mud into a preset evaluation model and record the evaluation result of the evaluation model.

[0138] In this embodiment, the slag content of the mud can be obtained through sampling and separation weighing or automated technology. Sampling and separation weighing involves extracting a fixed volume of mud sample from the slag discharge channel 31. Subsequently, solid particles and water are separated from the mud using techniques such as centrifugation or filtration and sieving. Finally, the separated solid slag is weighed, and its volume ratio or weight ratio to the original mud sample is calculated to obtain the slag content. Automated technology involves installing an automatic sampling device on the slag discharge channel 31 to take samples periodically, then using a centrifuge to quickly separate the mud and water, and employing a volume measurement sensor to determine the volume of the separated solids, thereby calculating the slag content.

[0139] It should be noted that the aforementioned evaluation model can be trained using a large amount of historical data (including historical unit-length frictional resistance, pipe perimeter water and soil pressure values, and corresponding, verified mud sludge content) through an LSTM (Long Short-Term Memory) network. This training method is existing technology. The model learns the complex nonlinear mapping between resistance, pressure, and mud sludge content. After training, the model can be deployed in real-time. It takes continuous real-time monitoring data as input and outputs predicted values ​​for future periods or current sediment thickness.

[0140] Once the system responds to the slag removal strategy, the LSTM model can quickly calculate the slag thickness in different areas along the circumference of the pipeline, providing a data basis for generating a distribution cloud map.

[0141] In a further improved embodiment, the jacking process data also includes: a slag location image of the outer periphery of the main body 10 of the relay station; and a data control terminal 23 used to locate the sediment accumulation area based on the location measurement value and the slag location image when the frictional resistance per unit length reaches a preset blockage warning value, the real-time pressure ratio reaches a preset pressure ratio warning value, or the real-time pressure value reaches a preset pressure warning value.

[0142] In this embodiment, the multimodal sensor assembly 21 also includes a vision sensor 215 (high-definition camera), which can acquire images of the slag location. In practical applications, the bases of the surface strain gauge 213, displacement locator 214, and vision sensor 215 can be fastened to the inner surface of the relay chamber body 10 using expansion bolts or screws. When producing the relay chamber body 10, the aforementioned strain gauges, locators, and sensors can be pre-embedded before the pipe section is poured. If the relay chamber body 10 is a steel pipe, the required positions for the bases can be cut out on the pipe in advance and the bases can be welded. Then, the aforementioned pressure gauges, strain gauges, locators, and sensors can be installed on the construction site, and each signal line can be connected to the data acquisition instrument 22. It should be noted that during the sensing process, some or all of the aforementioned pressure gauges, strain gauges, locators, and sensors need to contact the slag material 100 outside the relay chamber body. Therefore, the sensing ends of the aforementioned pressure gauges, strain gauges, locators, and sensors should be flush with the outer surface of the relay chamber body 10 as much as possible to avoid the sensing ends protruding beyond the surface and causing damage from impact.

[0143] This embodiment uses the aforementioned slag location image to visually reflect the slag distribution around the main body 10 of the relay station, and the slag location image can be transmitted to the human-machine interface of the data control terminal 23 for construction personnel to view. Simultaneously, the data control terminal 23 can input the slag location image into a preset image analysis model to generate a cloud map of the slag thickness distribution around the pipe, allowing for more precise location of severely accumulated areas. This enables the determination of the slag deposition range when identifying which main body 10 of the relay station experiences mud deposition, thereby achieving precise locking of the slag accumulation area and providing more accurate location data for the subsequent targeted activation of the high-pressure jet head 33 and the crushing drill 32.

[0144] In practical applications, to ensure that the sensing ends of the pressure gauges, strain gauges, positioners, and sensors are flush with the outer surface of the main body 10 of the relay station, when using concrete pipes as the main body 10, sensor supports must be pre-embedded at the corresponding locations before the pipes are poured. The various measuring and sensing instruments are then installed after the concrete is poured and cured. When using steel pipes as the main body 10, the required sensor locations must be cut into the pipes beforehand, and sensor bases must be welded onto them. The various measuring and sensing instruments are then installed on-site, and the signal lines are connected to the data acquisition unit 22.

