An intelligent control method for connecting adjacent box-shaped inner forms of a comprehensive pipe gallery

Abstract

The application discloses a kind of comprehensive pipe gallery adjacent box type inner mould connection intelligent control method, it is related to comprehensive pipe gallery construction intelligent control technical field, comprising: the installation deviation parameter set of adjacent inner mould is constructed, and overall pose is trimmed;According to overall pose trimming result, pre-connection window is judged, and guiding pre-insertion is executed;Based on guiding pre-insertion feedback, identify leading abnormal direction and carry out directional compensation;Pre-locking permission condition is judged in combination with the installation deviation parameter set after compensation and guiding pre-insertion feedback, pre-locking is executed, and connection execution state is monitored;In combination with connection execution state, connection exception is judged, and in no exception, final connection locking is executed, and in existence exception, exception rollback control is executed.The method can improve the stability of adjacent box type inner mould connection state control before connection, the ability of abnormal identification in connection process and the recovery ability after connection exception.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology for integrated utility tunnel construction, specifically to an intelligent control method for connecting adjacent box-type inner molds in an integrated utility tunnel. Background Technology

[0002] During the construction of integrated utility tunnels, box-type inner formwork is typically installed using a modular, segmented method. After being hoisted onto the construction platform, the inner formwork to be installed needs to undergo sequential actions within the limited space inside the utility tunnel, including lateral centering, height adjustment, posture leveling, and connection with existing inner formwork. Adjacent inner formwork units are usually connected and secured by corresponding holes on connectors using positioning pins. Therefore, the alignment accuracy of the connecting holes between two units directly affects the formwork installation efficiency, the overall installation accuracy of the formwork, and the smooth progress of subsequent construction procedures.

[0003] Existing intelligent construction platforms for integrated utility tunnel box-type inner formwork typically possess a certain level of automatic sensing and hydraulic actuation capabilities. For example, they acquire lateral distance information via lateral ranging units, installation height information via laser height measurement units, and roll and pitch angle information via attitude detection units. Furthermore, they achieve multi-directional position adjustments through lateral adjustment mechanisms, vertical adjustment mechanisms, and platform micro-movement mechanisms. While existing platforms can achieve local height adjustment, leveling, and proximity control, the following issues still exist during the connection phase of adjacent inner formwork: Firstly, most existing control methods revolve around single height adjustment, leveling, or approach movements, lacking a stable connection between overall posture adjustment and formal connection, resulting in discontinuous and unstable pre-connection preparation states.

[0004] Secondly, although existing technologies typically require the centers of adjacent connector holes to be aligned and the connection to be completed using locating pins and fasteners, they do not make sufficient use of the deviation and contact states during the connection process. It is difficult to identify the main misalignment direction that causes connection abnormalities in a timely manner, and the connection process still relies heavily on manual judgment and repeated fine-tuning.

[0005] Third, during the formal connection process, if local interference, hole position deviation rebound, or connection failure occurs, existing methods usually lack effective recovery means, which can easily lead to jamming, hole deviation, insertion failure, or repeated disassembly and assembly, affecting construction efficiency and connection reliability.

[0006] Therefore, there is an urgent need for an intelligent control method for the connection of adjacent box-type inner molds in integrated utility tunnels, in order to improve the stability of the state before connection, enhance the ability to identify anomalies during the connection process, and improve the recovery capability after connection anomalies occur. Summary of the Invention

[0007] In order to overcome the above-mentioned defects of the prior art, the purpose of this invention is to provide an intelligent control method for connecting adjacent box-type inner molds in integrated utility tunnels, so as to solve the problems of lack of hierarchical access control, unstable abnormal direction identification and directional adjustment, and imperfect abnormal retreat mechanism in the connection process of adjacent inner molds in the prior art.

[0008] To achieve the above objectives, the present invention provides an intelligent control method for connecting adjacent box-type inner molds in an integrated utility tunnel, comprising: Construct a set of installation deviation parameters for adjacent inner molds and perform overall pose adjustment; Based on the overall pose correction results, pre-connection window determination is performed, and guided pre-interlocking is executed; Based on the guidance pre-insertion feedback, the dominant anomaly direction is identified and directional compensation is performed; The pre-locking permission conditions are determined by combining the compensated installation deviation parameter set and the guide pre-plugging feedback, the pre-locking is executed, and the connection execution status is monitored; The connection exception is determined based on the connection execution status, and the connection is terminated and locked.

[0009] Furthermore, a set of installation deviation parameters for adjacent inner molds is constructed, and overall pose adjustment is performed, including: Acquire multi-source measurement data of the inner mold to be installed and the hole position measurement data between it and the installed inner mold; Based on multi-source measurement data and hole position measurement data, the pose deviation parameters of the inner mold to be installed and the hole position deviation parameters of adjacent inner molds are calculated respectively, and an installation deviation parameter set is constructed. A correction mechanism is introduced to correct the overall pose deviation parameters.

[0010] Furthermore, based on the overall pose correction results, a pre-connection window determination is performed, and guided pre-interlocking is executed, including: Introduce a pre-connection window threshold; Based on the comparison between the adjusted installation deviation parameter set and the corresponding pre-connection window threshold, the pre-connection window is determined, and guided pre-plugging is performed based on the determination result. The pre-connection window threshold is preset based on the range of installation deviation parameters allowed during the pre-connection stage.

[0011] Furthermore, based on the guidance pre-insertion feedback, the dominant anomaly direction is identified and directional compensation is performed, including: Obtain pre-interlocking feedback parameters during the guide pre-interlocking process to determine abnormal contact; When abnormal contact is detected, the dominant abnormal direction is identified based on the hole position deviation parameter, and the corresponding directional compensation amount is generated.

[0012] Furthermore, the dominant anomaly direction is identified based on the borehole position deviation parameter, and the corresponding directional compensation amount is generated, including: Based on the normalized result of the hole position deviation parameter relative to the corresponding pre-connected window threshold, the dominant anomaly direction is determined; Based on the dominant anomaly direction and the corresponding hole position deviation, a corresponding directional compensation amount is generated.

