A guiding method for underground pipe gallery construction
By employing a dual-benchmark linkage and multi-source data fusion approach, the problem of cumulative error control in long-distance utility tunnel construction was solved, achieving high-precision construction quality and safety assurance, and improving construction efficiency and alignment control.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- NINGBO INST OF TECH ZHEJIANG UNIV ZHEJIANG
- Filing Date
- 2026-04-08
- Publication Date
- 2026-07-14
AI Technical Summary
In existing underground utility tunnel construction guidance technologies, it is difficult to control the cumulative error during long-distance construction, and the real-time performance is insufficient, which affects construction quality and safety. In particular, it is difficult to meet the high-precision guidance requirements in long-distance utility tunnel construction.
A dual-reference linkage guidance method is adopted, combining the ground-based BeiDou satellite reference network and the in-cave laser guidance reference station to construct a three-dimensional digital twin model, realize multi-source data fusion calculation and adaptive correction, and form a closed loop of measurement, guidance, correction and adjustment. Real-time deviation prediction and optimization are performed through the CNN-LSTM time series prediction model.
It improves the accuracy and efficiency of long-distance utility tunnel construction, ensures construction quality and safety, and achieves high-precision alignment control and dynamic optimization.
Smart Images
Figure CN122389142A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the technical field of guidance methods for underground utility tunnel construction, and in particular to a guidance method for underground utility tunnel construction. Background Technology
[0002] Underground utility tunnels are the core infrastructure for the intensive laying of underground pipelines in cities, enhancing the carrying capacity of urban infrastructure. Currently, underground utility tunnels in urban built-up areas are mostly constructed using trenchless technology, including pipe jacking, shield tunneling, and shallow buried tunneling. The accuracy of construction guidance directly determines whether the tunnel alignment meets the design requirements, and is also the core key to avoiding disturbance to surrounding existing buildings and underground pipelines.
[0003] Existing underground utility tunnel construction guidance technologies mostly employ a single navigation method, which lacks real-time capability and suffers from delayed data feedback. For example, patent CN111206591B discloses a prefabricated integral translational support system and construction method for a utility tunnel foundation pit. Retaining structures are installed on both sides of the foundation pit along its length, and a capping beam is installed on top of the retaining structure. A recessed platform is installed along the length of the capping beam on the side closest to the foundation pit.
[0004] Existing construction methods have revealed that cumulative errors are difficult to control over long distances, failing to meet the high-precision guidance requirements of long-distance utility tunnels spanning several kilometers. This hinders pre-construction control, dynamic control during construction, and post-construction verification and optimization, thus affecting construction quality. Summary of the Invention
[0005] To address the aforementioned technical problems, this invention provides a guidance method for underground utility tunnel construction that achieves long-distance, high-precision coordinate transmission and signal complementarity, overcomes the shortcomings of single laser guidance being susceptible to interference from the construction environment, and forms a closed-loop process of measurement, guidance, correction, adjustment, and optimization, thereby improving the alignment quality, construction efficiency, and safety of underground utility tunnels.