[0145] Furthermore, the data control terminal 23 can also determine the type of sediment by analyzing the image of the location of the slag.

[0146] Specifically, the type of sediment can be determined by inputting an image of the sediment location into a pre-set image analysis model. For example, by comparing the sediment location image with training data, the model can analyze the morphology, particle size, and density of the sediment in the image to determine whether the current sediment belongs to the category of lumpy hard material, loose soil, or compacted sediment. Construction personnel can then adjust the jacking strategy promptly based on the sediment type.

[0147] In one embodiment, the data control terminal 23 can control the number of crushing drills 32 to be started based on the type of sediment, the geological data of the construction area of ​​the main body 10 of the relay station, and the frictional resistance per unit length.

[0148] The geological data of the construction area was obtained from pre-construction exploration, including geological properties such as sandstone, clay, and water-rich sand layers.

[0149] In practical applications, when the geological data indicates that the construction area is a sandstone area, i.e. an area with many hard rocks, and the current frictional resistance per unit length is within the second or third increase range, and the sediment type is judged to be large blocky hard objects, the data control terminal 23 can control each crushing drill rig 32 to extend and start, and at the same time control each high-pressure jet head 33 to start high-pressure water jetting, using high-pressure water to flush and loosen the soil and crushed slag in the pipe jamming area, making it easier to discharge later.

[0150] When the geological data indicates that the construction area is a clay area, that is, an area with fewer hard rocks, and the current frictional resistance per unit length is within the first increase range, and the sediment type is judged to be a large block of hard material, the data control terminal 23 can control 1-2 crushing drills 32 at the corresponding location to extend and start.

[0151] If the geological data indicates that the construction area is a water-rich sand layer and the sediment type is loose soil or a small amount of fine debris, then the data control terminal 23 can reduce the number of times the crushing drill 32 is started or even stop starting it, and the sediment can be cleaned simply by high-pressure water jetting.

[0152] In this embodiment, the number of crushing drills 32 and high-pressure jet heads 33 activated by the data control terminal 23 based on the type of sediment, formation data, and frictional resistance per unit length can be determined by actual measured data from previous construction operations. That is, the number of crushing drills 32 and high-pressure jet heads 33 activated and the corresponding slag removal and discharge effects under different sediment types, different formation data, and different frictional resistance per unit length are all recorded in the data control terminal.

[0153] In one embodiment, the high-pressure nozzle 33 can adjust its orientation according to the sludge accumulation area. That is, the high-pressure nozzle 33 is configured as a rotatable structure. For example, the high-pressure nozzle 33 can be set on a rotatable rotating shaft 331 so that it can adjust its orientation to achieve more accurate and effective cleaning of the sludge area.

[0154] In one embodiment, the data control terminal 23 is used to generate a pipe periphery sludge thickness distribution cloud map by substituting the pipe periphery frictional resistance value into a preset resistance sludge thickness prediction model when the unit length frictional resistance reaches a preset blockage warning value, the real-time pressure ratio reaches a preset pressure ratio warning value, or the real-time pressure value reaches a preset pressure warning value; the high-pressure injection head 33 can adjust its orientation according to the sludge accumulation area and the pipe periphery sludge thickness distribution cloud map.

[0155] As mentioned above, after the system responds to the slag removal strategy, the LSTM model can quickly calculate the slag thickness in different areas along the circumference of the pipeline, and the slag thickness distribution cloud map around the pipeline. Through the slag thickness distribution cloud map around the pipeline, the slag thickness at different positions on the outer periphery of the main body 10 of the relay station can be intuitively presented, providing a basis for the precise operation of the high-pressure injection head 33.

