Flexible guiding numerical control electromagnetic suction docking system and method for immersed tunnel

Abstract

The invention provides an immersed tube tunnel flexible guiding numerical control electromagnetic suction butt joint system which comprises a power propelling device, an electromagnetic suction butt joint device and a control device. The power propelling device adjusts the propelling direction and speed of immersed tube tunnel tube joints to be in butt joint. The ultrasonic positioning device is used for receiving the relative position of the immersed tunnel pipe joints to be butted and feeding back the relative position to the power propelling device; the numerical control electromagnetic suction device is used for controlling the electromagnetic suction in the butt joint process of the immersed tunnel pipe joints to be in butt joint; the flexible guide device is used for adjusting the orientation of the immersed tunnel pipe joints in the butt joint process and feeding back signals to the power propelling device and the numerical control electromagnetic suction device; and the butt joint guider device is used for guiding the immersed tunnel pipe joints to be in butt joint. Fine positioning in the immersed tube tunnel butt joint process is achieved through the ultrasonic positioning device, the flexible guiding device and the butt joint guider device, automatic butt joint of tube joints is achieved through the numerical control electromagnetic suction device and the power propelling device, and the problems that in the immersed tube tunnel butt joint process, a positioning method is small in tolerance, low in automation level and the like are solved.

Description

Technical Field

[0001] This application relates to the technical field of intelligent docking of immersed tunnels, and specifically, to a flexible guiding numerical control electromagnetic suction docking system and method for immersed tunnels. Background Art

[0002] Underwater high-precision sinking and docking is a key link in the construction of immersed tunnels and has an important impact on the engineering quality of the tunnels. At present, in actual engineering, methods such as high-precision total station and underwater sonar method are mostly used for the spatial positioning of underwater pipe sections, and spatial cable systems are used for installation. Multiple systems cooperate with each other to complete the underwater docking of the immersed tunnel. The positioning tolerance is small, the systems are relatively independent of each other, the automation level is not high, and the positioning device cannot be reused. Summary of the Invention

[0003] Aiming at the defects in the prior art, the purpose of this application is to provide a flexible guiding numerical control electromagnetic suction docking system and method for immersed tunnels, which realizes refined positioning during the docking process of the immersed tunnel through an ultrasonic positioning device, a flexible guiding device and a docking guide device, and realizes the automatic docking of the pipe section through a numerical control electromagnetic suction device and a power propulsion device.

[0004] In one aspect of this application, a flexible guiding numerical control electromagnetic suction docking system for an immersed tunnel is provided, including:

[0005] A power propulsion device for adjusting the propulsion direction and speed of the pipe section of the immersed tunnel to be docked;

[0006] An ultrasonic positioning device for receiving the relative position of the pipe section of the immersed tunnel to be docked and feeding it back to the power propulsion device;

[0007] A numerical control electromagnetic suction device for controlling the electromagnetic suction during the docking process of the pipe section of the immersed tunnel to be docked;

[0008] A flexible guiding device connected to the power propulsion device and the numerical control electromagnetic suction device, for adjusting the orientation of the pipe section of the immersed tunnel to be docked during the docking process and feeding back signals to the power propulsion device and the numerical control electromagnetic suction device;

[0009] A docking guide device for guiding the pipe section of the immersed tunnel to be docked.

[0010] Further, the power propulsion device includes a first control system and a power thruster;

[0011] The first control system receives the positioning information received by the ultrasonic positioning device and controls the power thruster to adjust the propulsion direction and speed of the pipe section of the immersed tunnel to be docked;

[0012] Among them, the immersed tunnel segment is a hollow structure, and a first partition wall and a second partition wall are respectively provided at both ends;

[0013] The power thrusters are arranged on the end face of the immersed tunnel segment and are spaced circumferentially along the first partition wall;

[0014] The first control system is arranged on the second partition wall.

