Active fitting sealing control system and method for receiving end hole of pipe jacking construction

Abstract

The application discloses an active fitting sealing control system and method for a receiving end hole of pipe jacking construction, and relates to the technical field of tunnel and underground engineering non-excavation construction, wherein the active fitting sealing control system for the receiving end hole of pipe jacking construction comprises a mounting support and a plurality of active sealing modules, the mounting support is fixed on a hole door steel ring of a receiving well hole, and the plurality of active sealing modules are arranged in a circumferential direction along an inner edge of the hole door steel ring. The application can control the sealing state in real time, in sections and dynamically during pipe jacking construction, effectively prevent leakage, effectively solve the problems that a traditional passive shield tail brush cannot adapt to large pipe axis deviation, has poor sealing in a dark corner area and lacks dynamic compensation, realize rapid, stable and automatic sealing control in the pipe jacking receiving stage, and greatly improve construction safety and sealing reliability.

Description

Technical Field

[0001] This invention relates to the field of trenchless construction technology for tunnels and underground engineering, and in particular to an active sealing control system and method for the receiving end opening of pipe jacking construction. Background Technology

[0002] Pipe jacking, a key trenchless technology in municipal infrastructure construction, is widely used in the laying of water supply and drainage networks, integrated utility tunnels, and power and communication pipelines. During the pipe jacking receiving phase, the sealing performance of the receiving end opening directly affects construction safety and project quality. It is essential to effectively prevent groundwater, mud, and soil from flowing into the receiving well to prevent major risks such as collapse, water inrush, and equipment damage. In actual construction, due to the combined effects of complex geological conditions, uneven distribution of ground stress, deviations in jacking posture, and accumulated construction errors, irregular gaps often form between the pipe jacking machine head and the receiving opening. Especially in the internal corner area of ​​the opening, due to abrupt changes in geometry and stress concentration, the sealing interface is difficult to maintain a continuous fit, becoming a high-risk area for leakage. Traditionally, the industry relies on passive sealing structures such as tail brushes, rubber sealing rings, or flexible sealing materials. The core principle of these structures is to use initial pre-tightening force or elastic deformation of the material to create a static contact interface between the brush bristles or rubber lips and the outer wall of the pipe section. However, this type of structure exhibits significant limitations during dynamic jacking: when the pipe section axis shifts or its attitude changes, the passive seal cannot actively adapt to the gap changes, resulting in localized areas where the brush head is suspended and the bonding pressure is insufficient, with seal failure being particularly prominent at the internal corners. Once leakage occurs, the intrusion of mud or groundwater into the receiving well not only damages the construction environment but may also induce a chain of accidents such as ground disturbance, ground subsidence, abnormal fluctuations in jacking force, and pipe section jamming.

[0003] Existing technical solutions, such as the sealing device for the receiving tunnel of a deep, soft silt layer (publication number CN223330591U), although improving the basic sealing capacity through the combination of pre-embedded steel rings, circumferential sealing brushes, and back grouting pipelines, are essentially passive designs. The sealing brushes of this device are installed in a fixed or hinged manner, relying only on limited pre-tightening force to maintain initial contact. It lacks an active compensation mechanism when facing dynamic displacement of the jacking pipe, making it difficult to eliminate irregular gaps in the corner areas. Furthermore, the system does not integrate any sensing elements, making it impossible to monitor the gap size, contact pressure distribution, or leakage status changes between the brush head and the pipe wall in real time. Operators can only rely on post-event observation for manual intervention. Back grouting, as an auxiliary water-stopping method, requires manual operation after external confirmation of the leakage point, resulting in a severely delayed response and inability to achieve precise local control. In addition, this device has weak adaptability to non-uniform stress and attitude changes in the jacking pipe, and the sealing effect fluctuates continuously during the jacking process, making stability unreliable. In-depth analysis reveals multiple bottlenecks in current pipe jacking receiving end sealing technology: the passive structure results in a lack of adjustment capability, making it impossible to dynamically optimize the sealing state according to actual working conditions; the absence of real-time monitoring functions leaves the system without a foundation for state perception and feedback; the compensation mechanism relies on manual operation, causing response delays and coarse control; and weak sealing links in high-risk areas such as corners have not been specifically addressed. These deficiencies collectively restrict the reliability of the sealing system, making it difficult to meet the safety requirements of pipe jacking receiving operations under complex geological conditions. Summary of the Invention

[0004] The main objective of this invention is to propose an active sealing control system and method for the receiving end opening of pipe jacking construction, which aims to control the sealing status in real time, by zone, and dynamically during pipe jacking construction, effectively prevent leakage, and improve construction safety and reliability.

[0005] To achieve the above objectives, the present invention proposes an active sealing control system for the receiving end opening in pipe jacking construction, comprising: Install the support and fix it to the steel ring of the receiving well opening; Multiple active sealing modules are arranged circumferentially along the inner edge of the tunnel portal steel ring. Each active sealing module includes a servo-electric linear module, a rigid backplate, a wire brush assembly, an airbag, a distance sensor, a force sensor, and at least one leakage sensor. The servo-electric linear module is fixed to the mounting bracket. The rigid backplate is connected to the output end of the servo-electric linear module. The wire brush assembly is fixed to the rigid backplate. The airbag is disposed between the rigid backplate and the mounting bracket. The distance sensor is used to detect the gap between the wire brush assembly and the outer wall of the jacking pipe. The force sensor is disposed between the servo-electric linear module and the rigid backplate to detect the contact force of the wire brush assembly on the outer wall of the jacking pipe. At least one leakage sensor is disposed in the tunnel portal area to detect water or grout seepage. The distance sensor, the force sensor, the leakage sensor, and the servo-electric linear module are all electrically connected to an external control system. The external control system receives signals from each sensor and outputs control commands to the servo-electric linear module according to preset logic.

[0006] In one embodiment, the arrangement density of the plurality of active sealing modules in the corner area of ​​the opening is higher than that in the straight area.

[0007] In one embodiment, the leakage sensor includes strip-shaped leakage sensors arranged along the length of the rigid back plate and / or distributed point-shaped leakage sensors.

[0008] In one embodiment, the airbag is connected to a pressure control unit, which includes an air pump, a proportional valve, and a pressure sensor, for independently adjusting the internal pressure of the airbag in each of the active sealing modules.

[0009] In one embodiment, the distance sensor is a laser rangefinder with a measurement range of 0–100 mm and a resolution better than 1 mm; the force sensor has a measurement range of 0–1000 N.

[0010] In one embodiment, the external control system is configured to independently set different target contact forces for each of the active sealing modules.

[0011] In one embodiment, the external control system is configured to execute the following judgment and compensation logic: when the gap detected by the distance sensor is greater than a preset first threshold, it is determined that the fit is insufficient, and the servo electric linear module of the corresponding module is controlled to advance; when the contact force detected by the force sensor is less than the target contact force set for the module, it is determined that the pressure is insufficient, and the servo electric linear module is controlled to increase the output; when the leakage sensor detects a leakage signal, it is determined that there is a risk of sealing failure, and the servo electric linear module of the corresponding module is controlled to perform micro-advancement compensation and / or adjust the airbag pressure of the module.

[0012] In one embodiment, the wire brush assembly is made of carbon spring steel wire or steel wool.

[0013] This invention also proposes an active sealing control method for the receiving end opening of pipe jacking construction, which applies the active sealing control system for the receiving end opening of pipe jacking construction as described above, and is executed by the external control system. The active sealing control method for the receiving end opening of pipe jacking construction includes: The gap signal of the distance sensor, the pressure signal of the force sensor, and the leakage signal of the leakage sensor in each of the active sealing modules are acquired respectively. For each active sealing module, the sealing status of the corresponding active sealing module is independently determined based on the collected signals; Based on the status judgment result of each active sealing module, control commands are independently generated and output to the corresponding servo electric linear module and / or air pressure control unit; The step of independently generating and outputting control commands to the corresponding servo electric linear module and / or pneumatic control unit based on the status judgment result of each active sealing module includes: When it is determined that the fit is insufficient, the corresponding servo electric linear module is controlled to advance, so that the wire brush group is close to the outer wall of the top pipe. When it is determined that the pressure is insufficient, the corresponding servo electric linear module is controlled to operate in force control mode until the contact force reaches the target value set for the module. When a risk of seal failure is detected, the corresponding servo electric linear module is controlled to perform micro-propulsion compensation and / or adjust the pressure of the corresponding airbag.