[0156] In practical applications, the data control terminal 23 can control the high-pressure jet head 33 to prioritize water jetting on areas with relatively thick sediment thickness in the sediment thickness distribution cloud map around the pipe, ensuring that the high-pressure water jet can accurately act on key areas of sediment accumulation, improving the targeting and efficiency of flushing and cleaning, and avoiding energy waste and formation disturbance caused by blind spraying.

[0157] In one embodiment, see Figures 1 to 3 The slag removal and discharge system 30 includes: multiple lifting rods 34; multiple lifting rods 34 are evenly arranged around the front end of the intermediate station body 10; the lifting rods 34 can extend and retract along the radial direction of the intermediate station body 10, so as to drive the outer end of the lifting rod 34 to retract into the intermediate station body 10 or extend to the outside of the intermediate station body 10; the high-pressure injection head 33 and the crushing drill 32 are respectively connected to the outer end of the lifting rod 34.

[0158] In this embodiment, the lifting rod 34 can drive the high-pressure injection head 33 and the rock breaker 32 to move radially along the main body 10 of the relay station. The lifting rod 34 can be extended and retracted by a hydraulic cylinder.

[0159] Furthermore, in this embodiment, the lifting rod 34 is configured to include the aforementioned rotating shaft 331. Specifically, a rotating shaft 331 capable of rotation is provided on the lifting rod 34, and the rotation of the rotating shaft 331 is controlled by an independent motor. The tool compartment 341 described below is provided on the rotating shaft 331, so that the high-pressure jet head 33 or the breaker drill 32 at the outer end of the lifting rod 34 can rotate.

[0160] In one embodiment, an installation interval 101 is provided on the main body 10 of the relay station; a lifting rod 34 is disposed in the installation interval 101. A tool compartment 341 is provided at the outer end of the lifting rod 34; a high-pressure jet head 33 and a rock drill 32 are respectively slidably disposed in the tool compartment 341 along the axial direction of the main body 10 of the relay station.

[0161] When the high-pressure jet head 33 and the breaker drill 32 are not in use, they can retract into the tool compartment 341 by moving axially along the main body 10 of the relay station. Then, the tool compartment 341 moves radially along the main body 10 of the relay station and is stored in the installation interval 101, thereby storing the high-pressure jet head 33 and the breaker drill 32 and reducing collisions between them.

[0162] In one implementation, a lifting plate 342 can be provided at the outer end of the lifting rod 34. The lifting plate 342 can be configured as a telescopic arc-shaped plate structure. Multiple lifting plates 342 at the outer ends of multiple lifting rods 34 form a ring. A sealing element 102 is provided on the inner wall of the installation interval 101; the sealing element 102 is used to abut against both sides of the lifting plate 342. During the extension and retraction of the lifting rod 34, the multiple lifting plates 342 can extend and retract in accordance with the increase and decrease of the ring diameter, and during the radial movement of the lifting plate 342 along the relay body 10, it maintains contact with the sealing element 102, thereby improving the sealing performance of the installation interval 101 and reducing the amount of mud entering the middle of the installation interval 101 during operation. In practical applications, construction personnel can clean the inside of the installation interval 101 through regular inspections before construction.

[0163] In practical applications, the high-pressure jet head 33 and the crushing drill 32 can be located at the outer end of the lifting plate 342; correspondingly, the rotating shaft 331 can be located at the outer end of the lifting plate 342.

[0164] Please refer to the following during the construction process: Figure 3 There will be an annular space 200 between the outer periphery of the main body 10 of the relay station and the surrounding rock 300. When mud deposition occurs, the mud will enter the annular space 200, come into contact with the outer periphery of the main body 10 of the relay station, and exert pressure on the main body 10 of the relay station.

[0165] In a more specific embodiment, please refer to Figures 1 to 4 The relay station body 10 includes: an inner shell 11, an outer shell 12, and a relay cylinder 13; the inner shell 11 is movably disposed within the outer shell 12 along a first direction, wherein the first direction is the axial direction of the relay station body 10, that is... Figure 1 and Figure 4 The horizontal direction is shown in the figure. The relay cylinder 13 is located inside the outer shell 12, and its output end is connected to the inner shell 11.