[0015] Further, the ultrasonic positioning device includes: an ultrasonic transmitter and an ultrasonic receiver;

[0016] There are multiple ultrasonic transmitters, which are spaced and arranged on the outer peripheral wall at one end of the immersed tunnel segment, at one end of the first partition wall;

[0017] There are multiple ultrasonic receivers, which are spaced and arranged on the outer peripheral wall at the other end of the immersed tunnel segment, at one end of the second partition wall, and are used to receive the relative position relationship between two adjacent immersed tunnel segments during docking and feedback it to the first control system of the power propulsion device;

[0018] The number of the ultrasonic transmitters is the same as that of the ultrasonic receivers.

[0019] Further, the docking guide device includes a conical socket and a plug cone, and is used to guide the plug cone to face the conical socket through the flexible guiding device during docking;

[0020] There are multiple plug cones, which are spaced and arranged on the end face of the second partition wall, and there are multiple conical sockets, which are spaced and arranged on the end face of the first partition wall;

[0021] The positions of the conical sockets and the plug cones on the first partition wall and the second partition wall are correspondingly arranged. During docking, the plug cones on adjacent immersed tunnel segments can extend into the conical sockets on another immersed tunnel segment to complete docking.

[0022] Further, the flexible guiding device includes: a flexible spherical guide head, a flexible guide rod and an optical fiber strain sensor;

[0023] One end of the flexible guide rod is fixedly connected to the plug cone;

[0024] The flexible spherical guide head is arranged at the end of the other end of the flexible guide rod and can extend into the conical socket;

[0025] The optical fiber strain sensor is arranged on the flexible guide rod and the flexible spherical guide head, and is connected to the power propulsion device and the numerical control electromagnetic suction device, and is used to feedback the signal of contacting the inner wall of the conical socket during docking.

[0026] Further, the flexible spherical seeker is of a hemispherical structure;

[0027] The optical fiber strain sensor includes a first optical fiber strain sensor and a second optical fiber strain sensor. There are multiple first optical fiber strain sensors, which are uniformly arranged on the flexible spherical seeker;

[0028] There are multiple second optical fiber strain sensors, which are uniformly arranged at intervals along the length direction of the flexible guide rod on the outer peripheral wall of the flexible guide rod;

[0029] The length of the second optical fiber strain sensor is the same as the length of the flexible guide rod.

[0030] Further, the numerically controlled electromagnetic suction device includes an electromagnetic suction positive electrode, an electromagnetic suction negative electrode and a numerical control device;

[0031] The electromagnetic suction positive electrode is arranged on the first partition wall; the electromagnetic suction negative electrode is arranged on the second partition wall;

[0032] The positions of the electromagnetic suction positive electrode and the electromagnetic suction negative electrode on the first partition wall and the second partition wall are the same. When docking, the first partition wall and the second partition wall on adjacent immersed tunnel segments are opposite, and the electromagnetic suction positive electrode and the electromagnetic suction negative electrode correspond;

[0033] The numerical control device is arranged on the second partition wall, connected to the electromagnetic suction positive electrode and the electromagnetic suction positive electrode, and controls the electromagnetic suction during the docking process.

[0034] Further, the electromagnetic suction positive electrode is flush with the end face of the first partition wall on the first partition wall;

[0035] The electromagnetic suction negative electrode is flush with the end face of the second partition wall on the second partition wall;

[0036] The electromagnetic suction positive electrode is located between adjacent conical sockets, and the electromagnetic suction positive electrode is located between adjacent male cones.

[0037] Further, the number of male cones is the same as the number of conical sockets; the number of electromagnetic suction positive electrodes is the same as the number of electromagnetic suction negative electrodes.

