A method for attitude detection and control during pipe jacking

Abstract

This invention discloses a method for attitude detection and control during pipe jacking, belonging to the field of pipe jacking construction technology. The method includes: S1. Simultaneously collecting multiple types of data throughout the process and unifying the spatiotemporal reference; S2. Calculating attitude deviation, generating a deviation curve, determining the trend, and coupling with environmental disturbance coefficients; S3. Matching the correction level to generate corresponding control strategies; S4. Generating collaborative instructions containing correction and jacking parameters by combining cylinder pressure and trajectory data; S5. Optimizing the instructions through a pre-verification module to obtain executable instructions; S6. Executing the instructions and performing dual-dimensional verification. If the standard is not met, the process loops; if the standard is met, operation continues, achieving closed-loop control, realizing real-time attitude detection and precise correction, forming a standardized management process, effectively avoiding deviation loss of control, improving the axis control accuracy and operational stability of pipe jacking construction, and meeting the requirements for high-precision attitude control.

Description

Technical Field

[0001] This invention relates to the field of pipe jacking construction technology, and specifically to a method for attitude detection and control during the pipe jacking process. Background Technology

[0002] Pipe jacking is a core technology for underground pipeline laying. During construction, the pipe jacking machine is susceptible to attitude deviations due to factors such as soil stress imbalance and equipment operation deviations, which in turn cause deviations in the pipe axis. Currently, the attitude detection of pipe materials in pipe jacking construction is mostly intermittent, which cannot continuously obtain complete attitude information and makes it difficult to accurately judge the trend of deviation. Furthermore, the correction operation lacks a standardized process, which can easily lead to problems such as delayed correction or improper adjustment. Ultimately, it is impossible to form a closed-loop control. The lack of a coherent control logic for data acquisition, deviation comparison, command generation, and final adjustment execution leads to out-of-tolerance axis deviations, abnormal stress on pipe sections, and adverse effects on the surrounding soil and ground environment. Existing technologies are insufficient to meet the actual needs of high-precision attitude control in pipe jacking construction. Summary of the Invention

[0003] The technical problem to be solved by this invention is that the existing posture detection of pipe jacking construction is mostly intermittent measurement, which cannot continuously obtain complete posture information, making it difficult to accurately judge the trend of deviation development. Furthermore, the correction operation lacks a standardized process, which easily leads to delayed correction or improper adjustment. The purpose is to set up a posture detection and control method for the pipe jacking process to solve the above-mentioned technical problems.

[0004] The technical solution of this invention to solve the technical problem is: a method for attitude detection and control in a pipe jacking process, characterized by comprising the following steps: S1. Throughout the jacking operation, synchronously collect the jacking machine's attitude data, correction cylinder pressure data, jacking operation parameters, and surrounding environment monitoring data. Align all collected data with timestamps and unify spatial coordinate references to obtain a valid dataset with a unified spatiotemporal reference. S2. Calculate the difference between the attitude data in the effective dataset and the preset set axis data to obtain multi-dimensional attitude deviation data. At the same time, based on the effective dataset in continuous time series, generate the attitude deviation change curve, determine the attitude deviation development trend, and couple the calculation of the influence coefficient of the surrounding environment disturbance corresponding to the attitude deviation and the correction action. S3. Based on the attitude deviation data, attitude deviation development trend, and disturbance influence coefficient, match the preset deviation classification control threshold, determine the corresponding correction level, and generate a correction control strategy that matches the correction level. S4. Based on the correction control strategy, the correction cylinder pressure data and the jacking trajectory curve data are combined and integrated; the coordinated control commands include correction action parameters and jacking matching parameters. S5. Input the generated collaborative control instruction into a pre - built pre - verification module. Based on the historical jacking trajectory data and the deviation correction effect data under the same geological conditions, complete the pre - verification of the attitude convergence after deviation correction and the controllability of environmental disturbances, and optimize the collaborative control instruction according to the pre - verification results to obtain the final executable instruction; S6. Execute the final executable instruction, synchronously complete the attitude adjustment of the pipe jacking machine and the control of the jacking process. After the execution is completed, collect the corresponding data again, conduct a two - dimensional verification of the attitude regression effect and the impact of environmental disturbances, and execute branch judgment according to the verification results: when the set requirements are not met, repeat the steps from S2 to S6; when the set requirements are met, keep the current operating parameters for continuous operation and data collection to complete the double - closed - loop control of attitude and environment.

[0005] Furthermore, in step S1, the attitude detection of the pipe jacking process collects the horizontal axis data, inner bottom elevation data, direction angle data, pitch angle data, roll angle data and jacking trajectory curve data of the pipe jacking machine through a pipe jacking automatic measurement and guiding system, and integrates them to obtain the attitude data of the pipe jacking machine; Collect the real - time pressure data of each group of cylinders through the pressure monitoring device supporting the deviation correction cylinders to obtain the deviation correction cylinder pressure data; at the same time, collect the jacking speed of the pipe jacking machine, the rotation speed of the screw conveyor and the soil pressure data of the excavation face to obtain the jacking operation parameters; synchronously collect the settlement of the surrounding soil, the settlement of underground pipelines and the convergence data of the working shaft to obtain the surrounding environment monitoring data.

