Measurement method and system for shield tunnel segment joint opening angle

Abstract

The invention provides a method and system for measuring a shield tunnel segment joint opening angle, and relates to the technical field of segment joint opening angle measurement, and the method comprises the steps: obtaining first information which comprises the intersection position information of shield tunnel segments, the position information of a fixed angle iron, and the position information of a displacement meter; preprocessing the first information based on Kalman filtering; the preprocessed first information is sent to a preset finite element model for analysis processing, and the first information after position optimization is obtained; obtaining current seam opening angle data of the segment based on the first information after position optimization and a preset seam opening angle calculation method; and dynamically adjusting the current seam opening angle data of the duct piece to obtain the adjusted opening angle data at the current moment. According to the method, more accurate dynamic monitoring of the opening angle of the duct piece joint is achieved, and more reliable technical support is provided for construction of a shield tunnel.

Description

Technical Field

[0001] The present invention relates to the technical field of measuring the opening angle of segment joints, and more particularly, to a method and system for measuring the opening angle of segment joints in shield tunnels. Background Art

[0002] With the advancement of urbanization, the construction of shield tunnels is increasing day by day and has become an important part of modern underground engineering construction. The opening angle of segment joints in shield tunnels, as a key parameter for evaluating the construction quality of shield tunnels, directly affects the stability and safety of tunnels. Existing measurement methods mostly rely on traditional physical measurement means, such as using displacement gauges and other tools for manual or semi-automated data collection. Although these methods can provide certain measurement results, due to the measurement process relying on manual operation, measurement errors are prone to occur and are greatly affected by the on-site environment. In addition, traditional measurement methods inadequately consider complex factors such as the force and deformation of segment intersections, displacement gauges, and angle irons, lacking sufficient accuracy and flexibility, and it is difficult to provide real-time and accurate opening angle data in actual construction, further affecting quality control and adjustment during the construction process.

[0003] Therefore, there is an urgent need for a method and system for measuring the opening angle of segment joints in shield tunnels to solve the above problems. Summary of the Invention

[0004] The purpose of the present invention is to provide a method and system for measuring the opening angle of segment joints in shield tunnels to improve the above problems. To achieve the above purpose, the technical solutions adopted by the present invention are as follows:

[0005] In a first aspect, the present application provides a method for measuring the opening angle of segment joints in shield tunnels, including:

[0006] Obtaining first information, where the first information includes intersection position information of segment joints in shield tunnels, fixed angle iron position information, and displacement gauge position information;

[0007] Preprocessing the first information based on Kalman filtering to obtain preprocessed first information;

[0008] Sending the preprocessed first information to a preset finite element model for analysis and processing, where the force and deformation parameters of segment joints in shield tunnels and fixed angle irons are determined through finite element analysis and particle swarm optimization algorithm to obtain first information with optimized positions;

[0009] Obtaining the current opening angle data of segment joints based on the first information with optimized positions and a preset calculation method for the opening angle of segment joints;

[0010] Dynamically adjust the current joint opening angle data of the segment. Specifically, filter the current joint opening angle data of the segment through an adaptive filtering algorithm to obtain the adjusted opening angle data at the current moment.

[0011] In a second aspect, the present application also provides a measurement system for the joint opening angle of a shield tunnel segment, including:

[0012] An acquisition unit for acquiring first information, where the first information includes the intersection position information, fixed angle iron position information, and displacement gauge position information of the shield tunnel segment;

[0013] A processing unit for preprocessing the first information based on Kalman filtering to obtain the preprocessed first information;

[0014] An analysis unit for sending the preprocessed first information to a preset finite element model for analysis and processing. Specifically, determine the stress and deformation parameters of the shield tunnel segment and the fixed angle iron through finite element analysis and particle swarm optimization algorithm to obtain the first information with optimized position;

[0015] A calculation unit for obtaining the current joint opening angle data of the segment based on the first information with optimized position and a preset calculation method for the joint opening angle;

[0016] An adjustment unit for dynamically adjusting the current joint opening angle data of the segment. Specifically, filter the current joint opening angle data of the segment through an adaptive filtering algorithm to obtain the adjusted opening angle data at the current moment.

[0017] The beneficial effects of the present invention are as follows:

[0018] By comprehensively analyzing the intersections, fixed angle irons, and displacement gauges of the shield tunnel segment, and combining the finite element model and particle swarm optimization algorithm for position optimization, the present invention can not only accurately obtain the actual opening angle of the segment joint, but also dynamically adjust the joint opening angle data, thereby realizing more efficient and accurate measurement of the segment joint opening angle. This method uses Kalman filtering to preprocess the first information, enhancing the stability and reliability of the information. At the same time, by means of a deep learning network for calculation training of the joint opening angle, the adaptability and calculation accuracy of the system are significantly improved. Finally, through adaptive filtering to adjust the measurement data in real time, more accurate dynamic monitoring of the segment joint opening angle is realized, providing more reliable technical support for the construction of the shield tunnel.

