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CN-121976813-A - Gesture control system for pipe pushing jack construction

CN121976813ACN 121976813 ACN121976813 ACN 121976813ACN-121976813-A

Abstract

The embodiment of the specification provides a posture control system for pipe pushing jack construction, which comprises a multi-source sensing and data acquisition module, a data fusion and posture resolving module, an intelligent layered control decision module, an actuating mechanism driving module and a comprehensive monitoring and diagnosis module, wherein continuous and high-precision full-posture resolving and absolute coordinate positioning which are not limited by vision are realized by fusing data of a gyroscope, an accelerometer, an inclination sensor and an odometer, and the measurement reliability of long-distance and curve section construction is remarkably improved. The system adopts a layered intelligent control architecture, combines a classical control law and an online learning mechanism, can dynamically adapt to the variable load and external disturbance of the push bench, realizes accurate and steady posture adjustment, and reduces the manual intervention requirement and the operation difficulty. Meanwhile, the omnibearing state monitoring and diagnosis function enhances the maintainability and construction transparency of the system, thereby integrally improving the automation level, the guiding precision and the engineering efficiency of rectangular pipe jacking construction.

Inventors

  • CHEN XUEHUA

Assignees

  • 广东省芸隆地下工程装备制造有限公司

Dates

Publication Date
20260505
Application Date
20260113

Claims (10)

  1. 1. A gesture control system for push bench construction, characterized by comprising: The multisource sensing and data acquisition module is used for synchronously acquiring the original data of the angular speed, the linear acceleration, the static inclination angle and the jacking distance of the pipe jacking machine through the optical fiber gyroscope, the accelerometer, the inclination angle sensor and the odometer; the data fusion and posture calculation module is used for preprocessing and checking the original data, carrying out multi-source observation fusion and self-adaptive filtering calculation by utilizing a filter constructed by a state equation and an observation equation, and outputting optimal posture estimation comprising a yaw angle, a pitch angle, a roll angle and three-dimensional coordinates; The intelligent hierarchical control decision module is used for calculating an error between the optimal attitude estimation and a preset target attitude and processing the error through the composite controller to generate a control instruction, and the composite controller comprises a PID controller for preliminary adjustment based on the error and an adaptive unit for dynamically adjusting parameters of the PID controller; the actuating mechanism driving module is used for converting the control instruction into a physical signal for driving the deviation correcting oil cylinder to act and feeding back the actual displacement of the oil cylinder; and the comprehensive monitoring and diagnosing module is used for displaying the optimal attitude estimation, the control instruction and the original data in real time and providing an early warning and parameter configuration interface.
  2. 2. The system of claim 1, wherein the data fusion and pose calculation module performs preprocessing and verification, specifically comprising: And filtering and denoising the original data, and performing cross check on the data of the accelerometer and the inclination sensor at the equipment static moment so as to isolate failure data.
  3. 3. The system of claim 1, wherein the data fusion and pose calculation module performs adaptive filtering calculation, specifically comprising: Constructing a state vector containing three-dimensional attitude angle, zero offset error of a gyroscope and mileage information of the push bench; Establishing the state equation based on the state vector and a kinematic model; Taking the integrated angle change of the fiber optic gyroscope, the component of the accelerometer under the gravity field, the angle reading of the inclination sensor and the displacement of the odometer as inputs of the observation equation; And solving based on the state equation and the observation equation, and outputting the optimal attitude estimation.
  4. 4. The system of claim 1, wherein the adaptive unit in the intelligent hierarchical control decision module is an on-line learning neural network unit; the neural network unit takes the attitude error, the error change rate, the jacking speed and the soil pressure historical data as inputs and outputs the adjustment quantity of the parameters of the PID controller.
  5. 5. The system of claim 4, wherein the intelligent hierarchical control decision module comprises an instruction generation layer; The instruction generation layer is used for calculating the triaxial control quantity generated by operation of the PID controller after parameter adjustment to obtain expected displacement or pressure instructions of a plurality of independent correction cylinders.
  6. 6. The system according to claim 1, wherein the actuator drive module specifically comprises an electro-hydraulic servo controller and a cylinder action execution unit; The electro-hydraulic servo controller converts the control instruction in a digital form into an analog current signal for driving the electro-hydraulic servo valve, and the oil cylinder action execution unit adjusts hydraulic oil according to the analog current signal so as to push the deviation correcting oil cylinder to stretch out and draw back.
  7. 7. The system of claim 1, wherein the data fusion and pose calculation module further performs a pose calculation accuracy evaluation step after outputting the optimal pose estimate; The step of evaluating the gesture resolving precision comprises the following steps: Acquiring attitude angle data and corresponding high-precision reference attitude angle data in the optimal attitude estimation at the sampling time; And calculating the square error sum of the attitude angle components based on the attitude angle data and the reference attitude angle data, and carrying out comprehensive average and evolution operation on the square error sum of the attitude angle components to generate an attitude angle root mean square error evaluation index representing the overall calculation accuracy.
  8. 8. The system according to claim 1 or 4, wherein the intelligent hierarchical control decision module generates the control quantity of the yaw path by weight-synthesizing the parameter-adjusted proportional term with the integral term and the dynamically compensated derivative term by calculating the control quantity based on the parameter and the current yaw angle error state, introducing the parameter adjustment quantity output by the neural network unit, and combining the dynamic compensation coefficient determined by the jacking speed and the roll angle state.
  9. 9. The system of claim 7, wherein the integrated monitoring and diagnostic module is further configured to record the attitude angle root mean square error from the attitude solution accuracy assessment, and trigger a system accuracy pre-warning when the attitude angle root mean square error exceeds a preset threshold.
  10. 10. The system according to claim 1, wherein the actual displacement of the cylinder fed back by the actuator driving module is transmitted to the data fusion and gesture resolving module and the intelligent hierarchical control decision module to form closed loop monitoring of the execution effect.