[0014] In one embodiment, the step of independently generating and outputting control commands to the corresponding servo electric linear module and / or pneumatic control unit based on the status judgment result of each module further includes: For an active sealing module located in a corner area, when the state judgment result indicates a risk of sealing failure, the magnitude of the micro-propulsion compensation performed is greater than the magnitude threshold set for the flat area module, and / or the frequency of the airbag pressure adjustment performed is higher than the frequency threshold set for the flat area module.

[0015] The technical solution of this invention acquires the gap information between the brush head and the outer wall or corner of the jacking pipe through a distance sensor, detects the brush head's contact pressure through a force sensor, and identifies local grout or water leakage through a leakage probe. The controller, based on multi-sensor fusion criteria, employs a combination of position control and force closed-loop control to achieve active brush head approach, contact establishment, target force maintenance, and seal verification. When excessive gap, insufficient contact force, or local leakage is detected, the system automatically adjusts the drive displacement or airbag pressure to compensate for the contact, and performs fine-tuning or localized enhanced sealing when necessary. This invention effectively solves the problems of traditional passive shield tail brushes being unable to adapt to large guide pipe axis deviations, poor sealing in corner areas, and lack of dynamic compensation, achieving rapid, stable, and automated sealing control during the jacking pipe receiving stage, significantly improving construction safety and sealing reliability. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of an embodiment of the active bonding and sealing control system for the receiving end opening of pipe jacking construction provided by the present invention. Figure 2 This is a schematic front view of an embodiment of the wire brush assembly involved in the present invention; Figure 3 This is a side view of an embodiment of the wire brush assembly involved in the present invention. Figure 4 This is a top view schematic diagram of an embodiment of the wire brush assembly involved in the present invention; Figure 5 This is a schematic diagram of a structure of an embodiment of the active sealing module involved in the present invention; Figure 6 This is a flowchart illustrating an embodiment of the active sealing control method for the receiving end opening in pipe jacking construction, which is built into the external control system of the present invention.

[0018] Explanation of icon numbers: 1. Mounting support; 2. Servo electric linear module; 3. Wire brush assembly; 4. Airbag; 5. Rigid back plate; 6. External control system; 7. Distance sensor; 8. Force sensor; 9. Strip leakage sensor; 10. Point leakage sensor; 11. Active sealing module; 12. Outer wall of jacking pipe; 13. Outer edge of portal steel ring; 14. Inner edge of portal steel ring.

[0019] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0021] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0022] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0023] Traditional pipe jacking construction often uses passive structures for sealing the receiving end opening. These structures rely on fixed pre-pressure or material elasticity and cannot actively adapt to changes in the pipe's posture and irregular gaps. This can easily lead to localized suspension and insufficient adhesion, especially in the corner areas where the seal is weak.

[0024] To address this technical problem, this invention proposes an active bonding and sealing control system and method for the receiving end opening in pipe jacking construction.

[0025] Please see Figures 1 to 5 In one embodiment of the present invention, the active sealing control system for the receiving end opening of pipe jacking construction includes a mounting support 1 and multiple active sealing modules 11. The mounting support 1 is fixed to the portal steel ring of the receiving well opening. The multiple active sealing modules 11 are arranged circumferentially along the inner edge of the portal steel ring. Each active sealing module 11 includes a servo electric linear module 2, a rigid back plate 5, a wire brush assembly 3, an airbag 4, a distance sensor 7, a force sensor 8, and at least one leakage sensor. The servo electric linear module 2 is fixed to the mounting support 1, the rigid back plate 5 is connected to the output end of the servo electric linear module 2, and the wire brush assembly 3 is fixed to the rigid back plate 5. Above, the airbag 4 is set between the rigid back plate 5 and the mounting support 1. The distance sensor 7 is used to detect the gap between the wire brush group 3 and the outer wall 12 of the jacking pipe. The force sensor 8 is set between the servo electric linear module 2 and the rigid back plate 5 to detect the contact force of the wire brush group 3 on the outer wall 12 of the jacking pipe. At least one leakage sensor is set in the opening area to detect the state of water seepage or grout seepage. Among them, the distance sensor 7, the force sensor 8, the leakage sensor and the servo electric linear module 2 are all electrically connected to the external control system 6. The external control system 6 is used to receive the signals from each sensor and output control commands to the servo electric linear module 2 according to the preset logic.

[0026] For ease of understanding, the following explains some key terms in this embodiment: Mounting Support 1: This mounting support 1 is designed as a structural component, its function being to provide a stable mounting base for the active sealing module 11. This mounting support 1 is typically securely connected to the portal steel ring at the receiving well opening via welding, bolting, or other fixing methods to ensure the stability of the entire sealing system.

[0027] Active sealing module 11: This active sealing module 11 is the basic unit for realizing the active sealing function of this system. Each module integrates driving, sensing and sealing functions, and can independently sense, judge and adjust the sealing status of a local area. Multiple active sealing modules 11 are arranged circumferentially along the inner edge of the portal steel ring to form a circumferential sealing barrier.

[0028] Servo-electric linear module 2: This servo-electric linear module 2 is a precision drive device that can convert the rotational motion of the motor into precise linear reciprocating motion. In this system, the servo-electric linear module 2 acts as an actuator to drive the rigid back plate 5 and the wire brush group 3 to move forward and backward precisely, thereby achieving the contact or separation of the outer wall 12 of the jacking pipe.

[0029] Rigid backplate 5: This rigid backplate 5 is a plate-shaped component with sufficient structural strength. Its function is to provide stable support for the wire brush assembly 3 and to serve as a connector between the output end of the servo electric linear module 2 and the wire brush assembly 3. This rigid backplate 5 ensures that the wire brush assembly 3 maintains a smooth and uniform force during advancement or retraction.

[0030] Wire brush assembly 3: This wire brush assembly 3 is a sealing component that directly contacts the outer wall 12 of the jacking pipe. It is made of steel wire with a certain degree of elasticity. Through the squeezing and friction of the bristles, it forms an initial physical sealing barrier between the outer wall 12 of the jacking pipe and the opening to prevent the infiltration of mud or groundwater.

[0031] Airbag 4: This airbag 4 is a flexible sealing element that can be inflated or deflated, and is disposed between the rigid back plate 5 and the mounting support 1. By adjusting the air pressure inside the airbag 4, additional, adjustable flexible pressure can be applied to the wire brush assembly 3, thereby further enhancing the sealing effect and compensating for minor changes in the jacking pipe posture.

[0032] Distance sensor 7: This distance sensor 7 is used to measure the physical gap between the wire brush assembly 3 and the outer wall 12 of the jacking pipe in real time. This sensor typically uses a non-contact measurement principle, such as ultrasonic ranging or infrared ranging, to provide accurate gap data as an important basis for judging the fit.

[0033] Force sensor 8: This force sensor 8 is located between the servo electric linear module 2 and the rigid back plate 5, and is used to detect the contact force of the wire brush assembly 3 on the outer wall 12 of the jacking pipe. This sensor can convert the mechanical contact force into an electrical signal, thereby realizing the quantitative monitoring of the sealing pressure and providing force feedback information for the control system.

[0034] Leakage sensor: This leakage sensor is installed in the opening area to detect the presence of water or grout seepage. The sensor can sense the presence of liquid or grout and output a corresponding signal, serving as a direct basis for assessing the risk of seal failure.

[0035] External control system 6: This external control system 6 is the core of the entire active bonding and sealing control system. It is responsible for receiving signals from the distance sensor 7, force sensor 8, and leakage sensor, and outputting precise control commands to the servo electric linear module 2 according to the preset control logic and algorithm, so as to realize the independent or coordinated adjustment of each active sealing module 11.

[0036] Portal steel ring: This portal steel ring is a steel structure ring pre-embedded at the edge of the receiving well opening, providing a fixed reference surface for the installation of support 1.

[0037] Pipe jacking outer wall 12: The pipe jacking outer wall 12 refers to the outer surface of the pipe section being jacked, which is the interface that the wire brush group 3 and airbag 4 of the active sealing module 11 need to adhere and form a seal.

[0038] This embodiment provides an active sealing control system for the receiving end opening of a pipe jacking construction project. The system first includes a mounting bracket 1, which is designed to be securely fixed to the portal steel ring at the receiving well opening. The mounting bracket 1 can be connected to the portal steel ring by welding or by bolted fasteners to ensure that it can withstand external forces without displacement during construction.

[0039] Multiple active sealing modules 11 are arranged circumferentially along the inner edge of the portal steel ring. These active sealing modules 11 are the core units for achieving zoned sealing and active adjustment. For example, multiple active sealing modules 11 can be evenly distributed along the inner edge of the portal steel ring to form a continuous or quasi-continuous sealing ring, depending on the portal circumference and sealing accuracy requirements. Each active sealing module 11 is designed as an independent unit, capable of sensing, driving, and sealing functions in a local area.