[0038] In the second aspect of the present application, a method for numerically controlled electromagnetic suction docking of an immersed tunnel flexible guide is provided. Using an immersed tunnel flexible guide numerically controlled electromagnetic suction docking system, it includes:

[0039] Obtain the position of the determined immersed tunnel segment, and control the to-be-docked immersed tunnel segment to approach the position where the determined immersed tunnel segment is located;

[0040] Receiving the determined relative position relationship between the immersed tube tunnel segment and the immersed tube tunnel segment to be docked through an ultrasonic positioning device, and feeding back the relative position relationship to the first control system of the power propulsion device;

[0041] The first control system of the power propulsion device controls the power propeller to propel the immersed tube tunnel segment to be docked at a certain speed and direction according to the feedback signal of the ultrasonic positioning device. During the propulsion process, the ultrasonic positioning device continuously updates and feeds back the relative position relationship between the determined immersed tube tunnel segment and the immersed tube tunnel segment to be docked to the power propulsion device;

[0042] The power propulsion device continuously adjusts the propulsion speed and propulsion direction of the power propeller according to the feedback signal of the ultrasonic positioning device until receiving the feedback data of the optical fiber strain sensor on the flexible spherical guide head;

[0043] The power propulsion device and the digital controlled electromagnetic suction device cooperate to control the propulsion direction and propulsion speed of the power propeller and the digital controlled electromagnetic suction device to adjust the suction force according to the feedback signals of the ultrasonic positioning device and the flexible guiding device;

[0044] The data of the optical fiber strain sensor in the flexible guiding device is used to control the inserting cone of the docking guide device to correspond to the conical socket of the determined immersed tube tunnel section, and the docking is completed.

[0045] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0046] The present application realizes fine positioning in the immersed tube tunnel docking process through an ultrasonic positioning device, a flexible guiding device and a docking guide device, and realizes automatic docking of pipe segments through a numerically controlled electromagnetic suction device and a power propulsion device, thereby solving the problems of small tolerance of positioning methods, low automation level, and non-reusable positioning devices in the traditional immersed tube tunnel docking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0048] Figure 1 This is a structural schematic diagram of a flexible guided electromagnetic suction docking system for an immersed tube tunnel in one embodiment of the present application.

[0049] Figure 2 This is a schematic diagram of the second partition wall structure in one embodiment of the present application.

[0050] Figure 3 This is a schematic diagram of the first partition wall structure in one embodiment of the present application.

[0051] Figure 4 This is a schematic structural diagram of the first partition wall from another angle in an embodiment of the present application.

[0052] Figure 5 This is a flowchart of a flexible guiding numerical control electromagnetic suction docking method for a immersed tube tunnel in an embodiment of the present application.

[0053] In the figure: 1. Power propulsion device; 11. First control system; 12. Power thruster; 2. Ultrasonic positioning device; 21. Ultrasonic transmitter; 22. Ultrasonic receiver; 3. Flexible guiding device; 31. Flexible spherical guide head; 32. Flexible guiding rod; 33. Fiber optic strain sensor; 4. Numerical control electromagnetic suction device; 41. Positive pole of electromagnetic suction; 42. Negative pole of electromagnetic suction; 5. Docking guide device; 51. Tapered socket; 52. Plug cone; 6. First immersed tube tunnel segment; 7. Second immersed tube tunnel segment; 71. First partition wall; 72. Second partition wall. Specific embodiments

[0054] The present application will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can be made. These all fall within the protection scope of the present application.

[0055] It should be understood that the terms "first", "second", etc. in the following embodiments are used to distinguish different objects, rather than to describe a specific order. The terms "comprising" and "including" indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations. In the description of this specification, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of description and simplification of the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation of the present invention.

[0056] Refer to Figure 1As shown in the figure, a flexible guiding numerical control electromagnetic suction docking system for a immersed tube tunnel in an embodiment of the present application includes: a power propulsion device 1 for adjusting the propulsion direction and speed of the immersed tube tunnel segment to be docked; an ultrasonic positioning device 2 for receiving the relative position of the immersed tube tunnel segment to be docked and feeding it back to the power propulsion device 1; a numerical control electromagnetic suction device 4 for controlling the electromagnetic suction during the docking process of the immersed tube tunnel segment to be docked; a flexible guiding device 3 connected to the power propulsion device 1 and the numerical control electromagnetic suction device 4 for adjusting the orientation of the immersed tube tunnel segment to be docked during the docking process and feeding back signals to the power propulsion device 1 and the numerical control electromagnetic suction device 4; a docking guide device 5 for guiding the immersed tube tunnel segment to be docked.