[0006] The present invention provides a guiding method for the construction of underground utility tunnels, comprising the following steps: S1. Benchmarking and Digital Modeling: Based on the design route of the utility tunnel, geological survey data, surrounding buildings, and underground pipeline survey data, construct a three-dimensional digital twin model of the entire construction route of the utility tunnel, preset the design guide baseline, graded deviation threshold, correction control parameters and construction boundary conditions, complete the alignment pre-study and high-risk point marking, establish pipeline topology relationships, and complete the calibration and verification of benchmark coordinates before construction. S2. Dual-reference guidance deployment: A ground-based BeiDou satellite reference network and an in-tunnel laser guidance reference station are deployed along the designed route of the utility tunnel to establish a dual-reference linkage coordinate transfer method. The laser emission unit is installed in the starting working shaft of the utility tunnel, and the laser target unit is fixedly installed at the tail of the shield of the utility tunnel tunneling machine. The laser target unit integrates an attitude sensor. At the same time, multi-source sensing units are deployed in the construction equipment and surrounding strata to complete the calibration and initial alignment of the guidance system and achieve redundancy and complementarity of reference signals. S3. Multi-source data acquisition and pose calculation: During construction, spatial coordinate data of dual-reference linkage and equipment pose data of multi-source sensing units are acquired in real time through wireless transmission to build a kinematic model of construction equipment. Then, the multi-source data is fused and calculated to obtain the real-time six-degree-of-freedom pose parameters of the construction equipment, and mapped to a three-dimensional digital twin model for visualization. S4. Deviation Prediction and Correction: The real-time pose parameters obtained in S3 are compared with the design guide baseline to obtain the current deviation value. The real-time pose parameters, construction condition parameters, and stratum parameters are input into the pre-trained CNN-LSTM temporal prediction model. First, spatial features are extracted through the CNN network layer, and then temporal correlation analysis is performed through the LSTM network layer to output the pose deviation trend and deviation peak within the future preset step size. Based on the current deviation value and the predicted trend, a graded deviation threshold is matched, and an adaptive correction strategy is executed to achieve closed-loop control. S5. Accuracy Correction: When the construction distance reaches the preset benchmark correction threshold, the coordinates of the laser guidance benchmark station inside the tunnel are checked and calibrated through the ground-based BeiDou satellite benchmark network to eliminate the cumulative errors of long-distance construction. S6. Completion Verification: After each pre-set construction section is completed, completion verification is carried out by combining second-order leveling and total station traverse surveying. The verification results are fed back to the three-dimensional digital twin model to optimize the guidance parameters and prediction model, thereby achieving full-process optimization.
[0007] Preferably, in step S2, the laser emission axis of the laser emitting unit is aligned with the design axis of the pipe gallery within the starting working shaft. During the tunneling process, the laser target unit collects the laser spot position data of the laser emitting unit, and the attitude sensor collects the three-dimensional attitude, tilt angle, and radial clearance data of the shield body in real time. The real-time axis deviation and attitude deviation of the shield body are calculated by a multi-source data fusion algorithm.
[0008] Preferably, in S2, the multi-source sensing unit includes a jacking force sensor, a cutterhead torque sensor, a correction cylinder stroke sensor installed on the construction equipment, a layered settlement sensor, a horizontal displacement sensor, and a pore water pressure sensor laid in the strata surrounding the pipe gallery. During initial alignment, the initial position of the construction equipment is aligned with the starting coordinates and azimuth of the design guide baseline.
[0009] Preferably, in S4, the specific logic of matching the graded deviation threshold and executing the adaptive correction strategy is as follows: when the current deviation value or the predicted deviation peak value is less than the warning threshold, the current construction parameters are maintained and continuously monitored. When the warning threshold is reached and less than the correction threshold, the first-level fine-tuning correction is executed to adjust the jacking force distribution and the cutterhead speed. When the correction threshold is reached and less than the emergency stop threshold, the second-level precise correction is executed to control the stroke difference of the correction cylinder and adjust the jacking parameters synchronously. When the emergency stop threshold is reached, the machine is immediately stopped for review, and a special correction plan is formulated before resuming work.
[0010] Preferably, in S1, the three-dimensional digital twin model includes a main design model of the utility tunnel, a three-dimensional geological model of the strata, a model of the surrounding buildings, and a model of the underground pipelines.
