Intelligent measurement system for pipe jacking engineering construction under complex urban environment

Abstract

This invention relates to the field of pipe jacking construction monitoring technology, specifically to an intelligent measurement system for pipe jacking engineering construction in complex urban environments. This invention synchronously collects the three-axis tilt angles and angular velocities of the pipe jacking machine, the linear displacement in the tunneling direction, the earth pressure values ​​in each circumferential zone, and the strain values ​​of key components, and performs fusion and dynamic correlation analysis. When the earth pressure and structural strain in a certain monitoring zone exhibit synchronous anomalies, and the rate of change of the three-dimensional attitude angle in that monitoring zone exceeds a preset threshold during the observation period, the system determines that the pipe jacking machine is dynamically coupling with an obstacle. This allows for early risk diagnosis and precise spatial positioning before a substantial and irreversible contact shift occurs between the pipe jacking machine and the obstacle, overcoming the lag problem of existing technologies that only passively respond after a significant attitude shift.

Description

Technical Field

[0001] This invention relates to the field of pipe jacking construction monitoring technology, specifically to an intelligent measurement system for pipe jacking engineering construction in complex urban environments. Background Technology

[0002] Pipe jacking is a common method for trenchless underground pipeline laying, which has advantages such as minimal disturbance to the surface environment and high construction efficiency, and is widely applicable to complex underground environments such as densely populated urban areas. However, during long-distance, high-precision tunneling, the pipe jacking machine often experiences sudden changes in posture and trajectory deviations due to multiple factors such as unidentified underground obstacles, abrupt changes in soil layers, and uneven thrust distribution.

[0003] In the prior art, such as Chinese invention patent with publication number CN107328415A, a fuzzy control system and method for the attitude of a pipe jacking machine based on a MEMS gyroscope is disclosed. It mainly detects the actual attitude angle of the machine head and compares it with a preset target axis, and then controls the correction cylinder to perform passive correction. However, the correction action is only initiated after the attitude has already deviated observably, which cannot identify potential risks before contacting obstacles, resulting in delayed correction timing and increased construction risks.

[0004] At the same time, it lacks the ability to integrate multi-dimensional data, fails to effectively integrate key parameters such as earth pressure and machine strain during the tunneling process, makes it difficult to identify coupling risks, and cannot correlate local earth pressure anomalies with the corresponding area's machine structure strain, attitude angle changes, etc., thus making it impossible to accurately trace the source of risks before the pipe jacking machine makes a substantial and irreversible contact shift with the obstacle. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and solve the problem that the prior art lacks multi-source data fusion and dynamic coupling analysis, which makes it impossible to perform real-time diagnosis, accurate risk tracing and forward-looking deviation warning before the pipe jacking machine makes substantial contact with unknown obstacles.

[0006] The technical solution adopted by this invention to solve its technical problem is: an intelligent measurement system for pipe jacking construction in complex urban environments, including: a data acquisition module, used to acquire the three-axis tilt angle and angular velocity of the pipe jacking machine, the linear displacement in the tunneling direction, the earth pressure values ​​in each circumferential zone, and the strain values ​​of key parts.

[0007] The data fusion module is used to perform pose fusion calculations on linear displacement, three-axis tilt angle and angular velocity, output the real-time three-dimensional attitude angle of the pipe jacking machine, and dynamically fit and generate the axis of the laid pipe based on the historical pose data of the laid pipe sections.

[0008] The coupling diagnosis module is used to determine that the pipe jacking machine is dynamically coupled with the obstacle when the earth pressure value and the corresponding strain value in any circumferential zone are synchronously abnormal, and the three-dimensional attitude angle change rate of that zone exceeds the preset change threshold during the observation period. The module also calculates the predicted offset based on the three-dimensional attitude angle change rate.

[0009] The navigation decision module is used to generate thrust adjustment schemes based on the predicted offset and the deviation of the real-time three-dimensional attitude angle relative to the axis of the laid pipeline, and to overlay and display the three-dimensional attitude angle, design axis, axis of the laid pipeline, risk side position and predicted offset in real time.

[0010] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention synchronously collects the three-axis tilt angle and angular velocity of the pipe jacking machine, the linear displacement in the tunneling direction, the earth pressure values ​​in each circumferential zone, and the strain values ​​of key parts, and performs fusion and dynamic correlation analysis; when the earth pressure and structural strain in a certain monitoring zone become synchronously abnormal, and the rate of change of the three-dimensional attitude angle of the monitoring zone exceeds the preset change threshold during the observation period, the system determines that the pipe jacking machine is dynamically coupling with the obstacle. In this way, before the pipe jacking machine and the obstacle undergo substantial and irreversible contact displacement, the risk can be diagnosed early and accurately located in space, overcoming the lag problem of the prior art that only responds passively after the attitude has obviously shifted.