[0019] Other features and advantages of the present invention will be set forth in the following description, and in part will be obvious from the description, or may be learned by practice of the embodiments of the present invention. The objectives and other advantages of the present invention may be realized and attained by the structure particularly pointed out in the written description, claims, as well as the drawings. Brief Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 It is a schematic flow chart of the method for measuring the opening angle of the segment joint in the shield tunnel for the embodiments of the present invention;

[0022] Figure 2 It is a schematic structural diagram of the system for measuring the opening angle of the segment joint in the shield tunnel for the embodiments of the present invention;

[0023] Figure 3 It is a schematic diagram of the principle of measuring and calculating the segment joint in the embodiments of the present invention.

[0024] In the figure: 701, acquisition unit; 702, processing unit; 703, analysis unit; 704, calculation unit; 705, adjustment unit. Detailed Description of the Embodiments

[0025] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the following combines 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 described embodiments are part of the embodiments of the present invention, rather than all of them. Usually, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0026] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present invention, terms such as "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0027] Example 1:

[0028] This embodiment provides a method for measuring the opening angle of the segment joint of a shield tunnel.

[0029] Referring to Figure 1 and Figure 3 , the figure shows that this method includes step S1, step S2, step S3, step S4 and step S5.

[0030] Step S1: Obtain the first information, where the first information includes the intersection position information of the segments of the shield tunnel, the position information of the fixed angle irons, and the position information of the displacement gauges;

[0031] It can be understood that the intersection position information refers to the positions of the intersection points of the segments of the shield tunnel at the joints. These intersection points are the key nodes for measuring the opening angle of the joint and the force deformation. The position information of the intersection points is crucial for accurately modeling the geometric shape of the tunnel structure and the joint conditions. The position information of the fixed angle irons describes the accurate positions of the angle irons used to fix the segments in space. The position information of the angle irons helps to analyze the force distribution of the segments during the construction of the shield tunnel and their interaction relationships with the tunnel soil and joints. The position information of the displacement gauges refers to the specific positions of the displacement gauges installed on the segments. The displacement gauges are mainly used to monitor the displacement and deformation data generated by the segments during the construction process in real time. The accurate positions of the displacement gauges help to further calculate the deformation degree of the segment joints and reflect the structural state of the tunnel.

[0032] By integrating this position information, a basic data model of the spatial layout of the segments of the shield tunnel and related equipment (such as angle irons, displacement gauges) is constructed. The acquisition of this data usually involves high-precision positioning technologies, such as total stations, laser scanners or GPS positioning systems, etc., which can achieve efficient and automated data acquisition during the tunnel construction process. At the same time, combining computer vision technology or lidar technology for 3D modeling can improve the accuracy and efficiency of data acquisition and reduce the errors caused by manual operations.

[0033] Step S2: Preprocess the first information based on the Kalman filter to obtain the preprocessed first information;

[0034] It can be understood that the Kalman filter continuously corrects this information by combining the dynamic model of the system with the real-time observation data, so as to obtain a more accurate state estimate. In this scenario, the role of the Kalman filter is to "smooth" the measurement data, that is, to eliminate or reduce the errors caused by factors such as dynamic changes and external disturbances, so that the position information at each moment is closer to the true value.

[0035] The core idea of the Kalman filter is to continuously adjust between the prediction step and the update step. First, based on the state estimate at the previous moment, the Kalman filter predicts the position information at the current moment. These prediction results are adjusted according to the system's dynamic model (such as the movement model of the segment) and the known measurement noise. Subsequently, when the real-time observation data arrives, the Kalman filter compares the predicted value with the observed value and updates the state estimate based on the difference between the two (i.e., the "residual"). This process makes the filtered information gradually tend to the optimal estimate, reducing the influence of noise and errors. In this step, step S2 includes step S21 and step S22.

[0036] Step S21: Establish a state estimation model for the intersection points of the shield tunnel segments, the fixed angle irons, and the displacement gauges based on the first information. The state estimation model includes the geometric position, velocity, acceleration of the shield tunnel segments, and the corresponding observation equations.

[0037] It can be understood that by establishing an accurate state estimation model, the system can fully consider the dynamic characteristics of the tunnel segments, especially the non-linear changes and complex stress behaviors that may occur during the construction process. The state estimation model provides a reliable basis for the prediction and update steps of the Kalman filter, enabling the state estimate at each moment to be optimized by combining the measurement data at the current moment. This not only improves the accuracy and stability of the data but also enhances the adaptability of the system in complex and changing environments.

