Intelligent deviation rectifying device and method for artificial pipe jacking

Abstract

This invention relates to the field of tunnel construction technology, specifically to an intelligent correction device and method for manual pipe jacking. The device includes a correction air cushion, a hydraulic trolley, a first mounting bracket, a second mounting bracket, a total reflection prism, an air cushion limiting mechanism, and a cloud-based laser rangefinder. The correction air cushion is installed on the outer wall of the pipe and is connected to the hydraulic trolley via the air cushion limiting mechanism. The first mounting bracket is detachably installed on the inner wall of the steel pipe and located in front of the correction air cushion, with the total reflection prism mounted on it. The second mounting bracket is detachably installed on the inner wall of the steel pipe and located behind the correction air cushion and the hydraulic trolley, with the cloud-based laser rangefinder mounted on it. This invention constitutes a high-precision real-time monitoring network capable of continuously and automatically acquiring three-dimensional attitude data during the steel pipe jacking process, solving the technical problem of insufficient monitoring accuracy in existing manual pipe jacking technologies.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction technology, and in particular to an intelligent correction device and method for manual pipe jacking. Background Technology

[0002] Pipe jacking, a trenchless construction technique, involves hydraulically jacking prefabricated pipe sections through a launching shaft to a receiving shaft, thereby forming an underground structure. This method effectively reduces disruption to surface traffic and avoids the environmental impact of large-scale open-cut construction, making it particularly suitable for projects that tunnel under existing important structures and transportation facilities.

[0003] In existing manual pipe jacking technology, the construction process mainly relies on operators directly controlling the jacking equipment underground and monitoring the axial position, elevation, and attitude of the pipe sections through manual measurement. However, this technology has significant limitations. First, manual measurement methods (such as using levels and theodolites) are inefficient, data acquisition is discontinuous, and it is difficult to achieve real-time and accurate monitoring of the entire jacking trajectory, resulting in lag in correction operations and increasing the risk of pipe sections deviating from the design axis. Second, in long-distance or curved pipe jacking construction, errors from manual measurement accumulate, seriously affecting the final breakthrough accuracy. In addition, construction personnel need to work frequently in harsh underground environments, facing certain safety risks. At the same time, the monitoring of key data such as deformation of the surrounding soil and surface settlement caused during the jacking process in existing technologies often relies on external monitoring points, which are not strongly correlated with the attitude control of the pipe jacking machine itself, failing to form a closed-loop guidance system, making it difficult to proactively and predictively control settlement, and limiting the protection capability for adjacent structures. Summary of the Invention

[0004] The main objective of this invention is to provide an intelligent correction device and method for manual pipe jacking, which aims to solve the technical problem of insufficient monitoring accuracy in existing manual pipe jacking technology.

[0005] To achieve the above objectives, the present invention proposes an intelligent correction device for manual pipe jacking, comprising a correction air cushion, a hydraulic trolley, a first mounting bracket, a second mounting bracket, a total reflection prism, an air cushion limiting mechanism, and a cloud-based laser rangefinder. The correction air cushion is installed on the outer wall of the pipe and is connected to the hydraulic trolley via the air cushion limiting mechanism. The first mounting bracket is detachably installed on the inner wall of the steel pipe and located in front of the correction air cushion, and the total reflection prism is mounted on the first mounting bracket. The second mounting bracket is detachably installed on the inner wall of the steel pipe and located behind the correction air cushion and the hydraulic trolley, and the cloud-based laser rangefinder is mounted on the second mounting bracket. The total reflection prism and the cloud-based laser rangefinder are on the same horizontal line.

[0006] The intelligent correction device for manual pipe jacking of the present invention is further improved in that the air cushion limiting mechanism includes a base, a compressible tray and a hydraulic nozzle. The compressible tray is installed on the base, the hydraulic nozzle is installed on the compressible tray, and the base and the compressible tray are provided with air passages communicating with the hydraulic nozzle.

[0007] The intelligent correction device for manual pipe jacking of the present invention is further improved in that the air cushion limiting mechanism also includes a support foot and a limiting spring. The support foot is hinged to the base, and the limiting spring is connected between the side of the base and the side of the support foot.

[0008] The intelligent correction device for manual pipe jacking of the present invention is further improved in that the number of correction air cushions and air cushion limiting mechanisms is four. The four correction air cushions are symmetrically installed on the outer wall of the pipe, and the four air cushion limiting mechanisms are connected to the four correction air cushions one by one.

[0009] The intelligent correction device for manual pipe jacking of the present invention is further improved in that it also includes a cloud server. The cloud service laser rangefinder is equipped with an angle adjustment component and a data transmission module. The data transmission module is used to transmit the data of the cloud service laser rangefinder to the cloud server.

