An underwater tunneling attitude measurement and control method and system for a caisson-type shaft tunneling machine

Abstract

The present invention discloses a method and system for underwater tunneling posture measurement and control of a caisson-type vertical shaft tunneling machine. Before installing the caisson-type vertical shaft tunneling machine, a pipeline rack and at least three recovery winch systems are installed to suspend the tunneling machine. A posture measurement and control component of the caisson-type vertical shaft tunneling machine is installed accordingly, and a warning value is set. The tunneling machine posture measurement and control component includes a pull-rope displacement sensor, an accelerometer, a gyroscope, and a controller. During posture measurement and parameter calculation, coordinate correction after tunneling motion state data of the tunneling machine is taken into account, and the accelerometer and gyroscope data are integrated to correct the tunneling posture of the caisson-type vertical shaft tunneling machine. The present invention can realize automated measurement of the caisson-type vertical shaft tunneling machine under undrained conditions, achieve real-time deviation correction, and improve tunneling accuracy. This ensures the authenticity and reliability of the tunneling direction of the caisson-type vertical shaft tunneling machine, facilitates real-time deviation correction, and improves tunneling accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of caisson construction, and in particular to a method and system for measuring and controlling the underwater excavation posture of a caisson-type vertical shaft boring machine. Background Art

[0002] With the large-scale development and utilization of underground space, the demand for the construction of vertical shafts, which are key channels connecting the underground and the ground, is increasing. Traditional vertical shaft construction techniques such as underground continuous walls and pile foundations are restricted by the site and environmental protection level, and their limitations are becoming increasingly prominent. With the development of mechanized vertical shaft construction technology, mechanical caisson methods have gradually emerged and been applied. This method innovatively adopts undrained excavation technology in the well, which can not only significantly reduce the cost of the enclosure structure, but also effectively reduce the impact on the surrounding environment, injecting new vitality into vertical shaft construction.

[0003] During the mechanical excavation of caissons, undrained excavation is particularly important for the construction of large-diameter and deep vertical shafts. However, this type of construction environment is often relatively harsh, involving excavation and sinking under mud, and requires extremely high deflection accuracy of the formed wellbore.

[0004] Currently, in terms of undrained caisson sinking posture control technology, due to the operating environment being underwater in muddy water, conventional total stations, camera visual measurement and other methods are difficult to directly locate and measure the posture of the tunnel boring machine. Existing technologies (such as the existing patents with publication numbers CN113981981A and CN113982601 B) mostly rely on guide tubes laid inside the wellbore to measure the wellbore posture using dynamic inclinometers or lasers, and rely on manual experience to evaluate the tunnel boring machine posture. As the depth of the vertical shaft excavation increases, the sealing and connectivity of the guide tubes are easily disturbed. This method of relying on manual evaluation of the tunnel boring machine posture is not only labor-intensive but also relatively low in accuracy.

[0005] In addition, although the existing technology (for example, the existing patent with announcement number 118933791A) provides a guidance method and system for measuring a vertical shaft tunneling machine, which uses a rope sensor to connect the tail of the tunneling machine with the measurement base point, calculates the position of the tunneling machine by measuring the rope length and the base point coordinates, and uses an inclinometer to calculate the tunneling machine posture parameters, the sensor still has technical problems such as being susceptible to mud erosion and signal transmission interference in the harsh mud underwater environment. In addition, only three rope sensors are provided. If the rope sensors are stuck, the posture measurement of all tunneling machines will fail, and there is a lack of redundant design and verification. The influence of the axis rotation of the tunneling machine on the rope sensors during the milling process is ignored. At the same time, the tunneling machine is in a dynamic motion state during the construction process, and its position and posture are constantly changing. The rope measurement method has a certain lag, making it difficult to track the rapid changes of the tunneling machine in a timely manner. As a result, the existing underwater tunneling posture measurement and control method of the caisson-type vertical shaft tunneling machine is difficult to meet the requirements of large-diameter and large-depth mechanical caisson construction projects.

[0006] To this end, this application specifically proposes a method and system for underwater excavation posture measurement and control of a caisson-type shaft boring machine, which can realize automatic measurement of the caisson-type shaft boring machine under undrainage conditions, achieve real-time correction and improve excavation accuracy to solve the above-mentioned technical problems. Summary of the Invention

[0007] The main purpose of the present invention is to provide a method and system for measuring and controlling the underwater excavation posture of a caisson-type shaft boring machine, which can realize automatic measurement of the caisson-type shaft boring machine under undrainage conditions, achieve real-time correction and improve excavation accuracy, so as to solve the technical problems raised in the background technology.

[0008] The present invention adopts the following technical solutions to solve the above technical problems:

[0009] A method for measuring and controlling the underwater excavation posture of a caisson-type shaft boring machine comprises: pre-excavating and pre-installing a boring platform, installing the caisson-type shaft boring machine, constructing a posture measurement and control coordinate system based on a horizontal plane and a vertical axis, determining the coordinate origin and the direction of the coordinate axis, and then starting the caisson excavation and excavation. During the excavation process, posture measurement and parameter calculation operations are performed, and corresponding posture control is performed. The method is characterized by further comprising:

[0010] Before installing the caisson-type shaft boring machine, install a pipeline rack and at least three sets of recovery winch systems for suspending the boring machine, and correspondingly install the posture measurement and control component of the caisson boring machine, and set the warning value. The posture measurement and control component of the boring machine includes a rope displacement sensor, an accelerometer, a gyroscope and a controller;

[0011] During the posture measurement and parameter calculation operations, the coordinate correction after the tunneling motion state data of the tunneling machine is taken into consideration, and the tunneling posture of the caisson-type shaft tunneling machine is corrected by fusing the accelerometer and gyroscope data.

[0012] Preferably, the posture measurement and parameter calculation operations include:

[0013] Based on the posture measurement and control coordinate system, monitor and obtain the coordinates of the suspension base points of any three groups of the recovery winch system and pipeline rack, with A coordinates , B coordinate , C coordinate , D coordinate And the initial calibration of the length of the 4 pull rope displacement sensors ;

[0014] The coordinates of the tail center point T of the main engine of the caisson shaft boring machine are obtained by calculating the coordinates of any three suspension points and the lengths of their corresponding rope displacement sensors. , and use the coordinates of another suspension point and its corresponding length of the rope displacement sensor to verify the calculation results, and establish (determine) the verification and verification conditions;

[0015] Calculate the center point of the cutterhead of the caisson shaft boring machine Coordinates, obtain the milling working depth of the caisson shaft boring machine ;

[0016] During the milling and excavation process of the tunnel boring machine, the coordinates of each suspension base point are compared with the original calibration coordinate data, the tunneling posture parameters are calculated, and the tunneling posture deviation is evaluated. The center coordinates of the cutterhead and the main engine tail of the caisson-type vertical shaft tunnel boring machine are compared with the center coordinates of the design axis. The deviation value obtained is the tunneling posture deviation, which includes the coordinate deviation in the plane direction and the cutterhead posture error.