[0011] 2. This invention generates a thrust adjustment scheme based on the predicted offset and the deviation of the real-time three-dimensional attitude angle relative to the axis of the laid pipeline, with the goal of correcting the heading or the comprehensive offset vector. The thrust adjustment scheme provides targeted thrust adjustment suggestions based on different situations of horizontal yaw angle deviation, vertical pitch angle deviation, and comprehensive offset vector. At the same time, the system displays information such as three-dimensional attitude angle, design axis, laid pipeline axis, risk side position, and predicted offset in real time on the same visualization interface, providing operators with intuitive and comprehensive construction status perception and decision-making basis, overcoming the problems of delayed correction timing and increased construction risks caused by the lack of multi-source data fusion and dynamic coupling analysis in existing technologies. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments 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 these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the system module connections of the present invention;

[0014] Figure 2 This is a schematic diagram of the process for obtaining earth pressure values ​​according to the present invention;

[0015] Figure 3 This is a schematic diagram illustrating the process of obtaining real-time three-dimensional attitude angles according to the present invention;

[0016] Figure 4 This is a schematic diagram of the process for calculating the predicted offset in this invention. Detailed Implementation

[0017] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. Furthermore, it should be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale.

[0018] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use. Techniques, methods, and apparatus known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and apparatus should be considered part of the specification.

[0019] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0021] The following description, in conjunction with the accompanying drawings, details the specific scheme of the intelligent measurement system for pipe jacking construction in complex urban environments provided by this invention.

[0022] Please see Figure 1 The diagram shows the module connection of the intelligent measurement system for pipe jacking construction in complex urban environments provided by the present invention, which specifically includes: a data acquisition module, a data fusion module, a coupling diagnosis module, and a navigation decision module.

[0023] Specifically, the output of the data acquisition module is connected to the data fusion module and the coupling diagnosis module; the output of the data fusion module is connected to the coupling diagnosis module and the navigation decision module; and the output of the coupling diagnosis module is connected to the navigation decision module.

[0024] The data acquisition module is used to obtain the triaxial tilt angle and angular velocity of the pipe jacking machine, the linear displacement in the tunneling direction, the earth pressure values ​​in each circumferential zone, and the strain values ​​of key parts.

[0025] The three-axis tilt angle and angular velocity are preferably obtained by a combined inertial measurement unit installed on the rigid structure of the pipe jacking machine.

[0026] The combined inertial measurement unit includes at least a three-axis accelerometer and a three-axis gyroscope, and can simultaneously output the tilt angle of the fuselage relative to the direction of gravity and the angular velocity of its rotation around its three axes.

[0027] The linear displacement in the tunneling direction is obtained through the following process: First, the design axis is extracted from the digital design model of the project. After the starting pipe section is installed in place, the spatial coordinates of the design axis are translated so that it passes through the geometric center point of the starting pipe section.

[0028] Next, the design axis is mathematically differentiated at the geometric center point to calculate the tangent vector of the curve at the geometric center point. The projection direction of the tangent vector onto the horizontal plane is the initial tunneling direction of the pipe jacking machine at the starting point.

[0029] In actual on-site construction, the initial tunneling direction can be laid out and calibrated using measuring instruments such as a total station, which can then serve as the reference for the starting direction adjustment of the pipe jacking machine.

[0030] Then, during the tunneling process, laser displacement sensors evenly arranged circumferentially on the jack support ring at the tail of the pipe jacking machine are used to measure the axial displacement between its own installation point and the end face of the adjacent laid pipe section. The axial displacement is the propulsion displacement.

[0031] This allows for the continuous acquisition of propulsion displacement at multiple positions along the fuselage circumference, followed by the calculation of the displacement increment per unit time at each position.

[0032] Considering the relatively slow speed of pipe jacking, the unit time can be set to 0.5 to 2 seconds for example. The specific value can be adjusted according to the average tunneling speed of the pipe jacking machine. A smaller value, such as 0.6 seconds, should be used for high-speed tunneling, and a larger value, such as 1.5 seconds, should be used for low-speed tunneling.

[0033] Then, based on the fuselage axis direction determined by the real-time three-dimensional attitude angle, the displacement increments that are in the same direction and have an angle smaller than the preset tolerance angle with the fuselage axis direction are extracted, thereby filtering out non-axial components caused by minor fuselage bending, sensor installation errors, or local jamming.

[0034] After selecting the effective displacement increments, the unit vectors of these displacement increments are averaged and normalized to obtain the common direction, which is the current tunneling direction.

[0035] The preset tolerance angle can be determined based on the nominal accuracy of the laser displacement sensor. It is usually set to about twice the nominal accuracy to filter noise and avoid missed detections.