[0006] Furthermore, the sub - steps of step S2 specifically include: S21. Calculate the difference between the horizontal axis data and the set horizontal axis data to obtain the horizontal axis deviation data; calculate the difference between the inner bottom elevation data and the set inner bottom elevation data to obtain the elevation deviation data; calculate the difference between the direction angle data, pitch angle data and roll angle data and the corresponding set angle data respectively to obtain the angle deviation data; integrate the horizontal axis deviation data, elevation deviation data and angle deviation data to obtain the multi - dimensional attitude deviation data; S22. Based on the continuously collected attitude data, combine the real - time trajectory curve and the historical trajectory curve to generate an attitude deviation change curve, and determine the development trend of the attitude deviation according to the slope and change amplitude of the deviation change curve. The development trend of the attitude deviation includes the trend of increasing deviation, the trend of decreasing deviation and the trend of stable deviation; S23. Based on the attitude deviation data, historical deviation correction action data and environmental monitoring data, calculate the coupling coefficient of the surrounding environmental disturbance corresponding to the attitude deviation and the deviation correction action.

[0007] Furthermore, step S3 specifically includes the following sub - steps: S31. Based on the early warning and control values ​​of the pipe jacking axis deviation, three correction levels are divided into routine control, early warning correction, and emergency control. Corresponding to the correction level, a correction control parameter threshold is set for each level. S32. Judgment based on the threshold of the correction control parameter: When the attitude deviation data does not reach the warning value and the disturbance impact coefficient does not exceed the safety threshold, it is matched to the normal control level, and a trend pre-control strategy is generated. When the attitude deviation data reaches the warning value, or the disturbance influence coefficient exceeds the safety threshold, it is matched as a warning correction level and a dynamic correction strategy is generated. When the attitude deviation data reaches the control value, or the disturbance influence coefficient exceeds the control threshold, it is matched to the emergency control level, and a jacking pause instruction and a special correction plan preparation instruction are generated.

[0008] Furthermore, the control method for the subsequent pipe jacking process, step S4 specifically includes the following sub-steps. S41. Based on the correction control strategy and attitude deviation data, determine the correction direction and correction amplitude, wherein the correction amplitude is limited to the preset single stroke angle threshold range; based on the correction cylinder pressure data, determine the extension stroke, extension speed and oil supply pressure parameters of the correction cylinder and include them in the correction action parameters. S42. Based on the jacking trajectory curve data and disturbance influence coefficient, determine the cutterhead steering parameters, propulsion speed parameters, screw conveyor speed parameters, and excavation face earth pressure control parameters, and integrate these parameters into jacking matching parameters; S43. When attitude deviation data contains both elevation deviation and horizontal axis deviation, integrate and generate step-by-step collaborative control commands: compare the elevation deviation and horizontal axis deviation, generate a correction control command for the dimension with the larger value, and after the dimension deviation falls back to the preset control range, generate a correction control command for the other dimension.

[0009] Furthermore, in step S41, at least two attitude data acquisitions and dynamic adjustments of the correction amplitude are completed within the single jacking process; when the attitude deviation data decreases to the preset correction stop threshold, the piston rod of the correction cylinder is controlled to reset to the initial zero position; the correction operation process generates a jacking pipe attitude change curve chart, which is used to update the attitude deviation data in real time.

[0010] Furthermore, step S5 specifically includes the following steps: S51. Input the collaborative control command into the pre-verification module, and simulate the attitude change trajectory and environmental disturbance changes within the preset jacking length based on historical jacking trajectory data and correction effect data under the same geological conditions. S52. Judgment based on simulation results: If the simulation results show that the attitude deviation can converge to the preset range and the environmental disturbance does not exceed the safety threshold, then the cooperative control command is determined as the final executable command; If the simulation results show that the attitude deviation cannot converge, or the environmental disturbance exceeds the safety threshold, adjust the correction amplitude and the corresponding jacking matching parameters, and re-perform the pre-verification until the simulation results meet the preset requirements.

[0011] Furthermore, step S6, which involves executing the final executable instruction, specifically includes the following sub-steps: S61. Control the correction cylinder to complete the extension and retraction action according to the extension and retraction parameters of the final executable command, and adjust the horizontal and vertical posture of the pipe jacking machine; S62. Based on the horizontal and vertical orientation of the pipe jacking machine, when the pipe jacking machine tilts, the rotation direction of the cutterhead is controlled to be opposite to the tilt direction of the pipe jacking machine, thereby adjusting the tilt angle of the pipe jacking machine. If the tilt angle adjustment does not meet the preset requirements, adjust the advance speed, the speed of the auger conveyor, and the earth pressure control at the excavation face synchronously according to the instructions. When the posture deviation continues to increase after the correction cylinder is activated, the hydraulic jack between the pipe jacking machine and the first pipe section is started to complete the auxiliary correction action. Furthermore, after completing the auxiliary correction action, S6 continues with the following steps: S64. Re-collect the attitude data of the pipe jacking machine and the monitoring data of the surrounding environment, and complete the attitude regression effect verification and environmental disturbance impact verification respectively: If the attitude deviation data falls back to the preset control range and the environmental disturbance does not exceed the safety threshold, it is determined that the set requirements have been met, and the current operating parameters are maintained to continue pushing forward while data is collected synchronously. If the attitude deviation data does not fall back to the preset control range, or the environmental disturbance exceeds the safety threshold, it is determined that the set requirements have not been met, and steps S2 to S6 are repeated. If the attitude deviation data reaches the control value, or the environmental disturbance exceeds the control threshold, a jacking pause command is generated, and the emergency control process is initiated.