[0057] In the present application, first, through the collaborative work of the power propulsion device 1 and the ultrasonic positioning device 2, the precise control of the propulsion direction and speed of the immersed tube tunnel segment is realized, improving the accuracy and efficiency of docking. The application of the numerical control electromagnetic suction device 4 enables the precise control of the electromagnetic suction during the docking process, contributing to maintaining a stable docking state between the immersed tube tunnel segments, reducing docking errors. The introduction of the flexible guiding device 3 enables the system to flexibly adjust the orientation of the segment according to real-time situations, further enhancing the precision and adaptability of docking. The use of the docking guide device 5 provides a reliable guide for the entire docking process, ensuring that the immersed tube tunnel segments can complete the docking smoothly, improving the construction quality and safety of the entire immersed tube tunnel project.

[0058] Specifically, first, the power propulsion device 1 adjusts the propulsion direction and speed of the immersed tube tunnel segment to be docked according to construction requirements. The ultrasonic positioning device 2 receives and processes the relative position information of the segment to be docked in real time, and then feeds back these precise data to the power propulsion device 1 for necessary adjustments. At the same time, the numerical control electromagnetic suction device 4 controls the magnitude of the electromagnetic suction according to the requirements during the docking process to ensure stable docking between the segments. The flexible guiding device 3 feeds back the precise adjustment requirements for the orientation of the segment to be docked to the power propulsion device 1 and the numerical control electromagnetic suction device 4 in real time to achieve more precise docking control. Finally, the docking guide device 5 ensures that the segment to be docked can complete the docking accurately without error.

[0059] In some possible embodiments, the power propulsion device 1 includes a first control system 11 and a power propeller 12; the first control system 11 receives the positioning information received by the ultrasonic positioning device 2 and controls the power propeller 12 to adjust the propulsion direction and speed of the immersed tube tunnel segment to be docked.

[0060] Among them, the immersed tube tunnel segment is a hollow structure, with a first partition wall 71 and a second partition wall 72 provided at both ends respectively; the power thrusters 12 are arranged on the end face of the immersed tube tunnel segment, and are spaced along the circumferential direction of the first partition wall 71; the first control system 11 is arranged on the second partition wall 72.

[0061] Referring to Figure 1 As shown, during the docking process, among them, the first immersed tube tunnel segment 6 is already determined, and the second immersed tube tunnel segment 7 is the tube segment to be docked. First, the power thrusters 12 of the power propulsion device 1 push the second immersed tube tunnel segment 7 towards the first immersed tube tunnel segment 6; during this process, the ultrasonic positioning device 2 will obtain the relative positions of the second immersed tube tunnel segment 7 and the first immersed tube tunnel segment 6, and feed the signals back to the first control system 11. The first control system 11 controls the power thrusters 12 to adjust the propulsion direction and speed, so that the second immersed tube tunnel segment 7 and the first immersed tube tunnel segment 6 are in the same plane.

[0062] Among them, a first partition wall 71 and a second partition wall 72 are arranged inside the immersed tube tunnel segment, the first control system 11 is arranged on the second partition wall 72, and the power thrusters 12 are arranged around the first partition wall 71, which is convenient for disassembly after docking to achieve reuse.

[0063] In some possible embodiments, the ultrasonic positioning device 2 includes: an ultrasonic transmitter 21 and an ultrasonic receiver 22; there are multiple ultrasonic transmitters 21, which are spaced and arranged on the outer peripheral wall at one end of the immersed tube tunnel segment, and are located at one end of the first partition wall 71; there are multiple ultrasonic receivers 22, which are spaced and arranged on the outer peripheral wall at the other end of the immersed tube tunnel segment, and are located at one end of the second partition wall 72, and are used to receive the relative position relationship between adjacent two immersed tube tunnel segments when docking two immersed tube tunnel segments, and feed it back to the first control system 11 of the power propulsion device 1; the number of the ultrasonic transmitters 21 is the same as that of the ultrasonic receivers 22.