[0040] Each active sealing module 11 integrates several key components. Among them, the servo-electric linear module 2 serves as the drive core and is fixed to the mounting bracket 1. This servo-electric linear module 2 can be a stepper motor-driven lead screw module or a DC motor-driven rack and pinion module, its function being to convert the motor's rotational motion into precise linear push-pull motion. A rigid backplate 5 is connected to the output end of the servo-electric linear module 2. This rigid backplate 5 can be a metal plate or a high-strength composite material plate, its function being to provide stable support and a force transmission interface for subsequent sealing components.

[0041] The wire brush assembly 3 is fixed to the rigid back plate 5, serving as a sealing element that directly contacts the outer wall 12 of the jacking pipe. The wire brush assembly 3 can consist of multiple rows of bristles, made of materials with a certain degree of elasticity and wear resistance, such as ordinary steel wire or nylon bristles. When the wire brush assembly 3 is driven, its bristles adhere to the outer wall 12 of the jacking pipe, forming a physical seal. Furthermore, an airbag 4 is positioned between the rigid back plate 5 and the mounting bracket 1. The airbag 4 can be an inflatable bladder made of rubber or polyurethane, and its internal pressure can be adjusted by an external air source, thereby applying additional flexible pressure to the wire brush assembly 3 to enhance the sealing effect and accommodate minor unevenness of the outer wall 12 of the jacking pipe.

[0042] To achieve real-time sensing of the sealing status, each active sealing module 11 is also equipped with multiple sensors. A distance sensor 7 is used to detect the gap between the wire brush assembly 3 and the outer wall 12 of the jacking pipe. This distance sensor 7 can be an ultrasonic sensor or an infrared sensor, which can non-contactly measure the distance between the two and transmit the gap data to the control system. A force sensor 8 is disposed between the servo-electric linear module 2 and the rigid backplate 5 to detect the contact force of the wire brush assembly 3 on the outer wall 12 of the jacking pipe. This force sensor 8 can be a piezoelectric sensor or a resistance strain gauge sensor, which can monitor the interaction force between the wire brush assembly 3 and the outer wall 12 of the jacking pipe in real time.

[0043] In addition, at least one leakage sensor is installed in the opening area to detect water or grout seepage. This leakage sensor can be a simple conductive sensor that changes its resistance when liquid comes into contact with it, thus emitting a leakage signal. The leakage sensor can be placed at the bottom or sidewall of the opening to monitor potential leakage points.

[0044] The aforementioned distance sensor 7, force sensor 8, leakage sensor, and servo-electric linear module 2 are all electrically connected to an external control system 6. This external control system 6 is the core of the entire system and can be a programmable logic controller (PLC) or an industrial computer. The external control system 6 is programmed to receive real-time signals from each sensor and analyze and process these signals according to preset control logic and algorithms. Based on the analysis results, the external control system 6 can output precise control commands to the corresponding servo-electric linear module 2, such as advancing, retracting, or maintaining the current position, thereby achieving independent or coordinated adjustment of each active sealing module 11 to maintain optimal sealing. Through this modular and integrated design, this system constructs a scalable active sealing system, providing a physical basis for real-time, zoned, and dynamic control of the sealing state of the entire circumferential opening.

[0045] This system overcomes the limitations of traditional passive sealing methods, which cannot actively adapt to changes in the jacking pipe's posture and irregular gaps, by arranging multiple active sealing modules 11 integrating driving, sensing, and sealing functions along the circumference of the tunnel opening. The system can sense in real time the gap and contact force between the wire brush group 3 and the outer wall 12 of the jacking pipe, as well as the leakage status of the tunnel opening area. Based on these feedback signals, the external control system 6 precisely drives the servo electric linear module 2 to actively adjust, thereby achieving dynamic adhesion and zoned sealing of the outer wall 12 of the jacking pipe. This structure effectively avoids the problems of localized suspension and insufficient adhesion, significantly improving the sealing reliability and construction safety during the jacking pipe receiving stage.

[0046] In an embodiment of the present invention, the arrangement density of multiple active sealing modules 11 in the inner corner area of ​​the opening is higher than that in the straight area.

[0047] The "inner corner area" refers to the area within the tunnel opening at the receiving end of the pipe jacking construction, characterized by concavity, sharp angles, or significant curvature changes due to the irregular cross-section of the pipe (such as a three-circle interlocking pipe) or the tunnel structure itself. During pipe jacking, these areas present challenges in achieving proper sealing between the seals and the outer wall 12 of the pipe, easily leading to localized gaps or stress concentrations, thus becoming high-risk points for water or grout leakage. The "straight area," on the other hand, refers to areas with relatively flat circumference and minimal curvature changes around the tunnel opening, offering relatively favorable sealing conditions. A higher density means that in the inner corner area, more active sealing modules 11 are configured per unit length or unit arc, or the spacing between adjacent active sealing modules 11 is smaller. This denser arrangement can be achieved by pre-planning the module installation positions in the inner corner area during the system design phase, based on the expected cross-sectional shape of the pipe jacking and the geometric characteristics of the tunnel opening; or by increasing the deployment of active sealing modules 11 in the identified inner corner areas during on-site installation, based on actual conditions and experience. For example, in straight areas, the active sealing modules 11 can be arranged at equal intervals, while in corner areas, they can be arranged at half-intervals or smaller intervals to ensure full coverage and fine control of the area.

[0048] Through the above technical solution, in the internal corner area of ​​the tunnel, the arrangement density of the active sealing modules 11 is higher than that in the straight area, allowing for the concentration of more driving, sensing, and sealing resources in these high-risk, difficult-to-seal areas. Each active sealing module 11 has an independent servo electric linear module 2, multiple sensors (distance sensor 7, force sensor 8, leakage sensor), wire brush group 3, and airbag 4. When densely arranged in the internal corner area, it can provide more precise local gap detection, more accurate contact force feedback, and stronger local propulsion and sealing capabilities. This optimized configuration enables the system to more effectively cope with the complex sealing challenges of irregular cross-section jacking pipes (such as three-circle interlocking jacking pipes) in the internal corner area. For example, the denser distance sensors 7 can more accurately capture minute gap changes between the outer wall 12 of the jacking pipe and the sealing element at the internal corner, and the more servo electric linear modules 2 provide stronger local propulsion force to ensure the tight fit of the wire brush group 3 in this area. Therefore, this solution significantly improves the overall sealing system's ability to protect weak points, effectively reduces the risk of water or grout seepage in the corner area, and thus improves the sealing reliability and safety of the entire pipe jacking construction receiving end opening.

[0049] In an embodiment of the present invention, the leakage sensor includes a strip-shaped leakage sensor 9 arranged along the length of the rigid back plate 5 and / or a distributed point-shaped leakage sensor 10.

[0050] The strip-shaped leakage sensor 9 can be a flexible electrode strip with multiple electrodes integrated inside. When liquid comes into contact with it, the resistance or capacitance between the electrodes changes, indicating the occurrence of leakage. Alternatively, the strip-shaped leakage sensor 9 can also be a cable based on the principle of fiber optic sensing, detecting the presence of liquid along its length by detecting changes in the transmission characteristics of the fiber optic cable. This strip-shaped leakage sensor 9 can achieve continuous monitoring of a large area of ​​the sealed interface, effectively covering potential leakage areas. The distributed point-like leakage sensors 10 can consist of multiple independent probes, such as those based on conductivity changes or miniature liquid contact sensors. These point-like sensors are strategically distributed at key locations on the rigid backplate 5 or in the opening area to provide high-precision local leakage detection capabilities. By employing a leakage sensing network that combines "line monitoring" and "point monitoring," this application achieves comprehensive, real-time monitoring of the leakage status of the sealed interface without blind spots.

[0051] Through the above technical solution, the strip-shaped leakage sensor 9 can continuously monitor the sealing interface over a wide area, quickly detect and indicate the approximate area where leakage occurs, effectively avoiding the risk of missing local micro-seepage or leakage spreading along gaps. Simultaneously, the distributed point-like leakage sensors 10 can accurately locate specific high-risk points or areas indicated by the strip sensors, thereby accurately identifying the specific location of the leakage. This combination significantly improves the sensitivity and positioning accuracy of leakage detection. When the external control system 6 receives a precise leakage signal, it can more promptly and accurately determine the risk of sealing failure and issue precise compensation commands to the corresponding servo electric linear module 2 and / or pneumatic control unit, thereby effectively improving the response speed and sealing repair capability of the active sealing system and ensuring the long-term sealing reliability of the pipe jacking construction receiving end opening.