[0013] Furthermore, by combining the compensated installation deviation parameter set and guide pre-interlock feedback to determine the pre-locking permission conditions, pre-locking is executed, and the connection execution status is monitored, including: Based on the compensated installation deviation parameter set and the pre-plugging feedback parameters, determine the pre-locking permission conditions; The pre-locked license conditions are maintained for a preset stable time, the pre-lock is executed, and the connection execution status is continuously monitored and collected.

[0014] Furthermore, the pre-locked license conditions are determined, including: Based on the comparison results between the compensated installation deviation parameter set and the corresponding pre-locking allowable threshold, it is determined whether the installation deviation status meets the pre-locking requirements; Based on the comparison results between the pre-insertion feedback parameters and the corresponding permissible threshold, it is determined whether the guide pre-insertion state meets the pre-locking requirements; Based on the above judgment results and the preset stabilization time, the pre-locking license conditions are determined; Wherein, the pre-locking permission threshold is less than the pre-connection window threshold.

[0015] Furthermore, connection exceptions are determined based on the connection execution status, and connection termination locking is performed, including: Based on the guide entry depth, contact feedback value, contact feedback increment, positioning pin insertion depth, fastening status, and the compensated installation deviation parameter set, abnormal connection conditions are determined. When a connection anomaly is detected, an anomaly rollback control is executed based on the direction of the dominant anomaly. If a connection failure is detected, terminate the connection lock.

[0016] Furthermore, the execution of abnormal rollback control includes: Based on the dominant anomaly direction, perform an anomaly rollback on the inner mold to be installed, causing the inner mold to exit the current interference region; Further adjustments were made based on the dominant anomaly direction. Reacquire multi-source measurement data and borehole measurement data, and update the installation deviation parameter set; Based on the updated set of installation deviation parameters, determine the return guide pre-plugging or overall pose adjustment.

[0017] Beneficial Effects: Compared with existing technologies, this invention constructs an installation deviation parameter set and performs overall pose correction, enabling the inner mold to reach a stable connection preparation state before final connection locking. Based on this, through pre-connection window judgment and guide pre-insertion, feedback data during the guide pre-insertion process is used to identify the dominant abnormal direction and generate directional compensation, thereby improving the continuity and stability of pre-connection state control. Simultaneously, this invention identifies the dominant abnormal direction based on guide pre-insertion feedback and performs directional compensation, allowing connection control to be specifically corrected around the actual dominant misalignment direction, reducing control redundancy caused by manual judgment and repeated overall fine-tuning in traditional methods. By setting pre-locking permission conditions, the connection execution status is continuously monitored in the pre-locked state, and final connection locking is performed when no abnormalities exist, while abnormality retreat control is performed when abnormalities exist. This helps reduce positioning pin insertion jamming, hole position deviation springback, and connection execution failure, improving control stability, connection reliability, and abnormal recovery efficiency during the connection process of adjacent inner molds. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0019] Figure 1 A functional module diagram of an intelligent platform for disassembling and assembling internal formwork in a utility tunnel. Figure 2 A flowchart illustrating the steps of an intelligent control method for connecting adjacent box-type inner molds in a utility tunnel. Figure 3 This is a flowchart illustrating the principle of an intelligent control method for connecting adjacent box-type inner molds in a comprehensive utility tunnel. Detailed Implementation

[0020] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0021] This embodiment provides an intelligent control method for connecting adjacent box-type inner molds in a utility tunnel, applied to an intelligent platform for the disassembly and assembly of inner molds in a utility tunnel. For example... Figure 1 As shown, the disassembly and assembly intelligent platform includes an on-board controller, a lateral adjustment mechanism, a vertical adjustment mechanism, a platform micro-movement mechanism, a lateral ranging unit, a laser height measurement unit, an attitude detection unit, a hole position detection unit, a guide positioning unit, and a connection execution unit.

[0022] The vertical adjustment mechanism includes four vertical adjustment units respectively located on the front left, front right, rear left, and rear right sides of the support area of ​​the inner mold to be installed. The four vertical adjustment units correspond to the front left adjustment point, front right adjustment point, rear left adjustment point, and rear right adjustment point, respectively. The front left adjustment point, front right adjustment point, rear left adjustment point, and rear right adjustment point are used to provide vertical support and vertical adjustment for the front left area, front right area, rear left area, and rear right area of ​​the inner mold to be installed.

[0023] The guiding and positioning unit is used to perform guiding pre-insertion between the inner mold to be installed and the installed inner mold unit; the connection execution unit is used to perform pre-locking and subsequent final connection locking when the pre-locking permission conditions are met.

[0024] The vehicle-mounted controller is installed on the intelligent assembly and disassembly platform. It is used to receive measurement data of the current installation status of the inner mold to be installed, the corresponding measurement data of the connection holes between the inner mold to be installed and the installed inner mold, as well as the feedback data during the execution of guide pre-insertion, pre-locking and final connection locking. Based on the above data, it completes the construction of installation deviation parameter set, overall pose correction, pre-connection window determination, guide pre-insertion control, abnormal direction identification, orientation compensation, pre-locking permission determination, connection abnormality determination and abnormal retreat control.

[0025] This embodiment divides the connection process into three stages: First, the guiding pre-insertion stage, that is, first adjust the inner mold to be installed to the pre-connection window, then control the guiding positioning unit to perform guiding pre-insertion along the connection advancement direction, and use the feedback data in the guiding pre-insertion process to identify the dominant abnormal direction; Secondly, the pre-locking stage, that is, after the compensated installation deviation parameter set and the guide pre-plugging state meet the pre-locking permission conditions and maintain a preset stable time, the inner mold to be installed and the inner mold already installed enter the pre-locking state, and the connection execution status is continuously monitored in this state. Third, the final connection locking phase, which means that final connection locking is only allowed to be executed if no connection abnormality is determined in the pre-locked state; if a connection abnormality is determined in the pre-locked state, the abnormality rollback control is executed, and the corresponding phase is returned according to the updated installation deviation parameter set, rather than returning to the initial state as a whole.

