A laser measuring device and measuring method based on pipe jacking construction

Abstract

The application relates to the technical field of pipe jacking construction measurement, and discloses a laser measurement device and a measurement method based on pipe jacking construction. The measurement device comprises a laser emission assembly, a plurality of relay refraction stations and a photoelectric target plate. Incident position sensitive detectors in the relay refraction stations are used for detecting incident light spot position coordinates. A plurality of groups of vertical temperature profile measurement assemblies are arranged in a pipe section between two adjacent relay refraction stations. Each group of vertical temperature profile measurement assemblies comprises a vertical guide rod and a plurality of temperature sensors distributed along the axial line direction of the vertical guide rod. The vertical guide rod is fixedly installed on the inner wall of the pipe section. A data processing host is electrically connected with the laser emission assembly, the relay refraction stations, the vertical temperature profile measurement assemblies and the photoelectric target plate through signal cables. The data processing host is used for fitting a three-dimensional refractive index field according to temperature data and performing light ray tracing calculation. The temperature caused light spot offset component is deducted from the reading of the incident position sensitive detector, and only the attitude drift driving adjustment motorized pan-tilt is compensated and deflected.

Description

Technical Field

[0001] This invention relates to the field of pipe jacking construction measurement technology, and more specifically, to a laser measurement device and method based on pipe jacking construction. Background Technology

[0002] In municipal drainage projects, the construction of curved pipe jacking sections crossing riverbeds requires real-time measurement of the axial deviation of the pipe jacking machine head. Existing technology uses a segmented laser transmission method, setting up relay refraction stations at each bend in the pipeline to transmit the laser beam segment by segment to the target plate of the pipe jacking machine head, thereby obtaining the deviation information of the machine head relative to the pipeline axis.

[0003] Existing laser measurement equipment collects the light spot displacement at the relay refraction station through an incident position-sensitive detector, and drives the electric pan-tilt unit to make compensation adjustments accordingly.

[0004] However, when the curved pipe jacking crosses the riverbed, the top of the pipe is continuously cooled by the flowing river water, while the bottom of the pipe remains at a higher temperature due to the deep, constant-temperature soil and the heating effect of the hydraulic system, creating a stable vertical temperature gradient within the pipe. Within a station spacing of 50 to 80 meters, the laser beam continuously bends towards the lower-temperature side due to this temperature gradient, with accumulated deviations reaching several millimeters. This temperature refraction deviation and the attitude drift caused by pipe section creep at the relay refraction station both manifest as spot displacement on the incident position-sensitive detector. Since the two are indistinguishable, the measuring equipment cannot correctly differentiate between temperature refraction error and attitude drift error, leading to erroneous compensation commands. Consequently, the spot coordinates of the photoelectric target plate cannot accurately reflect the deviation of the pipe jacking head relative to the pipe axis. Summary of the Invention

[0005] This invention provides a laser measurement device and method based on pipe jacking construction, which solves the technical problem in related technologies that the reference drift and temperature refraction error are the same and cannot be distinguished on the incident position-sensitive detector when the curved pipe jacking crosses the riverbed.

[0006] In a first aspect, the present invention discloses a laser measurement device based on pipe jacking construction, comprising a laser emitting assembly, several relay refraction stations, and a photoelectric target plate arranged sequentially along the pipe jacking direction. Several sets of vertical temperature profile measurement assemblies are arranged in the pipe section between two adjacent relay refraction stations. Each assembly is connected to a data processing host via a signal cable. The laser emitting assembly is fixed to the rear wall of the starting shaft and is used to emit a collimated laser beam into the pipe. Each relay refraction station includes an adjustable electric pan-tilt head, an optical deflection element, and an incident position-sensitive detector, used to deflect the incident laser beam and direct it downstream into the pipe section and detect the position coordinates of the incident spot. Each set of vertical temperature profile measurement assemblies includes a vertical guide rod and several temperature sensors distributed along the guide rod, used to collect vertical temperature distribution data of the cross section from the top to the bottom of the pipe. The data processing host is electrically connected to the laser emitting assembly, each of the relay refraction stations, each of the vertical temperature profile measurement assemblies, and the photoelectric target plate via signal cables.

[0007] Furthermore, the laser emission assembly includes a base, an electrically adjustable gimbal, and a semiconductor laser emitter. The base is fixed to the rear wall of the launch well. The electrically adjustable gimbal includes a gimbal base frame, a launch well yaw motor, a first yaw platform, and a launch well pitch motor. The gimbal base frame is fixed to the base frame. The body of the launch well yaw motor is fixed to the gimbal base frame, and its output shaft extends vertically. The first yaw platform is fixedly connected to the end of the output shaft of the launch well yaw motor. The body of the launch well pitch motor is fixed to the first yaw platform, and its output shaft extends laterally along the pipeline. The semiconductor laser emitter is fixed to the end of the output shaft of the launch well pitch motor.