[0052] In an embodiment of the present invention, the airbag 4 is connected to a pressure control unit, which includes an air pump, a proportional valve and a pressure sensor 8, for independently adjusting the internal pressure of the airbag 4 in each active sealing module 11.

[0053] Specifically, in the aforementioned active sealing module 11, the airbag 4 is positioned between the rigid back plate 5 and the mounting bracket 1. As a flexible actuator, the airbag 4 provides adjustable elastic support through changes in its internal pressure, thereby creating flexible contact between the wire brush assembly 3 and the outer wall 12 of the jacking pipe. By adjusting the internal pressure of the airbag 4, the contact force exerted by the wire brush assembly 3 on the outer wall 12 of the jacking pipe can be precisely and flexibly adjusted, while also compensating for minor deviations in the jacking pipe's posture and providing a certain degree of angular adaptability. To achieve independent and precise control of the internal pressure of the airbag 4, this application introduces a pneumatic control unit. This pneumatic control unit typically includes an air pump, a proportional valve, and a pressure sensor 8. The air pump provides compressed air as the power source for inflating the airbag 4; it can be a small electric air pump that provides a stable and sufficient air supply according to system requirements. A proportional valve is a valve that can precisely control the flow rate or pressure of gas based on an electrical signal input. Through the electrical signal output from the external control system 6, the proportional valve can precisely adjust the amount of air entering or exiting the airbag 4, thereby achieving stepless adjustment of the internal pressure of the airbag 4. A pressure sensor 8 is used to monitor the actual pressure value inside the airbag 4 in real time. This sensor feeds back the detected pressure signal to the external control system 6, forming a closed-loop control to ensure that the pressure of the airbag 4 can accurately reach the preset target value. Here, "independent adjustment" means that the internal pressure of each airbag 4 equipped in each active sealing module 11 can be individually controlled according to the actual needs of each module and the instructions of the external control system 6, without interference. This independence allows the system to perform differentiated pressure adjustments for the sealing needs of different areas around the tunnel entrance, such as insufficient or excessive local contact force due to uneven soil pressure or deviations in the jacking pipe posture, thereby achieving more precise and adaptive sealing control.

[0054] Through the above technical solution, each active sealing module 11 is equipped with an independent air pressure control unit, enabling the system to perform precise and independent closed-loop control of the airbag 4 pressure of each module. This "zonal pressure regulation" capability greatly enhances the system's adaptability to complex working conditions. For example, when there are slight attitude deviations or uneven soil pressure distribution around the tunnel entrance during the pipe jacking process, the external control system 6 can independently adjust the pressure of the corresponding module's airbag 4 based on feedback from the distance sensor 7 and force sensor 8. The precise adjustment of the airbag 4 pressure not only provides flexible buffering and shock absorption, but also provides microscopic, flexible contact force compensation and angle adaptability based on the macroscopic position adjustment of the servo electric linear module 2. This allows the wire brush group 3 to fit more tightly and evenly against the outer wall 12 of the pipe jacking, effectively compensating for the shortcomings of relying solely on the rigid linear module in handling local nonlinear deformation and complex contact angles, significantly improving the overall sealing system's refined control capability and reliability, and providing a key execution means for achieving more complex angle compensation and differentiated sealing strategies.

[0055] In an embodiment of the present invention, the distance sensor 7 is a laser rangefinder with a measurement range of 0 to 100 mm and a resolution better than 1 mm; the force sensor 8 has a measurement range of 0 to 1000 N.

[0056] The distance sensor 7 is a laser rangefinder. A laser rangefinder is a sensor that uses a laser beam to measure distance. Its working principle is usually based on the time-of-flight principle or the phase comparison principle. It calculates distance by emitting laser pulses and measuring the time difference from emission to reception, or by measuring the phase difference between the emitted and reflected light. Compared to other ranging methods such as ultrasound and infrared, laser rangefinders have higher measurement accuracy, faster response speed, and better anti-interference capabilities, making them particularly suitable for industrial applications requiring precise measurement of minute gaps. In this system, the laser rangefinder can accurately detect the gap between the wire brush group 3 and the outer wall 12 of the jacking pipe, providing accurate input data for subsequent bonding control. The measurement range of the laser rangefinder is set to 0–100 mm, covering typical gap sizes that may occur during the sealing of the jacking pipe receiving end opening, ensuring that the system can effectively monitor gap changes under different working conditions such as pipe jacking advancement and attitude adjustment. Furthermore, its resolution is better than 1 mm, meaning the sensor can distinguish distance changes smaller than 1 mm; for example, it can distinguish gap changes of 0.5 mm or even smaller. High resolution is crucial for achieving precise fit control, allowing the system to respond promptly and accurately to minute changes in the gap between the outer walls, avoiding over-advancing or under-fitting due to inaccurate measurements.

[0057] Furthermore, the force sensor 8 has a measurement range set to 0–1000 N. The force sensor 8, typically a piezoelectric, resistance strain gauge, or capacitive sensor, converts the force acting upon it into a measurable electrical signal. Its measurement range of 0–1000 N is sufficient to cover the required contact force between the wire brush assembly 3 and the outer wall 12 of the jacking pipe under varying soil pressures, pipe jacking postures, and sealing requirements. This ensures the system can accurately sense and control the sealing pressure, preventing damage to the jacking pipe due to excessive pressure or leakage due to insufficient pressure.

[0058] By employing a laser rangefinder as the distance sensor 7, with a defined measurement range of 0–100 mm and a resolution better than 1 mm, and setting the measurement range of the force sensor 8 to 0–1000 N, this system significantly improves the accuracy and reliability of sensing the gap and contact force of the outer wall 12 of the jacking pipe. The high precision and fast response characteristics of the laser rangefinder ensure that the external control system 6 can acquire the minute gap changes between the wire brush group 3 and the outer wall 12 of the jacking pipe in real time, providing a reliable basis for the precise advancement or retraction of the servo electric linear module 2. At the same time, the accurate measurement of the force sensor 8 within the range of 0–1000 N allows the external control system 6 to accurately grasp the actual contact force of the wire brush group 3 on the outer wall 12 of the jacking pipe, thereby achieving closed-loop control of the contact force of each active sealing module 11 and avoiding sealing failure or jacking pipe damage caused by inaccurate sensor data. This high-precision, wide-range sensing configuration provides high-quality feedback data for the external control system 6 to execute refined control algorithms, enabling the active sealing module 11 to more accurately fit the outer wall 12 of the jacking pipe and maintain stable sealing pressure, thereby effectively improving the overall sealing performance and reliability of the entire active fitting sealing control system.

[0059] In an embodiment of the invention, the external control system 6 is configured to independently set different target contact forces for each active sealing module 11.

[0060] Specifically, the external control system 6 is the core of the entire active sealing control system. It typically consists of a hardware platform such as an industrial PC, PLC (Programmable Logic Controller), or embedded controller, and runs specific control algorithms and logic programs. Its main function is to receive signals from distance sensors 7, force sensors 8, and leakage sensors from each active sealing module 11, perform data analysis and status judgment, and send precise control commands to the servo electric linear module 2 and / or the pneumatic control unit based on preset control strategies or real-time calculation results. This system possesses data processing, logic operation, communication interface, and human-machine interaction functions, ensuring that the system can achieve automated and intelligent sealing control. Independently setting different target contact forces means that the external control system 6 can set a specific target contact force value for each active sealing module 11, different from other modules, based on its specific location, environmental conditions (such as local soil pressure, pipe jacking posture deviation, etc.), or preset sealing requirements. This means that each module no longer follows a uniform contact force standard but can be individually adjusted according to actual needs. In terms of implementation, the external control system 6 typically maintains a target contact force parameter table. Each entry in this table corresponds to an active sealing module 11, and stores the target contact force value for that module. Operators can input these target values ​​through a human-machine interface, or the system can automatically calculate and update them based on a specific algorithm. During the control process, the external control system 6 continuously monitors the feedback from the force sensor 8 of each module and drives the servo electric linear module 2 to make adjustments until the actual contact force reaches the target value independently set by that module.

[0061] The aforementioned technical solution enables the external control system 6 to independently set pressure targets for each active sealing module 11. This means the system can set differentiated target contact forces for each module based on actual working conditions such as non-uniform soil pressure distribution around the tunnel entrance or pipe jacking posture deviation. For example, in areas with higher soil pressure or pipe jacking posture deviation leading to higher sealing risks, a higher target contact force can be set to ensure sealing reliability in that area; while in areas with lower soil pressure or relatively relaxed sealing requirements, a lower target contact force can be set to optimize energy consumption and reduce wear on sealing components. This differentiated and precise sealing control capability allows the system to flexibly adapt to complex construction environments, effectively respond to changes in local sealing requirements, significantly improve the sealing performance and stability of the entire tunnel entrance circumferentially, and avoid problems of insufficient or excessive local sealing caused by a uniform control strategy.