[0017] Preferably, the method for calculating and obtaining the T coordinate includes:

[0018] The straight-line distance equations of AT, BT and CT are constructed as follows:

[0019]

[0020] in, They are the corresponding steel wire elongations of the three pull-rope displacement sensors that were calibrated at the outset. After solving the elimination calculation, we can get the Minimum value, bring back to the equation system, we get and The specific value of is used to preliminarily obtain the T coordinate of the tail center point of the main engine of the caisson shaft boring machine. The coordinate of another suspension point and its corresponding length of the pull rope displacement sensor are used to verify the calculation results, and the verification and verification conditions are established:

[0021] Monitor and obtain the D coordinate of another suspension base point The coordinate T of the tail center point of the main engine of the caisson shaft boring machine is obtained by calculation and D coordinates , calculate the elongation of the rope at the suspension base point, and the following conditional formula exists:

[0022]

[0023] in, The length of the rope for the initial calibration D coordinate suspension base point, It is the extension of the rope at the D coordinate suspension base point.

[0024] Preferably, the specific correction process for correcting the excavation posture of the caisson-type shaft boring machine includes:

[0025] (1) Gyroscope rotation correction:

[0026] The rotation angle of the caisson shaft boring machine around the coordinate X axis obtained by the gyroscope monitoring is set as , the rotation angle around the Y axis is set to , the rotation angle around the coordinate Z axis is set to , respectively calculate the rotation matrix around the coordinate X axis , Rotation matrix around the Y axis and the rotation matrix around the coordinate Z axis , the T coordinate correction value of the center point considering the rotation can be obtained by calculating the total rotation matrix:

[0027]

[0028] in, 、 、 is the T coordinate correction value;

[0029] (2) Acceleration translation correction:

[0030] In the time period arrive In the said caisson type shaft boring machine Acceleration in the direction of the coordinate axis Integrate and gain speed ,have:

[0031]

[0032] Where, is the initial velocity;

[0033] Then adjust the speed Points can be obtained from the tunnel boring machine Displacement along the coordinate axis ,have:

[0034]

[0035] Where, is the initial displacement;

[0036] Then we can get the acceleration translation correction values on the X-axis, Y-axis and Z-axis. 、 、 ;

[0037] (3) Corrected coordinate calculation:

[0038] The final coordinate value of the center point T of the main tail of the caisson shaft boring machine after rotation and translation correction is calculated as follows:

[0039]

[0040] in, is the final value of the T coordinate.

[0041] Preferably, the method for calculating the tunneling posture deviation includes:

[0042] Calculate the cutterhead center point exist Coordinates in the direction of the coordinate axis ,have:

[0043]

[0044] in is the design height of the caisson shaft boring machine;

[0045] Calculate the milling working depth of the caisson shaft boring machine ,have:

[0046]

[0047] in, is the vertical distance between the tail end of the milling arm of the caisson shaft boring machine and the excavation surface;

[0048] (1) The final value of the center point T coordinate after correction of the main tail of the caisson shaft boring machine and the center coordinates of the caisson well opening design By comparison, the attitude deviation between the tail center of the main caisson tunnel boring machine and the caisson design axis in the X and Y directions can be obtained. 、 ;

[0049] (2) The center point of the cutter head of the caisson shaft boring machine coordinate and the center coordinates of the caisson well opening design By comparison, the attitude deviation between the cutter head center of the caisson shaft boring machine and the caisson design axis in the X and Y directions can be obtained. 、 .

[0050] A caisson-type shaft boring machine underwater excavation posture measurement and control system, used to execute any of the above-mentioned caisson-type shaft boring machine underwater excavation posture measurement and control methods, comprising a caisson segment, a caisson-type shaft boring machine, a recovery winch system, a pipeline rack, a boring machine posture measurement and control component, and a boring machine posture control component, wherein:

[0051] The recovery winch system is used to lift or lower the caisson-type shaft boring machine;

[0052] The pipeline rack is used for pipeline transportation of the caisson-type shaft boring machine;

[0053] The roadheader posture measurement and control component includes a rope displacement sensor, an accelerometer, a gyroscope and a controller;

[0054] The recovery hoisting system and the pipeline rack are arranged on the ground around the designed position of the caisson segment, and the recovery hoisting system is distributed in a ring shape at equal intervals around the caisson segment.

[0055] Preferably, the recovery winch system consists of a mounting base, a recovery winch frame, an upper crossbeam, a winch trolley, a steel wire rope for suspending the tunnel boring machine, and a pulley block;

[0056] During the excavation process of the caisson shaft boring machine, the caisson segments are lowered synchronously, and the recovery winch system adopts follow-up control;

[0057] During the process of the caisson-type shaft boring machine being lifted out of the well or re-entering the well, the recovery winch system adopts active control;

[0058] During the lowering or lifting process of the caisson-type shaft boring machine, the pipeline rack is lowered or lifted accordingly.

[0059] Preferably, the upper crossbeam of the recovery hoisting system and the pipeline rack are both equipped with fixed pulleys as fixed suspension base points for suspending the pull rope displacement sensor;

[0060] The lower part of the pull rope displacement sensor is fixed to the tail center of the main body of the caisson shaft boring machine through a steel wire rotary joint;

[0061] The interior of the steel wire rotary joint is provided with a rotating shaft, which is used to rotate around the shaft when subjected to a circumferential force;

[0062] The rope displacement sensor is configured as a distance measuring sensor for measuring the distance from the fixed suspension base point to the center of the tail of the main body of the caisson-type shaft boring machine, and an optical fiber sensor or a micro strain gauge is embedded in the rope of the rope displacement sensor to monitor the force and strain changes of the rope.

[0063] Preferably, the gyroscope is installed inside the tail of the main engine of the caisson-type shaft boring machine, and is used to measure the angular velocity of the caisson-type shaft boring machine around the X, Y, and Z axes in real time, and calculate the main engine yaw angle using the quaternion method. α , pitch angle β and roll angle θ ;

[0064] The XY plane of the coordinate system of the gyroscope is parallel to the horizontal reference plane of the tail of the caisson type shaft boring machine, and the Z axis is consistent with the vertical center axis of the caisson type shaft boring machine.

[0065] Preferably, the accelerometer is installed inside the tail of the main engine of the caisson-type shaft boring machine, and is used to measure the acceleration components of the caisson-type shaft boring machine in the axial directions of the X, Y and Z axes;

[0066] The XY plane of the coordinate system of the accelerometer is parallel to the horizontal reference plane of the tail of the caisson type shaft boring machine, and the Z axis is parallel to the vertical center axis of the caisson type shaft boring machine.

