The box culverts jacking and replacement method for underground three-dimensional transportation projects adopts a rectangular pipe jacking construction pipe curtain that has little impact on the ground as the guide, jacking the box culverts and gradually replacing the pipe curtain to form an underground three-dimensional transportation project. The guide measurement of box culverts is like the "eyes" of tunnel construction. It gives the position and direction of advancement of the pipe curtain and box culverts. It is a technology to ensure smooth connection within the allowable deviation range. The accuracy control of pipe curtain jacking directly affects the advancement and penetration of box culverts in the later period, so the measurement accuracy needs to be strictly controlled. During the jacking process of box culverts, real-time acquisition of the posture of the box culverts plays an important role in controlling the correct jacking of box culverts and is a key link to ensure project quality. Whether it is pipe curtains, box culverts, shield machines for subway tunnels or trenchless underground pipelines, how to ensure high-precision guided measurements has always been a hot problem in underground tunnel engineering.
Aiming at the practical problems of construction-oriented control of box culverts jacking and replacement pipe curtain jacking projects of bridges and tunnels, subway tunnel excavation projects, and ultra-long trenchless pipe jacking projects, the project established reference benchmarks, multi-sensor integration and data joint processing, and systematically studied data real-time transmission, result visualization and quality assurance systems, and established a complete guidance control theory, method and technology; Software and hardware systems with independent intellectual property rights have been developed for automatic guidance during the jacking process of box culverts, automatic guidance of subway tunnel shield machines, and automatic guidance of ultra-long trenchless pipe jacking. The project proposes a large-angle rotation nonlinear benchmark transformation theory, which realizes the establishment of a unified coordinate frame for large-scale bridge and tunnel projects; establishes a guidance control error analysis theory for underground linear projects, and establishes reasonable guidance control solutions and technologies such as box culverts replacement pipe curtain pushing, subway tunnel excavation, ultra-long trenchless pipe jacking; and creates a technology to improve the accuracy of guidance control by using measurement robots combined with sensing data from high-precision gyroscopes, dual-axis electronic inclinometers and travel PLCs; Multi-sensor fusion acquisition technology and method are proposed and adopted to extend the robust estimation theory to bridge and tunnel engineering geometry fitting, significantly eliminating the influence of observation anomalies. The above innovations have effectively improved the accuracy and reliability of guidance control and achieved full automation.
Creativity and innovation: ① Propose a theoretical system for intelligent measurement of urban underground engineering, and establish a complete guided control theory, method and technology.② An algorithm for establishing attitude positioning of box culverts based on rigid body positioning principle is proposed.③ A technology was created to use the sensing data of a measurement robot combined with a dual-axis electronic tiltmeter, a high-precision gyroscope and a travel PLC to improve the accuracy of guidance control; a multi-sensor fusion acquisition technology and method is proposed and adopted to multi-sensor fusion guidance in intelligent collaborative measurement. Positioning accuracy and error propagation theory.④ We have developed software and hardware systems with independent intellectual property rights such as automatic guidance for the jacking process of box culverts and replacement pipe roofs, automatic guidance for subway tunnel shield machines, and automatic guidance for ultra-long trenchless pipe jacking.
This topic has been authorized for 3 invention patents and applied for 3 invention patents, and has published 20 related papers in core journals at home and abroad. The project was accepted by the Shanghai City Science and Technology Commission in January 2013. Seven experts headed by Ye Keming, academician of the China Academy of Engineering, gave a fair evaluation: the research results have reached the international advanced level.
At present, the project results have been successfully applied to Shanghai Jinshan Three-dimensional Transportation Box Culvert Project, Shantou's 2080-meter ultra-long subsea trenchless pipe jacking project, Danyang's ultra-long water intake pipe jacking project, Hangzhou Metro Project, Suzhou Metro Project, Shanghai Metro Project, Shanghai Qingcaosha Water Intake Project, Fuzhou Electric Power Curve Pipe jacking and other major projects, multi-mode construction automatic guidance control and other integrated applications have been achieved, and significant social and economic benefits have been achieved.