[0008] Furthermore, two reference columns are fixed on the wall of the starting well, located on both sides of the base. A reference position sensor is installed on the top of each reference column. A beam splitter is fixed in front of the outlet of the semiconductor laser emitter to split the laser beam into a main beam and a monitoring beam. The main beam is emitted along the jacking direction of the pipeline, and the monitoring beam is deflected by the beam splitter and then directed towards the reference position sensor. The reference position sensor is connected to the data processing host through a signal cable.

[0009] Furthermore, the adjustable electric gimbal is mounted on the base, which is fixed to the bottom of the inner wall of the pipe section. The optical folding element is a pentaprism. The adjustable electric gimbal includes a relay station gimbal frame, a yaw stepper motor, a second yaw platform, and a pitch stepper motor. The relay station gimbal frame is fixedly installed on the base. The body of the yaw stepper motor is fixed to the relay station gimbal frame, and its output shaft extends vertically. The second yaw platform is fixedly connected to the end of the output shaft of the yaw stepper motor and rotates with it around the vertical axis. The body of the pitch stepper motor is fixed to the second yaw platform, and its output shaft extends horizontally along the pipe. The pentaprism is fixed to the end of the output shaft of the pitch stepper motor and rotates with it around the horizontal axis of the pipe. The incident position-sensitive detector is fixed to the relay station gimbal frame, and its receiving surface faces the upstream direction.

[0010] Furthermore, the optical folding element is mounted on the output shaft end of the pitch stepper motor via a prism clamp.

[0011] Furthermore, a dual-axis tilt sensor is installed on the non-rotating part of the relay station's gimbal frame, fixed to the gimbal frame and rigidly connected to the base. This sensor is used to measure the pitch and yaw tilt of the pipe section where the relay refraction station is located in real time. The signal lines of the dual-axis tilt sensor are connected to the data processing host via cable trays, which are fixedly installed inside the pipe section.

[0012] Furthermore, the vertical guide rod is a vertical tensioning steel wire guide rod. One end of the vertical guide rod is fixed to the inner wall of the top of the pipe through the first bolt seat pre-embedded at the top of the pipe wall, and the other end is fixed to the inner wall of the bottom of the pipe through the second bolt seat pre-embedded at the bottom of the pipe wall. After one end of the vertical guide rod passes through the first bolt seat, and after the other end of the vertical guide rod passes through the first bolt seat, they are respectively tightened by locking nuts.

[0013] Furthermore, a gravity plumb ring is fitted into the middle of the vertical guide rod. This ring has an inner hole that fits around the outer circumference of the vertical guide rod and allows free rotation around its axis. The mass of the gravity plumb ring is concentrated on one side of the ring's arc, forming a heavier end. This heavier end always tends towards its lowest position under the influence of gravity. A single-axis tilt sensor is fixed to the opposite side of the heavier end of the gravity plumb ring. The sensitive axis extends radially along the gravity plumb ring and is used to measure the deflection angle of the vertical guide rod's axis relative to the vertical direction. The signal line of the single-axis tilt sensor is led out along the vertical guide rod to a wire groove.

[0014] Furthermore, the photoelectric target plate is installed on the partition plate at the tail of the pipe jacking machine head, with the receiving surface facing the starting shaft. The photoelectric target plate moves along the pipe jacking direction with the pipe jacking machine head, and the light spot coordinate signal of the photoelectric target plate is transmitted to the data processing host through the signal cable.

[0015] Secondly, the present invention also discloses a laser measurement method based on pipe jacking construction, comprising the following steps: The laser emitting assembly emits a collimated laser beam along the tangential direction of the first section of the pipe axis, and the temperature sensors of each set of vertical temperature profile measurement assemblies synchronously collect the vertical temperature values ​​of their respective sections from the top to the bottom of the pipe. The data processing host receives all temperature data, fits a three-dimensional refractive index field to the pipe section between two adjacent relay refraction stations, and performs ray tracing calculations to obtain the bending trajectory of the laser between stations caused by the vertical temperature gradient and the temperature-induced spot offset component. The incident position-sensitive detector of the downstream relay refraction station measures the actual position of the incident light spot in real time. The data processing host subtracts the temperature-induced light spot offset component from the actual position, and the remaining component is the attitude drift of the relay refraction station caused by the peristalsis of the pipe section. The data processing host drives the adjustment motorized gimbal of the relay refraction station to compensate for attitude drift only.

[0016] This invention arranges vertical temperature profile measurement components between adjacent relay refraction stations. The data processing host fits a three-dimensional refractive index field and performs ray tracing calculations based on this data. The temperature curvature component is accurately deducted from the readings of the incident position-sensitive detector, and only the attitude drift is compensated for by adjusting the electric gimbal. This solves the technical problem that temperature refraction error and attitude drift error cannot be distinguished on the incident position-sensitive detector when the curved pipe jacking crosses the riverbed. It achieves the technical effect of separating the two types of errors from the same spot displacement reading and making the photoelectric target plate spot coordinates truly reflect the deviation of the pipe jacking machine head relative to the pipeline axis. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall assembly structure of the laser measurement equipment based on pipe jacking construction according to the present invention; Figure 2 This is a longitudinal sectional view of the laser emitting assembly and tube section of the present invention; Figure 3 This is a cross-sectional view of a single relay refraction station and pipe section of the present invention; Figure 4 This is a radial cross-sectional view of the vertical temperature profile measurement component and the pipe section of the present invention; Figure 5 This is a schematic diagram of the gravity plumb ring and single-axis tilt sensor of the present invention; Figure 6 This is a flowchart of the measurement method of the present invention.