[0067] As can be seen from the above technical solutions, the present invention provides a method and system for measuring and controlling the underwater excavation posture of a caisson-type shaft boring machine. Compared with the existing technology, the present invention has the following advantages:

[0068] 1. The present invention realizes ground control of the well in a mud environment based on quasi-static monitoring of a rope displacement sensor, and realizes dynamic auxiliary correction of static through dynamic monitoring of a gyroscope and an accelerometer. Ultimately, the milling and excavation posture of a caisson-type shaft boring machine in a large-diameter, large-depth, and complex mud environment can be obtained, ensuring the authenticity and reliability of the excavation direction of the caisson-type shaft boring machine, facilitating real-time deviation correction and improving excavation accuracy.

[0069] 2. The present invention automates conventional measurements by combining three-dimensional spatial modeling and spatial coordinate transformation with image processing, computer and communication technologies. This allows it to provide various posture information required for tunneling, including the plane deviation of the tunnel boring machine from the designed route, the current tunneling mileage (depth) of the tunnel boring machine, and the inclination angle of the sunken pipe section.

[0070] 3. The present invention can effectively solve the problem that conventional methods such as total station photoelectric angle measurement and ranging, camera visual measurement, etc. are difficult to achieve mechanical caisson underwater tunneling positioning measurement. It can greatly save the hardware cost of measurement equipment and ensure the measurement accuracy of the automatic guidance system of the shaft boring machine.

[0071] 4. By integrating the quasi-static monitoring of the rope sensor with the dynamic monitoring of the gyroscope and accelerometer, the present invention can obtain high-precision posture parameters of the roadheader in complex mud environments, avoiding the limitations of a single measurement method, tracking the dynamic changes of the roadheader in real time, and significantly improving measurement accuracy.

[0072] 5. Compared with the traditional rope sensor measurement method, this invention effectively avoids the risk of measurement failure due to sensor failure. It has a redundant design and verification mechanism to reduce the impact of mud erosion and signal interference on the sensor, ensuring the stable operation of the system in harsh construction environments.

[0073] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become easy to understand through the following description. Of course, it is not necessary to achieve all of the above-mentioned advantages simultaneously in order to implement any product of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0075] Figure 1 A schematic diagram of the construction and use process of the system of the present invention;

[0076] Figure 2 Schematic diagram of the calculation operation flow of the method of the present invention;

[0077] Figure 3 It is a schematic three-dimensional cross-sectional view of the underwater excavation structure of the caisson-type shaft boring machine of the present invention;

[0078] Figure 4 It is a schematic top view of the underwater excavation structure of the caisson-type shaft boring machine of the present invention;

[0079] Figure 5 It is a schematic perspective cross-sectional view of the steel wire rotary joint structure of the present invention;

[0080] Figure 6 This is a schematic diagram of the external structure of the steel wire rotary joint of the present invention;

[0081] Figure 7 It is a schematic top cross-sectional view of the steel wire rotary joint structure of the present invention. DETAILED DESCRIPTION

[0082] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. In the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0083] In the embodiment, see Figures 1 to 7 .

[0084] like Figure 1 and Figure 2 The method for measuring and controlling the underwater excavation posture of a caisson-type shaft boring machine proposed in the embodiment of the present invention includes the following steps:

[0085] Step S1: Construct a posture measurement and control coordinate system and determine the coordinate origin and coordinate axis direction;

[0086] Specifically, at this time, the center of the caisson well opening is taken as the origin (0,0,0), the direction pointing to the shield starting / receiving axis is taken as the positive direction of the X axis, the vertical upward direction is taken as the positive direction of the Z axis, and the positive direction of the Y axis is determined by the right-hand rule;

[0087] The pose measurement and control coordinate system constructed at this time is the benchmark for subsequent measurement and data processing, ensuring that all measurement data have a unified reference frame.

[0088] Step S2: Installing the ground supporting system, including the ground supporting system required for the caisson shaft boring machine excavation, including the recovery winch system and the pipeline rack;

[0089] Step S21: Initial calibration. After installing the ground supporting system, calibrate the three-dimensional coordinates of the fixed base points of the recovery winch system and the pipeline rack. Initially calibrate the three-dimensional coordinates of the four fixed suspension base points. The three-dimensional coordinates of the fixed suspension base point A are , the three-dimensional coordinates of the fixed suspension base point B are , the three-dimensional coordinates of the fixed suspension base point C are , the three-dimensional coordinates of the fixed suspension base point D are ;

[0090] Step S3: Pre-excavate and pre-assemble the tunneling platform. Before installing the caisson tunnel boring machine, it is necessary to use manual labor or an excavator to excavate a certain depth at the designed location of the caisson segments, and at the same time, 3 to 5 rings of caisson segments are suspended and assembled. After 3 to 5 rings of caisson segments are suspended and assembled, the caisson tunnel boring machine is installed and installed on the pre-assembled caisson segments.

[0091] Step S31: Installation calibration, through which the installation parameters of the caisson-type shaft boring machine are determined, including the positions of the three-leg guide and tightening systems, the center coordinates of the tail of the main engine of the caisson-type shaft boring machine, and the central axis of the caisson-type shaft boring machine;

[0092] Step S4: installing the caisson type shaft boring machine;

[0093] Step S5: Installing the posture measurement and control component: Installing the posture measurement and control component of the caisson boring machine and setting the warning value;

[0094] Step S51: Initial calibration of tunneling. After the caisson tunneling machine is installed and before tunneling, the three-dimensional coordinates of the four fixed suspension base points are initially calibrated. The three-dimensional coordinates of the fixed suspension base point A are , the three-dimensional coordinates of the fixed suspension base point B are , the three-dimensional coordinates of the fixed suspension base point C are , the three-dimensional coordinates of the fixed suspension base point D are , and at the same time, the position of the tail center of the host is determined and initial cable displacement sensor length (respectively and );

[0095] It should be noted at this point that since the first 3 to 5 rings of the caisson segments are excavated manually or by excavator, and the relevant monitoring system is not fully installed, it is easy to produce deviations in the verticality of the caisson segments or the starting position of the caisson shaft boring machine during the initial pre-excavation and pre-installation of the excavation platform, so excavation starting calibration is required.

[0096] Step S6: The caisson is excavated;

[0097] Step S7: automatic posture measurement and parameter calculation;

[0098] In mechanical caisson projects, the posture monitoring of the caisson tunnel boring machine is the key to ensuring construction accuracy and quality. It mainly relies on parameters such as position, angle and depth. They reflect the status of the tunnel boring machine from different dimensions and provide a basis for monitoring and control.