[0012] Furthermore, after each jacking segment is completed, the attitude data, correction commands, correction effect data, and environmental monitoring data of this segment are integrated into a standardized sample, and the historical jacking database and correction control parameter thresholds are updated. These are used for correction decisions and pre-verification in subsequent jacking segments, forming a dynamic optimization closed loop of the pipe jacking control method throughout the entire jacking process.

[0013] Compared with the prior art, the present invention has the following advantages and beneficial effects: 1. This invention synchronously collects data on the attitude of the pipe jacking machine, the pressure of the correction cylinder, the jacking operation, and the surrounding environment throughout the entire jacking operation. After aligning with timestamps and unifying with spatial coordinate benchmarks, an effective dataset is formed. This allows for real-time acquisition of complete attitude information, accurate judgment of deviation trends, and comparison of attitude data with the set axis to obtain multi-dimensional deviations. Combined with trend and environmental disturbance coefficient matching, a hierarchical control strategy is adopted to generate correction and jacking coordination commands. After pre-verification and optimization, these commands are executed to achieve synchronous attitude adjustment and jacking control. After execution, data is re-collected for dimensional verification. If the target is not met, the process is iterated; if the target is met, the operation continues, forming a complete closed-loop control. This solves the problems of time-discontinuous detection, delayed correction, and improper adjustment in pipe jacking operations, improves attitude control accuracy, stabilizes the construction axis, reduces environmental disturbances, and ensures continuous, accurate, and safe progress of pipe jacking construction. Attached Figure Description

[0014] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart illustrating the steps of a method for attitude detection and control during pipe jacking according to the present invention. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0016] like Figure 1 As shown in Example 1: A method for attitude detection and control during pipe jacking, comprising the following steps in sequence. S1. Throughout the jacking operation, synchronously collect the jacking machine's attitude data, correction cylinder pressure data, jacking operation parameters, and surrounding environment monitoring data. Perform timestamp alignment and unified adjustment of all collected data to obtain a valid dataset with a unified spatiotemporal reference. S2. Calculate the difference between the attitude data in the effective dataset and the preset set axis data to obtain multi-dimensional attitude deviation data. At the same time, based on the effective dataset in continuous time series, generate the attitude deviation change curve, determine the attitude deviation development trend, and couple the calculation of the influence coefficient of the surrounding environment disturbance corresponding to the attitude deviation and the correction action. S3. Based on the attitude deviation data, attitude deviation development trend, and disturbance influence coefficient, match the preset deviation classification control threshold, determine the corresponding correction level, and generate a correction control strategy that matches the correction level. S4. Based on the correction control strategy, combined with the correction cylinder pressure data and the jacking trajectory curve data, generate the correction-jacking related coordinated control commands, which include correction action parameters and jacking matching parameters. S5. Input the generated collaborative control command into the pre-built pre-verification module. Based on historical jacking trajectory data and correction effect data under the same geological conditions, complete the pre-verification of attitude convergence and environmental disturbance controllability after correction. Optimize the collaborative control command according to the pre-verification results to obtain the final executable command. S6. Execute the final executable instruction, simultaneously complete the attitude adjustment and jacking process control of the pipe jacking machine, re-collect the corresponding data, conduct the verification of attitude regression effect and environmental disturbance impact, and execute branch judgment based on the verification result: if the set requirements are not met, repeat steps S2 to S6; if the set requirements are met, maintain the current operating parameters for continuous operation and data collection, and complete the attitude and environment closed-loop control.

[0017] Specifically, step S1 includes the following sub-steps: S1.1. Acquiring Pipe Jacking Machine Attitude Data: Continuous data acquisition is conducted using the automatic pipe jacking measurement and guidance system. This includes continuously acquiring data on the horizontal axis position of the pipe jacking machine; continuously acquiring data on the inner bottom elevation position of the pipe jacking machine; continuously acquiring data on the azimuth angle of the pipe jacking machine; continuously acquiring data on the pitch angle of the pipe jacking machine; continuously acquiring data on the tilt angle of the pipe jacking machine; and continuously acquiring data on the jacking trajectory curve. The horizontal axis data, inner bottom elevation data, azimuth angle data, pitch angle data, tilt angle data, and jacking trajectory curve data are integrated to form the pipe jacking machine attitude data.

[0018] S1.2. Collecting Correction Cylinder Pressure Data: The real-time force status of each group of correction cylinders of the pipe jacking machine is collected through the pressure monitoring device. The pressure change data of each group of correction cylinders during the entire jacking process is obtained. All cylinder pressure data are classified and organized according to the cylinder layout position to form correction cylinder pressure data. Collect jacking operation parameters: continuously collect the speed parameters of the pipe jacking machine to obtain the propulsion speed data; continuously collect the rotation speed parameters of the screw conveyor to obtain the screw conveyor speed data; continuously collect the earth pressure parameters at the excavation face to obtain the excavation face earth pressure data; integrate the propulsion speed data, screw conveyor speed data, and excavation face earth pressure data to form the jacking operation parameters; The surrounding environment monitoring data is collected, and the settlement parameters of the soil around the pipe jacking machine are continuously collected to obtain the settlement data of the surrounding soil; the settlement parameters of the underground pipelines around the pipe jacking machine are continuously collected to obtain the settlement data of the underground pipelines; the convergence parameters of the working shaft around the pipe jacking machine are continuously collected to obtain the convergence data of the working shaft; the settlement data of the surrounding soil, the settlement data of the underground pipelines, and the convergence data of the working shaft are integrated to form the surrounding environment monitoring data.