[0038] Step S22: Predict the state data of the segment intersection points, the fixed angle irons, and the displacement gauges at the next moment according to the state estimation model, and compare and update the real-time observation data and the state data at the next moment based on the preset real-time observation data and the update step of the Kalman filter to obtain the updated first information at the current moment.

[0039] It can be understood that the system predicts the state at the next moment based on the known historical data (such as the position information, velocity, acceleration, etc. at the previous moment). This prediction is completed through the system's dynamic model, that is, by using the kinematic equations and stress models of the shield tunnel segments to estimate the dynamic parameters such as the geometric position, velocity, and acceleration of the segments, fixed angle irons, and displacement gauges at the future moment. For example, assuming that the velocity of the shield tunnel segment is known at a specific time point, the change in its position and velocity at the next moment can be predicted through the acceleration model.

[0040] Next, the system corrects the prediction result through the "update" step of Kalman filtering. During the actual construction process, displacement gauges and other measurement tools will collect real-time observation data. However, these observation data are usually affected by noise, measurement errors, or external environmental disturbances. Therefore, Kalman filtering will adjust the state estimation at the current moment according to the difference (i.e., "residual") between the predicted state and the real-time observation data, so as to provide more accurate measurement results. Specifically, the update step of Kalman filtering will perform weighted fusion on the observation data and the predicted state data to generate an optimized state estimation result, which is the updated first information.

[0041] Step S3: Send the preprocessed first information to a preset finite element model for analysis and processing. Among them, the force and deformation parameters of the shield tunnel segment and the fixed angle iron are determined through finite element analysis and particle swarm optimization algorithm to obtain the first information with optimized position.

[0042] It can be understood that this step significantly improves the measurement accuracy of the joint opening angle of the shield tunnel segment and the adaptability of the system. Finite element analysis comprehensively considers the interaction between the segment and factors such as soil and angle iron, accurately simulates the force and deformation process, and provides a reliable data basis for subsequent measurements. The particle swarm optimization algorithm optimizes various key variables of the model by adjusting the force and deformation parameters, making it more suitable for the dynamic changes in the actual construction process, thereby improving the prediction accuracy and adaptability of the model. Overall, the optimized model not only enhances the stability and reliability of the measurement results, but also can reflect the changes in the construction environment in real time, ensuring the accurate measurement of the joint opening angle of the segment, and providing strong technical support for quality control and risk assessment during the tunnel construction process. Step S3 in this step includes step S31, step S32, and step S33.

[0043] Step S31: Establish a finite element model of the shield tunnel segment and the fixed angle iron according to the preprocessed first information. The finite element model includes the geometric shape, material properties, friction coefficient at the joint, and soil pressure data of the shield tunnel segment.

[0044] It can be understood that by establishing a finite element model including geometric shape, material properties, friction coefficient, and soil pressure data, the system can accurately describe the dynamic response of the shield tunnel segment during the force and deformation process. This process ensures that the model can truly reflect the complex mechanical effects on the tunnel segment during construction and provides a reliable theoretical basis for subsequent force analysis, particle swarm optimization, and measurement of the joint opening angle. With the help of this accurate model, the system can deeply analyze the force state of the segment under different working conditions, ensure that the data at each moment is as close to the actual situation as possible, and thus improve the accuracy and stability of the entire measurement process.

[0045] Step S32: Analyze the stress and deformation of the shield tunnel segment and the fixed angle iron based on the finite element model to obtain at least two pieces of stress and deformation data information of the shield tunnel segment and the fixed angle iron;

[0046] It can be understood that through stress and deformation analysis in the finite element model, the system can accurately calculate various external loads and internal forces that the shield tunnel segment and the fixed angle iron may bear during actual construction, thereby providing high-precision stress data for the measurement of the joint opening angle. This process can not only reveal the stress conditions of the segments under different working conditions, but also help identify possible stress concentration areas, and then provide a basis for subsequent optimization steps. The analysis formula for stress and deformation is as follows:

[0047] [K]·{u}={f}

[0048] Among them, [K] is the stiffness matrix, {u} is the displacement vector, and {f} is the external force vector, representing the external loads applied to the structure, such as soil pressure and construction loads.

[0049] Step S33: Optimize the stress and deformation data information based on the particle swarm optimization algorithm to obtain the first information with optimized positions.