[0099] Therefore, at this time, the posture parameters of the caisson tunnel boring machine are determined according to the posture measurement and control components built. The posture of the tunnel boring machine is monitored by the posture parameters of the caisson tunnel boring machine, such as the position parameters and posture parameters. The position parameters of the caisson tunnel boring machine include the T coordinate of the center point of the tail of the main body of the caisson tunnel boring machine. , the center point of the cutterhead of the caisson shaft boring machine coordinate and the milling working depth H of the caisson shaft boring machine; the attitude parameters of the caisson shaft boring machine include the attitude deviation of the caisson shaft boring machine cutter head center in the XY direction, the attitude deviation of the main engine tail center in the XY direction, and the attitude angle of the caisson shaft boring machine (yaw angle α, pitch angle β and roll angle θ);

[0100] After that, it is necessary to compare with the calibration phase of steps S21, S31 and S51 to evaluate the excavation posture deviation. The center coordinates of the cutterhead and main engine tail of the caisson shaft boring machine are compared with the center coordinates of the design axis. The deviation value obtained is the excavation posture deviation, including the coordinate deviation in the X and Y directions and the cutterhead posture error calculated from them.

[0101] Specifically, as the caisson shaft boring machine sinks, the coordinates of the suspension base point A are obtained through real-time monitoring. , B coordinate and C coordinates and the corresponding elongation of the three pull rope displacement sensors (respectively ), calculate the T coordinate of the tail center point of the main engine of the caisson shaft boring machine through the following calculation process ,refer to Figure 2 ,have:

[0102] (a) Initial coordinate calculation based on the pull-wire sensor data

[0103] Construct the distance equations, and construct the straight-line distance equations of AT, BT, and CT as follows:

[0104]

[0105] in, They are the corresponding steel wire elongations of the three pull-rope displacement sensors that were calibrated at the outset. After solving the elimination calculation, we can get the Minimum value, bring back to the equation system, we get and The specific value of is used to preliminarily obtain the T coordinate of the center point of the tail of the main engine of the caisson shaft boring machine, which is used to obtain another set of setting conditions for the recovery winch system and the pipeline rack, which are:

[0106] Monitor and obtain the D coordinate of another suspension base point , the T coordinate of the center point of the tail of the main body of the caisson shaft boring machine is obtained by calculation and D coordinates , calculate the elongation of the rope at the suspension base point, and the following conditional formula exists:

[0107]

[0108] in, The length of the rope for the initial calibration D coordinate suspension base point, It is the extension of the rope at the D coordinate suspension base point.

[0109] (b) Coordinate correction after considering the motion state data. The accelerometer and gyroscope data are integrated to correct the tunneling posture of the caisson shaft boring machine.

[0110] When the accelerometer and gyroscope data show that the tunnel boring machine has displaced and rotated in a certain direction, the coordinates of the shield tail hanging point are calculated by taking into account the impact of these changes on the length and direction of the rope and correcting the original calculation results, so that the coordinates of the shield tail hanging point can be calculated more accurately.

[0111] Specifically, during the continuous measurement process, newly acquired data from the accelerometer, gyroscope, and cable sensor is continuously used to calculate the coordinates of the shield tail suspension point. The coordinate results obtained from each calculation are compared and analyzed with the previous results. If the coordinate changes are abnormal, exceeding the reasonable error range, it can be determined that there may be errors in the measurement process. By analyzing the accelerometer and gyroscope data, it can be determined whether the measurement error is caused by a sudden change in the motion state of the tunnel boring machine or a sensor failure. If the motion state is a sudden change, the motion model parameters are readjusted and the calculation is performed. If the sensor failure is the cause, an alarm is promptly issued and appropriate measures are taken, such as switching to a backup sensor or repairing the faulty sensor, to ensure the accuracy of the measurement results.

[0112] include:

[0113] (1) Gyroscope rotation correction:

[0114] The rotation angle of the caisson shaft boring machine around the coordinate X axis obtained by gyroscope monitoring is set as , the rotation angle around the Y axis is set to , the rotation angle around the coordinate Z axis is set to , respectively calculate the rotation matrix around the coordinate X axis , Rotation matrix around the Y axis and the rotation matrix around the coordinate Z axis , the T coordinate correction value of the center point considering the rotation can be obtained by calculating the total rotation matrix:

[0115]

[0116] in, 、 、 is the T coordinate correction value;

[0117] (2) Acceleration translation correction:

[0118] If a shaft boring machine is subjected to uneven forces during its ascent or descent, an accelerometer can capture real-time changes in acceleration. When the machine accelerates downward, the acceleration in the Z-axis (usually set to the vertical direction) becomes negative and its absolute value increases. When the machine decelerates downward, the absolute value of the Z-axis acceleration decreases and may even become positive. By monitoring these acceleration changes, the force applied to the machine and changes in its motion state can be understood.

[0119] Therefore, in the time period arrive Inside, the caisson shaft boring machine Acceleration in the direction of the coordinate axis Integrate and gain speed ,have:

[0120]

[0121] Where, is the initial velocity;

[0122] Then adjust the speed Points can be obtained from the tunnel boring machine Displacement along the coordinate axis ,have:

[0123]

[0124] Where, is the initial displacement;

[0125] Then we can get the acceleration translation correction values on the X-axis, Y-axis and Z-axis. 、 、 ;

[0126] (3) Corrected coordinate calculation:

[0127] The final coordinate value of the center point T of the main tail of the caisson shaft boring machine after rotation and translation correction is calculated as follows:

[0128]

[0129] in, is the final value of the T coordinate.

[0130] (c) Calculation of the XY orientation deviation of the tail center of the main engine

[0131] The final value of the center point T coordinate after the main tail of the caisson shaft boring machine is corrected By comparing with the origin (0,0,0) of the designed center of the caisson mouth, the coordinate deviations of the tail center of the caisson-type vertical shaft tunneling machine and the designed axis of the caisson in the X and Y directions can be obtained. The coordinate deviation of the tail center of the main engine can intuitively obtain the deviation direction of the tail center of the caisson-type vertical shaft tunneling machine. The tunneling machine operator performs zero correction operations on the tunneling machine according to the deviation direction of the tail center of the main engine.