[0064] Specifically, the ultrasonic transmitters 21 and ultrasonic receivers 22 of the ultrasonic positioning device 2 are arranged at both ends of the immersed tube tunnel segment. When docking the first immersed tube tunnel segment 6 and the second immersed tube tunnel segment 7, it just realizes the correspondence between the ultrasonic transmitter 21 on the first immersed tube tunnel segment 6 and the ultrasonic receiver 22 on the second immersed tube tunnel segment 7, and realizes signal transmission.

[0065] Referring to Figures 2 to 4As shown, in some possible embodiments, the docking guide device 5 includes a tapered socket 51 and a male cone 52, which are used to guide the male cone 52 to be opposite to the tapered socket 51 through the flexible guiding device 3 during docking; there are multiple male cones 52, which are arranged at intervals on the end face of the second partition wall 72, and there are multiple tapered sockets 51, which are arranged at intervals on the end face of the first partition wall 71; the positions of the tapered sockets 51 and the male cones 52 on the first partition wall 71 and the second partition wall 72 are correspondingly arranged. During docking, the male cone 52 on the adjacent immersed tunnel segment can extend into the tapered socket 51 on another immersed tunnel segment to complete the docking.

[0066] Specifically, under the action of the ultrasonic positioning device 2 and the power propulsion device 1, after the first immersed tunnel segment 6 and the second immersed tunnel segment 7 are run to the same plane, the first partition wall 71 on the first immersed tunnel segment 6 is opposite to the second partition wall 72 on the second immersed tunnel segment 7. The docking guide device 5, under the action of the flexible guiding device 3, makes the male cone 52 on the second partition wall 72 correspond to the tapered socket 51 on the first partition wall 71 to complete the docking.

[0067] In some possible embodiments, the flexible guiding device 3 includes: a flexible spherical guide head 31, a flexible guide rod 32, and an optical fiber strain sensor 33.

[0068] One end of the flexible guide rod 32 is fixedly connected to the male cone 52; the flexible spherical guide head 31 is arranged at the end of the other end of the flexible guide rod 32 and can extend into the tapered socket 51; the optical fiber strain sensor 33 is arranged on the flexible guide rod 32 and the flexible spherical guide head 31 and is connected to the power propulsion device 1 and the numerical control electromagnetic suction device 4, and is used to feedback the signal of contacting the inner wall of the tapered socket 51 during docking.

[0069] In the above embodiment, before the docking is completed, after the male cone 52 on the second partition wall 72 corresponds to the tapered socket 51 on the first partition wall 71, the flexible guide rod 32 and the flexible spherical guide head 31 provided on the male cone 52 are used as the optical fiber strain sensor 33 to obtain whether the flexible spherical guide head 31 is inserted into the tapered socket 51, and feedback it to the power propulsion device 1 and the numerical control electromagnetic suction device 4 to control the propulsion direction and speed of the power propulsion device 1 and the magnitude of the electromagnetic suction force, further improving the accuracy of docking.

[0070] Refer to Figure 2As shown, in some specific embodiments, the flexible spherical seeker 31 has a hemispherical structure; the optical fiber strain sensor 33 includes a first optical fiber strain sensor and a second optical fiber strain sensor. There are multiple first optical fiber strain sensors, which are evenly arranged on the flexible spherical seeker 31; the second optical fiber strain sensor is arranged on the flexible guide rod 32. The arrangement direction of the second optical fiber strain sensor is parallel to the flexible guide rod 32 and is evenly arranged along the cross-sectional direction of the flexible guide rod 32; the length of the second optical fiber strain sensor is the same as the length of the flexible guide rod 32.

[0071] Among them, the second optical fiber flexible strain sensor is attached to the flexible guide rod 32 along the length direction of the flexible guide rod 32. In some possible embodiments, the numerically controlled electromagnetic suction device 4 includes an electromagnetic suction positive electrode 41, an electromagnetic suction negative electrode 42, and a numerical control device.