[0018] In the diagram: 1. Launch shaft rear wall; 2. Base; 3. Gimbal base frame; 4. Launch shaft yaw motor; 5. First yaw platform; 6. Launch shaft pitch motor; 7. Semiconductor laser emitter; 8. Beam splitter; 9. Reference column; 10. Reference position-sensitive detector; 11. Pipe section; 12. Base; 13. Relay station gimbal frame; 14. Yaw stepper motor; 15. Second yaw platform; 16. Pitch stepper motor; 17. Optical folding element; 18. Prism fixture; 19. Incident position-sensitive detector; 20. Dual-axis tilt sensor; 21. First bolt seat; 22. Second bolt seat; 23. Vertical guide rod; 24. Temperature sensor; 25. Gravity plumb ring; 26. Single-axis tilt sensor; 27. Cable tray; 28. Locking nut; 29. ​​Partition plate; 30. Photoelectric target plate; 31. Data processing host; 32. Signal cable. Detailed Implementation

[0019] During the construction of the municipal drainage curved pipe jacking section crossing the riverbed, the pipeline axis is a large-radius circular arc with a curvature radius ranging from 500 meters to 2,000 meters. The laser, originating from the launching shaft, cannot be directly projected to the jacking head due to the curved pipeline axis. Instead, it needs to be transmitted segment by segment to the jacking head target plate via a relay refraction station at the pipeline's inflection point. When the pipeline crosses the riverbed, the top of the pipeline is continuously cooled by the flowing river water, while the bottom of the pipeline experiences higher temperatures due to the deep, constant-temperature soil and the heat generated by the tunneling hydraulic system, creating a stable vertical temperature gradient within the pipe, with a temperature difference of 8 to 15 degrees Celsius. Within a 50-80 meter interval between adjacent stations, the laser beam continuously bends towards the lower-temperature side due to the temperature gradient, with accumulated deviations reaching several millimeters. This deviation, along with the attitude drift caused by the creep of pipe section 11 at the relay refraction station, both manifest as beam displacement on the incident position-sensitive detector 19, and the two are indistinguishable. If only attitude drift is compensated, temperature refraction error will be misjudged as attitude change and an incorrect compensation command will be generated; if only temperature gradient is compensated, the reference offset caused by curve turning and pipe section 11 creep cannot be handled.

[0020] This embodiment provides a laser measurement device based on pipe jacking construction, including: like Figure 1 As shown, the laser measurement equipment, along the jacking direction of the pipeline, includes a laser emitting assembly, several relay refraction stations, and a photoelectric target plate 30. Several sets of vertical temperature profile measurement assemblies are arranged in the pipe section between two adjacent relay refraction stations. The laser emitting assembly, each relay refraction station, each vertical temperature profile measurement assembly, and the photoelectric target plate 30 are all connected to the data processing host 31 via signal cables 32.

[0021] The laser emitting assembly is fixed to the rear wall 1 of the launching well and is used to emit a collimated laser beam into the pipeline. The laser emitting assembly includes an electrically adjustable gimbal and a semiconductor laser emitter 7. The base 2 is fixed to the rear wall 1 of the launching well. The electrically adjustable gimbal is installed on the side surface of the base 2 facing the pipeline jacking direction. The semiconductor laser emitter 7 is installed on the motion output end of the electrically adjustable gimbal, with the emission direction along the pipeline jacking direction. The electrically adjustable gimbal has two rotational degrees of freedom: a yaw axis and a pitch axis. The yaw axis extends vertically to achieve fine-tuning of the semiconductor laser emitter 7 in the horizontal plane, and the pitch axis extends laterally along the pipeline to achieve fine-tuning of the semiconductor laser emitter 7 in the vertical plane.

[0022] like Figure 2As shown, in some embodiments, the base 2 is fixed to the rear wall 1 of the launching shaft by expansion bolts. The electric fine-tuning gimbal includes a gimbal base 3, a launching shaft yaw motor 4, a first yaw platform 5, and a launching shaft pitch motor 6. The gimbal base 3 is fixed to the side surface of the base 2 facing the pipeline jacking direction by bolts. The body of the launching shaft yaw motor 4 is fixed to the gimbal base 3, and the output shaft of the launching shaft yaw motor 4 extends vertically. The first yaw platform 5 is fixedly connected to the end of the output shaft of the launching shaft yaw motor 4 and rotates around the vertical axis with the output shaft of the launching shaft yaw motor 4. The body of the launching shaft pitch motor 6 is fixed to the first yaw platform 5, and the output shaft of the launching shaft pitch motor 6 extends laterally along the pipeline. The semiconductor laser emitter 7 is fixed to the end of the output shaft of the launching shaft pitch motor 6 and rotates around the lateral axis of the pipeline with the output shaft of the launching shaft pitch motor 6.