[0019] S1.3. Perform timestamp alignment on all data: A unified standard timestamp is added to the attitude data of the pipe jacking machine, the pressure data of the correction cylinder, the jacking operation parameters, and the monitoring data of the surrounding environment. This ensures that all data collected at the same time have the same time identifier, eliminates invalid information with mismatched timestamps, missing data, or abnormal fluctuations, and guarantees that all data are synchronized in the time dimension.

[0020] S1.4. Establish a unified spatial coordinate benchmark for jacking and perform spatial coordinate benchmark adjustment on all data; convert all data such as horizontal axis data, inner bottom elevation data, jacking trajectory curve data, surrounding soil settlement data, underground pipeline settlement data, and working shaft convergence data to the same spatial coordinate system to eliminate coordinate deviations caused by different acquisition devices and ensure that all data have a unified reference benchmark in the spatial dimension.

[0021] S1.5. Forming a valid dataset with a unified spatiotemporal reference: The attitude data of the pipe jacking machine, the pressure data of the correction cylinder, the jacking operation parameters, and the monitoring data of the surrounding environment, which have been aligned with the timestamp and unified with the spatial coordinate reference, are integrated and classified. They are arranged in an orderly manner according to the data type and the acquisition time sequence, and duplicate and distorted data are removed. Finally, a complete, continuous, time-synchronized, and spatially unified valid dataset is formed. The valid dataset is transmitted to subsequent steps for calculation and analysis.

[0022] Specifically, the steps in step S1.2 are as follows: S1.21. Continuously collect the speed parameters of the pipe jacking machine's propulsion operation to obtain propulsion speed data; continuously collect the rotation speed parameters of the screw conveyor to obtain screw conveyor speed data; continuously collect the earth pressure parameters at the excavation face to obtain excavation face earth pressure data; integrate the propulsion speed data, screw conveyor speed data, and excavation face earth pressure data to form jacking operation parameters; continuously collect the settlement parameters of the soil around the pipe jacking machine to obtain surrounding soil settlement data; continuously collect the settlement parameters of underground pipelines around the pipe jacking machine to obtain underground pipeline settlement data; continuously collect the convergence parameters of the working shaft around the pipe jacking machine to obtain working shaft convergence data; integrate the surrounding soil settlement data, underground pipeline settlement data, and working shaft convergence data to form surrounding environmental monitoring data.

[0023] S1.22. Add a unified standard timestamp to the pipe jacking machine attitude data, correction cylinder pressure data, jacking operation parameters, and surrounding environment monitoring data, so that all data collected at the same time have the same time identifier, and invalid information with mismatched timestamps, missing data, or abnormal fluctuations is eliminated, ensuring that all data are synchronized in the time dimension.

[0024] S1.23. Establish a unified spatial coordinate benchmark for jacking, and convert all data such as horizontal axis data, inner bottom elevation data, jacking trajectory curve data, surrounding soil settlement data, underground pipeline settlement data, and working shaft convergence data to the same spatial coordinate system to eliminate coordinate deviations caused by different acquisition devices and ensure that all data have a unified reference benchmark in the spatial dimension.

[0025] S1.24. Collect the timestamp-aligned and spatially coordinate-based attitude data of the pipe jacking machine, the hydraulic cylinder pressure data, the jacking operation parameters, and the surrounding environment monitoring data. Integrate and classify the timestamp-aligned data, arrange them in order according to data type and acquisition sequence, remove duplicate and distorted data, and finally form a complete, continuous, time-synchronized, and spatially unified effective dataset. The effective dataset is directly transmitted to subsequent steps for calculation and analysis.