[0011] Preferably, the laser target unit includes a driving device, an air supply device, an exhaust device, a housing, a partition, a laser target, a cylinder, a lens, and a through hole; The casing is installed at the tail of the tunnel boring machine's shield. The partition is located inside the shell, and the partition divides the shell into an air intake chamber, an isolation chamber and an exhaust chamber from left to right. An air intake port is provided on the outer wall of the air intake chamber. The laser target and attitude sensor are installed separately inside the isolation chamber; The cylinder is powered to rotate and is installed inside the exhaust chamber, with the laser target communicating with the cylinder. The lens is installed at the right end of the tube; Multiple sets of through holes are provided on the outer wall of the cylinder; The air supply device is installed in the air intake chamber. The air supply device is used to blow and sweep the surface of the lens, and also to supply air to the exhaust chamber. The exhaust device is connected to the exhaust chamber and is used to exhaust air outwards. During tunneling, the laser spot of the laser emitting unit passes through the lens and the cylinder and is received by the laser target, realizing the acquisition of the spot position data. The cylinder is driven to rotate by the drive device, which in turn drives the lens to rotate, causing the lens to centrifuge and remove the dust attached to its surface, reducing the contamination of the lens by dust during operation and improving the self-cleaning effect of the lens. When it is necessary to clean the outer surface of the lens, the lens surface is blown by the air supply device, thereby ensuring the reliability of the lens's light transmission and improving the accuracy of the spot acquisition. When fog appears on the inner wall of the lens, the air supply device blows external air into the exhaust chamber. The air entering the exhaust chamber enters the cylinder through multiple sets of through holes, thereby cooling the cylinder and eliminating the water mist. At the same time, the air in the exhaust chamber is discharged outwards through the exhaust device, providing reliable data support for the tunneling machine's position and posture calculation and deviation correction, thereby improving the linear quality and overall construction accuracy of the underground utility tunnel construction.
[0012] Preferably, the air supply device includes a fan, a delivery pipe, a nozzle, a control valve, an exhaust valve, a filter screen, and a collection hopper; The fan is installed inside the air intake chamber; The inlet end of the delivery pipe is connected to the outlet end of the fan, and the outlet end of the delivery pipe is connected to the nozzle after passing through the isolation chamber and the exhaust chamber. The nozzle is mounted on the outer wall of the housing; The control valve is connected to the nozzle; The exhaust valve is connected to the delivery pipe, and the output end of the exhaust valve is connected to the exhaust chamber; The filter screen is installed inside the air intake chamber; The collection hopper is installed at the bottom of the air intake chamber. A fan draws in outdoor air, which is then filtered through a filter and delivered to the nozzles. The nozzles then blow air onto the lens surface. By closing the control valve and opening the exhaust valve, air is blown into the exhaust chamber through the delivery pipe. Dust trapped at the bottom of the filter falls into the collection hopper, where it is collected, improving the convenience of cleaning and maintenance.
[0013] Preferably, the exhaust device includes an exhaust pipe, a sealing ring, a bracket, a guide post, a sealing plate, a spring, and a top cover; The exhaust pipe is installed on the outer wall of the casing and communicates with the exhaust chamber; The sealing ring and the bracket are respectively installed on the inner wall of the exhaust pipe; The guide column is slidably mounted on the bracket. The sealing plate is installed at the bottom of the guide column; The spring is fitted onto the guide post; The top cover is located at the top of the guide column. When the exhaust valve blows air into the exhaust chamber, the air in the exhaust chamber pushes the sealing plate upward. At this time, the sealing plate separates from the sealing ring and opens. After the sealing plate moves upward, it drives the top cover to move upward through the guide column, thereby opening the exhaust pipe to discharge air and improving the convenience of defogging the lens. When the exhaust stops, the spring pushes the sealing plate and the top cover downward to reset, thereby closing the exhaust pipe and improving the dustproof effect in the exhaust chamber.
[0014] Preferably, the drive device includes a gear ring, a motor, and gears; The toothed ring is installed on the outer wall of the cylinder; The motor is mounted on the inner wall of the housing; The gear is located on the output end of the motor and meshes with the gear ring; the motor drives the gear to rotate, which in turn drives the cylinder to rotate through the gear ring.
[0015] Preferably, it also includes a protective cover, a connecting block, and a magnet; The protective cover is rotated and installed on the outside of the housing. The connecting block is installed on the outer wall of the protective cover; Magnets are mounted on the housing; by rotating the protective cover onto the outside of the lens, the protective effect on the lens after construction is improved, and the magnetic attraction to the connecting block improves the fixing effect of the protective cover.