[0036] The aforementioned "same direction" means that the dot product of the displacement increment vector and the fuselage axis direction vector is positive, i.e., the included angle is less than 90°.

[0037] Furthermore, the advancing displacement at each location is projected onto the current tunneling direction. Considering that the component perpendicular to the tunneling direction reflects lateral slippage or deflection, rather than the actual advancing distance, the projection values ​​perpendicular to the current tunneling direction are discarded, and only the projection values ​​in the current tunneling direction are retained.

[0038] Next, the average value of the projection of each position along the current tunneling direction is calculated per unit time, which is taken as the forward movement for that period. The forward movement is accumulated for each period to form a linear displacement.

[0039] Please see Figure 2 The acquisition of earth pressure values ​​in each circumferential zone and strain values ​​in key locations is achieved through the following process.

[0040] Specifically, taking the center line of the tunneling direction of the pipe jacking machine as the axis, the cross-section of the pipe jacking machine body perpendicular to the tunneling direction is divided into multiple non-overlapping fan-shaped monitoring areas at fixed angle intervals.

[0041] The number of monitoring zones can be determined based on the diameter of the pipe jacking machine. The larger the diameter of the pipe jacking machine, the higher the resolution requirement for the circumferential earth pressure distribution, and the more monitoring zones are needed. For example, when the diameter of the pipe jacking machine is less than 3 meters, the number of monitoring zones is 4; when the diameter of the pipe jacking machine is between 3 and 6 meters, the number of monitoring zones increases to 6.

[0042] After the monitoring area is divided, pressure measuring points are set up on the outer wall of the machine body corresponding to each monitoring area. The pressure measuring points can be embedded with vibrating wire earth pressure boxes. The sensing surface of the vibrating wire earth pressure box must be flush with the surface of the machine body to avoid disturbing the original soil.

[0043] Meanwhile, strain measurement points are also installed at key locations inside the fuselage corresponding to each monitoring zone. These key locations refer to areas of structural stress concentration or deformation sensitivity, including at least the weld joint between the cutterhead main beam and the front shell, the root of the jack reaction frame, and the hinged lug of the correction cylinder; resistance strain gauges can be installed at the strain measurement points.

[0044] During the tunneling process of the pipe jacking machine, the original pressure and strain signals of each monitoring area are collected simultaneously to ensure that the two types of signals are strictly aligned in time.

[0045] In order to extract effective earth pressure values ​​from the original pressure signal, the number of time periods in which the instantaneous change direction of the original pressure signal and the strain signal in the same monitoring area is the same is counted over multiple consecutive unit time periods, and then the proportion of the number of time periods is calculated.

[0046] The same instantaneous change direction means that the change in pressure signal and the change in strain signal have the same sign at the same moment, that is, both are positive, both are negative or both are zero.

[0047] If the ratio remains above the preset correlation threshold for five consecutive time periods, it indicates a strong physical correlation between the pressure and strain signals in the monitoring area, reflecting the actual soil-machine interaction, and therefore the signal set is deemed valid; otherwise, the signal set is removed.

[0048] The preset correlation threshold can be determined based on statistical data from historical stable tunneling sections, for example, by taking a high quantile of the distribution of the proportion of time periods, such as the 80th quantile. In noisy environments, the preset correlation threshold can be increased accordingly to enhance anti-interference capabilities.

[0049] After determining the validity of the signal set, the original pressure signal undergoes preprocessing such as zero-point calibration and low-pass filtering to output the soil pressure value for the monitoring area. The specific preprocessing process is existing technology and will not be described in detail here.

[0050] Please see Figure 3 The data fusion module is used to perform pose fusion calculation on linear displacement, three-axis tilt angle and angular velocity, output the real-time three-dimensional attitude angle of the pipe jacking machine, and dynamically fit and generate the axis of the laid pipe based on the historical pose data of the laid pipe sections.

[0051] Specifically, the steps are as follows: Step 1: Perform pose fusion calculation and output the real-time three-dimensional attitude angle of the pipe jacking machine.

[0052] Specifically, the following steps are taken: the direction of gravity is taken as the Z-axis, the projection direction of the initial tunneling direction on the horizontal plane is taken as the X-axis, the Y-axis is determined according to the right-hand rule, and then a local coordinate system is established that is fixed to the body of the pipe jacking machine.

[0053] Next, the angular velocity signals measured around each coordinate axis are integrated over time to obtain the integral values ​​of each rotation angle. Specifically, numerical integration methods such as the trapezoidal rule or Simpson's rule can be used to accumulate the product of the angular velocity and the sampling time for each sampling interval, thereby obtaining the integral value of the rotation angle around the corresponding coordinate axis from the initial time to the current time.