[0132] Furthermore, the final value of the center point T coordinate after the translation correction of the caisson shaft boring machine can be obtained by calculation. , the inclination angles in two directions of the horizontal reference plane of the tail of the main body of the caisson shaft boring machine α (yaw angle along the X direction α )and β (Pitch angle along the Y direction β ), the height h and radius r of the main body of the caisson shaft boring machine, calculate the center point of the cutter head of the caisson shaft boring machine through the following steps coordinate , Milling working depth of caisson shaft boring machine H , and the position deviation of the cutter head center in the XY direction are:

[0133] The calculation method of tunneling posture deviation includes:

[0134] Calculate the cutterhead center point exist Coordinates in the direction of the coordinate axis , calculated using trigonometric functions:

[0135]

[0136] in, is the design height of the caisson shaft boring machine;

[0137] Calculating the milling depth of a caisson shaft boring machine ,have:

[0138]

[0139] in, It is the vertical distance between the tail end of the milling arm of the caisson shaft boring machine and the excavation surface;

[0140] At this time, the center point of the cutter head of the caisson shaft boring machine is obtained by calculation coordinate By comparing the coordinates of the cutterhead center of the caisson wellhead with the origin (0,0,0) as the design center, the X and Y coordinate deviations between the cutterhead center and the caisson design axis can be obtained. The cutterhead center coordinate deviation can be used to intuitively obtain the direction of the cutterhead center deviation of the caisson shaft boring machine. The boring machine operator can perform zeroing and deviation correction operations on the boring machine based on the direction of the cutterhead center deviation.

[0141] Step S8: posture control;

[0142] The obtained caisson-type shaft tunnel boring machine posture parameter data is intuitively displayed on the industrial computer display interface. The tunnel boring machine operator performs correction operations on the tunnel boring machine according to the caisson-type shaft tunnel boring machine posture deviation value, and controls the tunnel boring machine's posture to meet the design requirements.

[0143] On the other hand, Figure 3 As shown, the present invention further discloses a caisson type vertical shaft tunneling machine underwater excavation posture measurement and control system, which is used to execute the caisson type vertical shaft tunneling machine underwater excavation posture measurement and control method in the above embodiment, including a caisson segment, a caisson type vertical shaft tunneling machine, a recovery winch system, a pipeline rack, a tunneling machine posture measurement and control component, and a tunneling machine posture control component, wherein:

[0144] Caisson segments are fabricated segments;

[0145] The caisson shaft boring machine is used for underwater excavation of mechanical caissons;

[0146] The recovery winch system is used to raise / lower the caisson shaft boring machine;

[0147] The pipeline rack is used for pipeline transportation of caisson shaft boring machine;

[0148] The roadheader posture measurement and control components include a rope displacement sensor, accelerometer, gyroscope, and controller;

[0149] The caisson posture control component includes a puller.

[0150] Furthermore, the prefabricated pipe segment includes a multi-ring structure, and each ring of prefabricated pipe segments is composed of 6 completely identical prefabricated pipe segment blocks.

[0151] The central angle of each prefabricated segment is 60°.

[0152] The ring width of the prefabricated segment blocks is 1000-1500mm, no wedge is set on the ring surface, and the lining ring is assembled with staggered joints, with a staggered angle of 20°.

[0153] The assembled pipe segments are connected by bolts from bottom to top.

[0154] Furthermore, the caisson shaft boring machine also includes three outrigger guide and tightening systems;

[0155] The caisson-type shaft boring machine is fixed to the inner wall of the caisson segment through the support leg guide and tightening system. The caisson segment bears the reaction force and counter torque of the caisson-type shaft boring machine milling and breaking the rock.

[0156] The downward end of the caisson shaft boring machine is the main engine head, and the upward end is the main engine tail.

[0157] For further reference, Figure 3 and Figure 4 The recovery winch system and pipeline rack are arranged on the ground around the designed position of the caisson segments. There are 3 recovery winch systems and 1 pipeline rack.

[0158] The number of recovery winch systems and outrigger guide and tightening systems is the same, and they are arranged at equal intervals on the ground around the prefabricated pipe segment. The plane formed by the central axis of each recovery winch system and the vertical line of the outrigger guide and tightening system passes through the design central axis of the prefabricated pipe segment.

[0159] The recovery winch system mainly consists of an installation base, a recovery winch frame, an upper crossbeam, a winch trolley, a wire rope, a pulley block, etc.

[0160] When the caisson shaft boring machine is excavating normally underground and lowering the caisson segments together, the recovery winch system adopts follow-up control; when the caisson shaft boring machine needs to be lifted out of the well and re-entered the well, the recovery winch system adopts active control;

[0161] When the caisson shaft boring machine is lowered or raised, the pipeline rack is lowered or raised accordingly.

[0162] Furthermore, a fixed pulley is installed on the upper crossbeam of each of the three recovery winches on the ground as a fixed suspension base point for suspending the pull rope displacement sensor, namely fixed suspension base point A, fixed suspension base point B and fixed suspension base point C. A fixed pulley is also installed on the pipeline rack as a fixed suspension base point D for suspending the pull rope displacement sensor.

[0163] The pull-rope displacement sensor includes four pieces, which are suspended at four fixed suspension base points respectively.

[0164] It should be noted that three cable-stayed displacement sensors are used to calculate the coordinates of the main machine's tail center, while one is used for calibration and backup. This prevents a cable-stayed displacement sensor from breaking during tunnel boring machine operation, potentially causing the entire measurement and control system to fail. The prior art (previously cited patent publication number 118933791A) only uses three cable-stayed displacement sensors. A failure in any of these sensors could affect measurement results. By adding redundant sensors, such as four or five, the system can automatically switch to functioning sensors if one or more sensors fail, utilizing redundant data for calculations and ensuring measurement continuity and accuracy. Furthermore, redundant sensor data can be used for cross-validation, improving measurement accuracy. The calculation of the shield tail suspension point coordinates relies solely on cable-stayed sensor data, resulting in a single piece of information. Therefore, this application integrates data from other sensors, such as accelerometers and gyroscopes, to obtain information about the tunnel boring machine's motion status. This combined data allows for more accurate calculation of the shield tail suspension point coordinates, improving measurement accuracy. It also enables real-time verification of measurement results, enabling timely detection and correction of errors.

[0165] The lower part of the pull rope displacement sensor is fixed to the tail center of the main engine of the caisson shaft boring machine. A steel wire rotary joint is installed at the tail center of the main engine of the caisson shaft boring machine. Figure 5 、 Figure 6 and Figure 7 As shown, the steel wire rotary joint includes four rope threading holes, and the center spacing angle of the four rope threading holes is the same as the layout angle of the three recovery winch systems and the pipeline rack; a rotating shaft is provided inside the steel wire rotary joint, which rotates around the shaft when subjected to circumferential force, and a set of bearings is provided at its lower end as the joint base. The outer side of the bearing is fixed to the center of the tail of the main body of the caisson-type shaft boring machine through a threaded rod. In addition, a fixed column is provided on the rotating shaft for plugging and fixing it inside the steel wire rotary joint.