[0010] In addition, the present invention also provides an intelligent correction method for manual pipe jacking, comprising the following steps: Install the intelligent correction device for manual pipe jacking as described above, adjust the plane of the cloud service laser rangefinder and the total reflection prism to be perpendicular to the pipe axis, and make the line connecting the signal emission and reflection points of each cloud service rangefinder and the total reflection prism parallel to the pipe axis. Real-time measurement of the jacking pipe's attitude data using a cloud-based laser rangefinder; During the pipe jacking stage, the cloud-based laser rangefinder uploads real-time pipe jacking attitude data to the cloud database via the data transmission module and constructs a two-dimensional model. An approximate deviation vector is calculated based on the two-dimensional model; The pressure control command vector is calculated based on the approximate deviation vector. The physical correction force applied to the outer wall of the pipe is calculated based on the pressure control command vector; The expansion degree of the correction air cushion is adjusted by controlling the inflation pressure of the correction air cushion through a hydraulic trolley, thereby generating the physical correction force applied to the outer wall of the pipeline.

[0011] The intelligent correction method for manual pipe jacking of the present invention is further improved by including the following steps when constructing the two-dimensional model: First, establish a global coordinate system O-XYZ, with the origin O at the starting point of the pipeline design axis in the working shaft, the X-axis as the horizontal design direction, the Y-axis as the vertical design direction, and the Z-axis as the jacking depth direction; Then establish a local coordinate system o-xyz for the jacking head, with the center of the jacking head as the origin o, the x-axis as the current horizontal direction of the jacking head, the y-axis as the current vertical direction of the jacking head, and the z-axis as the axial direction of the jacking body; At each discrete sampling moment during the jacking process The cloud server receives data from a cloud-based laser rangefinder installed inside the pipe, including the horizontal yaw angle. : Represents the rotation angle of the local coordinate system x-axis relative to the global coordinate system x-axis; including vertical pitch angle. : Represents the rotation angle of the y-axis of the local coordinate system of the nose relative to the y-axis of the global coordinate system; The cloud server will adjust the vertical tilt angle. Horizontal yaw angle Store in the database; convert the change in attitude angle into displacement increments in the global coordinate system; assume that during the sampling period... Inside, the jacking distance of the pipeline is ,exist At what moment is the attitude of the aircraft nose? , Within this time step, the displacement increment of the nose in the global coordinate system ( , It can be calculated using the following formula: ; Combining the obtained displacement increments, the trajectory coordinates of the nose in the global coordinate system are calculated in real time using a recursive relationship; the nose is then positioned... The global coordinates at time ( ) , ); then at the next moment k +1 coordinates ( , It is obtained through the following recursive formula: ; ; The cloud server continuously executes the above recursive algorithm to obtain a series of coordinate points: ; Connecting these coordinate points in chronological order, the actual jacking trajectory curve of the pipe jacking machine head is plotted on the XY plane; simultaneously, the system plots the preset design axes in the same coordinate system for comparison; finally, a two-dimensional model is generated. Represented by the following mathematical set: ; in: For the first The vertical pitch angle vector of the jacking pipe at the time of the next sampling.

[0012] The intelligent deviation correction method for manual pipe jacking of the present invention is further improved by including the following steps when calculating the approximate deviation vector based on the two-dimensional model: The feedback data is sampled in real time using the deviation acquisition and quantization module. Specifically, this module is configured to sample data at discrete sampling times. ( (=0,1,2,...) to obtain the actual position of the pipe jacking machine head and compare it with the preset design axis to generate an approximate deviation vector. The calculation expression is as follows: , , ; in: For the first The vertical pitch angle vector of the jacking pipe sampled in the second sampling. For the first The horizontal yaw angle vector of the jacking pipe sampled in the second sampling. For the first The deviation vector is the distance the jacking pipe advances during the next sampling. As input to subsequent control algorithms, The horizontal deviation vector, The vertical deviation vector. This is the matrix transpose symbol.

[0013] The intelligent correction method for manual pipe jacking of the present invention is further improved in that, when calculating the pressure control command vector based on the approximate deviation vector: Receive the deviation vector And based on the feedback control algorithm, the pressure control command vector of the driving hydraulic system is calculated. The feedback control algorithm is a digital proportional-integral-derivative control algorithm, and the specific formula is as follows: y The same applies in the direction: ; in: The preset proportional gain coefficient; It is an integral term; It is the sampling period; It is a differential term.