[0062] In an embodiment of the present invention, the external control system 6 is configured to execute the following judgment and compensation logic: when the gap detected by the distance sensor 7 is greater than a preset first threshold, it is determined that the fit is insufficient, and the servo electric linear module 2 of the corresponding module is controlled to advance; when the contact force detected by the force sensor 8 is less than the target contact force set for the module, it is determined that the pressure is insufficient, and the servo electric linear module 2 is controlled to increase the output; when the leakage sensor detects a leakage signal, it is determined that there is a risk of sealing failure, and the servo electric linear module 2 of the corresponding module is controlled to perform micro-advancement compensation and / or adjust the pressure of the airbag 4 of the module.

[0063] The judgment and compensation logic is the core intelligent component of the entire active sealing control system, designed to achieve real-time monitoring, intelligent diagnosis, and automated intervention of the opening's sealing status. It integrates real-time data from different types of sensors, applies preset rules or algorithms to evaluate the sealing condition of each active sealing module 11, and automatically generates and executes corresponding control commands based on the evaluation results to ensure the continuous and stable sealing effect. This can be implemented on hardware platforms such as embedded controllers, industrial PCs, or PLCs, running corresponding control software that includes state machines, PID control algorithms, or fuzzy control algorithms.

[0064] Specifically, when the distance sensor 7 detects the gap between the wire brush assembly 3 and the outer wall 12 of the jacking pipe in real time, and finds that the gap value exceeds a preset first threshold, the external control system 6 will immediately determine that the current module is in an "insufficient contact" state. This indicates that the sealing brush head may not have made sufficient contact with the outer wall 12 of the jacking pipe, posing a potential risk of leakage. At this time, the external control system 6 will send a propulsion command to the corresponding servo electric linear module 2, driving the module to move forward, thereby reducing the gap and making the wire brush assembly 3 fit more tightly against the outer wall 12 of the jacking pipe, restoring effective physical contact. The first threshold can be set empirically based on factors such as the jacking pipe diameter, construction accuracy, and sealing requirements, or determined through on-site debugging.

[0065] Simultaneously, force sensor 8 continuously monitors the actual contact force of wire brush assembly 3 against the outer wall 12 of the jacking pipe. When the detected contact force is lower than the target contact force independently set for the active sealing module 11, the external control system 6 determines that the current module is in a "pressure insufficient" state. This may lead to poor sealing effect or easy failure under water and soil pressure. The external control system 6 will then control the servo electric linear module 2 to increase its output force until the actual contact force reaches or slightly exceeds the preset target contact force. This force control mode ensures that each module can provide sufficient sealing pressure to resist external water and soil pressure and maintain stable sealing performance.

[0066] Furthermore, leakage sensors are used to monitor in real time whether there is water or grout seepage in the opening area. Once the leakage sensor detects a leakage signal, the external control system 6 immediately determines that there is a "risk of seal failure" in that area. This is a more direct indication of a sealing problem. To address this risk, the external control system 6 will take one or a combination of two compensation measures: first, control the corresponding servo electric linear module 2 to perform micro-propulsion compensation, further increasing the fit of the wire brush assembly 3; second, adjust the internal pressure of the module's airbag 4, using the expansion or contraction of the airbag 4 to fine-tune the posture of the wire brush assembly 3 or increase local pressure to block the leakage path. These two compensation methods can be used individually or in combination, depending on the severity and specific circumstances of the leakage, to achieve a more precise and effective seal repair.

[0067] Through the aforementioned judgment and compensation logic, this system can achieve closed-loop automated control of each active sealing module 11 through "sensing-judgment-execution". When the distance sensor 7 detects that the gap is too large, the system can automatically drive the servo electric linear module 2 to advance, ensuring that the wire brush group 3 is tightly fitted to the outer wall 12 of the jacking pipe, avoiding leakage caused by insufficient fit. When the force sensor 8 detects that the contact force is lower than the target value, the system can automatically increase the output of the servo electric linear module 2 to ensure sufficient sealing pressure and effectively resist external water and soil pressure. More importantly, when the leakage sensor directly detects a leakage signal, the system can respond quickly, and through micro-advance compensation and / or adjustment of the airbag 4 pressure, it can intervene in the risk of sealing failure in a timely and precise manner, effectively preventing the further development of leakage. This intelligent judgment and compensation mechanism overcomes the shortcomings of traditional systems that are difficult to adapt and adjust in real time under dynamic construction environments, significantly improving the reliability, stability and automation level of the entire tunnel opening sealing system, reducing the need for manual intervention, and ensuring the safety of the tunnel opening at the receiving end of the jacking pipe construction. Given that the external control system 6 can independently set different target contact forces for each active sealing module 11, the judgment and compensation logic enables the system to perform differentiated and refined sealing control according to the actual needs and dynamic changes of different areas around the opening, thereby maintaining the best sealing state in a complex and ever-changing construction environment.

[0068] In an embodiment of the present invention, the wire brush assembly 3 is made of carbon spring steel wire or steel wool.

[0069] Carbon spring steel wire is a type of steel wire with high carbon content and special heat treatment, characterized by excellent elasticity, high tensile strength, and good fatigue resistance. In the wire brush assembly 3, carbon spring steel wire is made into bristles. Its inherent spring properties allow the bristles to deform and quickly recover under external force, ensuring that the wire brush assembly 3 can continuously and tightly adhere to the outer wall 12 of the jacking pipe. Even if there are minor irregularities on the jacking pipe surface or slight changes in posture during advancement, effective sealing contact can be maintained. In addition, the hardness and wear resistance of carbon spring steel wire make it less prone to wear during long-term frictional contact with the outer wall 12 of the jacking pipe, extending the service life of the wire brush assembly 3. Steel wool is a material made of extremely fine and flexible steel wire fibers wound or pressed together. Unlike the individual bristles of carbon spring steel wire, steel wool provides a more continuous and highly malleable contact surface. Its fine fiber structure allows it to better fill the tiny gaps between the outer wall 12 of the jacking pipe and the sealing module, making it particularly suitable for blocking the leakage of fine particles or liquids. The flexibility of steel wool allows it to adapt well to the irregular shape of the jacking pipe surface, achieving uniform pressure distribution, reducing local stress concentration, and providing an effective seal while also causing relatively little wear on the outer wall 12 of the jacking pipe.

[0070] By employing carbon spring steel wire or steel wool as the constituent materials of the wire brush assembly 3, the sealing performance and reliability of the active sealing module 11 are significantly improved. Carbon spring steel wire, with its excellent elasticity and wear resistance, ensures that the wire brush assembly 3 can continuously and stably adhere to the outer wall 12 of the jacking pipe under dynamic construction conditions, effectively resisting wear and extending the service life of the sealing components. Steel wool, with its superior flexibility and filling capacity, can more precisely adapt to the microscopic irregularities of the jacking pipe surface, forming a denser sealing barrier and effectively preventing water or grout seepage. The selection of these two materials allows the wire brush assembly 3 to better cope with complex working conditions during jacking pipe construction, such as changes in jacking pipe posture and uneven surface roughness, thereby ensuring the high efficiency and stability of the entire active bonding and sealing control system during long-term operation and reducing the risk of seal failure.

[0071] This invention also proposes an active sealing control method for the receiving end opening of pipe jacking construction, which applies the active sealing control system for the receiving end opening of pipe jacking construction as described above, and is executed by the external control system 6. The active sealing control method for the receiving end opening of pipe jacking construction includes: Step S10: Obtain the gap signal of the distance sensor 7, the pressure signal of the force sensor 8, and the leakage signal of the leakage sensor in each of the active sealing modules 11. Step S20: For each active sealing module 11, independently determine the sealing status of the corresponding active sealing module 11 based on the collected signal; Step S30: Based on the status judgment result of each active sealing module 11, independently generate and output control commands to the corresponding servo electric linear module 2 and / or air pressure control unit; The step of independently generating and outputting control commands to the corresponding servo electric linear module 2 and / or pneumatic control unit based on the status judgment result of each active sealing module 11 includes: Step S31: When it is determined that the fit is insufficient, control the corresponding servo electric linear module 2 to advance, so that the wire brush group 3 is close to the outer wall 12 of the top pipe. Step S32: When it is determined that the pressure is insufficient, control the corresponding servo electric linear module 2 to operate in force control mode until the contact force reaches the target value set for the module. Step S33: When it is determined that there is a risk of seal failure, the corresponding servo electric linear module 2 is controlled to perform micro-propulsion compensation and / or adjust the pressure of the corresponding airbag 4.