[0072] The electromagnetic suction positive electrode 41 is arranged on the first partition wall 71; the electromagnetic suction negative electrode 42 is arranged on the second partition wall 72; the positions of the electromagnetic suction positive electrode 41 and the electromagnetic suction negative electrode 42 on the first partition wall 71 and the second partition wall 72 are the same. During docking, the first partition wall 71 and the second partition wall 72 on adjacent immersed tunnel segments are opposite to each other, and the electromagnetic suction positive electrode 41 and the electromagnetic suction negative electrode 42 correspond to each other; the numerical control device is arranged on the second partition wall 72 and is connected to the electromagnetic suction positive electrode 41 and the electromagnetic suction positive electrode 41 to control the electromagnetic suction during the docking process.

[0073] During the docking process, through the signals of the optical fiber strain sensor 33, the numerical control device on the numerically controlled electromagnetic suction device 4 controls the magnetic suction between the electromagnetic suction positive electrode 41 and the electromagnetic suction negative electrode 42 during the docking process, avoiding damage caused by excessive magnetic suction and too fast docking, and improving the service life and docking accuracy.

[0074] Refer to Figures 3 to 4 As shown, in some specific embodiments, the electromagnetic suction positive electrode 41 is flush with the end face of the first partition wall 71 on the first partition wall 71; the electromagnetic suction negative electrode 42 is flush with the end face of the second partition wall 72 on the second partition wall 72; the electromagnetic suction positive electrode 41 is located between adjacent tapered sockets 51, and the electromagnetic suction negative electrode 42 is located between adjacent male cones 52.

[0075] Among them, the number of male cones 52 is the same as the number of tapered sockets 51; the number of electromagnetic suction positive electrodes 41 is the same as the number of electromagnetic suction negative electrodes 42.

[0076] By correspondingly arranging the positions of the electromagnetic suction positive electrode 41 and the electromagnetic suction negative electrode 42, magnetic attraction disorder during the docking process is avoided, resulting in inaccurate docking.

[0077] Refer to Figure 5As shown in the figure, in the second aspect of the present application, a method for the flexible guiding and numerically controlled electromagnetic suction docking system of a immersed tube tunnel is provided. The flexible guiding and numerically controlled electromagnetic suction docking system of the immersed tube tunnel is adopted, including: obtaining the position of the determined immersed tube tunnel segment, and controlling the to-be-docked immersed tube tunnel segment to approach the position where the determined immersed tube tunnel segment is located.

[0078] The relative position relationship between the determined immersed tube tunnel segment and the to-be-docked immersed tube tunnel segment is received by the ultrasonic positioning device 2 and fed back to the first control system 11 of the power propulsion device 1.

[0079] The first control system 11 of the power propulsion device 1 controls the power thruster 12 to propel the to-be-docked immersed tube tunnel segment at a certain speed and direction according to the feedback signal of the ultrasonic positioning device 2. During the propulsion process, the ultrasonic positioning device 2 continuously updates and feeds back the relative position relationship between the determined immersed tube tunnel segment and the to-be-docked immersed tube tunnel segment to the power propulsion device 1.

[0080] The power propulsion device 1 continuously adjusts the propulsion speed and propulsion direction of the power thruster 12 according to the feedback signal of the ultrasonic positioning device 2 until the feedback data of the fiber optic strain sensor 33 on the flexible spherical guide head 31 is received.

[0081] The power propulsion device 1 and the numerically controlled electromagnetic suction device 4, according to the feedback signals of the ultrasonic positioning device 2 and the flexible guiding device 3, jointly control the power thruster 12 to adjust the propulsion direction and propulsion speed and control the numerically controlled electromagnetic suction device 4 to adjust the suction force magnitude.

[0082] Based on the data of the fiber optic strain sensor 33 in the flexible guiding device 3, the plug cone 52 of the docking guide device 5 is controlled to correspond to the tapered socket 51 of the determined immersed tube tunnel segment, and the docking is completed.