[0014] The intelligent correction method for manual pipe jacking of the present invention is further improved in that, when calculating the physical correction force applied to the outer wall of the pipe based on the pressure control command vector: Pressure control command vector Converted into a physical corrective force applied to the outer wall of the pipe. The specific formula is as follows: ; In the formula, The number of correction air cushions involved in the correction process. The effective area of ​​a single corrective air cushion.

[0015] The technical solution of the present invention has the following beneficial effects: The intelligent deviation correction device for manual pipe jacking of this invention, by deploying multiple sets of cloud-service laser rangefinders and total reflection prisms inside the pipe, forms a high-precision real-time monitoring network. This network continuously and automatically acquires three-dimensional attitude data during the pipe jacking process, completely changing the outdated method of relying on manual, intermittent measurement. It avoids error accumulation and deviation correction lag, solving the technical problem of insufficient monitoring accuracy in existing manual pipe jacking technology. Based on real-time monitoring data, this invention can automatically adjust the expansion volume of the air cushion at specific locations via remote control, thereby changing the friction between the pipe section and the soil. This achieves precise and proactive adjustment of the jacking direction, forming a closed-loop intelligent deviation correction system of "monitoring-feedback-control," effectively reducing the risk of pipe sections deviating from the design axis. This invention integrates a cloud server, realizing fully automated monitoring from data acquisition and analysis to deviation correction execution. It supports data self-checking and remote interaction, far exceeding the automation level of traditional pipe jacking technology that relies on manual judgment and operation. It features more integrated deployment and stronger unmanned operation capabilities, effectively reducing the labor intensity of construction personnel and the safety risks of underground operations. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention 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 the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 This is a side view of the intelligent correction device for manual pipe jacking according to the present invention; Figure 2 This is a schematic diagram of the installation of the total internal reflection prism and cloud service laser rangefinder of the intelligent correction device for manual pipe jacking of the present invention. Figure 3 This is a side view of the intelligent deviation correction device for manual pipe jacking of the present invention in a horizontal jacking state. Figure 4 This is a schematic diagram of the slope state (vertical angle pipe jacking posture) of the intelligent correction device for manual pipe jacking according to the present invention. Figure 5 This is a top view of the intelligent deviation correction device for manual pipe jacking of the present invention, showing the jacking process along the axial direction. Figure 6 This is a top view of the intelligent correction device for manual pipe jacking of the present invention in the turning state (horizontal angle pipe jacking posture). Figure 7 This is a schematic diagram of the total reflection prism in the intelligent deviation correction device for manual pipe jacking of the present invention. Figure 8 This is a schematic diagram of the cloud service laser rangefinder of the intelligent correction device for manual pipe jacking of the present invention. Figure 9 This is a schematic diagram of the cloud service laser rangefinder of the intelligent correction device for manual pipe jacking of the present invention. Figure 10 This is a schematic diagram showing the position of the correction air cushion in the intelligent correction device for manual pipe jacking of the present invention. Figure 11 This is a cross-sectional view of the intelligent correction device for manual pipe jacking according to the present invention; Figure 12 This is a schematic diagram of the air cushion limiting mechanism of the intelligent correction device for manual pipe jacking according to the present invention.

[0018] Explanation of icon numbers: 1. Correcting air cushion; 2. Hydraulic trolley; 3. First mounting bracket; 4. Total reflection prism; 5. Air cushion limiting mechanism; 51. Hinge connection structure; 52. Compressible tray; 53. Hydraulic nozzle; 54. Support foot; 55. Base; 56. Limiting spring; 6. Hydraulic pipe; 7. Cloud service laser rangefinder; 71. Drive motor; 72. Gear set; 8. Second mounting bracket. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0021] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0022] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0024] like Figures 1-12 As shown, this invention proposes an intelligent correction device for manual pipe jacking, including a correction air cushion 1, a hydraulic trolley 2, a first mounting bracket 3, a second mounting bracket 8, a total reflection prism 4, an air cushion limiting mechanism 5, and a cloud service laser rangefinder 7. The correction air cushion 1 is installed on the outer wall of the pipe and is connected to the hydraulic trolley 2 through the air cushion limiting mechanism 5. The first mounting bracket 3 is detachably installed on the inner wall of the steel pipe and is located in front of the correction air cushion 1, and the total reflection prism 4 is installed on the first mounting bracket 3. The second mounting bracket 8 is detachably installed on the inner wall of the steel pipe and is located behind the correction air cushion 1 and the hydraulic trolley 2, and the cloud service laser rangefinder 7 is installed on the second mounting bracket 8. The total reflection prism 4 and the cloud service laser rangefinder 7 are on the same horizontal line.