[0054] Then, the integral value of the rotation angle is converted into the direction vector of the fuselage axis in the local coordinate system by rotation matrix multiplication. The specific process is existing technology and will not be described in detail in this invention.

[0055] Meanwhile, using the forward movement per unit time as the modulus, and combining it with the unit vector of the current tunneling direction, the actual average forward vector of the pipe jacking machine within that unit time is constructed.

[0056] If the direction vector deviates from the actual average forward vector, i.e., the angle between them exceeds the preset angle tolerance, it may indicate that there is a cumulative error in the inertial calculation. In this case, the rotation angle integral value needs to be corrected in direction using the actual average forward vector as a constraint. Otherwise, the rotation angle integral value remains unchanged.

[0057] The orientation correction process is as follows: calculate the rotation quaternion between the orientation vector and the actual average forward vector, and then apply this quaternion to the attitude quaternion obtained by integrating the rotation angle to obtain the corrected attitude value.

[0058] The preset angle tolerance can be estimated based on the nominal drift rate and integration time of the inertial measurement unit. For example, if the gyroscope's zero bias is 0.1 degrees / hour, then the drift after 10 minutes of integration is approximately 0.017 degrees. Considering a safety margin, the preset angle tolerance is taken as 0.05 to 0.1 degrees. In this invention, a specific value of 0.05 can be used.

[0059] Furthermore, based on the projected components of gravitational acceleration along each axis of the fuselage in the three-axis tilt data, the pitch and roll angles of the fuselage relative to the horizontal plane are calculated using the arctangent function. The pitch and roll angles together constitute the tilt angle of the fuselage relative to the direction of gravity.

[0060] Considering that rotation along the X and Y axes alters the projection of gravity onto the sensor, gravity reference correction is required by utilizing the components around the X and Y axes in the integral value of the rotation angle after orientation correction or when it remains unchanged.

[0061] The gravity reference correction process is as follows: the integral values ​​of the rotation angles around the X-axis and Y-axis after the direction correction are directly replaced with the calculated roll angle and pitch angle, respectively, thereby using the gravity reference to eliminate the cumulative error of the X and Y axes.

[0062] The integral values ​​of the rotation angles around the X, Y, and Z axes after gravity reference correction are used as the roll angle, pitch angle, and yaw angle, respectively, and are output together as real-time three-dimensional attitude angles.

[0063] Step 2: Based on the historical positional data of the laid pipe sections, dynamically fit and generate the axis of the laid pipe.

[0064] The specific process is as follows: Real-time three-dimensional attitude angles and the spatial position of the pipe jacking machine are obtained sequentially according to the tunneling time, at the point of completion of each laid pipe section installation. The spatial position of the pipe jacking machine can be obtained by accumulating linear displacements and combining them with the initial position.

[0065] Then, the real-time three-dimensional attitude angles are converted into unit direction vectors pointing to the fuselage axis through rotation matrix multiplication. This conversion process is based on the same principle as the aforementioned conversion process of rotation angle integral values, and will not be described in detail again.

[0066] Meanwhile, starting from the spatial position of the pipe jacking machine, the endpoint can be determined by multiplying the unit direction vector by the length of a single pipe section and then superimposing the result back to the starting point.

[0067] Next, the straight line segment connecting the starting point and the ending point is taken as the centerline spatial segment of the corresponding laid pipe section; the centerline spatial segments of all laid pipe sections are connected end to end in the order of tunneling time to form a segmented pipeline axis.

[0068] Then, the segmented pipe axis is continuously smoothed to generate a smooth spatial curve. In this invention, cubic spline interpolation can be used; the specific processing procedure is existing technology and will not be elaborated here.

[0069] Finally, as the tunneling progresses and new pipe sections are laid, the spatial line segments of the new pipe section centerlines are continuously added to the fitting process and smoothed again. The smoothed spatial curve is dynamically updated based on the current tunneling moment, and the output is the axis of the laid pipe.

[0070] It should be noted that during the initial tunneling phase, the current tunneling direction is based on the initial tunneling direction determined by the design axis. As tunneling progresses, the current tunneling direction is updated recursively based on the direction calculated at the previous moment and using newly acquired displacement increment data. The resulting laid pipeline axis is only used for subsequent coupling diagnostics and navigation decisions.

[0071] The coupling diagnosis module is used to determine that the pipe jacking machine is dynamically coupled with the obstacle when the earth pressure value and the corresponding strain value in any circumferential zone are synchronously abnormal, and the three-dimensional attitude angle change rate in that zone exceeds a preset change threshold during the observation period. The module also calculates the predicted offset based on the three-dimensional attitude angle change rate.

[0072] Specifically, the synchronous anomaly of earth pressure value and corresponding strain value in any circumferential zone refers to the following: during the observation period, the earth pressure values ​​collected by at least 10 pressure measuring points in any monitoring zone are consistently higher than the pressure benchmark value, and the earth pressure values ​​continue to increase over time.