[0016] Compared with existing technologies, the beneficial effects of this invention are as follows: by integrating multi-source information from design, geology, buildings, and underground pipelines to construct a three-dimensional model, and coordinating with the ground-based BeiDou reference network and the underground laser reference station, long-distance, high-precision coordinate transmission and signal complementarity are achieved, overcoming the defect of single laser guidance being easily affected by the construction environment. Through segmented high-precision measurement verification and feedback optimization of model parameters, a closed-loop process of measurement, guidance, correction, adjustment, and optimization is formed, improving the alignment quality, construction efficiency, and safety of underground utility tunnels. Attached Figure Description
[0017] Figure 1 This is a schematic diagram of the steps and structure of the present invention; Figure 2 This is a schematic diagram of a multi-source sensing unit structure; Figure 3 This is a schematic diagram of the three-dimensional digital twin model structure; Figure 4 This is an isometric structural diagram of the connection between the shell and the protective cover, etc. Figure 5 This is an isometric structural diagram showing the connection between the shell and the partition, etc. Figure 6 This is an isometric structural diagram of the connection between the delivery pipe and control valves, etc. Figure 7 This is a partial isometric structural diagram of the connection between the guide column and the top cover, etc. Figure 8 This is an isometric structural diagram showing the connection between the housing and the filter screen, etc. Figure 9 This is a partial isometric structural diagram of the connection between the cylinder and the lens, etc. Figure 10 This is a partial isometric structural diagram of the connection between the cylinder and the toothed ring, etc.
[0018] The following labels are used in the attached diagram: 101, shell; 102, partition; 103, laser target; 104, cylinder; 105, lens; 106, through hole; 201, fan; 202, delivery pipe; 203, nozzle; 204, control valve; 205, exhaust valve; 206, filter screen; 207, collection hopper; 301, exhaust pipe; 302, sealing ring; 303, bracket; 304, guide column; 305, sealing plate; 306, spring; 307, top cover; 401, gear ring; 402, motor; 403, gear; 501, protective cover; 502, connecting block; 503, magnet. Detailed Implementation
[0019] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. Example 1
[0020] like Figures 1 to 3 As shown, a guiding method for the construction of an underground utility tunnel according to the present invention includes the following steps: S1. Benchmarking and Digital Modeling: Based on the design route of the utility tunnel, geological survey data, surrounding buildings, and underground pipeline survey data, construct a three-dimensional digital twin model of the entire construction route of the utility tunnel, preset the design guide baseline, graded deviation threshold, correction control parameters and construction boundary conditions, complete the alignment pre-study and high-risk point marking, establish pipeline topology relationships, and complete the calibration and verification of benchmark coordinates before construction. S2. Dual-reference guidance deployment: A ground-based BeiDou satellite reference network and an in-tunnel laser guidance reference station are deployed along the designed route of the utility tunnel to establish a dual-reference linkage coordinate transfer method. The laser emission unit is installed in the starting working shaft of the utility tunnel, and the laser target unit is fixedly installed at the tail of the shield of the utility tunnel tunneling machine. The laser target unit integrates an attitude sensor. At the same time, multi-source sensing units are deployed in the construction equipment and surrounding strata to complete the calibration and initial alignment of the guidance system and achieve redundancy and complementarity of reference signals. S3. Multi-source data acquisition and pose calculation: During construction, spatial coordinate data of dual-reference linkage and equipment pose data of multi-source sensing units are acquired in real time through wireless transmission to build a kinematic model of construction equipment. Then, the multi-source data is fused and calculated to obtain the real-time six-degree-of-freedom pose parameters of the construction equipment, and mapped to a three-dimensional digital twin model for visualization. S4. Deviation Prediction and Correction: The real-time pose parameters obtained in S3 are compared with the design guide baseline to obtain the current deviation value. The real-time pose parameters, construction condition parameters, and stratum parameters are input into the pre-trained CNN-LSTM temporal prediction model. First, spatial features are extracted through the CNN network layer, and then temporal correlation analysis is performed through the LSTM network layer to output the pose deviation trend and deviation peak within the future preset step size. Based on the current deviation value and the predicted trend, a graded deviation