[0166] The wire rotary joint here is used to ensure that the force direction of the rope displacement sensor passes through the tail center of the caisson shaft boring machine main body at any time, avoiding the length deviation of the rope displacement sensor caused by the rotation of the caisson pipe segment or the caisson shaft boring machine around the Z axis.

[0167] The diameter of the pull rope displacement sensor is not less than 2mm, the basic tension is not less than 50N, the deformation error is ≤0.05%, and the elongation of each pull rope displacement sensor can be read. and .

[0168] The draw-wire displacement sensor here preferably uses a high-strength, corrosion-resistant new material, such as a carbon fiber reinforced composite drawwire. Its high strength and light weight reduce the effect of gravity on measurements. Its excellent corrosion resistance makes it adaptable to harsh underwater environments, reduces maintenance costs, and improves long-term measurement stability. This avoids the corrosion and wear that can occur with traditional drawwires during long-term use underwater (in mud), which can affect measurement accuracy and service life.

[0169] The cable-stayed displacement sensor is a distance measurement sensor that measures the distance from a fixed suspension base point (A, B, C, D) to the center of the tail of a caisson-type shaft boring machine in real time. The cable-stayed displacement sensor utilizes high-strength, corrosion-resistant carbon fiber reinforced composite material and is embedded with fiber optic sensors or micro strain gauges to monitor the cable's stress and strain in real time. These built-in sensors provide timely feedback when the cable is subjected to abnormal tension or deformation, preventing measurement errors caused by cable damage. Optimizing the cable's surface structure, such as using a smooth coating or special texture, reduces water resistance and friction, improving measurement accuracy.

[0170] In addition, it can be further explained that the gyroscope is installed at the inner center of the tail of the main body of the caisson-type shaft boring machine, and is used to measure the angular velocity of the caisson-type shaft boring machine around three axes (X, Y, and Z axes) in real time. By integrating the angular velocity, the angular displacement of the caisson-type shaft boring machine can be obtained. The angular velocity and angular displacement data measured by the gyroscope are used, and the quaternion method is used to calculate the main body yaw angle α , pitch angle β and roll angle θ Under complex geological conditions, the posture of the TBM may change due to uneven geology. Therefore, by monitoring these three posture angles, operators can promptly detect and adjust the posture of the TBM to prevent the excavation direction from deviating from the designed axis, thereby ensuring construction safety and quality. These parameters play a key role in real-time monitoring of the TBM posture, precise control of the excavation direction, and ensuring construction safety and quality.

[0171] Installing it inside the host machine can prevent moisture and sediment from entering the sensor; at the same time, it can ensure that the angular velocity it measures can accurately reflect the overall rotational motion of the tunnel boring machine, avoiding measurement deviations caused by eccentric installation. The cable needs to be fixedly laid along the tunnel boring machine structure to avoid cable pulling or wear due to equipment movement.

[0172] The gyroscope coordinate system is consistent with the coordinate system of the caisson shaft boring machine body, which can realize three-axis synchronous measurement and real-time data output. During installation, a high-precision level and angle ruler are used to make the gyroscope's XY plane parallel to the horizontal reference plane at the tail of the caisson shaft boring machine, and the Z axis is consistent with the vertical center axis of the caisson shaft boring machine (direction of gravity). The error must be controlled within 0.01°.

[0173] It should be further explained that all sensors requiring leads use shielded cables to transmit signals, and ensure that the cable shield is properly grounded to minimize interference and attenuation during signal transmission. In addition, in the actual use of the embodiments of the present application, wide-temperature sensors are preferred. The operating temperature range of the wide-temperature sensor is -40°C to 85°C, thus avoiding temperature effects.

[0174] The accelerometer is installed inside the tail of the main engine of the caisson-type shaft boring machine (it can be set at a non-center, or stacked with the gyroscope and placed at the center of the tail of the main engine of the caisson-type shaft boring machine) to measure the acceleration components of the caisson-type shaft boring machine in the three axes (X, Y, Z axis) a x 、 a y and a z ;

[0175] During shaft boring machine (TBM) operations, the displacement changes detected by the accelerometer are primarily caused by the machine's own motion, geological conditions, and equipment failures or abnormalities. These factors alter the machine's acceleration, which, through integration, forms a displacement change, which is crucial for precise TBM control and operational safety.

[0176] When a TBM is lifted, lowered, or turned, it generates acceleration, which in turn causes displacement changes. During normal tunneling, the propulsion system propels the TBM along its designed axis. The acceleration measured by the accelerometer is integrated to produce the axial displacement change, reflecting the tunneling progress. However, when adjusting the tunneling direction, the steering mechanism generates angular acceleration in the TBM, causing tangential acceleration at various points on the TBM. This translates into corresponding displacement changes, affecting the TBM's posture.

[0177] The XY plane of the accelerometer is parallel to the horizontal reference plane of the tail of the caisson type shaft boring machine, and the Z axis is parallel to the vertical center axis (gravity direction) of the caisson type shaft boring machine.

[0178] It can also be further explained that accelerometers can detect vibration during the milling process of a tunnel boring machine. When a tunnel boring machine cuts rock and soil, the interaction between the cutter and the soil causes vibration. By analyzing the frequency and amplitude of the acceleration signal measured by the accelerometer, the vibration intensity and frequency characteristics can be assessed. Abnormal vibration may indicate problems such as tool wear or loose equipment components.

[0179] A certain caisson shaft boring machine construction project, the caisson design depth is 50m, the boring machine design height h =3m, shaft design radius r=7m. A spatial rectangular coordinate system is established with the center of the surface of the caisson as the origin, with the z axis pointing vertically upward and the X and Y axes horizontal. When the caisson shaft is excavated to a certain depth, the three-dimensional coordinates of the fixed suspension base points A, B, and C and the length of the rope displacement sensor are , obtain the initial coordinates (measured values) of the tail center of the host by calculation = Horizontal tilt (gyroscope measurement): yaw angle around the X axis =0.005rad (about 0.286°), pitch angle around the Y axis =0.003rad (about 0.172°), pitch angle around the Z axis ≈0rad, the tail coordinates of the main engine can be calculated after rotation correction:

[0180]

[0181] In a radial excavation back and forth, the tail coordinates of the main engine can be calculated after acceleration correction: = , further calculate the center coordinates of the cutter head to calculate K By fusing the rotation matrix (attitude) with the acceleration integral (displacement), the system achieves millimeter-level accuracy in attitude measurement. If the measured cutterhead coordinates deviate from the designed axis by more than a threshold (e.g., ±0.03m), or if the horizontal deviation in the Y direction exceeds 0.03m, the roadheader's attitude control components (e.g., the outrigger guide and tensioning system) must be used to correct the deviation. The amount of correction is linearly related to the inclination angle.

