A method for accurately guiding and controlling a micro-tube pipe of rainwater and sewage working pipe

Abstract

The present application relates to rainwater and sewage pipeline trenchless construction control technical field, disclose a kind of rainwater and sewage working pipe micro pipe accurate direction control method, construction state data is periodically acquired in jacking process, establish continuous drainage envelope, determine predicted pipe bottom elevation curve, target deviation trajectory and target predicted pipe bottom elevation curve, calculate the length of remaining deviation margin, predicted water bag volume and interface corner consumption rate, to determine the direction control mode and generate dynamic control instruction, carry out rolling closed-loop control, the present application is based on construction state data to establish continuous drainage envelope, determine target deviation trajectory and calculate the length of remaining deviation margin, predicted water bag volume and interface corner consumption rate, to generate dynamic control instruction, improve drainage continuity, deviation rationality, interface protection and construction stability.

Description

Technical Field

[0001] This invention relates to the field of trenchless construction control technology for stormwater and sewage pipelines, and more specifically, to a precise guiding control method for micro-jacking of stormwater and sewage working pipes. Background Technology

[0002] Stormwater and sewage pipes are responsible for collecting and transporting urban rainwater and sewage. Their drainage capacity typically depends on the pipe's design slope, the continuity of the pipe bottom elevation, and the stable connection of pipe joints. Even if the horizontal position of a stormwater and sewage pipe meets design requirements, problems such as water stagnation, siltation, and poor drainage can occur if the pipe bottom elevation forms a reverse slope, depression, or abrupt change in local sections. Therefore, during the construction of stormwater and sewage pipes, controlling the pipe bottom elevation is as important as controlling the axial posture.

[0003] Micro-pipe jacking construction has advantages such as small excavation area, lower impact on surface traffic and the surrounding environment, and suitability for areas with dense underground pipelines, and has been widely used in municipal stormwater and sewage pipeline construction. Current micro-pipe jacking construction typically uses parameters such as the jacking machine's attitude, jacking distance, jacking force, and jacking speed to guide and correct the jacking machine, ensuring the pipeline closely conforms to the design axis and elevation. Under normal geological conditions and with minimal deviations, this control method can meet general accuracy requirements.

[0004] However, the micro-jacking construction of stormwater and sewage pipes requires attention not only to the elevation deviation at the current measuring point, but also to whether continuous drainage can be restored under constrained conditions within the remaining jacking distance. The vertical correction angle of the jacking machine, the allowable rotation angle of the pipe section interface, the cumulative rotation angle of the current pipe section interface, changes in jacking force, excavation chamber pressure, excavation discharge volume, and surrounding deformation all affect the feasibility of the correction trajectory. If correction is performed only based on the current elevation deviation, issues such as excessive correction amplitude, rapid depletion of interface rotation resources, insufficient remaining correction distance, or failure to identify localized low-lying sections in advance may occur.

[0005] Furthermore, the drainage slope of stormwater and sewage pipes typically requires continuity. When the local pipe bottom elevation is lower than the allowable drainage boundary, water accumulation bags may form. Existing control methods focus more on construction posture or single-point deviation correction, insufficiently considering the relationship between the predicted pipe bottom elevation curve and continuous drainage requirements. They also rarely incorporate the predicted water accumulation bag volume, remaining correction length margin, and interface angle consumption into the same judgment logic for guidance mode switching. Therefore, in complex strata, long-distance jacking, interface angles approaching limits, or abnormal construction responses, there is still room for improvement in the precision and foresight of guidance control.

[0006] Based on the above, this application proposes a precise guiding control method for micro-jacking pipes in stormwater and sewage working pipes. Summary of the Invention

[0007] To address the shortcomings of existing technologies, the present invention aims to provide a precise guiding and control method for micro-jacking pipes used for rainwater and sewage working pipes.

[0008] To achieve the above objectives, the present invention provides the following technical solution: A method for precise guidance and control of micro-jacking pipes for stormwater and sewage working pipes, comprising: S1: During the micro-jacking process of the stormwater and sewage working pipe, the controller acquires construction status data according to the preset rolling control cycle; S2: The controller establishes a continuous drainage envelope based on the construction status data and determines at least one predicted pipe bottom elevation curve and the corresponding correction trajectory; the controller determines the target correction trajectory from the correction trajectory and determines the predicted pipe bottom elevation curve corresponding to the target correction trajectory as the target predicted pipe bottom elevation curve. S3: The controller calculates the remaining correction length margin, predicted water accumulation bag volume, and interface corner consumption rate based on the predicted pipe bottom elevation curve, target correction trajectory, target predicted pipe bottom elevation curve, continuous drainage envelope, and construction status data. The remaining correction length margin is used to characterize the redundancy of the remaining jacking distance relative to the axial length required to restore the continuous drainage state under constraints. The predicted water accumulation bag volume is used to characterize the water stagnation risk volume formed when the predicted pipe bottom elevation curve is lower than the continuous drainage envelope. The interface corner consumption rate is used to characterize the degree to which the target correction trajectory occupies the remaining pipe section interface corner resources. S4: The controller determines the guidance control mode based on the remaining correction length margin, the predicted water accumulation bag volume, and the interface corner consumption rate; the controller generates dynamic control commands based on the guidance control mode and the target correction trajectory. The dynamic control commands are used to regulate the jacking speed, the vertical correction angle of the pipe jacking machine, the jacking force distribution, the excavation chamber pressure, and the excavation discharge volume, and perform rolling closed-loop control based on the preset rolling control cycle.

[0009] Furthermore, in S1, the construction status data includes pipeline drainage design data, pipeline geometry data, jacking positioning attitude data, correction interface data, and construction response data. The construction response data is used to characterize the jacking status, excavation status, and surrounding deformation status. The excavation status includes the excavation chamber pressure and excavation discharge volume.

[0010] Furthermore, in S2, the method for determining the predicted pipe bottom elevation curve and the corresponding correction trajectory is as follows: the controller establishes a rolling prediction control window, a continuous drainage envelope, and a correction reachability constraint set based on the construction status data, and generates a candidate correction trajectory cluster within the scope of the correction reachability constraint set; the candidate correction trajectory cluster includes multiple candidate correction trajectories, each candidate correction trajectory corresponds to a candidate predicted pipe bottom elevation curve, and multiple candidate predicted pipe bottom elevation curves form a candidate predicted pipe bottom elevation curve set; the predicted pipe bottom elevation curve includes the candidate predicted pipe bottom elevation curves in the candidate predicted pipe bottom elevation curve set, and the correction trajectory includes the candidate correction trajectory in the candidate correction trajectory cluster.