[0166] When the relay cylinder 13 extends, it can drive the inner housing 11 to move away from the outer housing 12 and push forward. When the relay cylinder 13 retracts, it can drive the outer housing 12 to move closer to the inner housing 11, thereby shortening the relay body 10. Furthermore, the extension and retraction of the relay cylinder 13 cooperates with the pushing device of the pipe section. This cooperation process is prior art and will not be described in detail in this embodiment.

[0167] In one embodiment, the front end of the outer shell 12 is provided with a retractable annular socket 121; the inner shell 11 is installed inside the annular socket 121 and is sealed and snapped into the annular socket 121 by a snap fastener 111.

[0168] In this embodiment, both the outer shell 12 and the inner shell 11 can be configured as steel pipe structures. The snap-fit ​​between the snap fastener 111 and the annular socket 121 facilitates the rapid assembly of the relay station body 10. Furthermore, a sealing ring can be provided between the annular socket 121 and the snap fastener 111.

[0169] In one embodiment, the inner shell 11 has a front socket 112 at its front end, and the outer shell 12 has a rear socket 122 at its rear end. Both the front socket 112 and the rear socket 122 can be configured as standard structures capable of connecting with pipe sections during pipe jacking construction. The front socket 112 is used to connect with the adjacent pipe section in front, and the rear socket 122 is used to connect with the adjacent pipe section behind.

[0170] In one embodiment, the slag discharge channel 31 includes: a collection chamber 311, a spiral conveying assembly 312, and a slag discharge port 313; one end of the collection chamber 311 is closably connected to the outer surface of the relay body 10, and the other end is connected to one end of the spiral conveying assembly 312; the other end of the spiral conveying assembly 312 is connected to one end of the slag discharge port 313; the other end of the slag discharge port 313 is connected to the slag discharge pipeline inside the relay body 10.

[0171] During the slag removal operation, the data control terminal 23 controls the valve (the aforementioned on / off valve) of the slag discharge channel 31 corresponding to the slag accumulation area on the main body 10 of the relay room to open, allowing the crushed and dispersed slag to flow into the collection chamber 311 through the slag discharge hole. During this process, the screw conveyor component 312 in the slag discharge channel 31 operates continuously, gradually pushing the slag towards the slag discharge port 313. When the slag accumulates to a preset amount, the slag discharge port 313 is opened, discharging the slag through the collection pipe and then to an external collection device (such as a slag truck). Throughout the slag removal process, various monitoring sensors continuously provide feedback on data such as the water and soil pressure value around the pipe and the slag content in the mud. The data control terminal 23 adjusts the crushing power of the crushing drill 32, the water pressure parameters of the high-pressure jet head 33, and the conveying speed of the screw conveyor component 312 in real time based on the feedback information until all monitoring data return to the normal threshold range. After the slag removal is completed, the data control terminal 23 controls the switch valve to close, restarts the jacking operation of the pipe jacking construction, and continuously monitors the changes in parameters such as jacking pressure. If the parameters return to normal, it means that the pipe jamming problem has been resolved. If the parameters are still abnormal, repeat the above slag removal steps or further investigate other causes of pipe jamming to ensure the smooth progress of the pipe jacking construction.

[0172] In one embodiment, the slag discharge channel 31 includes a screening machine 314; the two ends of the screening machine 314 are respectively connected to the other end of the collection chamber 311 and one end of the screw conveyor assembly 312. That is, the other end of the collection chamber 311 is connected to the screw conveyor assembly 312 through the screening machine 314.

[0173] In this embodiment, the screening machine 314 can screen the slag collected in the collection chamber 311 to achieve particle size separation of particles of different sizes. It should be noted that the separation function of the screening machine is existing technology. For example, the screening grid inside the screening machine 314 can be adjusted so that the internal structure of the screening machine 314 consists of large grids, medium grids, and small grids from top to bottom, so as to naturally divide the particle size into three parts. Then, each layer can be connected to a spiral conveyor assembly through a separate channel to transport the slag sequentially.