[0026] like Figure 2 and Figure 3 As shown, the method in this embodiment includes the following steps: Collect multi-source measurement data of the current installation status of the inner mold to be installed, as well as the corresponding measurement data of the holes of adjacent connectors; Based on multi-source measurement data and borehole measurement data, a set of installation deviation parameters is constructed; A trimming mechanism is introduced to trim the pose deviation parameters as a whole, and the pre-connection window is determined based on the trimming result. Perform guided pre-connection under the pre-connection window, and identify the dominant abnormal direction based on the pre-connection feedback, generate directional compensation amount and update the installation deviation parameter set; Based on the compensated installation deviation parameter set and guide pre-plug feedback, determine the pre-locking permission conditions, execute the pre-locking, and monitor the connection execution status; The connection execution status is used to determine connection anomalies, and the termination connection lock or anomaly rollback control is executed based on the determination result.

[0027] S1. Collect multi-source measurement data of the current installation status of the inner mold to be installed and the corresponding measurement data of the holes of adjacent connectors; After the inner mold to be installed is hoisted onto the intelligent assembly and disassembly platform and moved in front of the already installed inner mold, the vehicle-mounted controller system enters the connection preparation state. The measurement data collected by the vehicle-mounted controller is mainly used to characterize the overall installation status of the inner mold to be installed, as well as the correspondence between the connection holes between the inner mold to be installed and the already installed inner mold.

[0028] To facilitate subsequent unified calculations, an installation reference coordinate system is established using the plane containing the connected end face of the installed inner mold as the reference plane, defining the left and right directions as... x The shaft connects the propulsion direction as follows: y The axis, vertical direction is z Axis. Subsequent pose parameters, hole position deviation parameters, compensation amounts, and permissible judgment parameters are all described in this installation reference coordinate system.

[0029] In this step, the vehicle controller acquires pose measurement data to characterize the current installation state of the inner mold to be installed, and connection hole correspondence measurement data to characterize the correspondence between the connection hole positions of the inner mold to be installed and the installed inner mold.

[0030] During the processes of moving the inner mold to be installed, adjusting the overall posture, guiding pre-insertion, pre-locking, and final connection locking, the vehicle controller continuously updates and collects multi-source measurement data according to the preset sampling period and / or preset displacement increment to reflect the current installation status and hole position corresponding status in real time.

[0031] S11. Obtain multi-source measurement data of the current installation status of the inner mold to be installed; Multi-source measurement data, including at least: Lateral distance measurement data: the distance between the left reference point of the inner mold to be installed and the left wall of the integrated utility tunnel. And the distance between the right reference point of the inner mold to be installed and the right wall of the integrated utility tunnel. ; Height measurement data: Height of the left reference measuring point of the inner mold to be installed and the height of the right reference point ; Attitude measurement data: Current roll angle of the inner mold to be installed and pitch angle ; It should be noted that the left and right reference points in the lateral distance measurement data are set on the reference side beams, lateral reference edges, or other reference positions that can stably reflect the overall lateral position on the left and right sides of the inner mold to be installed; the left and right reference points in the height measurement data are set on the top reference surface, top reference side beam, or other reference positions that can stably reflect the overall installation height of the inner mold to be installed, and are set at intervals along the left and right directions; the roll angle in the attitude measurement data is used to reflect the tilt state in the left and right directions, and the pitch angle is used to reflect the tilt state in the front and back directions.

[0032] S12. Obtain the hole position measurement data of the connecting hole between the inner mold to be installed and the installed inner mold; Hole position measurement data is used to characterize the current correspondence between the hole positions of the connecting parts between the inner mold to be installed and the installed inner mold, and includes at least: Coordinates of the center position of the hole of the inner mold connector to be installed and the coordinates of the center position of the corresponding connecting hole of the installed inner mold ; In this embodiment, lateral distance measurement data is acquired by a lateral ranging unit, height measurement data is acquired by a laser altimeter unit, attitude measurement data is acquired by an attitude detection unit, and hole position measurement data is acquired by a hole position detection unit. The hole position detection unit can be any one of a vision measurement unit, a laser measurement unit, or a contact positioning unit.

[0033] S2. Based on multi-source measurement data and borehole measurement data, construct a set of installation deviation parameters; After acquiring multi-source measurement data, the vehicle controller processes it uniformly to obtain the set of installation deviation parameters required for subsequent overall pose correction, pre-connection window determination, guide pre-plug compensation, pre-lock permission determination, and connection anomaly determination.

[0034] It should be noted that the displacement, velocity, and contact feedback of each actuator during the pose correction and guide pre-interlocking process are not used as the initial input for this step, but are used as process feedback data in subsequent execution processes for correction result verification, abnormal direction identification, and status update.

[0035] S21. Calculate the pose deviation parameters based on the pose measurement data; S211. Calculate the center offset based on the lateral distance measurement data; To accurately characterize the lateral offset of the inner mold to be assembled relative to the preset theoretical centerline, the center offset is calculated. :

[0036] In the formula, The distance between the left reference point of the inner mold to be installed and the left wall of the integrated utility tunnel; The distance between the right reference point of the inner mold to be installed and the right wall of the integrated utility tunnel; This is the center offset of the inner mold to be installed.

[0037] Among them, when When, it indicates that the inner mold has shifted to the right relative to the theoretical centerline; when When this occurs, it indicates that the inner mold has shifted to the left relative to the theoretical centerline; Indicates the degree of lateral offset.

[0038] S212. Calculate the height error based on the height measurement data; To characterize the deviation of the current overall installation height of the inner mold to be installed from the target installation height, the height error is calculated. :

[0039] In the formula, The height of the left reference measuring point of the inner mold unit to be installed; The height of the right reference measuring point of the inner mold unit to be installed; The target installation height for the inner mold unit to be installed; This represents the height error of the inner mold unit to be installed.