[0011] Furthermore, in S2, the controller establishes a rolling predictive control window based on the current jacking mileage, remaining jacking distance, and current jacking speed in the construction status data; the controller constructs a continuous drainage envelope based on the design pipe bottom elevation line, design pipe bottom slope, downstream drainage control elevation, and allowable pipe bottom elevation deviation in the construction status data; the controller constructs a set of reachable correction constraints based on the allowable vertical correction angle of the pipe jacking machine, the allowable rotation angle of the pipe section interface, the current pipe section interface rotation angle sequence, the current jacking force, the excavation chamber pressure, the excavation discharge volume, and the surrounding deformation in the construction status data.

[0012] Furthermore, in S2, the method for determining the target predicted pipe bottom elevation curve is as follows: the controller calculates the candidate pipe bottom elevation deviation, candidate water collection bag volume, candidate pipe section interface corner occupancy, and candidate construction disturbance for each candidate correction trajectory; the controller determines the target correction trajectory from the candidate correction trajectory cluster with the optimization objective of reducing the candidate pipe bottom elevation deviation, candidate water collection bag volume, candidate pipe section interface corner occupancy, and candidate construction disturbance, and determines the candidate predicted pipe bottom elevation curve corresponding to the target correction trajectory as the target predicted pipe bottom elevation curve.

[0013] Furthermore, in S2, the candidate construction disturbance is determined by the current jacking force, excavation chamber pressure, excavation discharge volume, and surrounding deformation.

[0014] Furthermore, in S3, the remaining correction length margin is calculated as follows: the controller selects a subset of feasible correction trajectories from the candidate correction trajectory cluster that satisfy the correction reachability constraint set; the controller determines the minimum axial length from the current jacking mileage position to the first continuous drainage state in the subset of feasible correction trajectories as the constraint minimum recovery length, determines the length redundancy based on the remaining jacking distance and the constraint minimum recovery length, and normalizes the length redundancy according to the larger of the constraint minimum recovery length and the preset safety length to obtain the remaining correction length margin.

[0015] Furthermore, in S3, the predicted water accumulation bag volume is calculated as follows: the controller identifies low-lying connected sections based on the relative positional relationship between the candidate predicted pipe bottom elevation curve set and the continuous drainage envelope; determines the equivalent water retention depth based on the elevation difference between the candidate predicted pipe bottom elevation curve and the continuous drainage envelope within the low-lying connected section; determines the equivalent water retention cross-sectional area based on the inner diameter of the stormwater and sewage working pipe and the equivalent water retention depth; and integrates along the axial length of the low-lying connected section to obtain the candidate water accumulation bag volume. Multiple candidate water accumulation bag volumes form a candidate water accumulation bag volume set. The controller determines the predicted water accumulation bag volume from the candidate water accumulation bag volume set according to the preset risk upper envelope rule.

[0016] Furthermore, in S4, the controller compares the remaining correction length margin, the predicted water accumulation bag volume, and the interface corner consumption rate with the corresponding preset thresholds to obtain the mode determination conditions. The mode determination conditions include the danger triggering condition, the interface corner warning, the water accumulation volume warning, and the length margin warning. When the danger triggering condition is met, the guidance control mode is the reverse slope interface prevention and control mode; when the danger triggering condition is not met, the controller determines the guidance control mode according to the priority order of interface corner warning, water accumulation volume warning and length margin warning; the interface corner warning corresponds to the interface limited correction mode, the water accumulation volume warning corresponds to the drainage priority correction mode, and the length margin warning corresponds to the length compression regression mode; when the interface corner warning, water accumulation volume warning and length margin warning are not triggered, the guidance control mode is the normal fine-tuning correction mode.

[0017] Furthermore, the corresponding preset thresholds include margin warning threshold, margin danger threshold, volume warning threshold, volume danger threshold, corner warning threshold, and corner danger threshold, wherein the margin warning threshold is greater than the margin danger threshold, the volume warning threshold is less than the volume danger threshold, and the corner warning threshold is less than the corner danger threshold. The danger triggering condition is that any one of the following conditions is met: the remaining correction length margin is less than or equal to the margin danger threshold, the predicted water accumulation bag volume is greater than the volume danger threshold, or the interface corner consumption rate is greater than the corner danger threshold. Interface corner warning is triggered when the interface corner consumption rate is greater than the corner warning threshold but less than or equal to the corner danger threshold. Water accumulation volume warning is triggered when the predicted water accumulation bag volume is greater than the volume warning threshold but less than or equal to the volume danger threshold. Length margin warning is triggered when the remaining correction length margin is less than or equal to the margin warning threshold but greater than the margin danger threshold.

[0018] Compared with the prior art, the present invention has the following beneficial effects: In the process of micro-jacking of storm and sewage working pipes, the present invention uses a controller to acquire construction status data according to a preset rolling control cycle and establishes a continuous drainage envelope based on the construction status data. The continuous drainage requirements of the storm and sewage working pipes are introduced into the jacking guidance control process, so that the predicted pipe bottom elevation curve can be compared with the drainage boundary. This is beneficial to detect elevation changes that may form reverse slopes, depressions or water stagnation risks in advance during the jacking process, and improve the drainage continuity and pipe bottom elevation control accuracy after pipe completion. This invention determines at least one predicted pipe bottom elevation curve and its corresponding correction trajectory, and from this, determines the target correction trajectory and the target predicted pipe bottom elevation curve. Based on this, it calculates the remaining correction length margin, the predicted water accumulation bag volume, and the interface corner consumption rate. This allows the controller to simultaneously consider the remaining jacking distance, the axial length required to restore the constrained continuous drainage state, the predicted water stagnation risk volume, and the degree of resource occupation of the remaining pipe section interface corner. This helps to improve the rationality of the correction trajectory selection and reduce the risks of local over-correction, insufficient correction distance, and excessive interface corner consumption. This invention determines the guiding control mode based on the remaining correction length margin, the predicted water accumulation bag volume, and the interface corner consumption rate. It also generates dynamic control commands by combining the target correction trajectory. This allows for the coordinated regulation of the jacking speed, the vertical correction angle of the pipe jacking machine, the jacking force distribution, the excavation chamber pressure, and the excavation discharge. Simultaneously, it performs rolling closed-loop control based on a preset rolling control cycle. This facilitates the dynamic correction of the control strategy under construction conditions where the jacking status is constantly changing. It takes into account drainage continuity, correction accessibility, interface protection, and construction stability, thereby improving the reliability of precise guiding control of the micro-jacking pipe for stormwater and sewage working pipes. Attached Figure Description