[0083] In the present application, after the docking is completed, the power propulsion device 1, the ultrasonic positioning device 2, the flexible guiding device 3, the numerically controlled electromagnetic suction device 4, and the docking guide device 5 are removed and reused.

[0084] The specific embodiments of the present application have been described above. It should be understood that the present application is not limited to the above specific implementation manners. Those skilled in the art can make various deformations or modifications within the scope of the claims, which do not affect the essence of the present application. The above preferred features can be combined arbitrarily without conflict.

Claims

1. A flexible guided numerically controlled electromagnetic suction docking system for an immersed tube tunnel, characterized in that: include: Power propulsion device, used to adjust the propulsion direction and speed of the immersed tunnel segments to be connected; An ultrasonic positioning device, used for receiving the relative position of the immersed tunnel pipe segment to be docked, and feeding back the relative position to the power propulsion device; A numerically controlled electromagnetic suction device, used to control the electromagnetic suction during the process of docking the immersed tunnel pipe segments to be docked; A flexible guiding device, connected to the power propulsion device and the digitally controlled electromagnetic suction device, used to adjust the orientation of the immersed tunnel pipe segments to be docked during the docking process, and to feed back signals to the power propulsion device and the digitally controlled electromagnetic suction device; The docking guide device is used to guide the immersed tube tunnel pipe segments to be docked.

2. According to claim 1, a flexible guided numerically controlled electromagnetic suction docking system for an immersed tube tunnel is characterized in that: The power propulsion device includes a first control system and a power propeller; The first control system receives the positioning information received by the ultrasonic positioning device, and controls the power propeller to adjust the propulsion direction and speed of the immersed tube tunnel segment to be docked; The immersed tube tunnel section is a hollow structure, with a first partition wall and a second partition wall respectively disposed at both ends; The power thrusters are arranged on the end faces of the immersed tube tunnel segments and are spaced apart along the circumference of the first partition wall; The first control system is arranged inside the wall of the second partition wall.

3. According to claim 2, a flexible guided numerically controlled electromagnetic suction docking system for immersed tube tunnels is characterized in that: The ultrasonic positioning device comprises: an ultrasonic transmitter and an ultrasonic receiver; The ultrasonic transmitters are provided in plurality and are arranged at intervals on the outer peripheral wall at one end of the immersed tube tunnel segment and located at one end of the first partition wall; The ultrasonic receivers are provided in plurality and are arranged at intervals on the outer peripheral wall at the other end of the immersed tube tunnel segment and located at one end of the second partition wall; and are used to receive the relative position relationship between two adjacent immersed tube tunnel segments when two immersed tube tunnel segments are docked, and to feed back to the first control system of the power propulsion device; The number of the ultrasonic transmitters is the same as the number of the ultrasonic receivers.

4. The immersed tube tunnel flexible guided numerically controlled electromagnetic suction docking system according to claim 2 is characterized in that: The docking guide device comprises a tapered socket and an insert cone, and is used to guide the insert cone to be opposite to the tapered socket through the flexible guide device during docking; There are a plurality of insert cones, which are arranged at intervals on the end surface of the second partition wall; there are a plurality of conical sockets, which are arranged at intervals on the end surface of the first partition wall; The conical socket and the insert cone are arranged corresponding to the positions on the first partition wall and the second partition wall. During docking, the insert cone on the adjacent immersed tube tunnel segment can extend into the conical socket on another immersed tube tunnel segment to complete the docking.

5. The immersed tunnel flexible guided numerically controlled electromagnetic suction docking system according to claim 4 is characterized in that: The flexible guiding device comprises: a flexible spherical guide head, a flexible guiding rod and an optical fiber strain sensor; One end of the flexible guide rod is fixedly connected to the insert cone; The flexible spherical guide head is arranged at the end of the other end of the flexible guide rod and can extend into the conical socket; The optical fiber strain sensor is arranged on the flexible guide rod and the flexible spherical guide head, connected to the power propulsion device and the numerically controlled electromagnetic suction device, and is used to feedback the signal of contact with the inner wall of the conical socket during docking.