[0040] in, This represents the average height of the left and right reference measuring points of the inner mold unit to be installed. Using the average height of the left and right reference measuring points as a characterization of the overall installation height can reduce the influence of local structural errors, local posture changes or measurement disturbances on a single measuring point, making the judgment of the overall installation height more stable.

[0041] It should be noted that the purpose of the height error is to convert the original height measurement result into a height deviation that can be directly used for control. The subsequent vehicle controller uses this deviation to determine whether the inner mold to be installed needs overall lifting and adjustment, and the extent of such adjustment.

[0042] S213. Calculate the attitude error based on the attitude measurement data; In addition to the overall installation height, to distinguish the tilt state of the inner mold unit to be installed in the left-right and front-back directions, the roll error and pitch error are calculated.

[0043] S2131. Calculate the roll error based on the roll angle of the inner mold unit to be installed. To characterize the attitude deviation of the inner mold to be installed in the left and right directions, the roll error is calculated. :

[0044] In the formula, The current roll angle of the inner mold to be installed. The target roll angle; S2132. Calculate the pitch error based on the pitch angle of the inner mold unit to be installed; To characterize the attitude deviation of the inner mold to be installed in the front-rear direction, the pitch error is calculated. :

[0045] In the formula, The current pitch angle of the inner mold to be installed; The pitch angle for the target.

[0046] S22. Calculate the hole position deviation parameter based on the hole position measurement data; After completing the construction of center offset, height error and attitude error, in order to further characterize the correspondence of the hole positions of the connecting parts between the inner mold unit to be installed and the inner mold unit already installed, the three-dimensional deviation parameters of the hole positions are calculated, namely the lateral deviation of the hole positions, the longitudinal deviation of the hole positions and the vertical deviation of the hole positions.

[0047] S221. Calculate the three-dimensional deviation of the hole position based on the center coordinates of the connecting holes between the inner mold unit to be installed and the installed inner mold unit. S2211. Calculate the lateral deviation of the hole position; To characterize the degree of misalignment in the lateral direction between the center of the hole in the connecting part of the inner mold unit to be installed and the corresponding center of the hole in the installed inner mold unit, the lateral deviation of the hole position is calculated. :

[0048] In the formula, The coordinates of the center position of the connecting hole of the inner mold unit to be installed in the installation reference coordinate system. x Coordinate values ​​in the direction; The coordinates of the center position of the corresponding connecting hole of the installed inner mold unit in the installation reference coordinate system. x The coordinate values ​​in the direction.

[0049] S2212, Calculate the longitudinal deviation of the hole position; To characterize the degree of misalignment of the center of the hole in the connecting component of the inner mold unit to be installed relative to the center of the corresponding hole in the installed inner mold in the connection and advancement direction, the longitudinal deviation of the hole position is calculated. :

[0050] In the formula, The coordinates of the center position of the connecting hole of the inner mold unit to be installed in the installation reference coordinate system. y Coordinate values ​​in the direction; The coordinates of the center position of the corresponding connecting hole of the installed inner mold unit in the installation reference coordinate system. y The coordinate values ​​in the direction.

[0051] S2213. Calculate the vertical deviation of the hole position; To characterize the degree of vertical misalignment between the center of the hole in the connecting part of the inner mold unit to be installed and the corresponding hole center of the installed inner mold unit, the vertical deviation of the hole position is calculated. :

[0052] In the formula, The coordinates of the center position of the connecting hole of the inner mold unit to be installed in the installation reference coordinate system. z Coordinate values ​​in the direction; The coordinates of the center position of the corresponding connecting hole of the installed inner mold unit in the installation reference coordinate system. z The coordinate values ​​in the direction.

[0053] S23. Construct a set of installation deviation parameters based on the center offset, height error, attitude error, and three-dimensional deviation of the hole position; Overall center offset Height error Roll error Pitch error Lateral deviation of hole position Longitudinal deviation of hole position Vertical deviation of hole position Construct a set of installation deviation parameters: In summary, the installation deviation parameter set obtained in this step can be expressed as:

[0054] Among them, center offset Primarily used for subsequent lateral position adjustments; height error measurement. Roll error and pitch error Mainly used for subsequent overall lifting and attitude adjustment; lateral deviation of hole positions Longitudinal deviation of hole position and vertical deviation of hole position It is mainly used for subsequent pre-connection window determination, guide pre-plug feedback, pre-locking permission condition determination, and connection anomaly determination.

[0055] S3. Introduce a trimming mechanism to trim the overall pose of the installation deviation parameters and determine the pre-connection window based on the trimming results. After completing the installation deviation parameter set construction, the vehicle controller performs overall pose correction on the inner mold unit to be installed based on the center offset, height error, and attitude error.

[0056] The purpose of this step is to adjust the lateral position, installation height, and attitude of the inner mold unit to be installed, so that the inner mold unit is within the pre-connection range suitable for performing guide pre-insertion. Only after the overall position and hole correspondence meet the pre-connection requirements will the system be allowed to proceed to the subsequent guide pre-insertion stage.

[0057] S31. Adjust the pose deviation parameters and obtain the pose adjustment amount. The vehicle controller is based on the center offset. Height error Roll error And pitch error Generate horizontal trimming amount and vertical trimming amount respectively.

[0058] S311, Based on center offset This generates a lateral trimming amount; To eliminate the lateral offset of the inner mold unit to be installed relative to the theoretical centerline, based on the center offset amount... Perform a horizontal centering trim to generate the horizontal trim amount:

[0059] In the formula, Install the reference coordinate system along the inner mold to be installed. x Lateral trimming amount in the axial direction.

[0060] In this embodiment, a reference coordinate system is installed. x The positive direction of the axis is defined as the direction in which the inner mold to be installed moves to the right. When When, it indicates that the inner mold to be installed is biased. x In the positive direction of the axis, the lateral trimming measurement is taken as a negative value to move the inner mold to be installed toward the center position; when At that time, the lateral trimming measurement is taken as a positive value so that the inner mold to be installed moves toward the center position.