[0025] Specifically, both the first mounting bracket 3 and the second mounting bracket 8 are annular. The total internal reflection prism 4 is bolted to the first mounting bracket 3, and the cloud service laser rangefinder 7 is bolted to the second mounting bracket 8. The cloud service laser rangefinder 7 and the total internal reflection prism 4 are both mounted on a fixed frame and are on the same horizontal line, parallel to the pipe axis. The positions of the first mounting bracket 3 and the second mounting bracket 8 are adjusted so that their centers are on the pipe axis. The cloud service laser rangefinder 7 is equipped with a drive motor 71 and a gyroscope, allowing it to rotate in both vertical and horizontal directions and ensuring that the cloud service laser rangefinder maintains its original orientation when the jacking pipe's posture changes, thus guaranteeing the accuracy of the measurement data.

[0026] This invention utilizes a total internal reflection prism 4 and a cloud-based laser rangefinder 7 to monitor the jacking posture of the pipe in real time and upload the data to the cloud. Based on the data feedback, the hydraulic trolley 2 is adjusted, and the expansion volume of the correction air cushions 1 in each direction is controlled to achieve the correction function for manual pipe jacking. This device avoids the shortcomings of traditional manual correction methods, such as low efficiency and susceptibility to damage, and improves the monitoring and correction efficiency and accuracy of manual pipe jacking. It has the advantages of high automation, strong adaptability, accurate positioning, and convenient maintenance.

[0027] Preferably, such as Figure 12 As shown, the air cushion limiting mechanism 5 includes a base 55, a compressible tray 52, and a hydraulic nozzle 53. The compressible tray 52 is mounted on the base 55, and the hydraulic nozzle 53 is mounted on the compressible tray 52. ​​The base 55 and the compressible tray 52 have air passages communicating with the hydraulic nozzle 53. The hydraulic trolley 2 is equipped with a hydraulic pipe 6 for transmitting hydraulic gas. The hydraulic pipe 6 can be fixed to a hook arranged along the length of the pipe, so that it fits tightly against the inner wall of the steel pipe and is parallel to the axis of the steel pipe. The correction air cushion 1 is fixed to a groove on the outer wall of the pipe by an air cushion limiting device. The air cushion limiting device is hinged to the inner wall of the pipe, and its two ends are connected to the correction air cushion 1 and the hydraulic pipe 6, respectively. The hydraulic nozzle 53 allows for easy disassembly and installation of the correction air cushion 1. It is located at the central axis of the base 55 and passes through both ends of the air passage.

[0028] Preferably, the air cushion limiting mechanism 5 further includes a support foot 54 and a limiting spring 56. The support foot 54 is hinged to the base 55, and the limiting spring 56 is connected between the side of the base 55 and the side of the support foot 54. Specifically, a snap-fit ​​connector is provided between the correction air cushion 1 and the hydraulic nozzle 53 to improve assembly and disassembly efficiency while ensuring stable connection. The support foot 54 is rotatably connected to the base 55 through a hinge connection structure 51, allowing the support foot 54 to rotate at a certain angle. The limiting spring 56 adopts a resettable spring structure. This device, in conjunction with the compressible tray 52, can control the vertical offset of the correction air cushion 1 during operation, effectively constraining and guiding the working posture of the correction air cushion 1, ensuring that it is in a reasonable friction position with the surrounding soil, avoiding control inaccuracies caused by air cushion offset, and ensuring the accurate execution of the correction action. Furthermore, the correction air cushion 1 is in a reasonable friction position with the surrounding soil, avoiding the difficulty of remotely adjusting the hydraulic device due to unreasonable friction position, and ensuring the accuracy of pipe jacking correction. The support foot 54 has an arc-shaped support side, which can fit tightly against the inner wall of the steel pipe to prevent slippage.

[0029] The hydraulic nozzle 53 of the air cushion limiting device is tightly connected to the hydraulic pipe 6. The compressible tray 52 and the support foot 54 can be adjusted according to the expansion of the correction air cushion 1, limiting the correction air cushion 1 to a reasonable friction position and ensuring the reliability of the connection between the correction air cushion 1 and the steel pipe. The air cushion limiting device integrates a hinged connection structure 51 and a resettable limiting spring 56. Together with the compressible tray 52, it can effectively constrain and guide the working posture of the correction air cushion 1, ensuring that it is in a reasonable friction position with the surrounding soil, avoiding control inaccuracies caused by air cushion deviation, and ensuring the accurate execution of the correction action. The correction air cushion 1 is made of high-strength corrosion-resistant rubber material and equipped with snap-on connectors, which can adapt to different complex underground environments and facilitate quick assembly and disassembly, improving the maintenance efficiency of the equipment. The hydraulic trolley 2 has a built-in motor and can be remotely controlled, enabling it to move autonomously within the pipeline, providing continuous correction capability for long-distance jacking.