[0023] It should be noted that, because the pipeline axis is a large-radius circular arc with a radius of curvature ranging from 500 meters to 2,000 meters, the local structure of pipe section 11... Figure 1 , Figure 2 and Figure 3 The shape shown in the diagram is almost like a straight pipe.

[0024] Furthermore, in order to monitor the amount of spatial drift of the laser emitting component itself caused by temperature changes or vibrations, such as... Figure 2As shown, two reference columns 9 are fixed on the wall surface of the rear wall 1 of the launching well. For example, the reference columns 9 are made of indium steel. The two reference columns 9 are located on both sides of the base 2, and the two ends of each reference column 9 are fixed to the wall surface of the rear wall 1 of the launching well by expansion bolts. The thermal expansion coefficient of the indium steel reference columns 9 in the normal temperature range (-20℃~80℃) is much lower than that of ordinary carbon steel, stainless steel, and aluminum alloy. When the temperature difference between day and night and the seasonal temperature change in the launching well, the length of the two reference columns 9 hardly undergoes any expansion or contraction deformation, which can provide a stable spatial geometric reference for the laser emission assembly and ensure the spatial position stability of the reference position sensor 10 at the top of the column. The laser beam emitted by the semiconductor laser emitter 7 is split into a main beam and a monitoring beam by a beam splitter 8 at the outlet. The main beam is emitted along the jacking direction of the pipeline, and the monitoring beam is deflected by the beam splitter 8 and then directed towards the top of the two reference columns 9. A reference position-sensitive detector 10 is installed at the top of each reference column 9. The receiving surface of the reference position-sensitive detector 10 faces the beam splitter 8. It should be noted that the beam splitter 8 is a beam splitting prism, and its reflecting surface is not a single plane. This causes the monitoring beam to be split into two beam branches after being deflected by the beam splitter 8, which are respectively directed to the two reference position-sensitive detectors 10. When the semiconductor laser emitter 7 undergoes spatial displacement due to temperature changes or vibration, the position of the light spot on the two reference position-sensitive detectors 10 changes accordingly. The data processing host 31 calculates the drift direction and drift amount of the semiconductor laser emitter 7 relative to the reference column 9 based on the light spot displacement of the two reference position-sensitive detectors 10. It should be noted that the calculation principle is that after the equipment is installed, the original coordinates of the light spots on the two reference position-sensitive detectors are recorded in the initial state: (X... 10 ,Y 10 ), (X) 20 ,Y 20 As the zero-point reference, the real-time spot coordinates (X1, Y1) and (X2, Y2) are continuously read during construction, and the spot displacement (including drift direction and drift amount) of each spot is calculated: ΔX1 = X1 - X 10 ΔY1=Y1-Y 10 ΔX² = X² - ​​X 20 ΔY2=Y2-Y 20 .like Figure 2 As shown, the beam splitter 8 is fixed on the support in front of the exit port of the semiconductor laser emitter 7 and moves synchronously with the semiconductor laser emitter 7. The signal lines of the two reference position-sensitive detectors 10 are connected to the data processing host 31 through the signal cable 32.

[0025] Intermediate refraction stations are respectively installed on the inner wall of pipe sections 11 at each bend in the pipeline. For example, the spacing between adjacent intermediate refraction stations along the pipeline jacking direction is fifty to eighty meters. Figure 3As shown, each relay refraction station includes an adjustable electric pan-tilt head and an optical deflector 17. The base 12 is fixed to the bottom of the inner wall of the pipe section 11. The surface of the base 12 facing the vertical direction is a precision-machined plane. The adjustable electric pan-tilt head is installed on the precision-machined plane of the base 12. The optical deflector 17 is installed at the motion output end of the adjustable electric pan-tilt head and is used to deflect the incident laser and direct it to the downstream pipe section. The adjustable electric pan-tilt head has two rotational degrees of freedom: yaw axis and pitch axis. The axis of the yaw axis extends vertically, and the axis of the pitch axis extends laterally along the pipe. The yaw axis and pitch axis are driven by their respective stepper motors. Each relay refraction station also includes an incident position-sensitive detector 19. The incident position-sensitive detector 19 is fixed to the non-rotating part of the adjustable electric pan-tilt head, and its receiving surface faces the upstream laser direction. It is used to receive the laser light incident from upstream and detect the position coordinates of the incident spot.

[0026] In some embodiments, the base 12 is a cast iron base, and the base 12 is fixedly installed on the bottom of the inner wall of the pipe section 11 by anchor bolts.