[0061] In one implementation, the lateral trimming amount can also be decomposed into a left-side lateral trimming amount and a right-side lateral trimming amount:

[0062]

[0063] In the formula, and These represent the lateral trimming displacements corresponding to the left and right execution ends, respectively.

[0064] S312. Generate vertical adjustment amount based on height error, roll error and pitch error; To achieve simultaneous adjustment of the overall installation height and attitude of the inner mold unit to be installed, based on the height error... Roll error And pitch error Vertical trimming control values ​​are generated for the front left adjustment point, front right adjustment point, rear left adjustment point, and rear right adjustment point, respectively:

[0065]

[0066]

[0067]

[0068] In the formula, , , and These are the vertical adjustment amounts for the front left adjustment point, front right adjustment point, rear left adjustment point, and rear right adjustment point, respectively. W This refers to the lateral distance between the left and right adjustment points; L This represents the longitudinal distance between the front and rear adjustment points.

[0069] in, The corresponding overall lifting and adjustment amount is used to make the overall installation height of the inner mold to be installed close to the target installation height. The differential adjustment amount between the left and right sides caused by the roll error; The differential adjustment amount caused by pitch error.

[0070] In one implementation, when the roll error amount pitch error When the angle is small, a small-angle approximation can also be used. Approximately ,Will Approximately .

[0071] S32. Determine the pre-connection window based on the trimming results; After completing the overall pose adjustment in step S31, the vehicle controller re-collects measurement data and updates the installation deviation parameter set to determine whether the inner mold to be installed has entered the pre-connection window.

[0072] The pre-connection window indicates that the inner mold to be installed has met the initial conditions for performing guide pre-interlocking. The threshold of the pre-connection window is preset based on the allowable installation deviation parameter ranges during the guide pre-interlocking stage.

[0073] The pre-connection window threshold is given an initial value range by the parameter configuration table, and is calibrated and corrected through prototype trial installation, standard alignment working condition test, and construction playback data.

[0074] Before entering the pre-connection window, the system prioritizes addressing overall lateral offset, overall installation height deviation, and overall attitude deviation. After entering the pre-connection window, the system further identifies and compensates for the remaining hole position deviations through guide pre-interlocking.

[0075] In this embodiment, the pre-connection window is determined to be entered when all parameters in the adjusted installation deviation parameter set meet the following conditions: , , ,

[0076] , ,

[0077] In the formula, , , and These are the pre-connection window thresholds corresponding to center offset, altitude error, roll error, and pitch error, respectively. , and These are the pre-connection window thresholds corresponding to the lateral deviation, longitudinal deviation, and vertical deviation of the hole position, respectively.

[0078] It should be noted that the pre-connection window thresholds corresponding to the lateral and vertical deviations of the hole positions can be determined based on the allowable guide gap formed between the hole diameter and the outer dimensions of the guide positioning part, combined with the platform's repeatability error, the allowable error in construction and installation, and the measurement error margin. The pre-connection window threshold corresponding to the longitudinal deviation of the hole position can be determined based on the effective guide length of the guide positioning part, the allowable hole edge contact range in the connection advancement direction, and the safe advancement distance between the pre-insertion starting position and the hole opening. The pre-connection window thresholds corresponding to the center offset, height error, roll error, and pitch error can be determined by reverse mapping based on the allowable variation range of the lateral, longitudinal, and vertical deviations of the hole positions, to ensure that the inner mold to be installed is in a pre-connection state that can be guided and further compensated before entering the guide pre-insertion stage.

[0079] If any parameter does not meet the corresponding pre-connection window condition, it is determined that the inner mold to be installed has not yet entered the pre-connection window, and the vehicle controller continues to adjust according to the updated condition. , , , Perform overall pose adjustment and update synchronously. , , Continue until the pre-connected window requirements are met.

[0080] In this way, the subsequent pre-insertion of the guide is carried out only after the inner mold to be installed is in a stable range that can be pre-inserted, thereby avoiding rigid collision or invalid insertion of the guide positioning unit.

[0081] S4. Perform guided pre-connection in the pre-connection window and determine the orientation compensation amount based on the pre-connection feedback; After the inner mold to be installed enters the pre-connection window, the vehicle controller first controls the guide positioning unit to perform guide pre-insertion with the corresponding connection hole, so that the connection process itself participates in the identification and correction of the remaining deviation.

[0082] In this embodiment, only entering the pre-connection window is required before the connection begins. Then, the remaining misalignment direction is identified through the actual contact feedback during the guided pre-connection process, and the directional compensation amount is generated accordingly.

[0083] S41. Perform guided pre-interlocking and obtain pre-interlocking feedback parameters; After entering the pre-connection window, the vehicle controller controls the guide positioning unit to perform guided pre-insertion along the connection advancement direction toward the corresponding connection hole. The front end of the guide positioning unit first contacts the edge or guide surface of the corresponding connection hole to form a guiding fit before the formal positioning pin is inserted.

[0084] During the guide pre-insertion process, the on-board controller continuously acquires the following pre-insertion feedback parameters: guide entry depth. Contact feedback value Contact feedback increment .in, Used to characterize the actual entry depth of the guiding and positioning unit along the connecting propulsion direction; Used to characterize the level of contact resistance encountered during the current pre-plugging process; It is used to characterize the trend of contact resistance change during the current pre-insertion process and to identify whether abnormal contact, local jamming, or hole edge interference occurs.

[0085] The guide entry depth is determined based on the displacement detection results along the connection advancement direction during the guide pre-insertion process; the contact feedback value is obtained by conversion from force sensing signals, thrust feedback, hydraulic pressure feedback, or drive current feedback; the contact feedback increment is determined by the difference between contact feedback values ​​at adjacent sampling times or the rate of change of contact feedback values ​​within a preset sampling window. The guide entry depth, contact feedback value, and contact feedback increment are all obtained using continuous sampling and sliding update methods to improve the stability and reliability of the pre-insertion feedback parameters.