[0019] Figure 1 This is a flowchart illustrating a precise guiding control method for a micro-jacking pipe in a stormwater and sewage working pipe according to the present invention. Figure 2 This is a schematic diagram illustrating the mapping relationship between the construction status data, rolling prediction control window, continuous drainage envelope, correction reachability constraint set, candidate correction trajectory cluster, candidate predicted pipe bottom elevation curve set, target correction trajectory, and target predicted pipe bottom elevation curve of the present invention. Figure 3 This is a schematic diagram illustrating the construction of the continuous drainage envelope, designed pipe bottom elevation line, candidate predicted pipe bottom elevation curve, target predicted pipe bottom elevation curve, low-lying connected section, equivalent water retention depth, equivalent water retention cross-sectional area, candidate water accumulation bag volume, and predicted water accumulation bag volume of the present invention. Detailed Implementation

[0020] Reference Figures 1 to 3 A method for precise guidance and control of micro-jacking pipes for stormwater and sewage working pipes, comprising: S1: During the jacking process of the micro-jacking pipe for stormwater and sewage working pipes, the controller acquires construction status data according to a preset rolling control cycle. This continuous acquisition of construction status data during the jacking process allows the controller to monitor the real-time construction status. The construction status data reflects the drainage design conditions, pipe geometry, jacking positioning attitude, correction interface status, and construction response of the micro-jacking pipe at the current jacking stage. This data provides a foundation for establishing a continuous drainage envelope, determining the predicted pipe bottom elevation curve, determining the correction trajectory, and generating dynamic control commands. By acquiring construction status data according to a preset rolling control cycle, the controller can divide the jacking process into continuously updated control units. This allows the precise guidance control method for the micro-jacking of stormwater and sewage pipes to not rely on single static measurement results, but to make rolling corrections to the guidance control based on changes in construction status. This helps reduce the impact of jacking attitude deviations, ground disturbances, interface angle changes, and excavation status fluctuations on the accuracy of pipe bottom elevation control.

[0021] In one specific implementation, during the micro-jacking process of the stormwater and sewage working pipe, the controller acquires construction status data according to a preset rolling control cycle. The preset rolling control cycle is set according to the jacking speed, measurement frequency, and pipe section length, for example, forming a data acquisition node every 0.2 meters of jacking or every 30 seconds. The construction status data includes pipeline drainage design data, pipeline geometry data, jacking positioning attitude data, correction interface data, and construction response data. Among them, the pipeline drainage design data includes the design pipe bottom elevation line, design pipe bottom slope, downstream drainage control elevation, and allowable pipe bottom elevation deviation; the pipeline geometry data includes the inner diameter, outer diameter, single pipe section length, and pipe section interface position of the stormwater and sewage working pipe; the jacking positioning attitude data includes the current jacking mileage, the vertical attitude of the jacking machine, the current pipe bottom elevation measurement value, and the current jacking speed; and the correction interface data includes the allowable vertical correction angle of the jacking machine, the allowable rotation angle of the pipe section interface, and the current pipe section interface rotation angle sequence. In one implementation, the current jacking mileage The current jacking speed is determined by verifying the cumulative stroke of the jacking cylinder, the installation length of the pipe section, and data from the pipe jacking machine's distance measuring device. Determined based on the difference in jacking mileage and the time difference in data acquisition between two adjacent preset rolling control cycles: Current pipe bottom elevation measurement value Elevation measured from the elevation point inside the pipe jacking machine The installation distance from the elevation measurement point to the bottom of the pipe. Vertical attitude angle of the pipe jacking machine The corrected result is: in, Measured by the tilt sensor of the pipe jacking machine, laser target attitude data, or inertial measurement unit; It is calculated from measurement data obtained by laser guidance system, leveling device or total station; The current pipe section interface rotation sequence is determined by the included angle between the axes of adjacent pipe sections. The mileages of each pipe section at the front-end and rear-end measuring points are as follows: The bottom elevations of the pipes are respectively The vertical axis inclination angle of this pipe section Determined according to the following formula: No. The pipe section interface is located at the first The pipe section and the first When connecting pipe sections, the current pipe section interface angle is... Determined according to the following formula: each Arrange them according to the interface order to form the current pipe section interface corner sequence.

[0022] The controller synchronously collects and times-corresponds to the construction response data. The construction response data reflects the jacking status, excavation status, and surrounding deformation status. The jacking status includes the current jacking force and changes in jacking force distribution. The excavation status includes the excavation chamber pressure and excavation discharge volume. The surrounding deformation status includes the surface settlement around the working well, the settlement of adjacent pipelines, or the deformation of the monitoring section. For example, at a certain jacking mileage, if the controller reads that the current jacking force is within the set allowable range of increase, the excavation chamber pressure is higher than the previous preset rolling control cycle, the excavation discharge volume is lower than the theoretical discharge volume, and the surrounding deformation shows a continuous increasing trend, then this set of construction response data, together with the jacking positioning attitude data and correction interface data at the same jacking mileage, is recorded to form complete construction status data corresponding to the preset rolling control cycle. This provides real-time, continuous, and engineering-related basic data for precise guidance control during the micro-jacking process of the stormwater and sewage working pipe. Excavation discharge The volume of material discharged within a preset rolling control cycle is determined. When using slurry balance for soil discharge, According to sludge discharge flow rate and sludge flow rate The difference integral is determined as follows: When using spiral soil discharge or soil box metering, According to the mass of the excavated soil Soil wet density and conversion factor Sure: Theoretical excavation discharge According to the outer diameter of the storm and sewage working pipes Current cycle jacking distance and soil looseness coefficient Sure: Peripheral deformation The land subsidence is determined based on the maximum absolute change of each monitored object relative to the initial baseline value within the current preset rolling control cycle. The settlement of adjacent pipelines is The horizontal or vertical deformation of the monitored section is hour, Determined according to the following formula: in, , and This is the initial reference value before jacking construction. When there are multiple surface points, adjacent pipeline points, or monitoring sections, the controller takes the maximum value among all the calculated results of the monitoring points as the surrounding deformation. .