[0026] Specifically, step S2 includes the following sub-steps: S2.1. Perform horizontal axis difference calculation: Calculate the difference between the horizontal axis data in the effective dataset and the preset horizontal axis data to obtain the horizontal axis deviation data. The horizontal axis deviation data is used to characterize the degree of horizontal offset of the pipe jacking machine. Perform elevation difference calculation: Calculate the difference between the inner bottom elevation data in the effective dataset and the preset inner bottom elevation data to obtain elevation deviation data. The elevation deviation data is used to characterize the degree of vertical offset of the pipe jacking machine; Perform angle difference calculation. Perform azimuth angle difference calculation: Calculate the difference between the azimuth angle data in the valid dataset and the preset azimuth angle data to obtain azimuth angle deviation data; calculate the difference between the pitch angle data and the preset pitch angle data to obtain pitch angle deviation data; calculate the difference between the roll angle data and the preset roll angle data to obtain roll angle deviation data; integrate the azimuth angle deviation data, pitch angle deviation data, and roll angle deviation data to obtain angle deviation data; S2.2. Classify and integrate the horizontal axis deviation data, elevation deviation data, and angle deviation data according to the deviation dimensions to form multi-dimensional attitude deviation data. The multi-dimensional attitude deviation data is used to reflect the attitude deviation status of the pipe jacking machine in the three dimensions of horizontal, vertical, and angle. S2.3. Generate attitude deviation change curves; Based on multiple sets of valid datasets acquired continuously over time, combined with multi-dimensional attitude deviation data within continuous time periods, a dynamic change curve is plotted according to the acquisition time sequence. The curve uses time as the horizontal axis and deviation value as the vertical axis to reflect the direction and magnitude of attitude deviation changes in real time, forming an attitude deviation change curve; Based on the slope characteristics and numerical change magnitude of the attitude deviation change curve, the development state of the deviation is determined: When the curve value continues to increase in the direction of deviating from the set axis, it is determined to be a trend of increasing deviation; when the curve value continues to decrease in the direction of returning to the set axis, it is determined to be a trend of decreasing deviation. When the curve values ​​remain stable without significant fluctuations, it is determined to be a stable deviation trend. S2.4. Coupled calculation of the influence coefficient of the surrounding environment disturbance; Based on multi-dimensional attitude deviation data, historical correction action data and surrounding environment monitoring data, establish a correlation calculation model between deviation and disturbance, substitute the attitude deviation change, correction action amplitude and environmental monitoring change into the model, and couple the calculation to obtain the influence coefficient of the surrounding environment disturbance corresponding to the attitude deviation and correction action. The disturbance influence coefficient is used to reflect the degree of influence of attitude adjustment on the surrounding environment. S2.5. Output all results data; unify and organize the multi-dimensional attitude deviation data, attitude deviation change curves, attitude deviation development trends, and surrounding environmental disturbance influence coefficients to form a complete deviation analysis result set. The result set is directly transmitted to subsequent steps for error correction level determination and error correction control strategy generation.

[0027] Preferably, main step S3 requires determining the corresponding correction level based on attitude deviation data, attitude deviation development trend, and disturbance influence coefficient, matching a preset deviation classification control threshold, thereby generating a correction control strategy that matches the correction level. Specific steps include: S3.1. Preset deviation classification and control thresholds: Based on the early warning value and control value of the pipe jacking axis deviation, the deviation control interval is divided in advance, and the thresholds of the regular control interval, the early warning correction interval, and the emergency control interval are set. At the same time, the corresponding correction control parameter thresholds for each interval are preset to form a complete deviation classification and control threshold system.

[0028] S3.2. Matching Correction Level: The multi-dimensional attitude deviation data is compared with the deviation classification control threshold, and the attitude deviation development trend and the disturbance influence coefficient of the surrounding environment are combined for comprehensive judgment. When the attitude deviation data does not reach the warning value and the disturbance influence coefficient does not exceed the safety threshold, it is matched as the normal control level. When the attitude deviation data reaches the warning value or the disturbance influence coefficient exceeds the safety threshold, it is matched as the warning correction level. When the attitude deviation data reaches the control value or the disturbance influence coefficient exceeds the control threshold, it is matched as the emergency control level.

[0029] S3.3. Generate correction control strategies corresponding to the normal control level: When matched to the normal control level, a trend pre-control strategy is generated based on the attitude deviation development trend. The strategy aims to maintain the current attitude stability and prevent the deviation from expanding. It sets the direction and magnitude of small pre-adjustment correction actions and does not execute large-amplitude correction actions. When matched to the early warning correction level, a dynamic correction strategy is generated based on multi-dimensional attitude deviation data and disturbance influence coefficients. The strategy aims to quickly suppress the expansion of deviation and reduce environmental disturbances. It sets the corresponding magnitude of correction actions and jacking coordination parameters to ensure that the correction process is stable and controllable. When matched to the emergency control level, a jacking pause command and a special correction plan preparation command are generated. The jacking operation is stopped immediately, and the special correction plan preparation process is started to ensure that the attitude of the pipe jacking machine and the risks of the surrounding environment are fully controlled.

[0030] S3.4. Integrate to form a complete corrective control strategy: Integrate the corrective control content corresponding to routine control, early warning correction, and emergency control, clarify the corrective direction, correction range limit, jacking coordination requirements and environmental control requirements corresponding to each level, and form a complete corrective control strategy that is fully matched with the current correction level. The corrective control strategy is directly transmitted to subsequent steps for the generation of collaborative control instructions.

[0031] Preferably, step S4 is based on the correction control strategy, combined with the correction cylinder pressure data and the jacking trajectory curve data, to generate a coordinated control command for correction and jacking. The coordinated control command includes correction action parameters and jacking matching parameters. Step S4 includes the following sub-steps: S4.1. Determine the correction direction and correction amplitude: Based on the correction control strategy and multi-dimensional attitude deviation data, determine the correction direction for the attitude adjustment of the pipe jacking machine. The correction direction includes the horizontal direction and the vertical direction. Set the correction amplitude according to the attitude deviation development trend and limit the correction amplitude to the preset single stroke angle threshold range to ensure that the correction action is in a small-amplitude and stable adjustment state. S4.2. Determine the correction action parameters. Based on the correction cylinder pressure data, combined with the correction direction and correction amplitude, determine the extension stroke parameters, extension speed parameters and oil supply pressure parameters of the correction cylinder. Incorporate the above parameters into the correction action parameters. The correction action parameters are used to directly control the operating status of the correction cylinder. S4.3. Based on the jacking trajectory curve data and the influence coefficient of the surrounding environment disturbance, determine the cutterhead steering parameters, propulsion speed parameters, screw conveyor speed parameters, and excavation face earth pressure control parameters. Incorporate the above parameters into the jacking matching parameters. The jacking matching parameters are used to coordinate with the correction action to achieve coordinated operation of correction and jacking.