[0030] Preferably, such as Figure 11 As shown, there are four correction air cushions 1 and four air cushion limiting mechanisms 5. The four correction air cushions 1 are symmetrically installed on the outer wall of the pipeline, and the four air cushion limiting mechanisms 5 are connected one-to-one to the four correction air cushions 1. The correction air cushions 1 can be made of high-strength, corrosion-resistant rubber material to adapt to different working environments. A snap-fit ​​connector is provided between the correction air cushions 1 and the hydraulic nozzle 53 to improve assembly and disassembly efficiency while ensuring stable connection.

[0031] Preferably, it also includes a cloud server. The cloud-service laser rangefinder 7 is equipped with an angle adjustment component and a data transmission module. This data transmission module is used to transmit the data of the cloud-service laser rangefinder 7 to the cloud server. Specifically, the cloud server uses a PLC (Programmable Logic Controller) or an embedded chip, and is wirelessly connected to the hydraulic trolley 2. The hydraulic trolley 2 is equipped with a wireless receiver, which can remotely control hydraulic parameters. The built-in motor enables the trolley to move forward or backward on the track laid inside the pipeline. The data transmission module connects to the cloud-service laser rangefinder 7, enabling fully automated monitoring, real-time data acquisition, transmission, and self-testing. Figure 9 As shown, the angle adjustment component includes a gear set 72 and a drive motor 71. When the jacking posture deviates, the drive motor 71 is remotely adjusted via instructions from the cloud server, thereby causing the gear set 72 to drive the built-in cloud service rangefinder to rotate, adjusting the vertical rotation angle α and the horizontal rotation angle β to align with the center of the corresponding total reflection prism 4. The vertical and horizontal rotation angles are then uploaded to the cloud server in real time. The hydraulic trolley 2 can be controlled remotely, adjusting the expansion volume of the correction air cushion 1 based on real-time feedback data. By controlling the expansion size of the correction air cushion 1, the friction between the pipe and the surrounding soil is increased or decreased to adjust the jacking posture and the jacking angle, thus realizing the intelligent correction function of manual jacking.

[0032] In addition, the present invention also provides an intelligent correction method for manual pipe jacking, comprising the following steps: Install the intelligent correction device for manual pipe jacking as described above, adjust the plane of the cloud service laser rangefinder 7 and the total reflection prism 4 to be perpendicular to the pipe axis, and make the line connecting the signal emission and reflection points of each cloud service rangefinder and the total reflection prism 4 parallel to the pipe axis. The real-time jacking attitude data of the jacking pipe is measured in real time using a cloud-based laser rangefinder 7. During the pipe jacking stage, the cloud-service laser rangefinder 7 uploads the real-time jacking attitude data of the pipe to the cloud database through the data transmission module and constructs a two-dimensional model; An approximate deviation vector is calculated based on the two-dimensional model; The pressure control command vector is calculated based on the approximate deviation vector. The physical correction force applied to the outer wall of the pipe is calculated based on the pressure control command vector; The expansion degree of the correction air cushion 1 is adjusted by controlling the inflation pressure of the correction air cushion 1 through the hydraulic trolley 2, thereby generating the physical correction force applied to the outer wall of the pipeline.

[0033] Preferably, the following steps are included when constructing a two-dimensional model: First, establish a global coordinate system O-XYZ, with the origin O at the starting point of the pipeline design axis in the working shaft, the X-axis as the horizontal design direction, the Y-axis as the vertical design direction, and the Z-axis as the jacking depth direction; Then, establish a local coordinate system o-xyz for the jacking head, with the center of the jacking head as the origin o, the x-axis as the current horizontal direction of the jacking head, the y-axis as the current vertical direction of the jacking head, and the z-axis as the axial direction of the jacking body. This is a relative coordinate system that moves and rotates with the pipe.