[0073] Meanwhile, during the observation period, the strain values ​​of key parts inside the fuselage corresponding to the monitoring area were consistently higher than the strain reference value, and the strain values ​​continued to increase over time.

[0074] In this invention, the pressure reference value can be taken from the average earth pressure of the most recent 10-meter normal tunneling section. If the construction site is a soft stratum with low earth pressure, the pressure reference value can be appropriately reduced; if it is a hard rock stratum, the pressure reference value can be appropriately increased. The strain reference value is determined in the same way.

[0075] The determination of the observation period mainly considers the time required for the pipe jacking machine to advance one typical stroke length. For example, the time required for the pipe jacking machine to advance 200 mm can be taken to ensure that the complete state changes caused by interaction with obstacles can be captured.

[0076] While monitoring the changes in earth pressure and corresponding strain values ​​in any circumferential zone, it is also necessary to monitor the changes in three-dimensional attitude angles in any circumferential zone and calculate the rate of change of three-dimensional attitude angles.

[0077] The specific calculation process is as follows: select the median value of the continuous azimuth range covered by the monitoring area as the central azimuth; the continuous azimuth range is the angle interval spanned by the monitoring area on the circumference.

[0078] Then, based on the projection direction of the center azimuth angle onto the cross section perpendicular to the tunneling direction, the rotation axis around which the attitude change of the pipe jacking machine revolves when subjected to lateral force in that projection direction is taken as the relevant rotation axis.

[0079] Specifically, taking the origin of the local coordinate system of the pipe jacking machine as the starting point, and the cross product vector of the projection direction vector and the tunneling direction vector as the direction, the defined straight line is the relevant rotation axis; the relevant rotation axis is perpendicular to the plane formed by the tunneling direction and the lateral force projection direction.

[0080] After determining the relevant rotation axis, for the three-dimensional attitude angles changing around the relevant rotation axis, the instantaneous rate of change is continuously calculated within a preset short-time window during the observation period to avoid long-term averaging masking abrupt changes. Finally, the maximum value of the instantaneous rate of change during the observation period is taken as the three-dimensional attitude angle change rate.

[0081] Considering that the correction response time of the pipe jacking machine is usually on the order of a few seconds, in this invention, a short window length of 2 seconds can be taken as an example to ensure that effective transient characteristics of attitude change can be captured.

[0082] When the diameter and inertia of the pipe jacking machine are large, its response will be slow, and the short-time window length needs to be appropriately increased, such as 2.5 seconds; if it is used for high-sensitivity early warning, the short-time window length can be reduced, such as 1 second.

[0083] When the earth pressure value in any circumferential zone and the corresponding strain value are synchronously abnormal, and the rate of change of the three-dimensional attitude angle in that zone exceeds a preset threshold during the observation period, it indicates that the pipe jacking machine is being squeezed by obstacles such as dense soil, boulders, or underground structures, leading to a surge in local earth pressure and deformation of the machine structure at that location. Simultaneously, the pipe jacking machine has begun to exhibit observable attitude deviation. Therefore, it is determined that the pipe jacking machine is dynamically coupled with the obstacle. Otherwise, it is determined that no dynamic coupling has occurred, and the system continues monitoring.

[0084] The preset change threshold can be set based on the aforementioned method for determining the preset correlation threshold. For example, the 95th percentile of the three-dimensional attitude angle change rate distribution can be used to distinguish between normal fluctuations and abnormal changes.

[0085] Please see Figure 4 After determining that dynamic coupling has occurred, it is also necessary to predict the trend of attitude deviation caused by dynamic coupling and calculate the predicted offset based on the three-dimensional attitude angle change rate.

[0086] The specific calculation process is as follows: For the monitoring area where the earth pressure value and the corresponding strain value are synchronously abnormal, the rate of change of the three-dimensional attitude angle is integrated over time within the prediction time window to obtain the predicted attitude angle increment. The integration process is the same as the aforementioned angular velocity signal integration and will not be repeated here.

[0087] The determination of the prediction time window should take into account the reaction time required from the detection of an anomaly to the implementation of corrective actions and the generation of results.

[0088] In this invention, a prediction window length of 5 seconds can be used as an example. If the pipe jacking machine control system responds slowly, it can be extended to 8 seconds to avoid insufficient correction due to response lag; if geological conditions are prone to causing rapid deflection, it can be shortened to 3 seconds to avoid over-prediction and erroneous correction.

[0089] Next, the predicted attitude angle increment is superimposed with the current three-dimensional attitude angle to obtain the predicted three-dimensional attitude angle, which is then converted into the direction vector pointing to the predicted fuselage axis through rotation matrix multiplication.