[0174] Furthermore, the data control terminal 23 includes a wireless transmission module, a main controller, a storage module, a human-machine interlock module, and a battery module that are electrically connected to each other; the wireless transmission module is used to push a manual intervention signal to the human-machine interface when the automatic control of the main controller fails, and the manual intervention signal and the automatic control signal of the main controller are isolated by a dual signal interlock circuit.

[0175] The second aspect of this solution provides a method for controlling slag discharge in pipe jacking based on intermediate relay stations, including:

[0176] S1. Used to obtain jacking process data of the main body of the relay station. The jacking process data includes: soil and water pressure value around the pipe, strain value on the pipe surface and position measurement value. The soil and water pressure value around the pipe includes multiple sets of relative data located at different circumferential positions of the main body of the relay station.

[0177] S2. Calculate the pipe-circumferential friction value based on the pipe-circumferential water and soil pressure value and the pipe surface strain value; calculate the axial distance between the main bodies of two adjacent relay stations based on the location measurement value; calculate the friction resistance per unit length based on the pipe-circumferential friction value and the axial distance value; and calculate the real-time pressure ratio and real-time pressure value of each group of relative data based on the pipe-circumferential water and soil pressure value.

[0178] S3. Determine whether the frictional resistance per unit length reaches the preset blockage warning value, whether the real-time pressure ratio reaches the preset pressure ratio warning value, and whether the real-time pressure value reaches the preset pressure warning value. If at least one of the determinations is yes, locate the sediment accumulation area according to the corresponding position measurement value, and then control the high-pressure jet head and / or crushing drill in the corresponding area to extend to the outside of the main body of the relay room and start.

[0179] In this embodiment, the above-described method for controlling slag discharge from pipe jacking based on relay stations can achieve the following technical effects:

[0180] 1. Early warning of blockage and pipe jamming risks: This method collects multi-dimensional jacking process data such as pipe perimeter water and soil pressure values, pipe surface strain values, and location measurement values. After calculation, key quantitative indicators such as unit length frictional resistance, real-time pressure ratio, and real-time pressure value are obtained. Blockage warning value, pressure ratio warning value, and pressure warning value are used as judgment criteria to effectively predict blockage and pipe jamming.

[0181] 2. Precisely locate the sediment accumulation area and improve the effectiveness of sediment removal: When the warning is triggered, the specific area of ​​sediment accumulation can be more accurately located through the location measurement value. Only the high-pressure jet head 33 and / or the crushing drill 32 in the corresponding area are controlled to extend and start, ensuring that the sediment removal energy is concentrated on the accumulation area, thereby significantly improving the sediment removal efficiency, while reducing unnecessary disturbance to the strata in non-accumulation areas and saving energy consumption.