threshold is matched, and an adaptive correction strategy is executed to achieve closed-loop control. S5. Accuracy Correction: When the construction distance reaches the preset benchmark correction threshold, the coordinates of the laser guidance benchmark station inside the tunnel are checked and calibrated through the ground-based BeiDou satellite benchmark network to eliminate the cumulative errors of long-distance construction. S6. Completion Verification: After each pre-set construction section is completed, completion verification is carried out by combining second-order leveling and total station traverse surveying. The verification results are fed back to the three-dimensional digital twin model to optimize the guidance parameters and prediction model, thereby achieving full-process optimization. In S2, the laser emission axis of the laser emitting unit is aligned with the design axis of the pipe gallery in the starting working shaft. During the tunneling process, the laser target unit collects the laser spot position data of the laser emitting unit, and the attitude sensor collects the three-dimensional attitude, tilt angle and radial clearance data of the shield in real time. The real-time axis deviation and attitude deviation of the shield are calculated by the multi-source data fusion algorithm. In this embodiment, a three-dimensional model is constructed by integrating multi-source information from design, geology, buildings, and underground pipelines. This model is then linked with the ground-based BeiDou reference network and the laser reference station inside the tunnel to achieve long-distance, high-precision coordinate transmission and signal complementarity. This overcomes the shortcomings of single laser guidance, which is easily affected by the construction environment. By performing segmented high-precision measurements to verify and feed back the optimized model parameters, a closed-loop process of measurement, guidance, correction, adjustment, and optimization is formed, thereby improving the alignment quality, construction efficiency, and safety of the underground utility tunnel. Example 2
[0021] Based on Example 1, the present invention provides a guiding method for underground utility tunnel construction. In S2, the multi-source sensing unit includes a jacking force sensor, a cutterhead torque sensor, a correction cylinder stroke sensor installed on the construction equipment, a layered settlement sensor, a horizontal displacement sensor, and a pore water pressure sensor deployed in the strata surrounding the utility tunnel. During initial alignment, the initial position of the construction equipment is aligned with the starting coordinates and azimuth of the design guide baseline. In S4, the specific logic of matching the graded deviation threshold and executing the adaptive correction strategy is as follows: when the current deviation value or the predicted deviation peak is less than the warning threshold, the current construction parameters are maintained and continuously monitored. When the warning threshold is reached but less than the correction threshold, the first-level fine-tuning correction is executed to adjust the jacking force distribution and the cutterhead speed. When the correction threshold is reached but less than the emergency stop threshold, the second-level precise correction is executed to control the stroke difference of the correction cylinder and adjust the jacking parameters synchronously. When the emergency stop threshold is reached, the machine is immediately stopped for review, and a special correction plan is formulated before resuming work. In S1, the three-dimensional digital twin model includes the main design model of the utility tunnel, the three-dimensional geological model of the strata, the model of the surrounding buildings, and the model of the underground pipelines. Example 3
[0022] Based on Example 1, the present invention provides a guiding method for the construction of underground utility tunnels, such as... Figures 4 to 10 As shown, the laser target unit includes a driving device, an air supply device, an exhaust device, a housing 101, a partition 102, a laser target 103, a cylinder 104, a lens 105, and a through hole 106. The casing 101 is installed at the tail of the shield body of the tunnel boring machine; A partition 102 is disposed inside the housing 101, and the partition 102 divides the housing 101 into an air intake chamber, an isolation chamber and an exhaust chamber from left to right. An air intake port is provided on the outer wall of the air intake chamber. The laser target 103 and the attitude sensor are installed in the isolation chamber respectively; The cylinder 104 is powered to rotate and is installed inside the exhaust chamber by a drive device, and the laser target 103 communicates with the inside of the cylinder 104; Lens 105 is installed at the right end of cylinder 104; Multiple sets of through holes 106 are provided on the outer wall of the cylinder 104; The air supply device is installed in the air intake chamber. The air supply device is used to blow air onto the surface of the lens 105 and to supply air into the exhaust chamber. The exhaust device is connected and installed on the