[0023] S2: The controller establishes a continuous drainage envelope based on the construction status data and determines at least one predicted pipe bottom elevation curve and the corresponding correction trajectory; the controller determines the target correction trajectory from the correction trajectory and determines the predicted pipe bottom elevation curve corresponding to the target correction trajectory as the target predicted pipe bottom elevation curve; the controller establishes a continuous drainage envelope based on the construction status data and determines at least one predicted pipe bottom elevation curve and the corresponding correction trajectory around the continuous drainage envelope, so that the guiding control target of the micro-jacking pipe for rainwater and sewage working pipe is not limited to the correction of the jacking axis position, but also takes into account the continuous drainage requirements after the rainwater and sewage working pipe is completed; The continuous drainage envelope reflects the control boundary of the pipe bottom elevation of the stormwater and sewage working pipe under the condition of meeting drainage function. The predicted pipe bottom elevation curve reflects the changing trend of the pipe bottom elevation of the stormwater and sewage working pipe under the action of different correction trajectories. The correction trajectory reflects the control path arrangement of the controller for the vertical correction direction and correction amplitude of the pipe jacking machine. The controller determines the target correction trajectory from the correction trajectory and determines the predicted pipe bottom elevation curve corresponding to the target correction trajectory as the target predicted pipe bottom elevation curve. This combines the guidance correction with the drainage risk control of the pipe bottom elevation, so that the target correction trajectory has a comprehensive constraint basis of drainage continuity, interface safety and construction stability.

[0024] In one specific implementation, the controller establishes a rolling prediction control window based on the current jacking mileage, remaining jacking distance, and current jacking speed. The axial length of the rolling prediction control window is determined according to the remaining jacking distance, the length of a single pipe section, and the preset rolling control cycle. For example, when the current jacking mileage is 32 meters, the remaining jacking distance is 18 meters, and the current jacking speed is 20 millimeters per minute, the controller takes the jacking interval from the current jacking mileage to a range of pipe section lengths as the rolling prediction control window, and reads the design pipe bottom elevation line, design pipe bottom slope, downstream drainage control elevation, and allowable pipe bottom elevation deviation within the rolling prediction control window. Design pipe bottom elevation line The values ​​are obtained by interpolation from the adjacent control station numbers in the longitudinal section of the stormwater and sewage pipe design. The adjacent control station numbers are... and The corresponding design pipe bottom elevation is and ,when hour, Determined according to the following formula: The design pipe bottom slope is determined according to the decreasing elevation relationship along the drainage direction in the design longitudinal section; downstream drainage control elevation. Take the design pipe bottom elevation at the receiving well, inspection well, existing pipeline inlet, or drainage control point; allowable pipe bottom elevation deviation. Take the allowable deviation from the design documents Allowable deviations during construction acceptance Deviation from the supervisor's approval The smaller value in: The controller constructs a continuous drainage envelope based on the design pipe bottom elevation line, design pipe bottom slope, downstream drainage control elevation, and allowable pipe bottom elevation deviation. The continuous drainage envelope is based on the design pipe bottom elevation line and combines the downstream drainage control elevation to limit the allowable variation range of the pipe bottom elevation of the storm and sewage working pipes. For example, when the design pipe bottom slope is decreasing from upstream to downstream and the allowable pipe bottom elevation deviation is ±10 mm, the controller forms an elevation boundary consistent with the drainage slope within the rolling prediction control window, which serves as a comparison benchmark for whether there is a risk of water stagnation in the candidate predicted pipe bottom elevation curve. The design drainage direction of the stormwater and sewage working pipe is taken as the positive mileage. The rolling prediction control window is The design pipe bottom elevation line is The downstream drainage control elevation is The allowable deviation in pipe bottom elevation is The minimum continuous drainage slope is The controller constructs a continuous drainage envelope according to the following formula. : When the candidate predicts the bottom elevation curve Satisfy within the continuous axial range At that time, this continuous axial range is denoted as the low-lying connected section. Continuous drainage envelope As the boundary for comparing the bottom elevation of the stormwater and sewage working pipes within the rolling prediction control window; The controller constructs a set of reachable correction constraints based on the allowable vertical correction angle of the pipe jacking machine, the allowable rotation angle of the pipe section interface, the current rotation angle sequence of the pipe section interface, the current jacking force, the excavation chamber pressure, the excavation discharge volume, and the surrounding deformation. Within the range of the reachable correction constraint set, the controller generates a cluster of candidate correction trajectories. The cluster of candidate correction trajectories includes multiple candidate correction trajectories. Each candidate correction trajectory meets the requirements of the allowable vertical correction angle of the pipe jacking machine and the allowable rotation angle of the pipe section interface, and is subject to the construction status constraints of the current jacking force, the excavation chamber pressure, the excavation discharge volume, and the surrounding deformation. For example, when the two interfaces closest to the pipe jacking machine in the current pipe section interface rotation angle sequence are close to the upper limit of the allowable rotation angle, the controller reduces the vertical correction amplitude of the corresponding candidate correction trajectory to avoid local interface rotation angle concentration. Allowable vertical correction angle for pipe jacking machine Allowable correction angle for pipe jacking equipment The construction plan allows for a correction angle. Back-calculation of allowable correction angle at pipe joint interface The smaller value in: No. Each pipe section interface allows for cornering. The allowable angle is based on the pipe joint design. and interface security factor Sure: Top thrust limit Upper and lower limits of excavation chamber pressure and Upper and lower limits of excavation discharge volume and Upper limit of surrounding deformation Determine using the following formula: in, The rated jacking force of the jacking system, The equilibrium pressure under the current burial depth and geological conditions. To allow for pressure fluctuation values, The allowable fluctuation ratio of excavation discharge volume, The design control value for the surrounding deformation. , For safety factor; The controller discretizes the rolling predictive control window into There are axial nodes, and the node mileages are as follows: The distance between adjacent nodes is . No. Candidate correction trajectories at nodes The vertical correction angle of the pipe jacking machine at that location is The current pipe bottom elevation measurement value is The controller recursively calculates the following formula: Candidate predicted pipe bottom elevation curves: in, This is a construction response correction item, determined by the degree of deviation of the current jacking force, excavation chamber pressure, excavation discharge volume, and surrounding deformation. When the construction response correction item is not included in the calculation... Take zero. From node Forming the first Candidate predicted pipe bottom elevation curves; Construction Response Correction Items Based on the current construction response deviation and elevation response coefficient Sure: Elevation response coefficient The elevation was determined by the test section. The measured elevation change in the test section was... The elevation change calculated using the geometric correction angle is: The length of the test section is The deviation of the construction response in the test section is hour, Determine using the following formula: Correction reachability constraint set It is jointly constrained by angle constraints, interface rotation constraints, jacking force constraints, excavation chamber pressure constraints, excavation discharge constraints, and surrounding deformation constraints. A candidate correction trajectory is included in the correction reachability constraint set when it meets the following conditions. : in, For the first Candidate correction trajectories at nodes The vertical correction angle of the pipe jacking machine at that location. The allowable vertical correction angle for the pipe jacking machine, For the first The current pipe segment interface angle of each pipe segment interface. For the first The first candidate correction trajectory caused by Incremental angle of each pipe section interface For the first Each pipe section interface allows for cornering. For the current top thrust, To increase the pressure in the excavation chamber, This refers to the amount of material discharged during excavation. This refers to the deformation around the perimeter. For each candidate correction trajectory, the controller calculates the candidate pipe bottom elevation deviation, candidate water collection bag volume, candidate pipe section interface corner occupancy, and candidate construction disturbance. The candidate construction disturbance is determined by the current jacking force, excavation chamber pressure, excavation discharge volume, and surrounding deformation. Multiple candidate correction trajectories correspond to multiple candidate predicted pipe bottom elevation curves, forming a set of candidate predicted pipe bottom elevation curves. The controller aims to reduce the candidate pipe bottom elevation deviation, candidate water collection bag volume, candidate pipe section interface corner occupancy, and candidate... The construction disturbance is the optimization target. The target correction trajectory is determined from the candidate correction trajectory cluster, and the candidate predicted pipe bottom elevation curve corresponding to the target correction trajectory is determined as the target predicted pipe bottom elevation curve. For example, although a certain candidate correction trajectory has a faster pipe bottom elevation regression speed, its candidate pipe section interface corner occupancy is high and the candidate construction disturbance is large. Another candidate correction trajectory has a lower candidate water accumulation bag volume and a smaller candidate construction disturbance while satisfying the continuous drainage envelope constraint. The controller selects the latter candidate correction trajectory as the target correction trajectory. No. The candidate pipe bottom elevation deviation corresponding to each candidate correction trajectory Based on candidate predicted pipe bottom elevation curve With respect to the design pipe bottom elevation line The mean absolute deviation is determined within the rolling forecast control window: No. Candidate pipe section interface angle occupancy corresponding to each candidate correction trajectory Determined by the maximum value among the ratios of the expected rotation angle of each remaining pipe section interface to the allowable rotation angle of the corresponding pipe section interface: in, For the remaining pipe section interface set, For the first The first candidate correction trajectory caused by The remaining pipe section interface rotation increment.