[0034] like Figures 3-6 As shown, at each discrete sampling moment during the jacking process The cloud server receives data from the cloud service laser rangefinder 7 installed inside the pipe, including the horizontal yaw angle. : Represents the rotation angle of the local coordinate system x-axis relative to the global coordinate system x-axis; including vertical pitch angle. : Represents the rotation angle of the y-axis of the local coordinate system of the nose relative to the y-axis of the global coordinate system; The cloud server will adjust the vertical tilt angle. Horizontal yaw angle Store in the database; convert the change in attitude angle into displacement increments in the global coordinate system; assume that during the sampling period... Inside, the jacking distance of the pipeline is ,exist At what moment is the attitude of the aircraft nose? , Within this time step, the displacement increment of the nose in the global coordinate system ( , It can be calculated using the following formula: ; Combining the obtained displacement increments, the trajectory coordinates of the nose in the global coordinate system are calculated in real time using a recursive relationship; the nose is then positioned... The global coordinates at time ( ) , ); then at the next moment k +1 coordinates ( , It is obtained through the following recursive formula: ; ; The cloud server continuously executes the above recursive algorithm to obtain a series of coordinate points: ; Connecting these coordinate points in chronological order, the actual jacking trajectory curve of the pipe jacking machine head is plotted on the XY plane; simultaneously, the system plots the preset design axes in the same coordinate system for comparison; finally, a two-dimensional model is generated. Represented by the following mathematical set: ; in: For the first The vertical pitch angle vector of the jacking pipe at the time of the second sampling.

[0035] Preferably, when calculating the approximate deviation vector based on the two-dimensional model, the following steps are included: The deviation acquisition and quantization module is used to sample the feedback data (the deviation between the actual attitude of the pipe jacking and the preset value) in real time. Specifically, this module is configured to sample at discrete sampling times. ( (=0,1,2,...) to obtain the actual position of the pipe jacking machine head and compare it with the preset design axis to generate an approximate deviation vector. The calculation expression is as follows: , , ; in: For the first The vertical pitch angle vector of the jacking pipe sampled in the second sampling. For the first The horizontal yaw angle vector of the jacking pipe sampled in the second sampling. For the first The deviation vector is the distance the jacking pipe advances during the next sampling. As input to subsequent control algorithms, The horizontal deviation vector, The vertical deviation vector. This is the matrix transpose symbol.

[0036] Preferably, when calculating the pressure control command vector based on the approximate deviation vector: Receive the deviation vector And based on the feedback control algorithm, the pressure control command vector of the driving hydraulic system is calculated. The feedback control algorithm is a digital proportional-integral-derivative control algorithm, and the specific formula is as follows: y The same applies in the direction: ; in: The preset proportional gain coefficient (proportional term) is used to provide the basic correction response; For the integral term, summation is used to approximate continuous integration. It accumulates all historical deviations, and as long as a deviation exists, the control output will continue to increase until the steady-state error is eliminated; It is the sampling period; It is the differential term, which is approximated by the difference to represent continuous differential. It reflects the rate of change of the current deviation from the deviation at the previous moment, and can predict the trend of the deviation, thus playing a role in damping and stabilizing.

[0037] Preferably, when the physical corrective force applied to the outer wall of the pipe is calculated based on the pressure control command vector: Pressure control command vector Converted into a physical corrective force applied to the outer wall of the pipe. The specific formula is as follows: ; In the formula, The number of correction air cushions 1 participating in the correction process. This refers to the effective working area of ​​a single corrective air cushion 1. This module precisely adjusts the expansion degree of the corrective air cushion 1 by controlling the output pressure of the hydraulic trolley 2, thereby generating the required corrective force. .

[0038] Based on the offset orientation of the steel pipe, the corresponding air cushion 11 expands, increasing the friction between the outer wall of the opposite side of the steel pipe and the surrounding soil, thus achieving the correction function. As the pipe jacking progresses deeper, the hydraulic trolley 22 and the total reflection prism 44 need to be adjusted to their respective positions to achieve intelligent correction of multiple pipe sections. When all pipe jacking processes are completed, construction personnel enter the steel pipe and dismantle all articulated devices.

[0039] To verify the effectiveness of the "intelligent pipe jacking correction method based on closed-loop feedback control" described in this invention, a real pipe jacking project (pipe diameter DN2000, jacking length 120m, mainly traversing silty clay layers) was selected, and numerical simulation experiments were conducted using existing software. A closed-loop control system needs to be constructed, mainly composed of three core modules: the controlled object module (simulating the pipe jacking machine and soil), the sensor module (simulating a laser rangefinder), and the intelligent correction controller module.

[0040] Under the same geological conditions, two sections, each 50 meters long, were selected for construction. Construction was carried out using the traditional manual correction method (based on manual measurement with a laser theodolite and empirical adjustment of hydraulic pressure) and the intelligent correction method described in this invention, respectively. Key data collected are shown in the table below:

[0041] As can be seen from the table above, traditional methods are limited by the low frequency of manual measurements (usually only 2-3 times per day) and subjective experience, leading to a vicious cycle of "detecting deviations—correcting deviations—generating overshoot." In contrast, this invention acquires data in real time via a cloud-based laser rangefinder. and By adjusting the angle and using a digital PID algorithm, "micro-scale, multiple, and precise" corrections to deviations are achieved, ultimately ensuring that the pipeline axis is strictly controlled near the design axis.