[0086] S42. Identify the dominant anomaly direction based on the pre-plugging feedback parameters; When the guide pre-interlock displacement If the preset guide entry depth is not reached and any of the following conditions are met, the vehicle controller determines that there is abnormal contact during the current guide pre-interlocking process:

[0087] or

[0088] In the formula, For contact feedback abnormal threshold, This is the threshold for incremental abnormality in contact feedback.

[0089] After determining the presence of abnormal contact, in order to identify the current dominant misalignment direction, the normalized results of the three-dimensional residual deviations of the connecting hole are calculated respectively:

[0090]

[0091]

[0092] In the formula, , and These represent the normalized results of the horizontal, vertical, and longitudinal residual biases relative to the pre-connected window thresholds, respectively. The direction corresponding to the largest normalized result is determined as the dominant anomaly direction; when... At its maximum, the dominant anomaly direction is determined to be horizontal; when At its maximum, the dominant anomaly direction is determined to be vertical; when At its maximum, the dominant abnormal direction is determined to be vertical.

[0093] In this way, the vehicle controller no longer simply attributes connection abnormalities to misalignment, but refines them into dominant misalignments in the lateral, longitudinal, or vertical directions, thus providing a basis for subsequent directional compensation.

[0094] In some implementations, the dominant abnormal direction can also be identified according to a preset priority rule. For example, when multiple directions exceed the limit at the same time, vertical abnormalities are identified first, then horizontal abnormalities are identified, and finally longitudinal abnormalities are identified; or the judgment is made based on historical repair records and the current contact feedback change trend.

[0095] S43. Determine the directional compensation amount based on the dominant anomaly direction; After identifying the dominant abnormal direction, the vehicle controller generates the corresponding directional compensation amount based on the current three-dimensional deviation of the hole position.

[0096] When the dominant anomaly direction is horizontal, the horizontal directional compensation amount for:

[0097] When the dominant anomaly direction is longitudinal, the longitudinal directional compensation amount for:

[0098] When the dominant anomaly direction is vertical, the vertical orientation compensation amount for:

[0099] In the formula, For symbolic functions, , and These represent the maximum permissible stroke for a single compensation operation of the lateral, longitudinal, and vertical actuators, respectively.

[0100] In this embodiment, the lateral orientation compensation is performed by the lateral adjustment mechanism, the longitudinal orientation compensation by the platform micro-movement mechanism, and the vertical orientation compensation by the vertical adjustment mechanism. The maximum allowable stroke for a single compensation by the lateral adjustment mechanism, the platform micro-movement mechanism, and the vertical adjustment mechanism is determined based on the resolution, repeatability, transmission clearance, and allowable single adjustment amplitude during the guide pre-interlocking stage of the corresponding actuators. The principle for setting the maximum allowable stroke for a single compensation is to ensure effective displacement correction of the inner mold to be installed along the dominant abnormal direction, while avoiding excessive compensation in one go that could lead to reverse overshoot, hole position interference changing from one side to the other, or causing secondary disturbances in the overall attitude. When the current hole position deviation in the corresponding direction is less than the maximum allowable stroke for a single compensation in that direction, orientation compensation is performed according to the current hole position deviation; when the current hole position deviation in the corresponding direction is greater than the maximum allowable stroke for a single compensation in that direction, amplitude limiting compensation is performed according to the maximum allowable stroke for a single compensation.

[0101] It should be noted that the pre-connection feedback is not used directly for forced connection, but rather to continue to correct the overall spatial state of the inner mold to be installed, so that the connection process forms a reverse constraint on the subsequent alignment control.

[0102] S44. Update the compensated installation deviation parameter set; After performing directional compensation, the vehicle controller does not directly replace the actual state with the theoretical compensation amount, but instead re-collects multi-source measurement data and corresponding measurement data of the connection holes, and recalculates. , , , , , and To obtain the compensated installation deviation parameter set, denoted as:

[0103] By re-measuring and updating the set of installation deviation parameters, the accumulation of control errors caused by estimating the state based solely on theoretical execution values ​​can be avoided.

[0104] S5. Determine the pre-locking permission conditions based on the compensated installation deviation parameter set and pre-plug feedback, execute the pre-locking, and monitor the connection execution status; After completing the pre-insertion guidance and orientation compensation, the vehicle controller determines the pre-locking permission conditions based on the compensated installation deviation parameter set and the pre-insertion feedback parameters. The allowable deviations corresponding to the pre-locking permission conditions are all less than the allowable deviations corresponding to the pre-connection window conditions, which is to ensure that the inner mold to be installed and the installed inner mold are in a more stable connection preparation state before entering the formal final locking.

[0105] S51. Determine the pre-locked license conditions; In this embodiment, the inner mold to be installed is determined to meet the pre-locking permission conditions when the following conditions are met simultaneously: , , ,

[0106] , ,

[0107] , ,

[0108] And the above state is maintained continuously for the time that satisfies the following:

[0109] In the formula, , , and These are the pose permission thresholds corresponding to the pre-locking phase; , and These are the permissible thresholds for the three-dimensional deviation of the hole position corresponding to the pre-locking stage; and These are the contact feedback permission threshold and contact feedback incremental permission threshold corresponding to the pre-locking phase, respectively; This represents the lower limit of the guide entry depth corresponding to the pre-locking phase; This refers to the stable holding time during the pre-locking phase.

[0110] In one embodiment, the pre-locking permission threshold is determined based on the corresponding pre-connection window threshold using a tightening factor. This tightening factor is pre-configured according to the assembly tolerance of the connecting hole, the clearance between the locating pin and the connecting hole, the allowable contact resistance range during the pre-locking stage, and the connection stability requirements. Thus, the pre-connection window threshold and the pre-locking permission threshold form a hierarchical setting relationship: the pre-connection window threshold ensures smooth pre-insertion of the guide, while the pre-locking permission threshold ensures stable insertion of the locating pin and tightening of the screw.