[0025] Controller for the first Calculate the comprehensive evaluation value of each candidate correction trajectory : in, This represents the deviation of the candidate pipe bottom elevation. For the candidate water collection bag volume, This refers to the occupancy of the candidate pipe section interface corner. These are candidate construction disturbance quantities. To preset the reference value for elevation deviation, This is a preset volume reference value. The weights are preset. The controller, among candidate correction trajectories that satisfy the correction reachability constraint set, will assign a comprehensive evaluation value... The smallest candidate correction trajectory is determined as the target correction trajectory; Preset elevation deviation reference value Take the allowable deviation of the pipe bottom elevation Preset volume reference value According to the allowable water depth Permissible length of low-lying connecting sections and the inner diameter of the storm and sewage working pipe Confirmed. Radius of stormwater and sewage working pipes. Permissible water depth Corresponding water retention cross-sectional area for: Overall evaluation weight and Based on the risk levels of elevation deviation, water collection bag volume, interface corner occupancy, and construction disturbance. and Normalization determines: Candidate construction disturbance Determined based on the normalized deviation values ​​of the current jacking force, excavation chamber pressure, excavation discharge volume, and surrounding deformation: in, For the first The expected top thrust corresponding to each candidate correction trajectory For the current top thrust, This is the allowable deviation value of the top thrust. To anticipate the pressure in the excavation chamber, Given the current pressure in the excavation chamber, This refers to the allowable deviation value of the excavation chamber pressure. To estimate the amount of material to be excavated and discharged, This is the theoretical excavation discharge volume. To estimate the amount of deformation in the surrounding area, This represents the allowable value for surrounding deformation. Preset perturbation weights.

[0026] S3: The controller calculates the remaining correction length margin, predicted water accumulation bag volume, and interface corner consumption rate based on the predicted pipe bottom elevation curve, target correction trajectory, target predicted pipe bottom elevation curve, continuous drainage envelope, and construction status data. The remaining correction length margin characterizes the redundancy of the remaining jacking distance relative to the axial length required to restore the constrained continuous drainage state. The predicted water accumulation bag volume characterizes the water stagnation risk volume formed when the predicted pipe bottom elevation curve is lower than the continuous drainage envelope. The interface corner consumption rate characterizes the degree to which the target correction trajectory occupies the remaining pipe section interface corner resources. The controller calculates the remaining correction length margin, predicted water accumulation bag volume, and interface corner consumption rate based on the predicted pipe bottom elevation curve, target correction trajectory, target predicted pipe bottom elevation curve, continuous drainage envelope, and construction status data, forming a quantitative judgment basis for the guidance correction risk. The remaining correction length margin reflects the redundancy of the current remaining jacking distance relative to the axial length required to restore continuous drainage, indicating whether the current correction operation still has sufficient length. The predicted water accumulation bag volume reflects the risk of water stagnation caused by the predicted pipe bottom elevation curve being lower than the continuous drainage envelope, indicating the risk level of local water accumulation after the stormwater and sewage working pipes are completed. The interface corner consumption rate reflects the degree to which the target correction trajectory occupies the remaining pipe section interface corner resources, indicating whether the correction action is close to the pipe section interface corner bearing limit. Through these three parameters, the controller not only evaluates the correction effect of the target correction trajectory on the pipe bottom elevation deviation, but also simultaneously evaluates the drainage continuity risk and the interface corner resource occupancy, giving the guidance control judgment a multi-dimensional constraint basis. No. A feasible correction trajectory starts from the current jacking mileage. until the first point of continuous drainage is reached. The axial length is The minimum recovery length of the constraint is : The remaining jacking distance is The preset safe length is Remaining correction length margin Determined according to the following formula: in, This is a subset of feasible correction trajectories. When When the set is empty, the controller will allocate the remaining correction length margin. Set to the preset danger value; In one implementation, the first The equivalent perched depth corresponding to the candidate predicted pipe bottom elevation curve Determined according to the following formula: The inner diameter of the stormwater and sewage working pipe is , radius is .when At that time, the equivalent perched water cross-sectional area Determined according to the following formula: No. Candidate water collection bag volume corresponding to each candidate predicted pipe bottom elevation curve According to the low-lying connecting sections The axial integral within is determined as follows: Multiple candidate water collection bag volumes form a candidate water collection bag volume set, and the controller determines the predicted water collection bag volume according to the following formula. : in, This is the set of indices corresponding to the candidate correction trajectory clusters; The controller calculates the rotation increment of each remaining pipe section interface along the target correction trajectory. The current pipe segment interface angle of the remaining pipe segment interfaces is The angle increment caused by the target correction trajectory is The pipe joint interface allows for a rotation angle of [missing information]. Interface corner consumption rate Determined according to the following formula: in, For the remaining pipe section interface set, The first under the action of the target correction trajectory The expected interface angle of each remaining pipe section interface. Interface angle consumption rate. The closer it is to one, the higher the resource usage of the remaining pipe section interface corner.