[0027] Continue reading Figure 3 In some embodiments, the optical deflector 17 is a pentaprism. The pentaprism receives laser light incident along the normal direction of the incident surface and deflects the beam so that it exits along the normal direction of the exit surface. The adjustable electric gimbal includes a relay station gimbal frame 13, a yaw stepper motor 14, a second yaw platform 15, and a pitch stepper motor 16. The relay station gimbal frame 13 is fixed to the machined surface of the base 12 by bolts. The body of the yaw stepper motor 14 is fixed to the relay station gimbal frame 13, and the output shaft of the yaw stepper motor 14 extends vertically. The second yaw platform 15 is fixedly connected to the end of the output shaft of the yaw stepper motor 14 and rotates around the vertical axis with the output shaft of the yaw stepper motor 14. The body of the pitch stepper motor 16 is fixed to the second yaw platform 15, and the output shaft of the pitch stepper motor 16 extends laterally along the pipe. The pentaprism is fixed to the end of the output shaft of the pitch stepper motor 16 and rotates around the lateral axis of the pipe with the output shaft of the pitch stepper motor 16. The incident position-sensitive detector 19 is fixed to the relay station gimbal frame 13, with the receiving surface facing upstream.

[0028] Furthermore, to avoid optical path eccentricity errors introduced when adjusting the angle of the motorized gimbal, the optical folding element 17, i.e., the pentaprism, is mounted on the output shaft end of the pitch stepper motor 16 via the prism clamp 18. When the pentaprism rotates around the yaw axis or pitch axis, the optical center of the pentaprism does not produce a translational component relative to the rotation center, thereby eliminating the lateral optical path offset introduced by the rotation.

[0029] Furthermore, in order to monitor the attitude changes of the relay refraction station caused by the creep of the pipe section 11 in real time and provide auxiliary reference for the data processing host 31, a dual-axis tilt sensor 20 is installed on the relay station pan-tilt frame 13 of each relay refraction station. For example... Figure 3As shown, the dual-axis tilt sensor 20 is bolted to the non-rotating part of the relay station gimbal frame 13 and rigidly connected to the base 12. It is used to measure in real time the pitch and yaw tilt of the pipe section 11 where the relay refraction station is located due to creep. The signal lines of the dual-axis tilt sensor 20 pass through a pre-installed groove 27 (e.g., ...) within the pipe wall. Figure 4 (As shown) is connected to the data processing host 31.

[0030] Continue reading Figure 4 Vertical temperature profile measurement components are arranged in the pipe section between two adjacent relay refraction stations, with one set every ten to fifteen meters. Each set of vertical temperature profile measurement components includes a vertical guide rod 23 and several temperature sensors 24 distributed along the axis of the vertical guide rod 23. The two ends of the vertical guide rod 23 are fixed to the inner wall of the top and bottom of the pipe, respectively. The vertical guide rod 23 is in a tensioned state, and its axis extends along the radial axis of the pipe. Several temperature sensors 24 are connected in series at equal intervals along the vertical guide rod 23, covering the entire height profile from the top to the bottom of the pipe, and are used to synchronously collect vertical temperature distribution data from the top to the bottom of the pipe. The data processing host 31 fits a three-dimensional refractive index field to the pipe section between two adjacent relay refraction stations based on the temperature data collected by each set of vertical temperature profile measurement components, thereby providing temperature gradient information for ray tracing calculations. The signal lines of each temperature sensor 24 are led out along the vertical guide rod 23 to the cable tray 27, and then connected to the data processing host 31 after entering the main cable tray on the pipe wall.

[0031] In some embodiments, the vertical guide rod 23 is a vertical tensioning wire guide rod. One end of the vertical tensioning wire guide rod is fixed to the inner wall of the top of the pipe through a first bolt seat 21 pre-embedded in the top of the pipe wall, and the other end is fixed to the inner wall of the bottom of the pipe through a second bolt seat 22 pre-embedded in the bottom of the pipe wall. The first bolt seat 21 is pre-embedded in the inner wall of the top of the pipe section 11, and the second bolt seat 22 is pre-embedded in the inner wall of the bottom of the pipe section 11. One end of the vertical guide rod 23 passes through the first bolt seat 21, and the other end of the vertical guide rod 23 passes through the second bolt seat 22 and is respectively fastened by a locking nut 28. The tension force between the two bolt seats keeps the vertical tensioning wire guide rod in a vertically tensioned state.

[0032] In some embodiments, the temperature sensor 24 is a platinum resistance temperature sensor. The platinum resistance temperature sensor has excellent resistance-temperature linearity and can accurately collect the continuous vertical temperature gradient from the top to the bottom of the tube. In each group of vertical temperature profile measurement components, multiple temperature sensors 24 are connected in series along the vertical guide rod 23. For example, the number of temperature sensors 24 is ten, twelve, fourteen, etc., which is not limited here.