[0042] The core technical mechanism behind the excellent effects achieved by this invention is as follows: (1) The leap from "discrete point control" to "continuous flow control" in terms of mechanism: Traditional mechanism: Relies on manual measurement to obtain discrete, time-lagging point coordinates (X, Y). This belongs to "open-loop" or "semi-closed-loop" control, and the controlled object is "the deviation that has already occurred".

[0043] Mechanism of this invention: utilizing (Vertical angle) and The horizontal angle serves as the core feedback variable. The angle is the first derivative (rate of change) of the position, reflecting the dynamic trend of the deviation.

[0044] (2) Mechanism optimization from "rigid thrust" to "flexible friction field": Traditional mechanism: Traditional alignment mainly relies on adjusting the thrust difference of the main jacking cylinder or adjusting the extension and retraction of the alignment cylinder. This is a "hard" confrontation, which can easily lead to stress concentration at the pipe joints, or even crack the pipe joints or cause ground heave.

[0045] Mechanism of this invention: It innovatively employs a correction air cushion. Through... The formula controls the expansion of the air cushion to change the normal pressure between the pipe wall and the soil. This is a distributed, adjustable "friction field." Instead of forcing the pipe to "turn around," the correction guides it to automatically deflect towards the side with lower resistance by changing the frictional resistance on one side. This "going with the flow" mechanism makes the correction process gentler, greatly reducing disturbance to the surrounding soil and effectively controlling ground settlement.

[0046] (3) Real-time closed-loop feedback mechanism based on cloud: Traditional control loops involve a human element, and human fatigue, experience differences, and reaction speed contribute significantly to transmission delays. This invention places the control loop in a cloud-based or high-speed local controller. According to control theory, system bandwidth is proportional to response speed. The high sampling frequency results in a very wide amplitude-frequency response, enabling rapid response to high-frequency interference (such as uneven geological formations), ensuring system robustness under various complex operating conditions.

[0047] The above description is only a preferred embodiment of the present invention and does not limit the scope of the present invention. All equivalent structural transformations made under the inventive concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the protection scope of the present invention.

Claims

1. An intelligent correction device for manual pipe jacking, characterized in that, The system includes a correction air cushion (1), a hydraulic trolley (2), a first mounting bracket (3), a second mounting bracket (8), a total reflection prism (4), an air cushion limiting mechanism (5), and a cloud service laser rangefinder (7). The correction air cushion (1) is installed on the outer wall of the pipe and is connected to the hydraulic trolley (2) through the air cushion limiting mechanism (5). The first mounting bracket (3) is detachably installed on the inner wall of the steel pipe and is located in front of the correction air cushion (1). The total reflection prism (4) is installed on the first mounting bracket (3). The second mounting bracket (8) is detachably installed on the inner wall of the steel pipe and is located behind the correction air cushion (1) and the hydraulic trolley (2). The cloud service laser rangefinder (7) is installed on the second mounting bracket (8). The total reflection prism (4) and the cloud service laser rangefinder (7) are on the same horizontal line.

2. The intelligent deviation correction device for manual pipe jacking according to claim 1, characterized in that, The air cushion limiting mechanism (5) includes a base (55), a compressible tray (52), and a hydraulic nozzle (53). The compressible tray (52) is mounted on the base (55), and the hydraulic nozzle (53) is mounted on the compressible tray (52). The base (55) and the compressible tray (52) are provided with air passages communicating with the hydraulic nozzle (53).

3. The intelligent deviation correction device for manual pipe jacking according to claim 2, characterized in that, The air cushion limiting mechanism (5) further includes a support foot (54) and a limiting spring (56). The support foot (54) is hinged to the base (55), and the limiting spring (56) is connected between the side of the base (55) and the side of the support foot (54).

4. The intelligent correction device for manual pipe jacking according to claim 3, characterized in that, The number of the correction air cushion (1) and the air cushion limiting mechanism (5) is four. The four correction air cushions (1) are used to be symmetrically installed on the outer wall of the pipeline. The four air cushion limiting mechanisms (5) are connected to the four correction air cushions (1) one by one.

5. The intelligent correction device for manual pipe jacking according to claim 4, characterized in that, It also includes a cloud server. The cloud service laser rangefinder (7) is equipped with an angle adjustment component and a data transmission module. The data transmission module is used to transmit the data of the cloud service laser rangefinder (7) to the cloud server.