Description

Gesture control system for pipe pushing jack construction Technical Field The embodiment of the specification relates to the technical field of equipment operation and maintenance, in particular to a posture control system for pipe pushing bench construction. Background With development of underground space, tunnel engineering is increasingly constructed, wherein guiding measurement and attitude control are all the technical key points in tunnel engineering construction. Accurate guiding and refined attitude control reduce the deviation correction amount in the jacking of the tunnel boring machine, are favorable for reducing the disturbance of construction to soil, reduce the ground subsidence and the influence on the surrounding environment, and are favorable for smoothly penetrating the tunnel boring machine in the designed attitude, thereby ensuring the construction quality. At present, the guiding technology of the pipe pushing jack in tunnel engineering mainly comprises optical guiding and gyroscopic guiding technologies. Most of the optical guiding methods are based on laser measurement, and other measuring technologies are fused according to different construction types and practical application environments. For example, the construction of the short-distance straight pipe jacking can achieve the guiding purpose by only relying on the measurement of a laser theodolite, the operation is simple, the data acquisition is easy, visual and understandable, the measurement result is fed back in real time, and the skill requirement on operators is not high. Along with the longer jacking distance or the construction of a curved jacking pipe, the laser theodolite measurement guiding technology is not applicable any more, and the total station is required to be used for measurement guiding. However, the total station has a limited measuring range, the sight is easy to be blocked, the jacking mileage and absolute coordinate values cannot be measured, the measuring precision is low, and the prism and the manual repeated measurement are required to be arranged at intervals during curve construction, so that the guiding precision is not high, and the universality is poor. Therefore, underground engineering measurement is gradually introduced into the fiber-optic gyroscope guiding technology. The fiber optic gyroscope steering technique has a great advantage over the optical steering technique. The device is simple, light in weight, small in size, low in cost and extremely high in measurement accuracy, data are automatically and continuously collected, a prism is not required to be arranged, manual entering into a tunnel is reduced in retest frequency, measurement is not limited by terrain, construction environment (such as the fact that fog in the tunnel is heavy and easily interferes with the visibility of laser to influence measurement accuracy) and the like, electromagnetic interference is not caused, and therefore accurate guiding and attitude control can be provided for a pipe push bench in the scenes of long-distance, curve and small-size pipe curtain construction and the like. The fiber optic gyroscope is a high-precision instrument, and the longer the sampling time is, the better the zero offset stability value is. The jacking speed of the heading machine in the existing underground tunnel engineering is lower, the jacking speed is not in the speed range which can be sensed by the optical fiber gyroscope, the downtime of the heading machine is longer due to uncontrollable factors in the actual engineering, and the situations that the data read by the optical fiber gyroscope are larger in dispersion, large in error and cannot be ensured are caused. Therefore, the prior art has the problems of long distance and insufficient control precision of the gesture of the curved rectangular jacking pipe, and a better scheme is needed. Disclosure of Invention In view of this, the embodiments of the present disclosure provide an attitude control system for pipe push bench construction to solve the technical drawbacks existing in the prior art. According to a first aspect of embodiments of the present specification, there is provided an attitude control system for push bench construction, characterized by comprising: The multisource sensing and data acquisition module is used for synchronously acquiring the original data of the angular speed, the linear acceleration, the static inclination angle and the jacking distance of the pipe jacking machine through the optical fiber gyroscope, the accelerometer, the inclination angle sensor and the odometer; The data fusion and posture calculation module is used for preprocessing and checking the original data, carrying out multi-source observation fusion and self-adaptive filtering calculation by utilizing a filter constructed by a state equation and an observation equation, and outputting optimal posture estimation comprising a yaw angle, a pitch angle, a roll angle and three-di