exhaust chamber, and the exhaust device is used to exhaust air outwards; The air supply device includes a fan 201, a delivery pipe 202, a nozzle 203, a control valve 204, an exhaust valve 205, a filter screen 206, and a collection hopper 207; Fan 201 is installed inside the air intake chamber; The inlet of the delivery pipe 202 is connected to the outlet of the fan 201, and the outlet of the delivery pipe 202 is connected to the nozzle 203 through the isolation chamber and the exhaust chamber. The nozzle 203 is disposed on the outer wall of the housing 101; Control valve 204 is connected to nozzle 203; The exhaust valve 205 is connected to the conveying pipe 202, and the output end of the exhaust valve 205 is connected to the exhaust chamber; Filter 206 is installed inside the air intake chamber; The collection hopper 207 is installed at the bottom of the air intake chamber; The exhaust device includes an exhaust pipe 301, a sealing ring 302, a bracket 303, a guide post 304, a sealing plate 305, a spring 306, and a top cover 307; The exhaust pipe 301 is installed on the outer wall of the housing 101 and communicates with the exhaust chamber; The sealing ring 302 and the bracket 303 are respectively disposed on the inner side wall of the exhaust pipe 301; The guide post 304 is slidably mounted on the bracket 303. The sealing plate 305 is located at the bottom end of the guide post 304; Spring 306 is fitted onto guide post 304; Top cover 307 is located at the top of guide post 304; The drive device includes a gear ring 401, a motor 402, and a gear 403; The toothed ring 401 is disposed on the outer wall of the cylinder 104; Motor 402 is mounted on the inner side wall of housing 101; Gear 403 is mounted on the output end of motor 402, and gear 403 meshes with gear ring 401; It also includes a protective cover 501, a connecting block 502, and a magnet 503; The protective cover 501 is rotatably mounted on the outside of the housing 101 at its bottom; Connecting block 502 is disposed on the outer wall of protective cover 501; Magnet 503 is mounted on housing 101. During tunneling, the laser spot from the laser emitting unit passes through lens 105 and cylinder 104 and is received by laser target 103, realizing the acquisition of spot position data. A drive device rotates cylinder 104, causing lens 105 to rotate, allowing lens 105 to centrifugally remove surface dust, reducing dust contamination during operation and improving its self-cleaning effect. When cleaning the outer surface of lens 105 is required, it is fed... A wind system sweeps the surface of lens 105 to ensure reliable light transmission and improve the accuracy of light spot acquisition. When fogging occurs on the inner wall of lens 105, external air is blown into the exhaust chamber through a ventilation system. The air entering the exhaust chamber passes through multiple sets of through holes 106 into the cylinder 104, thereby cooling the inside of the cylinder 104 and eliminating the water mist. Simultaneously, the air in the exhaust chamber is discharged outward through an exhaust device, providing reliable data support for tunneling machine posture calculation and deviation correction, thereby improving the alignment quality of underground utility tunnel construction. The overall construction precision is achieved through a system where a fan 201 draws in outdoor air into the intake chamber. The air is filtered through a filter screen 206 and then delivered to the nozzles 203, which blow air onto the surface of the lens 105. By closing the control valve 204 and opening the exhaust valve 205, air is blown into the exhaust chamber through the delivery pipe 202. Dust trapped at the bottom of the filter screen 206 falls into the collection hopper 207, where it is collected, improving the convenience of cleaning and maintenance. When the exhaust valve 205 blows air into the exhaust chamber, the air in the exhaust chamber pushes the sealing plate 305 to move upward. At this time, the sealing plate 305 separates from the sealing ring 302 and opens. After the sealing plate 305 moves upward, it drives the top cover 307 to move upward through the guide column 304, thereby opening the exhaust pipe 301 to discharge air and improve the convenience of defogging the lens 105. When the exhaust stops, the spring 306 pushes the sealing plate 305 and the top cover 307 to move downward and reset, thereby closing the exhaust pipe 301 and improving the dustproof effect in the exhaust chamber.
[0023] The main functions achieved by this invention are: By integrating multi-source information from design, geology, buildings, and underground pipelines to construct a three-dimensional model, and coordinating with the ground-based BeiDou reference network and the in-cavity laser reference station, long-distance, high-precision coordinate transmission and signal complementarity are achieved, overcoming the shortcomings of single laser guidance being easily affected by the construction environment. Improving the accuracy of light spot acquisition provides reliable data support for tunneling machine position calculation and deviation correction, thereby improving the alignment quality and overall construction accuracy of underground utility tunnels.