6. The immersed tube tunnel flexible guided numerically controlled electromagnetic suction docking system according to claim 5 is characterized in that: The flexible spherical seeker is a hemispherical structure; The optical fiber strain sensor comprises a first optical fiber strain sensor and a second optical fiber strain sensor, wherein the first optical fiber strain sensor has a plurality of strips and is evenly arranged on the flexible spherical guide head; The second optical fiber strain sensors have a plurality of strips, which are evenly spaced and arranged on the outer peripheral wall of the flexible guide rod along the length direction of the flexible guide rod; The length of the second optical fiber strain sensor is the same as the length of the flexible guide rod.

7. The immersed tube tunnel flexible guided numerically controlled electromagnetic suction docking system according to claim 5 is characterized in that: The numerically controlled electromagnetic suction device comprises an electromagnetic suction positive electrode, an electromagnetic suction negative electrode and a numerically controlled device; The positive electrode of the electromagnetic attraction force is arranged on the first partition wall; the negative electrode of the electromagnetic attraction force is arranged on the second partition wall; The positive pole of the electromagnetic attraction and the negative pole of the electromagnetic attraction are located at the same position on the first partition wall and the second partition wall. When docking, the first partition wall and the second partition wall on adjacent immersed tube tunnel sections are opposite, and the positive pole of the electromagnetic attraction corresponds to the negative pole of the electromagnetic attraction; The numerical control device is arranged on the second partition wall, connected to the positive electrode of the electromagnetic attraction force and the positive electrode of the electromagnetic attraction force, and controls the electromagnetic attraction force during the docking process.

8. The immersed tunnel flexible guided numerically controlled electromagnetic suction docking system according to claim 7 is characterized in that: The positive electrode of the electromagnetic attraction force is flush with the end surface of the first partition wall on the first partition wall; The negative electrode of the electromagnetic attraction is flush with the end surface of the second partition wall on the second partition wall; The positive pole of the electromagnetic attraction force is located between adjacent conical sockets, and the positive pole of the electromagnetic attraction force is located between adjacent insert cones.

9. The immersed tunnel flexible guided numerically controlled electromagnetic suction docking system according to claim 7, characterized in that: The number of the insert cones is the same as that of the conical sockets; the number of the positive poles of the electromagnetic attraction is the same as that of the negative poles of the electromagnetic attraction.

10. A method for connecting an immersed tube tunnel with a flexible guided digital controlled electromagnetic suction force, using the immersed tube tunnel with a flexible guided digital controlled electromagnetic suction force connection system according to any one of claims 1 to 9, characterized in that: include: Acquiring the position of the determined immersed tube tunnel pipe segment, and controlling the immersed tube tunnel pipe segment to be connected to approach the position of the determined immersed tube tunnel pipe segment; Relative position information of the determined immersed tube tunnel segment and the immersed tube tunnel segment to be connected is received through an ultrasonic positioning device, and fed back to the first control system of the power propulsion device; The first control system of the power propulsion device controls the power propeller to propel the immersed tube tunnel segment to be docked at a certain speed and direction according to the feedback signal of the ultrasonic positioning device. During the propulsion process, the ultrasonic positioning device continuously updates and feeds back the relative position relationship between the determined immersed tube tunnel segment and the immersed tube tunnel segment to be docked to the power propulsion device; The power propulsion device continuously adjusts the propulsion speed and propulsion direction of the power propeller according to the feedback signal of the ultrasonic positioning device until receiving the feedback data of the optical fiber strain sensor on the flexible spherical guide head; The power propulsion device and the digital controlled electromagnetic suction device cooperate to control the propulsion direction and propulsion speed of the power propeller and the digital controlled electromagnetic suction device to adjust the suction force according to the feedback signals of the ultrasonic positioning device and the flexible guiding device; The data of the optical fiber strain sensor in the flexible guiding device is used to control the inserting cone of the docking guide device to correspond to the conical socket of the determined immersed tube tunnel pipe section, and the docking is completed.

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