[0033] like Figure 5As shown, furthermore, to correct the vertical temperature profile at each section from the local coordinate system of the pipe to the absolute horizontal coordinate system to improve the accuracy of the refractive index field fitting, a gravity plumb ring 25 is fitted into the middle of the vertical guide rod 23. The gravity plumb ring 25 is a ring structure with its inner hole fitted around the outer circumference of the vertical guide rod 23, allowing it to rotate freely around the axis of the vertical guide rod 23. The outer diameter of the gravity plumb ring 25 is smaller than the inner diameter of the pipe and does not contact the pipe wall. The mass of the gravity plumb ring 25 is concentrated on one side of the arc segment of the ring, making this side arc segment an off-center end. Under the action of gravity, the off-center end always tends to the lowest position, thus maintaining the gravity plumb ring 25 in a fixed posture relative to the vertical direction. A single-axis tilt sensor 26 is fixed on the opposite side of the off-center end of the gravity plumb ring 25, and the sensitive axis of the single-axis tilt sensor 26 extends radially along the gravity plumb ring 25. When the pipeline deflects due to jacking load or ground deformation, the vertical guide rod 23 tilts with the pipe wall, while the gravity plumb ring 25 remains vertical. The single-axis tilt sensor 26 measures the deflection angle of the vertical guide rod 23's axis relative to the vertical direction, i.e., the deflection angle of the pipeline relative to the horizontal plane at that cross-section. The data processing host 31 rotates and corrects the vertical temperature profile at that cross-section to the absolute horizontal coordinate system based on this deflection angle. The signal line of the single-axis tilt sensor 26 is led out along the vertical guide rod 23 to the cable tray 27, and then merges into the main cable tray on the pipe wall.

[0034] Continue reading Figure 1 The photoelectric target plate 30 is installed on the partition plate 29 at the tail of the pipe jacking machine head, with its receiving surface facing the starting shaft direction. The photoelectric target plate 30 is a CCD (Charge-Coupled Device) photoelectric target plate, used to receive the laser emitted from the final relay refraction station and output the spot coordinate signal. The photoelectric target plate 30 moves with the pipe jacking machine head along the pipe jacking direction. The spot coordinate signal of the photoelectric target plate 30 is transmitted to the data processing host 31 through the signal cable 32.

[0035] Continue reading Figure 1 The data processing host 31 is located outside the launching shaft. It communicates with the reference position-sensitive detector 10, the incident position-sensitive detectors 19 and dual-axis tilt sensors 20 of each relay refraction station, the temperature sensors and single-axis tilt sensors 26 of each vertical temperature profile measurement assembly, and the photoelectric target plate 30 via signal cables 32 laid along the flat cable trough inside the pipe section 11. The data processing host 31 stores a model of the correspondence between refractive index and temperature, ray tracing algorithms, and the axis parameters of the curved pipe.

[0036] Working principle Under the adjustment of the electric fine-tuning gimbal, the semiconductor laser emitter 7 emits a collimated laser beam along the tangential direction of the first section of the pipeline axis. After entering the pipeline, the laser beam is deflected segment by segment by the optical deflecting elements 17 of each relay refraction station, and transmitted along the curved path of the pipeline, finally reaching the photoelectric target plate 30 of the jacking machine head.

[0037] Temperature sensors 24 of each set of vertical temperature profile measurement components synchronously collect vertical temperature values ​​from the top to the bottom of the pipe at their respective cross-sections. The data processing host 31 receives all temperature data and fits a three-dimensional refractive index field to the pipe segment between two adjacent relay refraction stations. Based on the three-dimensional refractive index field, the data processing host 31 performs ray tracing calculations on the laser path of this segment to obtain the bending trajectory of the laser caused by the vertical temperature gradient between stations, and obtains the spot offset component caused by temperature bending when the laser reaches the downstream relay refraction station and is incident on the position-sensitive detector 19.

[0038] The incident position-sensitive detector 19 of the downstream relay refraction station measures the actual position of the incident light spot in real time. The data processing host 31 subtracts the temperature-induced light spot offset component obtained by ray tracing from the actual position, and the remaining component is the attitude drift of the relay refraction station itself caused by the creep of the tube section 11. Based on this, the data processing host 31 drives the yaw stepper motor 14 and pitch stepper motor 16 of the adjustment electric gimbal of the relay refraction station to only compensate for the attitude drift and does not apply compensation for the temperature-induced light spot offset component.

[0039] In some embodiments, the reference position-sensitive detector 10 at the top of the reference column 9 detects the spot displacement of the monitoring beam in real time and feeds it back to the data processing host 31. The data processing host 31 calculates the reference drift of the semiconductor laser emitter 7 based on the spot displacement, and drives the starting well yaw motor 4 and the starting well pitch motor 6 of the electric fine-tuning gimbal to deflect in the opposite direction to compensate for the reference drift, so that the main beam is always emitted along the tangential direction of the first section of the pipeline axis.

[0040] In some embodiments, the single-axis tilt sensor 26 on the gravity vertical ring 25 at each cross-section synchronously uploads the downward deflection angle of the pipe at that cross-section. After the data processing host 31 corrects the vertical temperature profile of each cross-section to the absolute horizontal coordinate system by the downward deflection angle, it then fits a three-dimensional refractive index field to the pipe section between two adjacent relay refraction stations.