[0182] The above are merely preferred embodiments of this application and are not intended to limit the present invention. Although this application has been described in detail with reference to examples, those skilled in the art can still modify the technical solutions described in the foregoing examples or make equivalent substitutions for some of the technical features. However, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A pipe jacking slag removal device based on a relay station, characterized in that, include: The relay station main body (10), the multi-source monitoring system (20), and the slag removal and discharge system (30) are all included. The slag removal and discharge system (30) includes: a slag discharge channel (31), multiple high-pressure jet heads (33) and multiple crushing drills (32). The slag discharge channel (31) is located inside the main body (10) of the relay room; The outer end of the slag discharge channel (31) is connected to the outer surface of the relay room body (10), and the outer end of the slag discharge channel (31) can be opened and closed; Multiple high-pressure jet heads (33) and multiple rock-breaking drills (32) are arranged around the front end of the relay body (10) and are capable of moving radially along the relay body (10); The multi-source monitoring system (20) includes: a multimodal sensor assembly (21), a data acquisition unit (22), and a data control terminal (23); The multimodal sensor assembly (21) is installed inside the relay body (10) to acquire the jacking process data of the relay body (10); The jacking process data includes: the water and soil pressure value around the pipe, the strain value on the pipe surface, and the position measurement value; The water and soil pressure value around the pipe includes multiple sets of relative data located at different circumferential positions of the main body (10) of the relay station; The data acquisition instrument (22) is communicatively connected to the multimodal sensor assembly (21) and is used to calculate the pipe circumferential friction value based on the pipe surface strain value. It is also used to obtain the axial distance value between the two relay bodies (10) based on the length of the pipe section. It is also used to calculate the friction resistance per unit length based on the pipe circumferential friction value and the axial distance value. It is also used to calculate the real-time pressure ratio and real-time pressure value of each group of relative data based on the pipe circumferential water and soil pressure value. The data control terminal (23) is electrically connected to the data acquisition instrument (22) and the slag removal and discharge system (30). The data control terminal (23) is used to locate the slag accumulation area according to the corresponding position measurement value when the frictional resistance per unit length reaches the preset clogging warning value, the real-time pressure ratio reaches the preset pressure ratio warning value, or the real-time pressure value reaches the preset pressure warning value. Then, it controls the high-pressure jet head (33) and / or the crushing drill (32) in the corresponding area to extend to the outside of the relay room body (10) and start. The blockage warning value includes a first increase range, a second increase range, and a third increase range; The data control terminal (23) is used to control the high-pressure jet head (33) to start and perform high-pressure water pulse jet according to the pressure of the first preset range when the frictional resistance per unit length is within the first increase range; The data control terminal (23) is used to control the high-pressure injection head (33) to enter the injection cycle mode when the frictional resistance per unit length is within the second increase range; In the pumping cycle mode, the high-pressure jet head (33) performs high-pressure water jetting for a first preset duration and negative pressure suction for a second preset duration. The data control terminal (23) is also used to control each of the high-pressure injection heads (33) and each of the crushing drills (32) to extend and start when the frictional resistance per unit length is within the third increase range, when the real-time pressure ratio reaches the preset pressure ratio warning value, or when the real-time pressure value reaches the preset pressure warning value, and to control the grouting holes of the relay body (10) to spray a preset amount of thixotropic mud to the outside. The third increase range is greater than the second increase range; The jacking process data also includes: images of the location of the slag and soil around the main body (10) of the relay station; The data control terminal (23) is used to locate the sediment accumulation area according to the location measurement value and the slag location image when the unit length frictional resistance reaches the preset stacking warning value, the real-time pressure ratio reaches the preset pressure ratio warning value, or the real-time pressure value reaches the preset pressure warning value, and to generate a pipe perimeter sediment thickness distribution cloud map after substituting the pipe perimeter frictional resistance value into the preset resistance sediment thickness prediction model. The high-pressure jet head (33) can adjust its orientation according to the sediment accumulation area and the sediment thickness distribution cloud map around the pipe.

2. The pipe jacking and slag removal device based on the relay station according to claim 1, characterized in that, The slag removal and discharge system (30) includes multiple slag discharge channels (31). The plurality of slag discharge channels (31) are evenly distributed around the main body (10) of the relay station; The slag discharge channel (31) can obtain the slag content of the mud entering the mud; The data control terminal (23) is also used to record the change in resistance and the amount of slag in the mud as the pipe friction resistance value changes over time after the high-pressure jet head (33) and / or the crushing drill (32) are started. The data control terminal (23) is also used to substitute the resistance change and the mud slag content into a preset evaluation model and record the evaluation results of the evaluation model.

3. The pipe jacking and slag removal device based on the relay station according to claim 1, characterized in that, The slag removal and discharge system (30) includes: multiple lifting rods (34); Multiple lifting rods (34) are evenly arranged around the front end of the relay body (10); The lifting rod (34) can extend and retract radially along the relay body (10) to drive the outer end of the lifting rod (34) to retract into the relay body (10) or extend out of the relay body (10); The high-pressure jet head (33) and the crusher (32) are respectively connected to the outer end of the lifting rod (34).