[0072] It should be noted that Topic 2 includes A and Topic 1. The specific structure of Topic 1 is as described in the above embodiments. Since Topic 2 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0073] The partitioned data acquisition step aims to obtain real-time local sealing status information for each active sealing module 11. Specifically, this step acquires the gap signal from the distance sensor 7, the pressure signal from the force sensor 8, and the leakage signal from the leakage sensor in each active sealing module 11. For example, the distance sensor 7 can be a laser rangefinder sensor used to accurately measure the gap between the wire brush assembly 3 and the outer wall 12 of the jacking pipe; the force sensor 8 can detect the contact force of the wire brush assembly 3 on the outer wall 12 of the jacking pipe; and the leakage sensor is used to monitor for water or grout seepage. These sensor signals are acquired in real time and transmitted to the external control system 6, providing basic data for subsequent judgment and control.

[0074] The independent status assessment step independently evaluates the sealing status of each active sealing module 11 in the external control system 6 based on the signals acquired in the partitioned data acquisition step. In this step, the external control system 6 independently assesses the sealing status of each active sealing module 11 based on the acquired gap, pressure, and leakage signals. For example, the external control system 6 compares the gap detected by the distance sensor 7 with a preset first threshold to determine if there is insufficient fit; it compares the contact force detected by the force sensor 8 with the target contact force set for the module to determine if there is insufficient pressure; and it analyzes the signal from the leakage sensor to determine if there is a risk of seal failure. This independent assessment mechanism ensures refined management of each module.

[0075] The collaborative control execution step involves independently generating and outputting control commands to the corresponding servo-electric linear module 2 and / or pneumatic control unit based on the status judgment result of each active sealing module 11. This step is crucial for achieving dynamic and precise sealing. Specifically, this step includes: When insufficient fit is detected, the external control system 6 will control the corresponding servo-electric linear module 2 to advance, bringing the wire brush assembly 3 closer to the outer wall 12 of the top pipe. For example, if the distance sensor 7 detects that the gap is too large, the servo-electric linear module 2 will move forward precisely until the gap reaches the preset safety range.

[0076] When insufficient pressure is detected, the external control system 6 will control the corresponding servo electric linear module 2 to operate in force control mode until the contact force reaches the target value set for the module. This means that the servo electric linear module 2 will dynamically adjust its output force based on the feedback from the force sensor 8 to ensure that the contact force applied by the wire brush group 3 to the outer wall 12 of the jacking pipe is always kept at the optimal level.

[0077] When a risk of seal failure is detected, the external control system 6 will control the corresponding servo electric linear module 2 to perform micro-propulsion compensation and / or adjust the pressure of the corresponding airbag 4. For example, once the leakage sensor detects signs of leakage, the system can immediately command the servo electric linear module 2 to perform a small additional propulsion to increase local compression; or, by increasing the internal pressure of the corresponding airbag 4 through the air pressure control unit, thereby enhancing the sealing effect in that area.

[0078] Through the above technical solution, this application provides a zoned collaborative control method based on a modular active sealing system. This method, through zoned data acquisition, achieves refined and real-time monitoring of the sealing status at each point in the circumferential direction of the opening, overcoming the limitations of traditional integral sealing systems that struggle to obtain detailed local information. The independent state judgment mechanism enables the system to accurately identify specific problems in each module (such as excessive gaps, insufficient contact force, or localized leakage), avoiding blind or excessive adjustments. More importantly, the collaborative control execution steps ensure targeted, independent, and coordinated control of the servo-electric linear module 2 and / or pneumatic control unit of each module, thereby efficiently and intelligently maintaining the dynamic sealing of the entire circumferential direction of the opening. For example, when a slight leakage risk occurs in a certain area, the system can quickly locate and perform only minor propulsion compensation or airbag 4 pressure adjustment on the module in that area, without affecting other normally operating modules, thus achieving optimized resource allocation and localized fault handling. This closed-loop control automation of "perception-judgment-execution" significantly improves the system's adaptability to complex working conditions and its response speed to the risk of seal failure, effectively ensuring the safety and stability of the tunnel opening seal during pipe jacking construction.

[0079] In an embodiment of the present invention, the step of independently generating and outputting control commands to the corresponding servo electric linear module 2 and / or pneumatic control unit based on the state judgment result of each module further includes: Step S301: For the active sealing module 11 arranged in the corner area, when the state judgment result is that there is a risk of sealing failure, the amplitude of the micro-propulsion compensation performed is greater than the amplitude threshold set for the flat area module, and / or the frequency of the airbag 4 pressure adjustment performed is higher than the frequency threshold set for the flat area module.

[0080] Specifically, the active sealing modules 11 located in the corner areas refer to independent sealing units situated in concave corners of the pipe jacking construction receiving end opening, where the geometry is complex and stress concentration or gap changes are likely to occur. These modules have the same structure and function as the aforementioned active sealing modules 11, but their location presents them with greater challenges during the sealing process. When the status assessment of these modules indicates a risk of sealing failure, it means that the data detected by the distance sensor 7, force sensor 8, or leakage sensor indicates that the sealing integrity of the area is threatened, requiring immediate compensation measures. Micro-propulsion compensation refers to the small-amplitude displacement of the rigid backplate 5 and wire brush group 3 towards the outer wall 12 of the pipe jacking via the servo electric linear module 2, to reduce gaps or increase contact force. For modules in the corner areas, the amplitude of their micro-propulsion compensation is set to be greater than the amplitude threshold of modules in straight areas. This means that when a risk is detected, the servo electric linear module 2 will perform a larger propulsion distance to more aggressively eliminate gaps or enhance fit. For example, this can be achieved by sending a larger displacement command to the servo electric linear module 2 or allowing it to achieve a higher instantaneous output increment in force control mode. Airbag 4 pressure regulation refers to the independent adjustment of the internal pressure of the airbag 4 in the active sealing module 11 by the air pressure control unit to provide or maintain support for the wire brush assembly 3. For modules in the corner area, the frequency of airbag 4 pressure regulation is set higher than the frequency threshold of modules in the straight area. This means that the system will monitor and adjust the airbag 4 pressure of these modules more frequently to ensure that the airbag 4 can respond quickly and maintain optimal support in a dynamically changing environment. For example, this can be achieved by shortening the control cycle of the air pressure control unit or increasing the sampling rate of pressure detection and regulation.

[0081] Through the above technical solution, this application adopts a more proactive and dynamic compensation strategy for the high-risk area of ​​the tunnel entrance's internal corner. When the active sealing module 11 in the internal corner faces the risk of sealing failure, the system can perform a larger-scale micro-advance compensation, thereby eliminating potential leakage channels more quickly and effectively, ensuring a tighter fit between the wire brush assembly 3 and the outer wall 12 of the jacking pipe. Simultaneously, or as an alternative, by increasing the frequency of pressure adjustment of the airbag 4, the system can respond more promptly to potential pressure fluctuations or deformations in the internal corner, continuously optimizing the support effect of the airbag 4, thereby maintaining stable sealing performance. This differentiated control strategy allows sealing resources to be allocated to the most critical and vulnerable areas, significantly improving the reliability and risk resistance of the entire active bonding sealing control system under complex working conditions, effectively avoiding water or grout seepage problems in the internal corner, and ensuring the safety and smooth progress of pipe jacking construction.

[0082] The following example will provide a more detailed explanation of the above technical solution: At the receiving shaft opening of a pipe jacking project, effective sealing is required to prevent the infiltration of mud and groundwater. Due to complex geological conditions, it is anticipated that the pipe may experience axial deviation and attitude changes during the receiving process, especially in the inward corner area of ​​the opening, which traditional passive sealing solutions are difficult to handle.

[0083] Therefore, the construction team adopted this system. First, multiple mounting supports 1 were firmly fixed to the portal steel ring at the entrance of the receiving well. Next, multiple active sealing modules 11 were arranged circumferentially along the inner edge of the portal steel ring. In the internal corner area of ​​the entrance, the arrangement density of the active sealing modules 11 was deliberately increased to cope with the higher sealing difficulty in this area.