[0027] In one specific implementation, the controller calculates the correction recovery capability at the current jacking mileage based on the predicted pipe bottom elevation curve, the target correction trajectory, the target predicted pipe bottom elevation curve, the continuous drainage envelope, and construction status data. The controller removes trajectories from the candidate correction trajectory cluster that exceed the correction reachability constraint set, retaining a subset of feasible correction trajectories that satisfy the constraints of the pipe jacking machine's allowable vertical correction angle, the allowable rotation angle of the pipe section interface, the current pipe section interface rotation angle sequence, the current jacking force, the excavation chamber pressure, the excavation discharge volume, and the surrounding deformation. Within this subset of feasible correction trajectories, the controller sequentially judges the predicted pipe bottom elevation curve corresponding to each feasible correction trajectory along the current jacking mileage. The relationship between the continuous drainage envelopes is defined as follows: the position where the pipe bottom elevation is restored to meet the continuous drainage condition is taken as the restoration position; the axial length from the current jacking mileage to the restoration position is recorded as the restoration axial length; and the minimum value among them is selected as the minimum constraint restoration length. For example, if the current remaining jacking distance is 18 meters, and the restoration axial lengths of the three trajectories in the feasible correction trajectory subset are 8 meters, 10 meters, and 12 meters respectively, then the minimum constraint restoration length is taken as 8 meters. The length redundancy is determined according to the difference between the remaining jacking distance and the minimum constraint restoration length, and normalized according to the larger of the minimum constraint restoration length and the preset safety length to obtain the remaining correction length margin. The controller identifies low-lying connected sections based on the relative positional relationship between the set of candidate predicted pipe bottom elevation curves and the continuous drainage envelope. When a candidate predicted pipe bottom elevation curve is lower than the continuous drainage envelope within a certain continuous axial range, that continuous axial range is recorded as a low-lying connected section. The controller calculates the elevation difference between the candidate predicted pipe bottom elevation curve and the continuous drainage envelope point by point within the low-lying connected section, and uses this elevation difference as the equivalent water retention depth. Combined with the inner diameter of the storm and sewage working pipes, the equivalent water retention cross-sectional area of ​​the corresponding section is determined. The axial length of the low-lying connecting section is integrated to obtain the candidate water collection bag volume. For example, if the length of a certain low-lying connecting section is three meters, the maximum equivalent water retention depth is twenty millimeters, and the inner diameter of the storm and sewage working pipe is six hundred millimeters, the controller accumulates the equivalent water retention cross-sectional area of ​​each section according to the change of axial position to obtain the candidate water collection bag volume corresponding to the candidate predicted pipe bottom elevation curve. Multiple candidate water collection bag volumes form a candidate water collection bag volume set, and the candidate water collection bag volume with higher risk is selected as the predicted water collection bag volume according to the preset risk upper envelope rule. The controller calculates the interface angle consumption rate by combining the target correction trajectory and construction status data. The controller extrapolates the angle increment of the remaining pipe section interfaces during the correction process along the target correction trajectory and superimposes the current pipe section interface angle sequence with the angle increment to obtain the remaining pipe section interface angle occupancy status under the action of the target correction trajectory. The interface angle consumption rate is determined according to the proportion of the remaining pipe section interface angle occupancy status relative to the allowable angle of the pipe section interface. For example, if the expected angle of a certain interface under the action of the target correction trajectory is 85% of the allowable angle, and this interface is the position with the highest proportion among the remaining pipe section interfaces, then this proportion is used as the basis for determining the interface angle consumption rate. The controller uses the remaining correction length margin, the predicted water accumulation bag volume, and the interface angle consumption rate as the calculation basis for determining the guidance control mode.

[0028] S4: The controller determines the guidance control mode based on the remaining correction length margin, predicted water collection bag volume, and interface angle consumption rate. The controller generates dynamic control commands based on the guidance control mode and the target correction trajectory. These dynamic control commands are used to regulate the jacking speed, vertical correction angle of the pipe jacking machine, jacking force distribution, excavation chamber pressure, and excavation discharge volume, and perform rolling closed-loop control based on a preset rolling control cycle. The controller determines the guidance control mode based on the remaining correction length margin, predicted water collection bag volume, and interface angle consumption rate, and generates dynamic control commands based on the guidance control mode and the target correction trajectory, ensuring that the guidance and correction actions during the micro-jacking process of the stormwater and sewage working pipe match the current risk status. The guidance control mode reflects the controller's selection of control strategies under different risk conditions. When the remaining correction length margin is insufficient, the predicted water accumulation bag volume increases, or the interface angle consumption rate rises, the controller can match and regulate the jacking speed, the vertical correction angle of the pipe jacking machine, the jacking force distribution, the excavation chamber pressure, and the excavation discharge volume. This avoids excessive consumption of the interface angle caused by simply increasing the correction angle, and also avoids the risk of local reverse slope or water stagnation in the pipe bottom elevation caused by simply pursuing attitude return. Based on the preset rolling control cycle, rolling closed-loop control enables the dynamic control commands to be updated as the construction status data changes. This allows the precise guidance control method for the micro-jacking of stormwater and sewage working pipes to continuously maintain coordinated control over the pipe bottom elevation, correction trajectory, interface angle, and construction disturbances throughout the entire jacking process.