[0111] The stabilization holding time during the pre-locking phase is used to prevent the pre-locking permission conditions from being met instantaneously, i.e., immediately entering the pre-locking state. When the compensated installation deviation parameter set and the pre-plugging feedback parameter simultaneously meet the pre-locking permission conditions for the first time, the stabilization timing is started; during the timing process, if any permission condition is no longer met, the current timing is reset to zero and the timing is restarted; the pre-locking permission signal is output only when all permission conditions are continuously met for the stabilization holding time.

[0112] Among them, the allowable deviation thresholds for each item corresponding to the pre-locked permission condition are all less than the allowable deviation thresholds for each item corresponding to the pre-connection window condition, that is: , , ,

[0113] , ,

[0114] The purpose of the above is to ensure that the insertion and fastening of the locating pins are performed under conditions where the connection is more stable and the corresponding relationship of the connecting holes is closer to the pre-locking requirements.

[0115] It should be noted that the pre-locking permission condition takes into account both the compensated installation deviation state and the contact stability and guide entry degree during the guide pre-insertion process, so as to avoid the situation where the geometric deviation is close to the threshold, but there is still abnormal contact resistance or insufficient guide entry, thereby improving the reliability of pre-locking.

[0116] S52, Perform pre-locking After the pre-locking permission conditions are met, the vehicle controller controls the connection execution unit to put the inner mold to be installed and the installed inner mold into a pre-locking state.

[0117] In this embodiment, the pre-locking state refers to the connection state in which a limited retaining relationship has been established between the inner mold to be installed and the inner mold already installed, but the final locking has not yet been completed. Pre-locking can be achieved through pre-insertion of locating pins, pre-tightening of connectors, pre-holding of limiting components, or other methods that can form a limited retaining relationship.

[0118] S53. Monitor and collect connection execution status; In the pre-locked state, the vehicle controller continuously monitors and collects the connection execution status.

[0119] The connection execution status includes at least: guide entry depth, contact feedback value, contact feedback increment, locating pin insertion depth, fastening status, and real-time update results of the compensated installation deviation parameter set.

[0120] The insertion depth of the locating pin can be obtained from the displacement detection result of the locating pin drive mechanism; the tightening state can be determined from the torque sensor detection result, the drive current feedback result, or the deviation result from the preset tightening curve.

[0121] By continuously monitoring the connection execution status, problems such as misalignment of the positioning pin, local interference, sudden contact changes, or abnormal tightening can be identified in time before the final connection is locked.

[0122] S6. Determine connection anomalies based on connection execution status, and execute connection termination locking or anomaly rollback control based on the determination result; In the pre-locked state, the vehicle controller continuously collects the connection execution status and determines whether there is a connection abnormality. If no connection abnormality is determined, the connection is terminated and locked; if a connection abnormality is determined, the abnormality rollback control is executed, and the system returns to the corresponding stage based on the updated installation deviation parameter set.

[0123] S61. Determine connection abnormality conditions; The vehicle controller determines that the current connection is abnormal when any of the following conditions are met: (1) The guide positioning unit did not reach the preset guide entry depth; (2) Contact feedback value during pre-insertion process Or contact feedback increment The abnormal threshold has been exceeded again; (3) The positioning pin did not reach the preset insertion depth; (4) Abnormal torque or failure to tighten screws occurs during the tightening process; (5) Residual state variables after compensation , , , , , and If any one of them exceeds the corresponding pre-locked permission threshold again.

[0124] If the guide entry depth does not reach the preset guide entry depth, it indicates that the guide engagement has not yet been established to a state where the final connection locking can be stably executed; if the contact feedback value or contact feedback increment exceeds the abnormal threshold again, it indicates that there are still new local interferences or jammings during the pre-locking or final connection preparation process; if the positioning pin does not reach the preset insertion depth, it indicates that the hole position has not reached the allowable final connection locking state; if abnormal torque or tightening failure occurs during the tightening process, it indicates that there may be misalignment, off-center holes, or local interference between the connecting parts; if the parameters in the compensated installation deviation parameter set exceed the corresponding pre-locking permissible threshold again, it indicates that the inner mold to be installed has experienced position drift, posture rebound, or local stress deformation during the formal connection process.

[0125] S62. Execute connection termination locking when a connection failure is detected; When the connection execution status meets the requirements of no abnormality, the vehicle controller controls the connection execution unit to complete the final insertion of the positioning pin and the final tightening of the screw, so as to establish the final positioning relationship and the final connection and fixing relationship between the inner mold to be installed and the inner mold already installed.

[0126] By monitoring the connection execution status in the pre-locked state and then performing the final connection lock under normal conditions, connection failures caused by local interference, hole position deviation springback, or contact abrupt changes during the formal locking process can be reduced.

[0127] S63. Execute exception rollback control when a connection anomaly is detected; After determining the connection anomaly, the onboard controller performs a backoff compensation based on the dominant misalignment direction at the time of the anomaly, causing the inner mold to be installed to exit the current interference area. Anomaly backoff amount. for:

[0128] In the formula, To ensure safe evacuation depth, meet the requirements .

[0129] It should be noted that the abnormal retraction amount is determined based on the current interference area range, the minimum separation distance required for further adjustment, and the requirement to retain the pre-connected foundation state. The setting principle is: while ensuring that the inner mold to be installed can exit the current interference area, the established overall alignment foundation should be retained as much as possible to avoid the whole returning to the initial installation position after abnormal retraction.

[0130] After completing the abnormal reversal along the dominant misalignment direction, the vehicle controller performs a second correction based on the dominant abnormal direction: when the dominant abnormal direction is lateral, lateral correction is performed first; when the dominant abnormal direction is longitudinal, platform micro-shift correction is performed first; when the dominant abnormal direction is vertical, vertical correction is performed first. The amount of the second correction can be determined according to the current state in step S43.