[0084] Each active sealing module 11 integrates driving, sensing, and sealing functions. Specifically, the servo-electric linear module 2 of each module is fixed to the mounting bracket 1, and its output end is connected to a rigid back plate 5. The wire brush assembly 3 is fixed to the rigid back plate 5, serving as a sealing element that directly contacts the outer wall 12 of the jacking pipe. An airbag 4 is provided between the rigid back plate 5 and the mounting bracket 1. To achieve real-time sensing of the sealing status, each module is also equipped with a distance sensor 7 and a force sensor 8. The distance sensor 7, such as a laser rangefinder, is used to detect the gap between the wire brush assembly 3 and the outer wall 12 of the jacking pipe in real time, with a measurement range of 0–100 mm and a resolution better than 1 mm. The force sensor 8 is located between the servo-electric linear module 2 and the rigid back plate 5, and is used to detect the contact force of the wire brush assembly 3 on the outer wall 12 of the jacking pipe, with a measurement range of 0–1000 N. In addition, at least one leakage sensor is installed in the opening area, including a strip leakage sensor 9 arranged along the length of the rigid back plate 5 and a distributed point leakage sensor 10, for comprehensive detection of water seepage or grout seepage.

[0085] All these sensors and the servo-driven linear module 2 are electrically connected to an external control system 6. This external control system 6 is configured to independently set different target contact forces for each active sealing module 11, for example, different target force values ​​can be set for different soil pressure distributions or pipe jacking attitude deviations in different areas of the tunnel entrance. Each module's airbag 4 is also connected to an independent air pressure control unit, which includes an air pump, a proportional valve, and a pressure sensor 8, enabling independent adjustment of the internal pressure of each airbag 4.

[0086] The system starts when the pipe jacking begins to enter the receiving wellhead. The external control system 6 continuously receives signals from the distance sensor 7, force sensor 8, and leakage sensor of each active sealing module 11, and performs zoned data acquisition.

[0087] During the pipe jacking process, if the distance sensor 7 of a certain active sealing module 11 detects that the gap between the wire brush group 3 and the outer wall 12 of the pipe jacking is greater than a preset first threshold (e.g., 5mm), the external control system 6 will immediately determine that the fit is insufficient. At this time, the system will output a control command to the servo electric linear module 2 of the corresponding module, so that it advances slightly, making the wire brush group 3 closer to the outer wall 12 of the pipe jacking.

[0088] Meanwhile, if the contact force detected by the force sensor 8 of a certain module is less than the target contact force set for that module (for example, the target is set at 500N, but 400N is actually detected), the external control system 6 will determine that the pressure is insufficient. The system will control the corresponding servo electric linear module 2 to operate in force control mode, increasing the output until the contact force reaches the set target value. This active adjustment capability is significantly better than traditional passive sealing, which cannot automatically compensate when the pipe section posture changes, and is prone to local suspension or insufficient adhesion.

[0089] Furthermore, if the strip-shaped leakage sensor 9 or the point-like leakage sensor 10 detects a leakage signal, the external control system 6 will immediately determine that there is a risk of sealing failure. The system will quickly control the servo electric linear module 2 of the corresponding module to perform micro-propulsion compensation to increase the adhesion of the sealing brush; at the same time, the system will also adjust the internal pressure of the airbag 4 of the module, and further optimize the sealing effect by expanding or contracting the airbag 4. For the active sealing module 11 arranged in the corner area, when a risk of sealing failure is determined, the system will perform a larger-amplitude micro-propulsion compensation and / or adjust the pressure of the airbag 4 at a higher frequency to strengthen the protection of high-risk areas. This closed-loop control automation of "sensing-judgment-execution" enables the system to automatically trigger corresponding and precise compensation actions for different fault modes (large gap, low pressure, leakage), avoiding the drawbacks of traditional back grouting methods that require manual judgment, have slow response, and cannot achieve fine local control.

[0090] The wire brush assembly 3, constructed from carbon spring steel wire, provides excellent elasticity, wear resistance, and seal follow-through, ensuring a solid seal and long service life. This modular and scalable active sealing system enables real-time, zoned, and dynamic control of the sealing status throughout the entire tunnel opening, effectively overcoming the shortcomings of traditional integral seals that lack local adjustment capabilities and poor adaptability to dynamic pipe jacking offsets. This significantly improves the sealing reliability and construction safety during the pipe jacking process.

[0091] For more details, please continue reading. Figure 1The active sealing control system for the receiving end opening of the pipe jacking construction in this embodiment includes an installation support 1, a servo electric linear module 2, a wire brush group 3, an airbag 4, a rigid back plate 5, an external control system 6, a distance sensor 7, a force sensor 8, a strip leakage sensor 9, and a point leakage sensor 10.

[0092] Mounting support 1 is rigidly fixed to the receiving well opening frame, serving as the basic load-bearing component of the entire sealing mechanism. Point leakage sensors 10 are evenly arranged on mounting base 1 along the jacking pipe travel direction, with a total of 3 sensors. Servo electric linear module 2 is fixedly connected to mounting support 1, and its output end is fixedly connected to rigid back plate 5, thereby realizing active propulsion, position, and force closed-loop control of the sealing brush head through the linear module.

[0093] A rigid backplate 5 is positioned between the output end of the servo electric linear module 2 and the mounting base 1, providing support for the overall structure and a force transmission channel. The backplate integrates a force sensor 8, a distance sensor 7, and a strip-shaped leakage sensor 9, used to detect the contact force between the brush head and the top tube, the distance between the brush head and the top tube, and leakage conditions, serving as real-time feedback signals for the control system. The wire brush assembly 3, fixed between the rigid backplates 5, uses carbon spring steel wire or steel wool, forming a conformable sealing strip between the top tube end face and the outer wall.

[0094] Airbag 4 is installed between the mounting base and the rigid back plate to provide angle compensation when the fit is insufficient or the geometric deviation of the outer wall of the jacking pipe is large, so that the brush head can adapt to concave, convex corners or local irregular structures.

[0095] The external control system 6 manages the servo module 2, airbag 4, force sensor 8, distance sensor 7, strip leakage sensor 9, and point sensor 10 in a unified manner. It adjusts the advance amount and angle of the sealing head in real time through a closed-loop algorithm to maintain stable sealing pressure and prevent leakage.

[0096] During the pipe jacking process, the external control system 6 continuously reads signals from the distance sensor and force sensor to determine the gap and contact force between the brush head and the outer wall of the pipe. If the gap is greater than the set value, the servo module automatically advances, causing the brush head 3 to slowly approach the pipe. Once they make contact, the system automatically switches to force control mode, maintaining a stable sealing force by adjusting the output of the servo module.

[0097] If uneven contact or insufficient adhesion at the inside corner is detected, the control system adjusts the inflation of the airbag 4 to slightly change the angle of the brush head, thereby ensuring more comprehensive coverage of the sealing head on the top tube surface.

[0098] Throughout the pipe jacking process, the control system monitors the sealing status in real time. If a possible leakage trend or insufficient force is detected, the compensation process will be automatically initiated to keep the sealing device in the best sealing condition.

[0099] To achieve the aforementioned active adjustment, the external control system 6 in this embodiment employs an embedded real-time control program. Its execution logic includes steps such as "distance detection—contact establishment—force closed loop—leakage correction—angle compensation—seal maintenance." Please refer to... Figure 6 , Figure 6 This is an example of a control system algorithm that can be used in this embodiment, used to illustrate the system logic and not to limit the specific implementation of the invention. Specifically, the first proportional threshold of 0.2 is used to determine whether the brush head and the pipe wall have made contact; when the contact force is less than 20% of the target force, the system considers that no contact has occurred. The second proportional threshold of 0.05 is used to determine the stability of the contact force; when the force fluctuation is less than 5% of the target force, the seal is considered to have reached a stable state. For those skilled in the art, without departing from the technical concept of this invention, the first and second proportional thresholds can be adjusted according to actual needs to meet engineering requirements.

[0100] The embodiments of the present invention achieve active sealing in the pipe jacking receiving process, and its significant advantages include: 1. Automatic Adhesion: The servo module actively propels the brush head to achieve dynamic adhesion between the brush head and the top tube.

[0101] 2. Strong angle compensation capability: The adjustable airbag can automatically adjust the angle according to the inside corner and concave conditions.

[0102] 3. Force closed-loop ensures stable sealing: The force sensor provides real-time feedback, and the sealing force does not decrease with changes in the pipe's posture.

[0103] 4. Leakage self-correction: Once a leakage trend is detected, the system immediately makes fine adjustments to achieve active sealing compensation.

[0104] 5. High adaptability: It can be used for ordinary round jacking pipes, three-round interlocking jacking pipes and other irregular cross-section structures.