[0041] In another embodiment, such as Figure 6 As shown, the present invention also provides a measurement method based on pipe jacking construction, applied to a laser measurement device based on pipe jacking construction, which includes the following steps: The laser emitting assembly emits a collimated laser beam along the tangential direction of the first section of the pipe axis, and the temperature sensors 24 of each set of vertical temperature profile measuring assemblies synchronously collect the vertical temperature values ​​of their respective sections from the top to the bottom of the pipe. The data processing host 31 receives all temperature data, fits a three-dimensional refractive index field to the pipe section between two adjacent relay refraction stations, and performs ray tracing calculations to obtain the bending trajectory of the laser between stations caused by the vertical temperature gradient and the temperature-induced spot offset component. The incident position-sensitive detector 19 of the downstream relay refraction station measures the actual position of the incident light spot in real time. The data processing host 31 subtracts the temperature-induced light spot offset component from the actual position, and the remaining component is the attitude drift of the relay refraction station caused by the pipe section creep. The data processing host 31 drives the adjustment motorized gimbal of the relay refraction station to compensate for attitude drift only.

[0042] This method provides continuous vertical temperature distribution data from the top to the bottom of the pipe between adjacent relay refraction stations using a vertical temperature profile measurement component. The data processing host 31 then fits this data to the three-dimensional refractive index field of the pipe section between the two adjacent stations and performs ray tracing calculations to obtain the amount of bending caused by the vertical temperature gradient between the stations. Therefore, the data processing host 31 can accurately subtract the temperature-induced spot offset component from the spot readings of the incident position-sensitive detector 19 at the relay refraction station, and only drive the adjusting electric pan-tilt unit to compensate for the attitude drift caused by the creep of the pipe section 11. This avoids misinterpreting temperature refraction errors as attitude drift at the relay refraction station and issuing incorrect compensation commands. Therefore, the laser measurement equipment solves the problem that reference drift and temperature refraction errors appear identical on the incident position-sensitive detector 19 when the pipe jacking machine crosses a riverbed, making them indistinguishable. This ensures that the spot coordinates of the photoelectric target plate 30 accurately reflect the deviation of the pipe jacking machine head relative to the pipe axis.

[0043] The embodiments of the present invention have been described above. However, the embodiments are not limited to the specific implementation methods described above. The specific implementation methods described above are merely illustrative and not restrictive. Those skilled in the art can make more equivalent embodiments under the guidance of the present embodiments, and all of them are within the protection scope of the present embodiments.

Claims

1. A laser measuring device based on pipe jacking construction, characterized in that, include: A laser emitting assembly, several relay refraction stations, and a photoelectric target plate (30) are sequentially arranged along the pipeline jacking direction. The laser emitting assembly is fixed to the rear wall (1) of the launching well. Each relay refraction station includes an adjustable electric gimbal, an optical deflection element (17), and an incident position-sensitive detector (19). The optical deflection element (17) is installed at the motion output end of the adjustable electric gimbal and is used to deflect the incident laser and direct it towards the downstream pipe section. The incident position-sensitive detector (19) is fixed to the non-rotating part of the adjustable electric gimbal and is used to detect the incident light. The location coordinates of the spot are determined. Several sets of vertical temperature profile measurement components are arranged in the pipe section between two adjacent relay refraction stations. Each set of vertical temperature profile measurement components includes a vertical guide rod (23) and several temperature sensors (24) distributed along the axis of the vertical guide rod (23). The vertical guide rod (23) is fixedly installed on the inner wall of the pipe section. The data processing host (31) is electrically connected to the laser emission component, each of the relay refraction stations, each of the vertical temperature profile measurement components and the photoelectric target plate (30) through a signal cable (32).

2. The laser measuring device based on pipe jacking construction according to claim 1, characterized in that, The laser emitting assembly includes a base (2), an electric fine-tuning gimbal, and a semiconductor laser emitter (7). The base (2) is fixed to the rear wall (1) of the launching well. The electric fine-tuning gimbal includes a gimbal base frame (3), a launching well yaw motor (4), a first yaw platform (5), and a launching well pitch motor (6). The gimbal base frame (3) is fixed to the base (2). The body of the launching well yaw motor (4) is fixed to the gimbal base frame (3). The output shaft of the launching well yaw motor (4) extends vertically. The first yaw platform (5) is fixedly connected to the end of the output shaft of the launching well yaw motor (4). The body of the launching well pitch motor (6) is fixed to the first yaw platform (5). The output shaft of the launching well pitch motor (6) extends laterally along the pipeline. The semiconductor laser emitter (7) is fixed to the end of the output shaft of the launching well pitch motor (6).

3. The laser measuring device based on pipe jacking construction according to claim 2, characterized in that, Two reference columns (9) are fixed on the wall of the rear wall (1) of the starting well. The two reference columns (9) are located on both sides of the base (2). A reference position sensor (10) is installed on the top of each reference column (9). A beam splitter (8) is fixed in front of the outlet of the semiconductor laser emitter (7). The beam splitter (8) moves synchronously with the semiconductor laser emitter (7). The beam splitter (8) is used to split the laser beam emitted by the semiconductor laser emitter (7) into a main beam and a monitoring beam. The main beam is emitted along the pipeline jacking direction. The monitoring beam is deflected by the beam splitter (8) and then directed to the reference position sensor (10). The reference position sensor (10) is connected to the data processing host (31) through the signal cable (32).