[0024] The laser target 103, fan 201 and motor 402 of the guiding method for underground utility tunnel construction of the present invention are commercially available. Technical personnel in this industry only need to install and operate them according to the accompanying instruction manual, without requiring any creative work from those skilled in the art.
[0025] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.
Claims
1. A guiding method for the construction of underground utility tunnels, characterized in that, Includes the following steps: S1. Benchmarking and Digital Modeling: Based on the design route of the utility tunnel, geological survey data, surrounding buildings, and underground pipeline survey data, construct a three-dimensional digital twin model of the entire construction route of the utility tunnel, preset the design guide baseline, graded deviation threshold, correction control parameters and construction boundary conditions, complete the alignment pre-study and high-risk point marking, establish pipeline topology relationships, and complete the calibration and verification of benchmark coordinates before construction. S2. Dual-reference guidance deployment: A ground-based BeiDou satellite reference network and an in-tunnel laser guidance reference station are deployed along the designed route of the utility tunnel to establish a dual-reference linkage coordinate transfer method. The laser emission unit is installed in the starting working shaft of the utility tunnel, and the laser target unit is fixedly installed at the tail of the shield of the utility tunnel tunneling machine. The laser target unit integrates an attitude sensor. At the same time, multi-source sensing units are deployed in the construction equipment and surrounding strata to complete the calibration and initial alignment of the guidance system and achieve redundancy and complementarity of reference signals. S3. Multi-source data acquisition and pose calculation: During construction, spatial coordinate data of dual-reference linkage and equipment pose data of multi-source sensing units are acquired in real time through wireless transmission to build a kinematic model of construction equipment. Then, the multi-source data is fused and calculated to obtain the real-time six-degree-of-freedom pose parameters of the construction equipment, and mapped to a three-dimensional digital twin model for visualization. S4. Deviation Prediction and Correction: The real-time pose parameters obtained in S3 are compared with the design guide baseline to obtain the current deviation value. The real-time pose parameters, construction condition parameters, and stratum parameters are input into the pre-trained CNN-LSTM temporal prediction model. First, spatial features are extracted through the CNN network layer, and then temporal correlation analysis is performed through the LSTM network layer to output the pose deviation trend and deviation peak within the future preset step size. Based on the current deviation value and the predicted trend, a graded deviation threshold is matched, and an adaptive correction strategy is executed to achieve closed-loop control. S5. Accuracy Correction: When the construction distance reaches the preset benchmark correction threshold, the coordinates of the laser guidance benchmark station inside the tunnel are checked and calibrated through the ground-based BeiDou satellite benchmark network to eliminate the cumulative errors of long-distance construction. S6. Completion Verification: After each pre-set construction section is completed, completion verification is carried out by combining second-order leveling and total station traverse surveying. The verification results are fed back to the three-dimensional digital twin model to optimize the guidance parameters and prediction model, thereby achieving full-process optimization.
2. The guiding method for underground utility tunnel construction as described in claim 1, characterized in that, In S2, the laser emission axis of the laser emitting unit is aligned with the design axis of the pipe gallery in the starting working shaft. During the tunneling process, the laser target unit collects the laser spot position data of the laser emitting unit, and the attitude sensor collects the three-dimensional attitude, tilt angle, and radial clearance data of the shield in real time. The real-time axis deviation and attitude deviation of the shield are calculated by the multi-source data fusion algorithm.
3. The guiding method for underground utility tunnel construction as described in claim 1, characterized in that, In S2, the multi-source sensing unit includes a jacking force sensor, a cutterhead torque sensor, a correction cylinder stroke sensor installed on the construction equipment, a layered settlement sensor, a horizontal displacement sensor, and a pore water pressure sensor laid in the strata around the pipe gallery. During initial alignment, the initial position of the construction equipment is aligned with the starting coordinates and azimuth of the design guide baseline.