[0090] Then, starting from the current position of the front end of the pipe jacking machine, extend the direction vector along the predicted machine body axis by one pipe section length to determine the predicted front end position.

[0091] The core control objective of pipe jacking construction is to ensure the smoothness of the pipeline axis in both horizontal and vertical directions, while the length deviation along the tunneling direction is usually not the main issue.

[0092] Therefore, the projection of the vector from the current tunnel boring machine (TBM) tip position to the predicted tip position onto a plane perpendicular to the current tunneling direction is calculated and used as the predicted offset. The predicted offset is a two-dimensional vector containing both horizontal and vertical components.

[0093] The navigation decision module is used to generate a thrust adjustment scheme based on the predicted offset and the deviation of the real-time three-dimensional attitude angle relative to the axis of the laid pipeline, and to overlay and display the three-dimensional attitude angle, design axis, axis of the laid pipeline, risk side position and predicted offset in real time.

[0094] The specific process of generating the thrust adjustment scheme is as follows: First, considering that the front end of the pipe jacking machine is the boundary between the pipe jacking machine and the undisturbed soil, and is also the front end where the correction force is applied, the tangential deviation at this point best represents the trajectory deviation that is about to occur.

[0095] Therefore, we first obtain the unit vector of the tangent direction of the fuselage axis determined by the real-time three-dimensional attitude angle at the current front position of the pipe jacking machine, and the unit vector of the tangent direction of the already laid pipeline axis at the current front position of the pipe jacking machine.

[0096] Next, calculate the angle difference between the two along the tangent direction at the current position of the pipe jacking machine's front end. Decompose the angle difference into the horizontal and vertical planes to obtain the horizontal yaw angle deviation and the vertical pitch angle deviation.

[0097] Simultaneously, in a plane perpendicular to the tunneling direction, the current position of the pipe jacking machine's front end is projected onto the axis of the laid pipe. First, the vertical foot is determined, then the difference between the front end position and the vertical foot is calculated to obtain the deviation vector. Subsequently, the deviation vector is combined with the predicted offset vector to obtain the comprehensive offset vector.

[0098] Then, the composite offset vector is decomposed into a first horizontal component and a second vertical component. This allows for independent handling of horizontal and vertical corrections, and is compatible with pipe jacking machines that typically have independent control modes for horizontal and vertical correction cylinders.

[0099] If the absolute values ​​of both the horizontal yaw angle deviation and the vertical pitch angle deviation are less than the preset angle deviation values, it indicates that the heading of the pipe jacking machine is basically correct, and the main problem is the cumulative positional offset. At this time, a thrust adjustment scheme aimed at correcting the overall offset vector should be generated, and the overall offset should be directly offset by adjusting the thrust.

[0100] Otherwise, it indicates that the heading itself is incorrect, and a thrust adjustment plan aimed at correcting the heading must be generated first. By adjusting the thrust, the direction of the fuselage axis can be changed to avoid the deviation from the target as the tunneling progresses.

[0101] The preset angle deviation value can be determined based on the maximum allowable relative rotation angle of the pipe joint interface. The maximum relative rotation angle is determined by the pipe material and interface type, and can be obtained from the manufacturer's technical parameters.

[0102] In this invention, a preset angle deviation value of 0.3 degrees can be exemplarily set. For flexible pipe joint interfaces that allow deformation, the value can be appropriately relaxed to 0.5 degrees; for rigid pipe joint interfaces that are prone to cracking, the preset angle deviation value needs to be reduced, such as to 0.2 degrees.

[0103] Specifically, the thrust adjustment scheme aimed at correcting the overall offset vector is as follows: if the first component indicates the left side, that is, pointing to the negative Y-axis direction of the local coordinate system, it is recommended to reduce the thrust on the left side and increase the thrust on the right side; if the first component indicates the right side, it is recommended to reduce the thrust on the right side and increase the thrust on the left side.

[0104] If the second component indicates the upper side, that is, pointing to the positive Z-axis direction of the local coordinate system, it is recommended to reduce the upper thrust and increase the lower thrust; if the second component indicates the lower side, it is recommended to reduce the lower thrust and increase the upper thrust.

[0105] The thrust adjustment scheme aimed at correcting the course is as follows: if the horizontal yaw angle deviation is negative, indicating to the left, it is recommended to reduce the thrust on the left and increase the thrust on the right; if the horizontal yaw angle deviation is positive, indicating to the right, it is recommended to reduce the thrust on the right and increase the thrust on the left.

[0106] If the vertical pitch angle deviation is negative, indicating upward, it is recommended to reduce the upper thrust and increase the lower thrust; if the vertical pitch angle deviation is positive, indicating downward, it is recommended to reduce the lower thrust and increase the upper thrust.