[0131] In this way, the system first removes the current interference after a connection failure, and then only readjusts the dominant direction that caused the failure, thereby reducing the control redundancy and construction time waste caused by repeated full-scale adjustments.

[0132] In some implementations, the re-adjustment after an abnormal rollback can be achieved by rolling back to the position state that most recently met the pre-connection window conditions; or by first returning to the starting position of the guide pre-connection and then re-entering the guide pre-connection based on the current measurement results.

[0133] S63. Update the control status and return to the corresponding stage; After completing the rollback compensation, the on-board controller re-acquires multi-source measurement data and borehole measurement data, and updates them. , , , , , and The process then determines the stage to return to based on the updated set of installation deviation parameters: if all parameters in the updated set of installation deviation parameters still meet the pre-connection window conditions, the process returns to step S4 to continue executing the guide pre-connection; if all parameters in the updated set of installation deviation parameters no longer meet the pre-connection window conditions, the process returns to step S3 to re-execute the overall pose adjustment and pre-connection window determination.

[0134] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A method for intelligent control of the connection between adjacent box-type inner molds in a comprehensive utility tunnel, characterized in that, include: Construct a set of installation deviation parameters for adjacent inner molds and perform overall pose adjustment; Based on the overall pose correction results, pre-connection window determination is performed, and guided pre-interlocking is executed; Based on the guidance pre-insertion feedback, the dominant anomaly direction is identified and directional compensation is performed; The pre-locking permission conditions are determined by combining the compensated installation deviation parameter set and the guide pre-plugging feedback, the pre-locking is executed, and the connection execution status is monitored; The connection exception is determined based on the connection execution status, and the connection is terminated and locked.

2. The intelligent control method for connecting adjacent box-type inner molds of integrated utility tunnels according to claim 1, characterized in that, Construct a set of installation deviation parameters for adjacent inner molds and perform overall pose adjustment, including: Acquire multi-source measurement data of the inner mold to be installed and the hole position measurement data between it and the installed inner mold; Based on multi-source measurement data and hole position measurement data, the pose deviation parameters of the inner mold to be installed and the hole position deviation parameters of adjacent inner molds are calculated respectively, and an installation deviation parameter set is constructed. A correction mechanism is introduced to correct the overall pose deviation parameters.

3. The intelligent control method for connecting adjacent box-type inner molds of integrated utility tunnels according to claim 1, characterized in that, Based on the overall pose correction results, pre-connection window determination is performed, and guided pre-interlocking is executed, including: Introduce a pre-connection window threshold; Based on the comparison between the adjusted installation deviation parameter set and the corresponding pre-connection window threshold, the pre-connection window is determined, and guided pre-plugging is performed based on the determination result. The pre-connection window threshold is preset based on the range of installation deviation parameters allowed during the pre-connection stage.

4. The intelligent control method for connecting adjacent box-type inner molds of integrated utility tunnels according to claim 1, characterized in that, Based on the guidance pre-insertion feedback, the dominant anomaly direction is identified and directional compensation is performed, including: Obtain pre-interlocking feedback parameters during the guide pre-interlocking process to determine abnormal contact; When abnormal contact is detected, the dominant abnormal direction is identified based on the hole position deviation parameter, and the corresponding directional compensation amount is generated.

5. The intelligent control method for connecting adjacent box-type inner molds of integrated utility tunnels according to claim 4, characterized in that, Based on the borehole position deviation parameters, the dominant anomaly direction is identified, and the corresponding directional compensation amount is generated, including: Based on the normalized result of the hole position deviation parameter relative to the corresponding pre-connected window threshold, the dominant anomaly direction is determined; Based on the dominant anomaly direction and the corresponding hole position deviation, a corresponding directional compensation amount is generated.

6. The intelligent control method for connecting adjacent box-type inner molds of integrated utility tunnels according to claim 1, characterized in that, Based on the compensated installation deviation parameter set and guide pre-interlock feedback, the pre-locking permission conditions are determined, pre-locking is executed, and the connection execution status is monitored, including: Based on the compensated installation deviation parameter set and the pre-plugging feedback parameters, determine the pre-locking permission conditions; The pre-locked license conditions are maintained for a preset stable time, the pre-lock is executed, and the connection execution status is continuously monitored and collected.

7. The intelligent control method for connecting adjacent box-type inner molds in a comprehensive utility tunnel according to claim 6, characterized in that, Determining pre-locked license conditions includes: Based on the comparison results between the compensated installation deviation parameter set and the corresponding pre-locking allowable threshold, it is determined whether the installation deviation status meets the pre-locking requirements; Based on the comparison results between the pre-insertion feedback parameters and the corresponding permissible threshold, it is determined whether the guide pre-insertion state meets the pre-locking requirements; Based on the above judgment results and the preset stabilization time, the pre-locking license conditions are determined; Wherein, the pre-locking permission threshold is less than the pre-connection window threshold.

8. The intelligent control method for connecting adjacent box-type inner molds of integrated utility tunnels according to claim 1, characterized in that, The connection execution status is used to determine connection errors, and connection termination locking is performed, including: Based on the guide entry depth, contact feedback value, contact feedback increment, positioning pin insertion depth, fastening status, and the compensated installation deviation parameter set, abnormal connection conditions are determined. When a connection anomaly is detected, an anomaly rollback control is executed based on the direction of the dominant anomaly. If a connection failure is detected, terminate the connection lock.

9. The intelligent control method for connecting adjacent box-type inner molds of integrated utility tunnels according to claim 8, characterized in that, The execution of abnormal rollback control includes: Based on the dominant anomaly direction, perform an anomaly rollback on the inner mold to be installed, causing the inner mold to exit the current interference region; Further adjustments were made based on the dominant anomaly direction. Reacquire multi-source measurement data and borehole measurement data, and update the installation deviation parameter set; Based on the updated set of installation deviation parameters, determine the return guide pre-plugging or overall pose adjustment.

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