4. The pipe jacking and slag removal device based on the relay station according to claim 3, characterized in that, The relay station body (10) is provided with an installation interval (101). The lifting rod (34) is disposed at the installation interval (101). The outer end of the lifting rod (34) is provided with a tool compartment (341). The high-pressure jet head (33) and the breaker drill (32) are slidably disposed in the tool compartment (341) along the axial direction of the main body (10) of the relay station; The inner wall of the installation interval (101) is provided with a sealing element (102). The outer end of the lifting rod (34) is provided with a lifting plate (342); The sealing element (102) is used to abut against both sides of the lifting plate (342).

5. The pipe jacking and slag removal device based on the relay station according to claim 1, characterized in that, The multimodal sensor assembly (21) includes: a pore water pressure gauge (211), an earth pressure gauge (212), a surface strain gauge (213), and a displacement locator (214). The pore water pressure gauge (211), the earth pressure gauge (212), and the surface strain gauge (213) are all multiple and are evenly distributed around the main body of the relay station (10). The displacement locator (214) is disposed inside the relay station body (10); The water and soil pressure values ​​around the pipe include pore water pressure and soil pressure. The pore water pressure gauge (211) is used to measure the pore water pressure value; The earth pressure gauge (212) is used to measure the earth pressure value; The surface strain gauge (213) is used to measure the strain value of the tube surface; The displacement locator (214) is used to measure the position measurement value.

6. The pipe jacking and slag removal device based on the relay station according to claim 1, characterized in that, The slag discharge channel (31) includes: a collection chamber (311), a screw conveyor assembly (312), a slag discharge port (313), and a screening machine (314). One end of the collection chamber (311) is openably and closeably connected to the outer surface of the intermediate body (10), and the other end is connected to one end of the screening machine (314); The other end of the screening machine (314) is connected to one end of the screw conveyor assembly (312); The other end of the spiral conveyor assembly (312) is connected to one end of the slag discharge port (313); The other end of the slag discharge port (313) is connected to the slag discharge pipeline inside the main body (10) of the relay room.

7. The pipe jacking and slag removal device based on the relay station according to claim 1, characterized in that, The data control terminal (23) includes a wireless transmission module, a main controller, a storage module, a human-machine interlock module, and a battery module that are electrically connected to each other. The wireless transmission module is used to push a manual intervention signal to the human-machine interface when the automatic control of the main controller fails, and the manual intervention signal is isolated from the automatic control signal of the main controller through a dual-signal interlocking circuit.

8. A method for controlling slag discharge in pipe jacking based on intermediate stations, characterized in that, Performed by the pipe jacking and slag removal device based on any one of claims 1 to 7, and comprising: S1. Used to obtain jacking process data of the main body (10) of the relay station. The jacking process data includes: water and soil pressure value around the pipe, strain value on the pipe surface and position measurement value. The water and soil pressure value around the pipe includes multiple sets of relative data located at different circumferential positions of the main body (10) of the relay station. S2. Calculate the pipe perimeter friction value based on the pipe perimeter water and soil pressure value and the pipe surface strain value; calculate the axial distance between two adjacent relay bodies (10) based on the position measurement value; calculate the unit length friction value based on the pipe perimeter friction value and the axial distance value; and calculate the real-time pressure ratio and real-time pressure value of each group of relative group data based on the pipe perimeter water and soil pressure value. S3. Determine whether the frictional resistance per unit length reaches the preset blockage warning value, determine whether the real-time pressure ratio reaches the preset pressure ratio warning value, and determine whether the real-time pressure value reaches the preset pressure warning value. If at least one of the determination results is yes, then locate the sediment accumulation area according to the corresponding position measurement value, and then control the high-pressure jet head and / or crushing drill in the corresponding area to extend to the outside of the main body (10) of the relay room and start it.

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