4. The laser measuring device based on pipe jacking construction according to claim 3, characterized in that, The adjustable electric gimbal is mounted on a base (12), which is fixedly installed on the bottom of the inner wall of the pipe section (11). The adjustable electric gimbal includes a relay station gimbal frame (13), a yaw stepper motor (14), a second yaw platform (15), and a pitch stepper motor (16). The relay station gimbal frame (13) is fixedly installed on the base (12), and the body of the yaw stepper motor (14) is fixed to the relay station gimbal frame (13). The output shaft of the yaw stepper motor (14) Extending vertically, the second yaw platform (15) is fixedly connected to the output shaft end of the yaw stepper motor (14), the body of the pitch stepper motor (16) is fixed to the second yaw platform (15), the output shaft of the pitch stepper motor (16) extends laterally along the pipe, the optical folding element (17) is fixed to the output shaft end of the pitch stepper motor (16), and the incident position-sensitive detector (19) is fixed to the relay station gimbal frame (13), with the receiving surface facing the upstream direction.

5. The laser measuring device based on pipe jacking construction according to claim 4, characterized in that, The optical folding element (17) is mounted on the output shaft end of the pitch stepper motor (16) via a prism clamp (18).

6. The laser measuring device based on pipe jacking construction according to claim 4, characterized in that, A dual-axis tilt sensor (20) is installed on the non-rotating part of the relay station gimbal frame (13). The dual-axis tilt sensor (20) is fixedly installed on the relay station gimbal frame (13). The dual-axis tilt sensor (20) is used to measure the attitude tilt of the pipe section (11) where the relay refraction station is located in real time in the pitch and yaw directions. The signal line of the dual-axis tilt sensor (20) is connected to the data processing host (31) through the cable tray (27). The cable tray (27) is fixedly installed in the pipe section (11).

7. A laser measuring device based on pipe jacking construction according to claim 5, characterized in that, The vertical guide rod (23) is a vertical tensioning wire guide rod. One end of the vertical guide rod (23) is fixed to the inner wall of the top of the pipe section (11) through the first bolt seat (21) pre-embedded at the top of the pipe wall, and the other end is fixed to the inner wall of the bottom of the pipe through the second bolt seat (22) pre-embedded at the bottom of the pipe wall. The first bolt seat (21) is pre-embedded in the inner wall of the top of the pipe section (11), and the second bolt seat (22) is pre-embedded in the inner wall of the bottom of the pipe section (11). After one end of the vertical guide rod (23) passes through the first bolt seat (21), and after the other end of the vertical guide rod (23) passes through the second bolt seat (22), it is fastened by the locking nut (28).

8. The laser measuring device based on pipe jacking construction according to claim 7, characterized in that, A gravity plumb ring (25) is fitted in the middle of the vertical guide rod (23). The gravity plumb ring (25) is a ring structure, which is fitted on the outer circumference of the vertical guide rod (23) and can rotate freely around the axis of the vertical guide rod (23). The mass of the gravity plumb ring (25) is concentrated on one side of the ring body to form an unbalanced end. The unbalanced end always tends to the lowest position under the action of gravity. A single-axis tilt sensor (26) is fixed on the opposite side of the unbalanced end of the gravity plumb ring (25). The sensitive axis of the single-axis tilt sensor (26) extends radially along the gravity plumb ring (25) and is used to measure the deflection angle of the axis of the vertical guide rod (23) relative to the vertical direction. The signal line of the single-axis tilt sensor (26) is led out along the vertical guide rod (23) to the wire groove (27).

9. A laser measuring device based on pipe jacking construction according to claim 8, characterized in that, The photoelectric target plate (30) is installed on the partition plate (29) at the tail of the pipe jacking machine head, with the receiving surface facing the starting well direction. The photoelectric target plate (30) moves along the pipe jacking direction with the pipe jacking machine head. The light spot coordinate signal of the photoelectric target plate (30) is transmitted to the data processing host (31) through the signal cable (32).

10. A measurement method applied to the laser measurement equipment based on pipe jacking construction as described in claim 1, characterized in that, Includes the following steps: The laser emitting assembly emits a collimated laser beam along the tangential direction of the first section of the pipe axis, and the temperature sensors of each set of vertical temperature profile measurement assemblies synchronously collect the vertical temperature values ​​of their respective sections from the top to the bottom of the pipe. The data processing host receives all temperature data, fits a three-dimensional refractive index field to the pipe section between two adjacent relay refraction stations, and performs ray tracing calculations to obtain the bending trajectory of the laser between stations caused by the vertical temperature gradient and the temperature-induced spot offset component. The incident position-sensitive detector of the downstream relay refraction station measures the actual position of the incident light spot in real time. The data processing host subtracts the temperature-induced light spot offset component from the actual position, and the remaining component is the attitude drift of the relay refraction station caused by the peristalsis of the pipe section. The data processing host drives the adjustment motorized gimbal of the relay refraction station to compensate for attitude drift only.

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