[0029] In one specific implementation, the controller inputs the remaining correction length margin, the predicted water accumulation bag volume, and the interface corner consumption rate into the threshold determination process, and compares them with the margin warning threshold, margin danger threshold, volume warning threshold, volume danger threshold, corner warning threshold, and corner danger threshold. The margin warning threshold is greater than the margin danger threshold, the volume warning threshold is less than the volume danger threshold, and the corner warning threshold is less than the corner danger threshold. For example, in a micro-jacking project of a stormwater and sewage working pipe with an inner diameter of 600 mm, the controller reads the remaining correction length margin as 0.28, the predicted water accumulation bag volume as 0.04 cubic meters, and the interface corner consumption rate as 76%, and compares the three with the corresponding preset thresholds calibrated before construction item by item to form danger triggering conditions, interface corner warning, water accumulation volume warning, and length margin warning. Margin warning threshold and margin of danger threshold The volumetric warning threshold is set based on the remaining jacking distance, the length of a single pipe section, the preset safety length, and the allowable deviation of the pipe bottom elevation. and volumetric hazard threshold The corner warning threshold is set based on the inner diameter of the stormwater and sewage pipes, the allowable length of low-lying connecting sections, the allowable water retention depth, and operation and maintenance dredging requirements. and corner danger threshold The settings are based on the allowable angle of the pipe joint interface and the construction safety factor.

[0030] In a micro-jacking project for stormwater and sewage pipes with an inner diameter of 600 mm, the threshold value is taken as follows: If the controller reads If the interface corner warning, water accumulation volume warning, and length margin warning are all triggered, the controller will determine the guidance control mode as the interface-restricted correction mode according to the priority order of the interface corner warning, water accumulation volume warning, and length margin warning.

[0031] The controller determines the guidance control mode based on the mode determination conditions. When any of the following conditions are met: the remaining correction length margin is less than or equal to the margin danger threshold, the predicted water accumulation bag volume is greater than the volume danger threshold, or the interface corner consumption rate is greater than the corner danger threshold, the guidance control mode is determined to be the reverse slope interface prevention and control mode. If the danger triggering conditions are not met, the controller determines the guidance control mode according to the priority order of interface corner warning, water accumulation volume warning, and length margin warning. Among them, the interface corner warning corresponds to the interface restricted correction mode, the water accumulation volume warning corresponds to the drainage priority correction mode, and the length margin warning corresponds to the length compression regression mode. When none of the three warnings are triggered, the guidance control mode is determined to be the conventional fine-tuning correction mode. For example, when the interface corner consumption rate is greater than the corner warning threshold and less than or equal to the corner danger threshold, even if the predicted water accumulation bag volume is close to the volume warning threshold at the same time, the controller will still prioritize entering the interface restricted correction mode to limit the local vertical correction amplitude in the target correction trajectory. The controller generates dynamic control commands based on the guidance control mode and the target correction trajectory, and performs linkage regulation on the jacking speed, vertical correction angle of the pipe jacking machine, jacking force distribution, excavation chamber pressure, and excavation discharge. In the reverse slope interface control mode, the dynamic control commands reduce the jacking speed, reduce the change in the vertical correction angle of the pipe jacking machine in a single cycle, balance the distribution of jacking force on the left and right or up and down, and control the excavation chamber pressure and excavation discharge within a range that matches the stability of the stratum. In the drainage priority correction mode, the dynamic control commands focus on reducing the predicted water accumulation bag volume, and control the target correction trajectory to gradually approach the continuous drainage envelope. In the length compression regression mode, the dynamic control commands improve the axial compactness of the pipe bottom elevation regression. In the conventional fine-tuning correction mode, the dynamic control commands maintain smooth correction and stable jacking. The controller rereads the construction status data according to the preset rolling control cycle and updates the remaining correction length margin, predicted water accumulation bag volume, and interface angle consumption rate, forming a rolling closed-loop control. Dynamic control commands include jacking speed commands. Vertical correction angle command for pipe jacking machine Top thrust distribution command Excavation chamber pressure command and excavation discharge instructions The controller determines the speed correction coefficient based on the guidance control mode. Correction angle limiting Single-cycle correction angle variation limit Thrust distribution correction factor Excavation chamber pressure correction factor and excavation discharge correction factor And generate dynamic control instructions according to the following formula: in, Current jacking speed, The vertical correction angle of the target corresponding to the target correction trajectory. This is the vertical correction angle command for the pipe jacking machine in the previous preset rolling control cycle. For the current top thrust, Given the current pressure in the excavation chamber, Predict the bottom elevation of the pipe at the current jacking mileage. This represents the theoretical excavation discharge volume; Speed ​​correction factor Correction angle limiting Thrust distribution correction factor Excavation chamber pressure correction factor and excavation discharge correction factor Determined based on the guidance control model and the normalized risk quantity results. Risk quantity normalization results. Determine using the following formula: Speed ​​correction factor Determine using the following formula: Correction Angle Limiting Determine using the following formula: Excavation chamber pressure correction factor and excavation discharge correction factor Determine them respectively using the following formulas: in, Indicates when Less than Time to take ,when Greater than Time to take In other cases, take ; and The test section is marked. and The lower limit is determined by the control limit of the pipe jacking machine equipment.

[0032] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for precise guidance and control of micro-jacking pipes for rainwater and sewage working pipes, characterized in that, include: S1: During the micro-jacking process of the stormwater and sewage working pipe, the controller acquires construction status data according to the preset rolling control cycle; S2: The controller establishes a continuous drainage envelope based on the construction status data and determines at least one predicted pipe bottom elevation curve and the corresponding correction trajectory; the controller determines the target correction trajectory from the correction trajectory and determines the predicted pipe bottom elevation curve corresponding to the target correction trajectory as the target predicted pipe bottom elevation curve. S3: The controller calculates the remaining correction length margin, predicted water accumulation bag volume, and interface corner consumption rate based on the predicted pipe bottom elevation curve, target correction trajectory, target predicted pipe bottom elevation curve, continuous drainage envelope, and construction status data. The remaining correction length margin is used to characterize the redundancy of the remaining jacking distance relative to the axial length required to restore the continuous drainage state under constraints. The predicted water accumulation bag volume is used to characterize the water stagnation risk volume formed when the predicted pipe bottom elevation curve is lower than the continuous drainage envelope. The interface corner consumption rate is used to characterize the degree to which the target correction trajectory occupies the remaining pipe section interface corner resources. S4: The controller determines the guidance control mode based on the remaining correction length margin, the predicted water accumulation bag volume, and the interface corner consumption rate; the controller generates dynamic control commands based on the guidance control mode and the target correction trajectory. The dynamic control commands are used to regulate the jacking speed, the vertical correction angle of the pipe jacking machine, the jacking force distribution, the excavation chamber pressure, and the excavation discharge volume, and perform rolling closed-loop control based on the preset rolling control cycle.