[0107] The directional indicators can be displayed to the operator intuitively through the visualization interface of the navigation decision module, using arrows, colors, or text.

[0108] The specific adjustment value for increasing or decreasing thrust can be calculated using PID and other control algorithms based on the magnitude of the comprehensive offset vector or the angle difference, and will be output as a control command.

[0109] While generating the thrust adjustment plan, it is also necessary to overlay and display the three-dimensional attitude angles, design axis, laid pipeline axis, risk side position, and predicted offset in real time on the same visualization interface. Different colored and line-type graphic elements can be used for overlay display.

[0110] The "risk side position" refers to the directional name of the monitoring area where the pipe jacking machine is dynamically coupling with an obstacle. The directional names are preset according to the number of monitoring areas. For example, when there are 6 monitoring areas, the preset directional names of each monitoring area are: top, top right, bottom right, bottom, bottom left, and top left.

[0111] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product.

[0112] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0113] In addition, the functional modules in the various embodiments of the present invention can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.

[0114] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0115] Finally, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent measurement system for pipe jacking construction in complex urban environments, characterized in that: include: The data acquisition module is used to obtain the triaxial tilt angle and angular velocity of the pipe jacking machine, the linear displacement in the tunneling direction, the earth pressure values ​​in each circumferential zone, and the strain values ​​of key parts. The data fusion module is used to perform pose fusion calculation on linear displacement, three-axis tilt angle and angular velocity, output the real-time three-dimensional attitude angle of the pipe jacking machine, and dynamically fit and generate the axis of the laid pipe based on the historical pose data of the laid pipe sections. The coupling diagnosis module is used to determine that the pipe jacking machine is dynamically coupled with the obstacle when the earth pressure value and the corresponding strain value in any circumferential zone are synchronously abnormal and the three-dimensional attitude angle change rate in that zone exceeds the preset change threshold during the observation period. The module also calculates the predicted offset based on the three-dimensional attitude angle change rate. The navigation decision module is used to generate thrust adjustment schemes based on the predicted offset and the deviation of the real-time three-dimensional attitude angle relative to the axis of the laid pipeline, and to overlay and display the three-dimensional attitude angle, design axis, axis of the laid pipeline, risk side position and predicted offset in real time.

2. The intelligent measurement system for pipe jacking construction in complex urban environments according to claim 1, characterized in that, The process for determining the tunneling direction is as follows: When the pipe jacking machine starts, the initial tunneling direction is determined based on the tangent direction of the design axis at the installation position of the starting pipe section; During the tunneling process, the advancing displacement of the machine body at multiple positions in the circumference is continuously acquired, and the displacement increment of each position per unit time is calculated. Based on the fuselage axis direction determined by the real-time three-dimensional attitude angle, the displacement increments that are extracted from the fuselage axis direction and whose angle between the direction and the fuselage axis direction is less than the preset tolerance angle and are in the same direction are the current tunneling direction.

3. The intelligent measurement system for pipe jacking construction in complex urban environments according to claim 2, characterized in that, The process for obtaining the linear displacement in the tunneling direction is as follows: Project the advancing displacement of each position onto the current tunneling direction; calculate the average value of the projection value of each position along the current tunneling direction per unit time, which is taken as the advancing amount for that period. Accumulate the advancing amount for each period to form a linear displacement.

4. The intelligent measurement system for pipe jacking construction in complex urban environments according to claim 1, characterized in that, The process for obtaining the earth pressure value is as follows: Using the center line of the tunneling direction of the pipe jacking machine as the axis, the circumference of the cross-section of the pipe jacking machine body is evenly divided into multiple non-overlapping monitoring areas; Pressure measuring points were set up on the outer wall of the fuselage corresponding to each monitoring area, and strain measuring points were set up on key parts inside the fuselage. During the tunneling process, the original pressure and strain signals of each monitoring area are collected simultaneously; Within a series of consecutive unit time periods, calculate the proportion of time periods in which the instantaneous change direction of the original pressure signal and strain signal in the same monitoring area is the same; When the proportion is consistently higher than the preset correlation threshold, the signal group is deemed valid and the original pressure signal is preprocessed to output the soil pressure value of the monitoring area; otherwise, the signal group is removed.