[0032] S4.4. When both elevation deviation and horizontal axis deviation exist simultaneously, compare the magnitudes of the two types of deviations and execute a multi-dimensional deviation step-by-step correction logic: prioritize generating correction control commands for the dimension with the larger deviation value; after the deviation falls back to the preset control range, generate correction control commands for the other dimension with the smaller deviation value to ensure that the correction process is orderly and does not conflict.

[0033] Preferably, within a single jacking stroke, at least two attitude data acquisitions are completed at a set frequency, and the correction amplitude is dynamically adjusted based on the real-time acquired attitude data. When the attitude deviation data decreases to the preset correction stop threshold, the piston rod of the correction cylinder is controlled to reset to the initial zero position. At the same time, a jacking attitude change curve chart is generated synchronously throughout the process, and the attitude data and deviation status are updated in real time. The generated correction-jacking coordinated control commands are formatted and content verified to ensure that the commands are complete, conflict-free, and free of logical errors. After verification, the commands are transmitted to subsequent steps for pre-verification processing.

[0034] Specifically, the sub-steps of step S5 are as follows: S5.1. Build and start the pre-verification module: Build a pre-verification module that includes data reading, simulation calculation, effect judgment and parameter optimization functions, input the collaborative control command of the top-input type into the module, and start the module operation process.

[0035] S5.2. Retrieve historical data to support pre-verification: Retrieve historical jacking trajectory data and historical correction effect data under the same geological conditions from the historical jacking database, and input the data into the pre-verification module as a reference for simulation calculation and effect judgment.

[0036] S5.3. Perform attitude convergence simulation verification and environmental disturbance controllability simulation verification: The pre-verification module simulates the attitude change trajectory of the pipe jacking machine within the preset jacking length based on the collaborative control command, historical jacking trajectory data, and correction effect data. It calculates the regression speed and regression amplitude of the attitude deviation, determines whether the attitude deviation can converge to the preset control range, and completes the attitude convergence verification. The S5.4 pre-verification module, based on the cooperative control command, the influence coefficient of the surrounding environmental disturbance, and historical environmental monitoring data, simulates the change range of the surrounding environmental disturbance within the preset jacking length, and determines whether the environmental disturbance can be kept within the safe threshold range, thus completing the environmental disturbance controllability verification: if the simulation result simultaneously meets the two conditions that the attitude deviation can converge to the preset range and the environmental disturbance does not exceed the safe threshold, then the pre-verification is deemed to have passed, and the current cooperative control command is directly determined as the final executable command; if the simulation result shows that the attitude deviation cannot converge, or the environmental disturbance exceeds the safe threshold, then the pre-verification is deemed to have failed, and the command optimization process begins.

[0037] Preferably, when the pre-verification fails, the correction amplitude value and the corresponding jacking matching parameters are adjusted according to the attitude convergence requirements and environmental controllability requirements, the correction action amplitude is reduced or the jacking coordination parameters are optimized; after optimization, the pre-verification module is re-entered to carry out a new round of simulation verification, and the simulation verification and parameter optimization process is repeated until the simulation results simultaneously meet the requirements of attitude convergence and environmental disturbance controllability. The optimization process is then stopped, and the finally verified collaborative control command is determined as the final executable command, and the final executable command is finally output.

[0038] Specifically, in step S6, the final executable instruction is executed, and the attitude adjustment and jacking process control of the pipe jacking machine are completed simultaneously. After the execution is completed, the corresponding data is collected again, and the attitude regression effect and the impact of environmental disturbances are verified. The branch execution is based on the verification results: if the set requirements are not met, steps S2 to S6 are repeated; if the set requirements are met, the current operating parameters are maintained for continuous operation and data collection to complete the attitude and environment closed-loop control.

[0039] The specific sub-steps are as follows: S6.1. Initiate and execute multiple correction actions: Execute the posture adjustment action of the correction cylinder, control the correction cylinder to complete the directional extension and retraction action according to the extension and retraction stroke, extension and retraction speed, and oil supply pressure parameters in the final executable command, adjust the horizontal and vertical posture of the pipe jacking machine through the cylinder action, so that the posture of the pipe jacking machine returns to the set axis direction; Execute the tilt angle correction action: When the pipe jacking machine tilts, control the rotation direction of the cutterhead to keep it opposite to the deflection direction of the pipe jacking machine, and use the reverse rotation of the cutterhead to counteract the tilting force and complete the tilt angle correction of the pipe jacking machine; When the tilt angle adjustment does not meet the preset requirements, synchronously adjust the advance speed, the speed of the auger conveyor, and the control earth pressure at the excavation face according to the final executable command to assist in completing the tilt angle correction.

[0040] S6.2. If the posture deviation continues to increase after the correction cylinder action is executed and the main correction action is insufficient, start the hydraulic jack between the pipe jacking machine and the first pipe section to complete the auxiliary correction action according to the command parameters, supplement the correction force, and improve the posture adjustment effect.

[0041] Preferably, small-amplitude correction actions are maintained. Throughout the entire attitude adjustment process, the principle of small-amplitude correction is strictly followed. All correction actions and auxiliary correction actions are kept within the set range. Large-angle and large-amplitude attitude adjustment actions are not performed to avoid drastic fluctuations in the attitude of the pipe jacking machine.