2. The precise guiding and control method for micro-jacking pipes in rainwater and sewage working pipes according to claim 1, characterized in that, In S1, the construction status data includes pipeline drainage design data, pipeline geometry data, jacking positioning attitude data, correction interface data, and construction response data. The construction response data is used to characterize the jacking status, excavation status, and surrounding deformation status. The excavation status includes the excavation chamber pressure and excavation discharge volume.

3. The precise guiding and control method for micro-jacking of stormwater and sewage working pipes according to claim 2, characterized in that, In S2, the method for determining the predicted pipe bottom elevation curve and the corresponding correction trajectory is as follows: The controller establishes a rolling prediction control window, a continuous drainage envelope, and a correction reachability constraint set based on the construction status data, and generates a candidate correction trajectory cluster within the scope of the correction reachability constraint set; the candidate correction trajectory cluster includes multiple candidate correction trajectories, each candidate correction trajectory corresponds to a candidate predicted pipe bottom elevation curve, and multiple candidate predicted pipe bottom elevation curves form a candidate predicted pipe bottom elevation curve set; the predicted pipe bottom elevation curve includes the candidate predicted pipe bottom elevation curves in the candidate predicted pipe bottom elevation curve set, and the correction trajectory includes the candidate correction trajectory in the candidate correction trajectory cluster.

4. The precise guiding and control method for micro-jacking pipes in rainwater and sewage working pipes according to claim 3, characterized in that, In S2, the controller establishes a rolling predictive control window based on the current jacking mileage, remaining jacking distance, and current jacking speed in the construction status data; the controller constructs a continuous drainage envelope based on the design pipe bottom elevation line, design pipe bottom slope, downstream drainage control elevation, and allowable pipe bottom elevation deviation in the construction status data; the controller constructs a set of reachable correction constraints based on the allowable vertical correction angle of the pipe jacking machine, the allowable rotation angle of the pipe section interface, the current pipe section interface rotation angle sequence, the current jacking force, the excavation chamber pressure, the excavation discharge volume, and the surrounding deformation in the construction status data.

5. The precise guiding and control method for micro-jacking pipes in rainwater and sewage working pipes according to claim 4, characterized in that, In S2, the target predicted pipe bottom elevation curve is determined as follows: the controller calculates the candidate pipe bottom elevation deviation, candidate water collection bag volume, candidate pipe section interface corner occupancy, and candidate construction disturbance for each candidate correction trajectory; the controller takes reducing the candidate pipe bottom elevation deviation, candidate water collection bag volume, candidate pipe section interface corner occupancy, and candidate construction disturbance as the optimization objective, determines the target correction trajectory from the candidate correction trajectory cluster, and determines the candidate predicted pipe bottom elevation curve corresponding to the target correction trajectory as the target predicted pipe bottom elevation curve.

6. The precise guiding and control method for micro-jacking pipes in rainwater and sewage working pipes according to claim 5, characterized in that, In S2, the candidate construction disturbance is determined by the current jacking force, excavation chamber pressure, excavation discharge volume, and surrounding deformation.

7. The precise guiding and control method for micro-jacking pipes in rainwater and sewage working pipes according to claim 6, characterized in that, In S3, the remaining correction length margin is calculated as follows: the controller selects a subset of feasible correction trajectories from the candidate correction trajectory cluster that satisfy the correction reachability constraint set; the controller determines the minimum axial length from the current jacking mileage position to the first continuous drainage state in the subset of feasible correction trajectories as the constraint minimum recovery length, determines the length redundancy based on the remaining jacking distance and the constraint minimum recovery length, and normalizes the length redundancy according to the larger of the constraint minimum recovery length and the preset safety length to obtain the remaining correction length margin.

8. The precise guiding control method for micro-jacking pipes in rainwater and sewage working pipes according to claim 7, characterized in that, In S3, the predicted water accumulation bag volume is calculated as follows: The controller identifies low-lying connected sections based on the relative positional relationship between the candidate predicted pipe bottom elevation curve set and the continuous drainage envelope. It determines the equivalent water retention depth based on the elevation difference between the candidate predicted pipe bottom elevation curve and the continuous drainage envelope within the low-lying connected section. It determines the equivalent water retention cross-sectional area based on the inner diameter of the storm and sewage working pipe and the equivalent water retention depth. The volume of the candidate water accumulation bag is obtained by integrating along the axial length of the low-lying connected section. Multiple candidate water accumulation bag volumes form a candidate water accumulation bag volume set. The controller determines the predicted water accumulation bag volume from the candidate water accumulation bag volume set according to the preset risk upper envelope rule.

9. A precise guiding and control method for micro-jacking pipes in stormwater and sewage working pipes according to any one of claims 1-8, characterized in that, In S4, the controller compares the remaining correction length margin, the predicted water accumulation bag volume, and the interface corner consumption rate with the corresponding preset thresholds to obtain the mode determination conditions. The mode determination conditions include the danger triggering condition, the interface corner warning, the water accumulation volume warning, and the length margin warning. When the danger triggering condition is met, the guidance control mode is the reverse slope interface prevention and control mode; when the danger triggering condition is not met, the controller determines the guidance control mode according to the priority order of interface corner warning, water accumulation volume warning and length margin warning. Interface corner warning corresponds to interface limited correction mode, water accumulation volume warning corresponds to drainage priority correction mode, and length margin warning corresponds to length compression regression mode. When the interface corner warning, water accumulation volume warning, and length margin warning are not triggered, the guidance control mode is the normal fine-tuning correction mode.

10. The precise guiding and control method for micro-jacking pipes in rainwater and sewage working pipes according to claim 9, characterized in that, The corresponding preset thresholds include margin warning threshold, margin danger threshold, volume warning threshold, volume danger threshold, corner warning threshold, and corner danger threshold. Among them, the margin warning threshold is greater than the margin danger threshold, the volume warning threshold is less than the volume danger threshold, and the corner warning threshold is less than the corner danger threshold. The danger triggering condition is that any one of the following conditions is met: the remaining correction length margin is less than or equal to the margin danger threshold, the predicted water accumulation bag volume is greater than the volume danger threshold, or the interface corner consumption rate is greater than the corner danger threshold. Interface corner warning is triggered when the interface corner consumption rate is greater than the corner warning threshold but less than or equal to the corner danger threshold. Water accumulation volume warning is triggered when the predicted water accumulation bag volume is greater than the volume warning threshold but less than or equal to the volume danger threshold. Length margin warning is triggered when the remaining correction length margin is less than or equal to the margin warning threshold but greater than the margin danger threshold.

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