[0182] In addition, in a specific embodiment, when the underwater excavation posture measurement and control system and method of the caisson-type shaft boring machine adopted in the present application is actually used in a water-rich deep-buried caisson project, since the caisson-type shaft boring machine is located in underwater mud, when the mud concentration is high, there is mud resistance that causes dynamic deformation of the wire rope, and the rope sensor has lag, which in turn causes a deviation between the static calibration data and the actual posture; or time integration causes the attitude angle error to be amplified and the gyroscope drift to accumulate; or high-frequency vibration is caused under the milling and digging disturbance of the caisson-type shaft boring machine and the mud circulation flow disturbance, causing accelerometer noise interference and failure of traditional mean filtering. Therefore, there are problems such as nonlinear dynamic errors caused by underwater mud excavation.

[0183] Based on this problem, this application can further propose a redundant data-driven posture correction method to solve the problem of nonlinear dynamic error in mud environment, which specifically includes the following steps:

[0184] L1. Input includes the following data:

[0185] Wire rope displacement sensor data (three-dimensional coordinates of fixed suspension base points A, B, C, D and initial wire rope displacement sensor length) 、 )

[0186] Gyroscope angular velocity ( , , )

[0187] Accelerometer three-axis acceleration ( , , )

[0188] L2. Indirect compensation of mud resistance:

[0189] Calculate the tail speed of the main engine based on the rope sensor data ;

[0190] Since the drag effect is modeled, the mud drag data is inferred from the accelerometer ;

[0191] pass The mud resistance coefficient can be calculated by back-calculating:

[0192]

[0193] in, is the initial measurement value of the accelerometer, is the theoretical value of the accelerometer measurement obtained through historical data (moving average model);

[0194] At this time, there is the calculated resistance acceleration data value for:

[0195]

[0196] Among them, mud resistance data and the square of the speed Related, is the mud resistance coefficient, which is obtained by fitting historical data and is used to dynamically compensate for the acceleration integral error. is the real-time measurement value of the accelerometer, is the tail speed of the host, is the mass of the tunnel boring machine itself (including load).

[0197] Update the acceleration integral formula:

[0198]

[0199] Among them, it is necessary to update the mud resistance coefficient by reverse calculation based on the real-time data of resistance acceleration through the historical speed-acceleration relationship every 10 minutes. .

[0200] L3. Real-time correction of gyroscope drift

[0201] Based on the zero speed correction of the rope sensor, when the tunnel boring machine pauses ( ), the gyroscope drift is calibrated using the static data of the rope sensor, and the correction formula is:

[0202]

[0203] in, To correct the gyro drift, is the static data of gyroscope drift, is the static attitude angle obtained by the rope sensor through geometric inversion. The dynamic attitude angle is obtained by integrating the angular velocity measurement value of the gyroscope. is the duration of the static state.

[0204] L4. Data correction processing: Through data confidence assessment, the correction coordinate calculation of the underwater tunneling posture measurement and control method of the caisson shaft boring machine is carried out, and the gyroscope weight is set. with accelerometer weights , weight assignment is used to improve the accuracy of coordinate correction, as follows:

[0205]

[0206]

[0207] in, is the high frequency noise of the accelerometer.

[0208] It should be noted at this time that the initial drift of the gyroscope is calibrated by the rope sensor in the static state before excavation, and the sensor data is collected every 50ms during the data collection process.

[0209] Therefore, in summary, this method can significantly improve the pose measurement accuracy in mud environments through dynamic weight fusion, indirect resistance compensation, and online drift correction. In a specific example with a mud viscosity of 20 Pa·s, the cumulative rate of attitude angle error is reduced by 80%, and the Z-axis jitter caused by accelerometer noise is reduced from ±15 mm to ±2 mm.

[0210] On the other hand, the present invention also discloses a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the above-mentioned method for performing posture measurement and parameter calculation operations.

[0211] It is understandable that the system provided by the embodiment of the present invention corresponds to the method provided by the embodiment of the present invention, and the explanation, examples and beneficial effects of the relevant contents can refer to the corresponding parts of the above method.

[0212] The embodiment of the present application further provides an electronic device, comprising a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus.

[0213] Memory for storing computer programs;

[0214] The processor is used to implement the steps of the above-mentioned posture measurement and parameter calculation operation method when executing the program stored in the memory.

[0215] The communication bus mentioned in the above electronic device can be a peripheral component interconnect standard bus or an extended industry standard architecture bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc.

[0216] The communication interface is used for communication between the above electronic device and other devices.

[0217] The memory may include a random access memory, or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0218] The above-mentioned processor can be a general-purpose processor, including a central processing unit, a network processor, etc.; it can also be a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component.

[0219] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0220] In addition, it should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0221] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or schemes in which A and B are satisfied at the same time. In addition, in the embodiments of the present invention, "multiple" refers to more than two. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

Claims

1. A method for measuring and controlling the underwater excavation posture of a caisson-type shaft boring machine, comprising: Pre-excavation and pre-installation of the tunneling platform, installation of the caisson-type shaft boring machine, construction of a posture measurement and control coordinate system based on the horizontal plane and vertical axis, determination of the coordinate origin and the direction of the coordinate axis, and then excavation and advancement of the caisson. During the tunneling process, posture measurement and parameter calculation operations are performed, and corresponding posture control is performed. This is characterized by also including: Before installing the caisson-type shaft boring machine, a pipeline rack and at least three recovery winch systems are installed to suspend the boring machine, and a posture measurement and control component of the caisson-type shaft boring machine is installed accordingly, and an early warning value is set. The posture measurement and control component of the caisson-type shaft boring machine includes a rope displacement sensor, an accelerometer, a gyroscope, and a controller; During the posture measurement and parameter calculation operations, the coordinate correction after the tunnel boring machine excavation motion state data is taken into account, and the accelerometer and gyroscope data are integrated to correct the tunnel boring machine's excavation posture; The posture measurement and parameter calculation operations include: Based on the position measurement and control coordinate system, monitor and obtain the coordinates of the suspension base points of any three groups of the recovery winch system and pipeline rack, and there are A coordinates , B coordinate , C coordinate , D coordinate And the initial calibration of the length of the 4 pull rope displacement sensors ; The coordinates of the tail center point T of the main engine of the caisson shaft boring machine are obtained by calculating the coordinates of any three suspension points and the lengths of their corresponding rope displacement sensors. , and use the coordinates of another suspension point and its corresponding rope displacement sensor length to verify the calculation results and establish verification conditions; Calculate the center point of the cutterhead of the caisson shaft boring machine Coordinates, obtain the milling working depth of the caisson shaft boring machine ; During the milling and excavation process of the tunnel boring machine, the coordinates of each suspension base point are compared with the original calibration coordinate data, the tunneling posture parameters are calculated, and the tunneling posture deviation is evaluated. The center coordinates of the cutterhead and the main engine tail of the caisson-type vertical shaft tunnel boring machine are compared with the center coordinates of the design axis. The deviation value obtained is the tunneling posture deviation, which includes the coordinate deviation in the plane direction and the cutterhead posture error.