4. The guiding method for underground utility tunnel construction as described in claim 1, characterized in that, In S4, the specific logic of matching the graded deviation threshold and executing the adaptive correction strategy is as follows: when the current deviation value or the predicted deviation peak is less than the warning threshold, the current construction parameters are maintained and continuously monitored. When the warning threshold is reached but less than the correction threshold, the first-level fine-tuning correction is executed to adjust the jacking force distribution and the cutterhead speed. When the correction threshold is reached but less than the emergency stop threshold, the second-level precise correction is executed to control the stroke difference of the correction cylinder and adjust the jacking parameters synchronously. When the emergency stop threshold is reached, the machine is immediately stopped for review, and a special correction plan is formulated before resuming work.
5. The guiding method for underground utility tunnel construction as described in claim 1, characterized in that, In S1, the three-dimensional digital twin model includes the main design model of the utility tunnel, the three-dimensional geological model of the strata, the model of the surrounding buildings, and the model of the underground pipelines.
6. The guiding method for underground utility tunnel construction as described in claim 1, characterized in that, The laser target unit includes a driving device, an air supply device, an exhaust device, a housing (101), a partition (102), a laser target (103), a cylinder (104), a lens (105), and a through hole (106). The casing (101) is installed at the tail of the shield body of the tunnel boring machine; A partition (102) is provided inside the housing (101). The partition (102) divides the housing (101) into an air intake chamber, an isolation chamber and an exhaust chamber from left to right. An air intake port is provided on the outer wall of the air intake chamber. The laser target (103) and attitude sensor are installed in the isolation chamber respectively; The cylinder (104) is installed in the exhaust chamber by rotating the cylinder through a drive device, and the laser target (103) is connected to the inside of the cylinder (104); The lens (105) is installed at the right end of the tube (104); Multiple sets of through holes (106) are provided on the outer wall of the cylinder (104); The air supply device is installed in the air intake chamber. The air supply device is used to blow air onto the surface of the lens (105) and to supply air into the exhaust chamber. The exhaust device is connected to the exhaust chamber and is used to exhaust air outwards.
7. The guiding method for underground utility tunnel construction as described in claim 6, characterized in that, The air supply device includes a fan (201), a delivery pipe (202), a nozzle (203), a control valve (204), an exhaust valve (205), a filter screen (206), and a collection hopper (207). The fan (201) is installed inside the air intake chamber; The inlet of the delivery pipe (202) is connected to the outlet of the fan (201), and the outlet of the delivery pipe (202) is connected to the nozzle (203) through the isolation chamber and the exhaust chamber; The nozzle (203) is mounted on the outer wall of the housing (101); The control valve (204) is connected to the nozzle (203); The exhaust valve (205) is connected to the conveying pipe (202), and the output end of the exhaust valve (205) is connected to the exhaust chamber; The filter (206) is installed inside the air intake chamber; The collection hopper (207) is installed at the bottom of the air intake chamber.
8. The guiding method for underground utility tunnel construction as described in claim 6, characterized in that, The exhaust device includes an exhaust pipe (301), a sealing ring (302), a bracket (303), a guide post (304), a sealing plate (305), a spring (306), and a top cover (307). The exhaust pipe (301) is installed on the outer wall of the housing (101) and communicates with the exhaust chamber; The sealing ring (302) and the bracket (303) are respectively installed on the inner wall of the exhaust pipe (301); The guide column (304) is slidably mounted on the bracket (303); The sealing plate (305) is set at the bottom end of the guide post (304); The spring (306) is fitted onto the guide post (304); The top cover (307) is located at the top of the guide post (304).
9. The guiding method for underground utility tunnel construction as described in claim 6, characterized in that, The drive device includes a gear ring (401), a motor (402), and a gear (403). The toothed ring (401) is disposed on the outer wall of the cylinder (104); The motor (402) is mounted on the inner side wall of the housing (101); The gear (403) is located on the output end of the motor (402) and meshes with the gear ring (401).
10. The guiding method for underground utility tunnel construction as described in claim 6, characterized in that, It also includes a protective cover (501), a connecting block (502), and a magnet (503); The bottom of the protective cover (501) is rotatably mounted on the outside of the housing (101); The connecting block (502) is disposed on the outer wall of the protective cover (501); The magnet (503) is disposed on the housing (101).