[0042] Preferably, after completing all the correction and jacking actions, the entire data acquisition process of step S1 is restarted, and the attitude data of the jacking machine, the pressure data of the correction cylinder, the jacking operation parameters, and the monitoring data of the surrounding environment are collected simultaneously. The timestamp alignment and spatial coordinate benchmark unification are completed to obtain a new and effective dataset after adjustment.

[0043] The sub-steps are as follows: S6.1. Perform attitude regression effect verification, calculate the difference between the attitude data in the new effective dataset and the set axis data to obtain the adjusted multi-dimensional attitude deviation data, determine whether the attitude deviation has fallen back to the preset control range, and complete the attitude regression effect verification; Perform environmental disturbance impact verification, compare the surrounding environmental monitoring data in the new effective dataset with the safety threshold, determine whether the surrounding soil settlement, underground pipeline settlement, and working well convergence are within the safety threshold range, and complete the environmental disturbance impact verification. S6.2. Execution of branch judgment and closed-loop control: If the attitude deviation data does not fall back to the preset control range, or the environmental disturbance exceeds the safety threshold, it is determined that the set requirements have not been met, and the entire process from step S2 to step S6 is immediately repeated to carry out deviation calculation, trend judgment, strategy generation, instruction optimization and action execution again. If the attitude deviation data falls back to the preset control range and the environmental disturbance does not exceed the safety threshold, it is determined that the set requirements have been met. All current operating parameters remain unchanged, and jacking operations and data acquisition continue. At the same time, attitude and environmental monitoring are continuously performed to achieve closed-loop control of attitude and environment in two dimensions. After the operation of each jacking segment is completed, the attitude data, correction commands, correction effect data, and environmental monitoring data of this segment are integrated in a unified format to form standardized sample data. The standardized sample data is stored in the historical jacking database, and the correction control parameter thresholds and pre-verification module reference data are updated synchronously. This allows the correction decision and pre-verification process to be continuously optimized as construction progresses, forming a dynamic optimization closed loop for the entire jacking process.

[0044] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for attitude detection and control during pipe jacking, characterized in that, Includes the following steps: S1. During the jacking operation, collect the attitude data of the pipe jacking machine, the pressure data of the correction cylinder, the jacking operation parameters, and the monitoring data of the surrounding environment. Then, align the collected data with timestamps and unify the spatial coordinate reference to obtain an effective dataset with a unified spatiotemporal reference. S2. Calculate the difference between the attitude data in the effective dataset and the preset set axis data to obtain multi-dimensional attitude deviation data; Based on a continuous time series of effective datasets, attitude deviation change curves are generated, attitude deviation development trends are determined, and the disturbance influence coefficients of the surrounding environment corresponding to attitude deviation and correction actions are coupled and calculated. S3. Based on attitude deviation data, attitude deviation development trend, and disturbance impact coefficient, match the preset deviation classification control threshold, determine the corresponding correction level, and generate a correction control strategy that matches the correction level. S4. Based on the correction control strategy, combined with the correction cylinder pressure data and the jacking trajectory curve data, generate collaborative control commands, which include correction action parameters and jacking matching parameters. S5. Input the collaborative control command into the pre-built pre-verification module. Based on historical jacking trajectory data and correction effect data under the same geological conditions, obtain the pre-verification results of attitude convergence and environmental disturbance controllability after correction. Optimize the collaborative control command according to the pre-verification results to obtain the final executable command. S6. Execute the final executable instruction, simultaneously completing the attitude adjustment and jacking process control of the pipe jacking machine. After execution, re-collect the data from step S1, verify the attitude regression effect and the impact of environmental disturbances, and execute branch judgment based on the verification results: If the set requirements are not met, repeat steps S2 to S6. When the set requirements are met, the system maintains the current operating parameters and continues to operate and collect data to complete the closed-loop control of attitude and environment.

2. The method for attitude detection and control of the pipe jacking process according to claim 1, characterized in that, In step S1, the horizontal axis data, inner bottom elevation data, azimuth angle data, pitch angle data, tilt angle data, and jacking trajectory curve data of the pipe jacking machine are collected by the automatic pipe jacking measurement and guidance system and integrated to obtain the attitude data of the pipe jacking machine; the real-time pressure data of each set of cylinders is collected by the pressure monitoring device of the correction cylinder to obtain the pressure data of the correction cylinder. The jacking machine's advance speed, the screw conveyor's rotation speed, and the earth pressure at the excavation face are collected simultaneously to obtain jacking operation parameters; the surrounding soil settlement, underground pipeline settlement, and working shaft convergence data are collected simultaneously to obtain surrounding environmental monitoring data.

3. The posture detection and control method for the pipe jacking process according to claim 1, characterized in that, Step S2 specifically includes the following sub-steps: S21. Calculate the difference between the horizontal axis data and the set horizontal axis data to obtain the horizontal axis deviation data; calculate the difference between the inner bottom elevation data and the set inner bottom elevation data to obtain the elevation deviation data; calculate the difference between the azimuth angle data, pitch angle data, and roll angle data and the corresponding set angle data to obtain the angle deviation data; integrate the above data to obtain multi-dimensional attitude deviation data. S22. Based on continuously acquired attitude data, combined with real-time trajectory curves and historical trajectory curves, an attitude deviation change curve is generated. Based on the slope and magnitude of the deviation change curve, the attitude deviation development trend is determined. The attitude deviation development trend includes a deviation increasing trend, a deviation decreasing trend, and a deviation stabilizing trend. S23. Based on attitude deviation data, historical correction action data and environmental monitoring data, the influence coefficients of surrounding environmental disturbances corresponding to attitude deviation and correction actions are calculated by coupling.