2. The method for measuring and controlling the underwater excavation posture of a caisson-type shaft boring machine according to claim 1, wherein: The method for calculating and obtaining the T coordinate includes: The linear distance equations of AT, BT, and CT are constructed respectively to preliminarily obtain the T coordinate of the center point of the tail of the main engine of the caisson shaft boring machine. The coordinates of another suspension point and the corresponding length of the rope displacement sensor are used to verify the calculation results. The verification and verification conditions are established as follows: Monitor and obtain the D coordinate of another suspension base point The coordinate T of the tail center point of the main engine of the caisson shaft boring machine is obtained by calculation and D coordinates , calculate the elongation of the rope at the suspension base point, and the following conditional formula exists: in, The length of the rope for the initial calibration D coordinate suspension base point, It is the extension of the rope at the D coordinate suspension base point.

3. The method for measuring and controlling the underwater excavation posture of a caisson-type shaft boring machine according to claim 2, wherein: The specific correction process for correcting the excavation posture of the caisson type shaft boring machine includes: (1) Gyroscope rotation correction: The rotation angle of the caisson shaft boring machine around the coordinate X axis obtained by the gyroscope monitoring is set as , the rotation angle around the Y axis is set to , the rotation angle around the coordinate Z axis is set to , respectively calculate the rotation matrix around the coordinate X axis , Rotation matrix around the Y axis and the rotation matrix around the coordinate Z axis , the T coordinate correction value of the center point considering the rotation can be obtained by calculating the total rotation matrix: in, 、 、 is the T coordinate correction value; (2) Acceleration translation correction: In the time period arrive In the said caisson type shaft boring machine Acceleration in the direction of the coordinate axis Integrate and gain speed , and then the speed Points can be obtained from the tunnel boring machine Displacement along the coordinate axis , and then get the acceleration translation correction values on the X-axis, Y-axis and Z-axis 、 、 ; (3) Corrected coordinate calculation: The final coordinate value of the center point T of the main tail of the caisson shaft boring machine after rotation and translation correction is calculated as follows: in, is the final value of the T coordinate.

4. The method for measuring and controlling the underwater excavation posture of a caisson-type shaft boring machine according to claim 3, wherein: The calculation method of the tunneling posture deviation includes: Calculate the cutterhead center point exist Coordinates in the direction of the coordinate axis ,have: in, is the design height of the caisson shaft boring machine; Calculate the milling working depth of the caisson shaft boring machine ,have: in, is the vertical distance between the tail end of the milling arm of the caisson shaft boring machine and the excavation surface; (1) The final value of the center point T coordinate after correction of the main tail of the caisson shaft boring machine and the center coordinates of the caisson well opening design By comparison, the attitude deviation between the tail center of the main caisson shaft boring machine and the caisson design axis in the X and Y directions can be obtained. 、 ; (2) The center point of the cutter head of the caisson shaft boring machine coordinate and the center coordinates of the caisson well opening design By comparison, the attitude deviation between the cutter head center of the caisson shaft boring machine and the caisson design axis in the X and Y directions can be obtained. 、 .

5. A system for measuring and controlling the underwater excavation posture of a caisson-type shaft boring machine, used to implement the method for measuring and controlling the underwater excavation posture of a caisson-type shaft boring machine according to any one of claims 1 to 4, characterized in that: It includes caisson segments, caisson shaft boring machine, recovery winch system, pipeline rack, boring machine posture measurement and control components and boring machine posture control components, among which: The recovery winch system is used to lift or lower the caisson-type shaft boring machine; The pipeline rack is used for pipeline transportation of the caisson-type shaft boring machine; The roadheader posture measurement and control component includes a rope displacement sensor, an accelerometer, a gyroscope and a controller; The recovery hoisting system and the pipeline rack are arranged on the ground around the designed position of the caisson segment, and the recovery hoisting system is distributed in a ring shape at equal intervals around the caisson segment.

6. The underwater excavation posture measurement and control system of the caisson-type shaft boring machine according to claim 5, characterized in that: The recovery winch system consists of a mounting base, a recovery winch frame, an upper crossbeam, a winch trolley, a steel wire rope for suspending the roadheader, and a pulley block; During the excavation process of the caisson shaft boring machine, the caisson segments are lowered synchronously, and the recovery winch system adopts follow-up control; During the process of the caisson-type shaft boring machine being lifted out of the well or re-entering the well, the recovery winch system adopts active control; During the lowering or lifting process of the caisson-type shaft boring machine, the pipeline rack is lowered or lifted accordingly.

7. The underwater excavation posture measurement and control system of the caisson-type shaft boring machine according to claim 6, characterized in that: The upper crossbeam of the recovery winch system and the pipeline rack are both equipped with fixed pulleys as fixed suspension base points for suspending the pull rope displacement sensor; The lower part of the pull rope displacement sensor is fixed to the tail center of the main body of the caisson shaft boring machine through a steel wire rotary joint; The interior of the steel wire rotary joint is provided with a rotating shaft, which is used to rotate around the shaft when subjected to a circumferential force; The rope displacement sensor is configured as a distance measuring sensor for measuring the distance from the fixed suspension base point to the center of the tail of the main body of the caisson-type shaft boring machine, and an optical fiber sensor or a micro strain gauge is embedded in the rope of the rope displacement sensor to monitor the force and strain changes of the rope.

8. The underwater excavation posture measurement and control system of the caisson-type shaft boring machine according to claim 5, characterized in that: The gyroscope is installed inside the tail of the main engine of the caisson type shaft boring machine, and is used to measure the angular velocity of the caisson type shaft boring machine around the X, Y, and Z axes in real time, and calculate the main engine yaw angle using the quaternion method α , pitch angle β and roll angle θ ; The XY plane of the coordinate system of the gyroscope is parallel to the horizontal reference plane of the tail of the caisson type shaft boring machine, and the Z axis is consistent with the vertical center axis of the caisson type shaft boring machine.

9. The underwater excavation posture measurement and control system of the caisson-type shaft boring machine according to claim 5, characterized in that: The accelerometer is installed inside the tail of the main body of the caisson-type shaft boring machine and is used to measure the acceleration components of the caisson-type shaft boring machine in the axial directions of the X, Y and Z axes; The XY plane of the coordinate system of the accelerometer is parallel to the horizontal reference plane of the tail of the caisson type shaft boring machine, and the Z axis is parallel to the vertical center axis of the caisson type shaft boring machine.

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