6. A method for intelligent correction of deviation in manual pipe jacking, characterized in that, Includes the following steps: Install the intelligent correction device for manual pipe jacking as described in claim 5, adjust the plane of the cloud service laser rangefinder (7) and the total reflection prism (4) to be perpendicular to the pipe axis, and make the line connecting the signal emission and reflection points of each cloud service rangefinder and the total reflection prism (4) parallel to the pipe axis. The real-time jacking attitude data of the jacking pipe is measured in real time using a cloud service laser rangefinder (7); During the pipe jacking stage, the cloud service laser rangefinder (7) uploads the real-time jacking attitude data of the pipe to the cloud database through the data transmission module and constructs a two-dimensional model; An approximate deviation vector is calculated based on the two-dimensional model; The pressure control command vector is calculated based on the approximate deviation vector. The physical correction force applied to the outer wall of the pipe is calculated based on the pressure control command vector; The expansion degree of the correction air cushion (1) is adjusted by controlling the inflation pressure of the correction air cushion (1) by the hydraulic trolley (2), thereby generating the physical correction force applied to the outer wall of the pipe.

7. The intelligent correction device for manual pipe jacking according to claim 6, characterized in that, The following steps are included when constructing a two-dimensional model: First, establish a global coordinate system O-XYZ, with the origin O at the starting point of the pipeline design axis in the working shaft, the X-axis as the horizontal design direction, the Y-axis as the vertical design direction, and the Z-axis as the jacking depth direction; Then establish a local coordinate system o-xyz for the jacking head, with the center of the jacking head as the origin o, the x-axis as the current horizontal direction of the jacking head, the y-axis as the current vertical direction of the jacking head, and the z-axis as the axial direction of the jacking body; At each discrete sampling moment during the jacking process The cloud server receives data from a cloud-based laser rangefinder (7) installed inside the pipe, including horizontal yaw angle. : Represents the rotation angle of the local coordinate system x-axis relative to the global coordinate system x-axis; including vertical pitch angle. : Represents the rotation angle of the y-axis of the local coordinate system of the nose relative to the y-axis of the global coordinate system; The cloud server will adjust the vertical tilt angle. Horizontal yaw angle Store in the database; convert the change in attitude angle into displacement increments in the global coordinate system; assume that during the sampling period... Inside, the jacking distance of the pipeline is ,exist At what moment is the attitude of the aircraft nose? , Within this time step, the displacement increment of the nose in the global coordinate system ( , It can be calculated using the following formula: ； Combining the obtained displacement increments, the trajectory coordinates of the nose in the global coordinate system are calculated in real time using a recursive relationship; the nose is then positioned... The global coordinates at time ( ) , ); then at the next moment k +1 coordinates ( , It is obtained through the following recursive formula: ； ； The cloud server continuously executes the above recursive algorithm to obtain a series of coordinate points: ； Connecting these coordinate points in chronological order, the actual jacking trajectory curve of the pipe jacking machine head is plotted on the XY plane; simultaneously, the system plots the preset design axes in the same coordinate system for comparison; finally, a two-dimensional model is generated. Represented by the following mathematical set: ； in: For the first The vertical pitch angle vector of the jacking pipe at the time of the second sampling.

8. The intelligent correction device for manual pipe jacking according to claim 6, characterized in that, The approximate deviation vector is calculated based on the two-dimensional model, including the following steps: The feedback data is sampled in real time using the deviation acquisition and quantization module. Specifically, this module is configured to sample data at discrete sampling times. ( (=0,1,2,...) to obtain the actual position of the pipe jacking machine head and compare it with the preset design axis to generate an approximate deviation vector. The calculation expression is as follows: ， ， ； in: For the first The vertical pitch angle vector of the jacking pipe sampled in the second sampling. For the first The horizontal yaw angle vector of the jacking pipe sampled in the second sampling. For the first The deviation vector is the distance the jacking pipe advances during the next sampling. As input to subsequent control algorithms, The horizontal deviation vector, The vertical deviation vector. This is the matrix transpose symbol.

9. The intelligent correction device for manual pipe jacking according to claim 6, characterized in that, When calculating the pressure control command vector based on the approximate deviation vector: Receive the deviation vector And based on the feedback control algorithm, the pressure control command vector of the driving hydraulic system is calculated. The feedback control algorithm is a digital proportional-integral-derivative control algorithm, and the specific formula is as follows: y The same applies in the direction: ； in: The preset proportional gain coefficient; It is an integral term; It is the sampling period; It is a differential term.

10. The intelligent correction device for manual pipe jacking according to claim 6, characterized in that, When calculating the physical corrective force applied to the outer wall of the pipe based on the pressure control command vector: Pressure control command vector Converted into a physical corrective force applied to the outer wall of the pipe. The specific formula is as follows: ； In the formula, The number of correction air cushions (1) participating in the correction, The effective area of ​​a single corrective air cushion (1).

Images