4. The posture detection and control method for the pipe jacking process according to claim 1, characterized in that, Step S3 specifically includes the following sub-steps: S31. Based on the early warning and control values ​​of the pipe jacking axis deviation, divide the deviation into three levels: routine control, early warning correction, and emergency control, and preset the threshold values ​​of the correction control parameters corresponding to each correction level. S32. When the attitude deviation data does not reach the warning value and the disturbance impact coefficient does not exceed the safety threshold, the matching is set to the normal control level, and a trend pre-control strategy is generated. When the attitude deviation data reaches the warning value, or the disturbance impact coefficient exceeds the safety threshold, it is matched to the warning correction level, and a dynamic correction strategy is generated; when the attitude deviation data reaches the control value, or the disturbance impact coefficient exceeds the control threshold, it is matched to the emergency control level, and a jacking pause command and a special correction plan preparation command are generated.

5. The posture detection and control method for the pipe jacking process according to claim 1, characterized in that, Step S4 specifically includes the following sub-steps: S41. Based on the correction control strategy and attitude deviation data, determine the correction direction and correction amplitude, with the correction amplitude limited to a preset single-stroke angle threshold range; based on the correction cylinder pressure data, determine the extension stroke, extension speed, and oil supply pressure parameters of the correction cylinder, and incorporate them into the correction action parameters; based on the jacking trajectory curve data and disturbance influence coefficient, determine the cutterhead steering parameters, propulsion speed parameters, screw conveyor speed parameters, and excavation face earth pressure control parameters, and incorporate them into the jacking matching parameters. S42. When both elevation deviation and horizontal axis deviation exist simultaneously, first generate a correction control command for the dimension with the larger deviation value. After the deviation of that dimension falls back to the preset control range, generate a correction control command for the other dimension and integrate them to generate a step-by-step collaborative control command.

6. The posture detection and control method for the pipe jacking process according to claim 1, characterized in that, Step S5, which optimizes the cooperative control instructions based on the pre-verification results, specifically includes the following sub-steps: S51. Input the collaborative control command into the pre-verification module, and based on the historical jacking trajectory data and correction effect data under the same geological conditions, obtain the simulation results of the attitude change trajectory and environmental disturbance changes within the preset jacking length. S52. If the simulation results show that the attitude deviation can converge to the preset range and the environmental disturbance does not exceed the safety threshold, then the cooperative control command is determined as the final executable command; If the simulation results show that the attitude deviation cannot converge, or the environmental disturbance exceeds the safety threshold, adjust the correction amplitude and the corresponding jacking matching parameters, and re-perform the pre-verification until the simulation results meet the preset requirements.

7. The method for attitude detection and control of the pipe jacking process according to claim 1, characterized in that, Step S6, which involves executing the final executable instruction, specifically includes the following sub-steps: S61. Control the correction cylinder to complete the extension and retraction action according to the extension and retraction parameters of the final executable command, and adjust the horizontal and vertical posture of the pipe jacking machine. S62. When the pipe jacking machine tilts, control the rotation direction of the cutterhead to be opposite to the tilt direction of the pipe jacking machine, and adjust the tilt angle of the pipe jacking machine; if the tilt angle adjustment does not meet the preset requirements, adjust the advance speed, the speed of the screw conveyor, and the control earth pressure at the excavation face synchronously according to the instructions; if the attitude deviation continues to increase after the correction cylinder is activated, start the hydraulic jack between the pipe jacking machine and the first pipe section to complete the auxiliary correction action.

8. The posture detection and control method for the pipe jacking process according to claim 7, characterized in that, Step S6, the two-dimensional verification and branch judgment steps, include: S63. After the attitude adjustment is completed, the attitude data of the pipe jacking machine and the monitoring data of the surrounding environment are collected again to complete the attitude regression effect verification and the environmental disturbance impact verification respectively; If the attitude deviation data falls back to the preset control range and the environmental disturbance does not exceed the safety threshold, it is determined that the set requirements have been met, and the current operating parameters are maintained to continue jacking, and data is collected synchronously and continuously; If the attitude deviation data does not fall back to the preset control range, or the environmental disturbance exceeds the safety threshold, it is determined that the set requirements have not been met, and steps S2 to S6 are repeated; If the attitude deviation data reaches the control value, or the environmental disturbance exceeds the control threshold, a jacking pause command is generated and the emergency control process is initiated.

9. The method for attitude detection and control in a pipe jacking process according to claim 5, characterized in that, In step S41, at least two attitude data acquisitions and dynamic adjustments of correction amplitude are completed within the single top process. When the attitude deviation data decreases to the preset correction stop threshold, the piston rod of the correction cylinder is reset to the initial zero position; the correction operation generates a curve chart of the jacking pipe attitude change in real time and updates the attitude data in real time.

10. The method for attitude detection and control in a pipe jacking process according to claim 1, characterized in that, After each jacking segment is completed, the attitude data, correction commands, correction effect data, and environmental monitoring data of this jacking segment are integrated into a standardized sample, and the historical jacking database and correction control parameter thresholds are updated.

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