5. The intelligent measurement system for pipe jacking construction in complex urban environments according to claim 3, characterized in that, The process of obtaining the real-time three-dimensional attitude angle is as follows: A local coordinate system is established with the direction of gravity as the Z-axis, the projection direction of the initial tunneling direction onto the horizontal plane as the X-axis, and the Y-axis determined by the right-hand rule. The angular velocity signals measured around each coordinate axis are integrated over time to obtain the integral values ​​of each rotation angle; The integral value of the rotation angle is converted into the direction vector of the fuselage axis in the local coordinate system; Using the forward movement per unit time as the modulus, and combining it with the unit vector of the current tunneling direction, construct the actual average forward vector of the pipe jacking machine within that unit time. If there is a deviation between the direction vector and the actual average forward vector, the direction of the rotation angle integral value is corrected by using the actual average forward vector as a constraint; otherwise, the rotation angle integral value remains unchanged. Using the tilt angle of the fuselage relative to the direction of gravity, calculated from the three-axis tilt angle, the components around the X and Y axes in the integral value of the rotation angle after the direction correction or which remains unchanged are corrected for gravity reference. The integral value of the rotation angle after gravity reference correction is used as the roll angle, pitch angle and yaw angle, and output together as the real-time three-dimensional attitude angle.

6. The intelligent measurement system for pipe jacking construction in complex urban environments according to claim 1, characterized in that, The fitting process for the axis of the laid pipeline is as follows: The real-time three-dimensional attitude angles and spatial positions of the pipe jacking machine at the time of completion of each laid pipe section are obtained in the order of tunneling time. Convert the real-time three-dimensional attitude angles into unit direction vectors pointing to the fuselage axis; Starting from the spatial position of the pipe jacking machine, the unit direction vector is multiplied by the length of a single pipe section and then superimposed to the starting point to determine the endpoint; The straight line segment connecting the starting point and the ending point is taken as the centerline spatial line segment of the corresponding laid pipe section; all centerline spatial line segments are connected end to end in the order of tunneling time to form a segmented pipeline axis. The axis of the segmented pipeline is continuously smoothed to generate a smooth spatial curve; The smooth spatial curve is dynamically updated based on the current tunneling moment, and the output is the axis of the laid pipeline.

7. The intelligent measurement system for pipe jacking construction in complex urban environments according to claim 4, characterized in that, Specifically, the synchronous anomaly between the earth pressure value in any circumferential zone and the strain value at the corresponding location is as follows: During the observation period, the soil pressure value in any monitoring area was consistently higher than the pressure benchmark value and continued to increase over time; at the same time, the strain value of the key parts inside the fuselage corresponding to that monitoring area was consistently higher than the strain benchmark value and continued to increase synchronously.

8. The intelligent measurement system for pipe jacking construction in complex urban environments according to claim 1, characterized in that, The calculation process for the three-dimensional attitude angle change rate is as follows: The median of the continuous azimuth range covered by the monitoring area is selected as the center azimuth. Based on the projection direction of the center azimuth angle onto the cross section perpendicular to the tunneling direction, the rotation axis around which the attitude change of the pipe jacking machine revolves when subjected to lateral force in that projection direction is taken as the relevant rotation axis. For the three-dimensional attitude angle that changes about the relevant rotation axis, its instantaneous rate of change is continuously calculated within a preset short time window during the observation period; The maximum instantaneous rate of change during the observation period is taken as the rate of change of the three-dimensional attitude angle.

9. The intelligent measurement system for pipe jacking construction in complex urban environments according to claim 8, characterized in that, The calculation process for the predicted offset is as follows: For the three-dimensional attitude angle change rate corresponding to the monitoring area where the earth pressure value and the corresponding strain value are synchronously abnormal, time integration is performed within the prediction time window to obtain the predicted attitude angle increment. The predicted attitude angle increment is superimposed with the current three-dimensional attitude angle to obtain the direction vector pointing to the predicted fuselage axis; Starting from the current position of the tunnel jacking machine's front end, extend the predicted front end position by one pipe section length along the direction vector pointing to the predicted machine body axis. Calculate the projection of the vector from the current tunnel boring machine front end position to the predicted front end position onto a plane perpendicular to the current tunneling direction, and use it as the predicted offset.

10. The intelligent measurement system for pipe jacking construction in complex urban environments according to claim 9, characterized in that, The process of generating the thrust adjustment scheme is as follows: For the fuselage axis direction determined by the real-time three-dimensional attitude angle and the laid pipeline axis, calculate the angle difference between the tangential directions of the two at the current front end position of the pipe jacking machine; the angle difference includes the horizontal yaw angle deviation and the vertical pitch angle deviation. Calculate the deviation vector of the current pipe jacking machine front end position relative to the axis of the laid pipe in a plane perpendicular to the tunneling direction, and combine it with the predicted offset vector to obtain the comprehensive offset vector; The composite offset vector is decomposed into a first horizontal component and a second vertical component. If the absolute values ​​of both the horizontal yaw angle deviation and the vertical pitch angle deviation are less than the preset angle deviation value, then the first component and the second component are used as the adjustment basis to generate a thrust adjustment scheme with the goal of correcting the comprehensive offset vector. Otherwise, based on the horizontal yaw angle deviation and the vertical pitch angle deviation, a thrust adjustment scheme aimed at correcting the course is generated.

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