[0105] Please continue reading. Figure 2 , Figure 3 and Figure 4This embodiment provides a sealing brush head structure suitable for the invention, which includes a wire brush layer 3, a rigid back plate 5, a distance sensor 7, a force sensor 8, and a strip-shaped leakage sensor 9. To achieve real-time dynamic adjustment of the sealing effect, this embodiment integrates three types of sensors on the rigid back plate 5. The distance sensor 7 is located at the upper edge of the wire brush layer 3 and its corresponding position. By detecting the positional change of the outer wall of the jacking pipe from the surface of the back plate 5 towards the outside of the brush body, it achieves real-time monitoring of the distance between the "tunnel entrance steel ring—jacking pipe outer wall—brush head," used to determine whether the wire brush is fully in contact. The force sensor 8 is located between the rigid back plate and the drive actuator of the servo electric linear module 2. It is in close contact with the back plate structure and is on the same vertical line of action as the force transmission path below the wire brush. It is used to detect the sealing pressure of the sealing brush head on the outer wall of the jacking pipe and feeds this pressure back to the control system, so that the servo propulsion stroke and airbag pressure can be automatically adjusted according to the mechanical feedback to achieve stable sealing force output.

[0106] For leakage monitoring, this embodiment employs a strip-shaped leakage sensor 9, arranged linearly along the length of the rigid backplate 5. This strip structure forms a distributed sensing zone at the bottom of the wire brush layer, enabling rapid detection of any mud or water seepage at any point along the lower edge of the brush head. Leakage data is synchronously transmitted to an external control system for automatically triggering secondary tightening, airbag pressurization, or servo propulsion compensation to ensure a tight seal.

[0107] In practical use, the wire brush layer 3, under the coordinated action of the servo propulsion device and the airbag, adheres to the inner edge of the tunnel entrance along the inclined angle of the rigid back plate 5. When the gap detected by the distance sensor 7 decreases to the set threshold, the system switches to force control mode, and the force sensor 8 corrects the sealing force in real time. If the strip leakage sensor 9 detects an abnormal increase in humidity or a leakage signal, the controller will automatically perform a micro-propulsion stroke and airbag pressurization compensation, and issue an alarm to prompt manual inspection if necessary, thereby realizing active sealing and intelligent adaptive adjustment during the construction and receiving process.

[0108] The structural layout of this embodiment can be adjusted according to conditions such as site space, pipe diameter, and brush head size. For example, the length of the wire brush layer 3 can be increased, the strip coverage area of ​​the leakage sensor 9 can be expanded or densified as needed, and the distance sensor 7 can be arranged in a multi-point array, all of which fall within the adjustable range of this invention.

[0109] Please continue reading. Figure 5 This embodiment, based on the present invention, arranges the active sealing modules at the entrance of the three-circle interlocking jacking pipe receiving well. Wherein: sealing module 11 corresponds to... Figure 1The overall device consists of a jacking pipe outer wall 12 with a three-circle cross-section outer contour, a portal steel ring outer edge 13, and a portal steel ring inner edge 14, which serve as the base interface for installing various sealing modules 11. The three-circle interlocking jacking pipe has concave interlocking angles between adjacent circles, resulting in a more complex sealing structure requirement than a typical circular cross-section. To meet the sealing requirements of the three-circle interlocking jacking pipe, this embodiment adopts a multi-module evenly distributed arrangement: each sealing module 11 is arranged as a whole according to the shape of the portal steel ring inner edge 14, so that the front end of the wire brush group 3 all points towards the jacking pipe outer wall 12; in the arc section, the sealing modules 11 are arranged at equal angles; at the interlocking angle positions, the sealing modules need to be densely arranged, and by adjusting the mounting support and servo stroke, the brush tip points towards the inward tangent position of the concave angle, thereby covering all possible soil leakage points. This arrangement not only ensures the overall sealing continuity but also adapts to the geometric complexity and abrupt angle changes of the three-circle interlocking structure. For those skilled in the art, without departing from the technical concept of this invention, the number and arrangement of the sealing modules can be changed according to actual needs to meet engineering requirements.

[0110] The above description is merely an exemplary embodiment of the present invention and does not limit the scope of protection of the present invention. Any equivalent structural transformations made based on the technical concept of the present invention and the contents of the specification and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. An active sealing control system for the receiving end opening in pipe jacking construction, characterized in that, include: Install the support and fix it to the steel ring of the receiving well opening; Multiple active sealing modules are arranged circumferentially along the inner edge of the tunnel portal steel ring. Each active sealing module includes a servo-electric linear module, a rigid backplate, a wire brush assembly, an airbag, a distance sensor, a force sensor, and at least one leakage sensor. The servo-electric linear module is fixed to the mounting bracket. The rigid backplate is connected to the output end of the servo-electric linear module. The wire brush assembly is fixed to the rigid backplate. The airbag is disposed between the rigid backplate and the mounting bracket. The distance sensor is used to detect the gap between the wire brush assembly and the outer wall of the jacking pipe. The force sensor is disposed between the servo-electric linear module and the rigid backplate to detect the contact force of the wire brush assembly on the outer wall of the jacking pipe. At least one leakage sensor is disposed in the tunnel portal area to detect water or grout seepage. The distance sensor, the force sensor, the leakage sensor, and the servo-electric linear module are all electrically connected to an external control system. The external control system receives signals from each sensor and outputs control commands to the servo-electric linear module according to preset logic.

2. The active sealing control system for the receiving end opening in pipe jacking construction as described in claim 1, characterized in that, The arrangement density of the active sealing modules in the corner area of ​​the opening is higher than that in the straight area.

3. The active fit sealing control system for the receiving end opening of pipe jacking construction of claim 1, wherein, The leakage sensor includes strip-shaped leakage sensors arranged along the length of the rigid back plate and / or distributed point-shaped leakage sensors.

4. The active fit sealing control system for the receiving end access hole of pipe jacking construction of claim 1, wherein, The airbag is connected to a pressure control unit, which includes an air pump, a proportional valve, and a pressure sensor, and is used to independently adjust the internal pressure of the airbag in each of the active sealing modules.

5. The active fit sealing control system for the receiving end access hole of pipe jacking construction of claim 1, wherein, The distance sensor is a laser rangefinder with a measurement range of 0–100 mm and a resolution better than 1 mm; the force sensor has a measurement range of 0–1000 N.

6. The active fit sealing control system for the receiving end access hole of pipe jacking construction of claim 1, wherein, The external control system is configured to independently set different target contact forces for each of the active sealing modules.

7. The active fit sealing control system for the receiving end access hole of pipe jacking construction according to claim 6, characterized in that, The external control system is configured to execute the following judgment and compensation logic: when the gap detected by the distance sensor is greater than a preset first threshold, it is determined that the fit is insufficient, and the servo electric linear module of the corresponding module is controlled to advance; when the contact force detected by the force sensor is less than the target contact force set for the module, it is determined that the pressure is insufficient, and the servo electric linear module is controlled to increase the output; when the leakage sensor detects a leakage signal, it is determined that there is a risk of sealing failure, and the servo electric linear module of the corresponding module is controlled to perform micro-advancement compensation and / or adjust the airbag pressure of the module.

8. The active fit sealing control system for the receiving end access hole of pipe jacking construction of claim 1, wherein, The wire brush assembly is made of carbon spring steel wire or steel wool.

9. A method for active fit sealing control of a receiving end opening of pipe jacking construction, applied to the active fit sealing control system for the receiving end opening of pipe jacking construction according to any one of claims 1 to 8, and executed by the external control system, characterized in that, The active sealing control method for the receiving end opening in pipe jacking construction includes: The gap signal of the distance sensor, the pressure signal of the force sensor, and the leakage signal of the leakage sensor in each of the active sealing modules are acquired respectively. For each active sealing module, the sealing status of the corresponding active sealing module is independently determined based on the collected signals; Based on the status judgment result of each active sealing module, control commands are independently generated and output to the corresponding servo electric linear module and / or air pressure control unit; The step of independently generating and outputting control commands to the corresponding servo electric linear module and / or pneumatic control unit based on the status judgment result of each active sealing module includes: When it is determined that the fit is insufficient, the corresponding servo electric linear module is controlled to advance, so that the wire brush group is close to the outer wall of the top pipe. When it is determined that the pressure is insufficient, the corresponding servo electric linear module is controlled to operate in force control mode until the contact force reaches the target value set for the module. When a risk of seal failure is detected, the corresponding servo electric linear module is controlled to perform micro-propulsion compensation and / or adjust the pressure of the corresponding airbag.

10. The active fitting sealing control method for the receiving end hole of pipe jacking construction according to claim 9, characterized in that, Based on the status judgment results of each module, the step of independently generating and outputting control commands to the corresponding servo electric linear module and / or pneumatic control unit also includes: For an active sealing module located in a corner area, when the state judgment result indicates a risk of sealing failure, the magnitude of the micro-propulsion compensation performed is greater than the magnitude threshold set for the flat area module, and / or the frequency of the airbag pressure adjustment performed is higher than the frequency threshold set for the flat area module.

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