[0050] It can be understood that the particle swarm optimization algorithm in this step is an intelligent optimization algorithm that simulates the foraging behavior of bird flocks in nature. Each "particle" represents a possible solution. The particles adjust their positions in the search space according to their own experience and the group experience, and finally converge to an optimal solution. The particle swarm optimization has global search ability and can avoid local optimal solutions, which is an effective method for solving complex engineering optimization problems. In the particle swarm optimization algorithm, each particle represents a solution. The solution space usually includes the material properties of the segment, geometric shape parameters, friction coefficients, etc. By initializing the positions and velocities of the particles, the particle swarm begins to explore the possible optimization solution space. The position information and velocity of each particle are initialized according to the current stress and deformation data information to ensure that the optimization process starts from a reasonable starting point. After multiple iterations, the particle swarm will converge to an optimal solution, that is, find the solution that minimizes the objective function. At this time, the stress and deformation data of the segment and the fixed angle iron have been optimized, and the relevant position parameters have been adjusted to the best state, thereby obtaining the first information with optimized positions. These optimized data are used for subsequent joint opening angle calculation and dynamic adjustment to improve the overall accuracy and reliability of the system.

[0051] Step S4: Obtain the current joint opening angle data of the segment based on the first information with optimized positions and the preset calculation method of the joint opening angle;

[0052] It can be understood that based on the optimized first information, the data of the joint opening angle of the segment can be accurately calculated. The accurate joint opening angle data helps to timely detect abnormal deformation and stress concentration at the segment joint, thereby providing early warning for possible quality problems during the construction process. In addition, through the calculation of this step, the installation quality of the segment joint can be optimized to ensure the structural stability of the tunnel. Combined with the auxiliary calculation of the deep learning network, the system not only improves the accuracy of the joint opening angle calculation but also has the ability to adapt to different construction environments and working conditions. In this step, step S4 includes step S41, step S42, and step S43.

[0053] Step S41: Model the first information optimized in terms of position to obtain a three-dimensional model of the shield tunnel optimized in terms of position;

[0054] It can be understood that in this step, the system generates a three-dimensional model of the shield tunnel optimized in terms of position by modeling the first information optimized in terms of position. This modeling process first accurately constructs a three-dimensional geometric model based on the optimized data, including the geometric shapes, force distributions, and deformation information of the segments and the fixed angle irons, using computer-aided design (CAD) and computer-aided engineering (CAE) tools. Specifically, the geometric shapes of the segments, the positions of the fixed angle irons, as well as the friction coefficients and soil pressures at the joints, etc. are all included in the modeling scope. At the same time, by integrating the force and deformation data optimized in terms of position, the three-dimensional model not only has accurate geometric information but also can reflect the force and deformation characteristics of the tunnel structure under actual working conditions. Through methods such as finite element analysis, the force and deformation conditions of each component are further mapped into the three-dimensional model to provide detailed deformation information, such as the displacement, strain at the joint part, and the local bending of the segments.

[0055] Step S42: Send the model data established based on the preset history and the calculation method of the preset joint opening angle to the deep learning network for joint opening angle calculation learning and training to obtain a trained deep learning network;

[0056] It can be understood that in this step, the system constructs a deep neural network (DNN) model based on the historical data and the calculation method. The input layer of the network receives the parameters in the historical model data and the joint opening angle calculation method, while the output layer is the expected joint opening angle result. Through the stacking of multiple non-linear activation functions, the deep learning network can extract complex patterns and potential rules in the data, and then predict the joint opening angle on the given input data.

[0057] During the training process, the backpropagation algorithm and the gradient descent method are used to optimize the weights and biases of the network, ensuring that the network can learn the relationship between the seam opening angle and different factors from historical data. Through continuous iterative training, the network can gradually reduce the prediction error and finally obtain a trained deep learning model.

[0058] After the training is completed, the deep learning network can automatically calculate the opening angle of the segment joint by inputting new historical data and real-time monitoring data. This process greatly improves the efficiency and accuracy of the opening angle calculation of the joint, avoiding the errors and manual debugging processes that may occur in traditional calculation methods.

[0059] Among them, step S42 includes step S421 and step S422.

[0060] Step S421: Determine the lateral displacement of the displacement gauge based on the position information of the displacement gauge. Among them, the reading difference of the displacement gauge is the lateral displacement of the displacement gauge;

[0061] It can be understood that through the real-time monitoring of the lateral displacement, the system can timely reflect the changes at the segment joint, providing data support for subsequent opening angle calculation and construction adjustment.

[0062] Step S422: Determine the displacement difference between two displacement gauges at different heights according to the readings of the displacement gauges, and determine the first angle through the cosine theorem and the displacement difference between two displacement gauges at different heights. Similarly, at least two first angles are obtained, and the current seam opening angle data is obtained based on the addition of all the first angles.

[0063] It can be understood that the calculation principle of the step is to set measurement points A and B at the end of the segment. The positions of measurement points A and B are the positions of two of the displacement gauges. Measurement points C and D are set near the middle position between the end and the segment joint. The positions of measurement points C and D are the positions of the other two displacement gauges; the segment joint opening angle is ∠α, point E is the segment joint. According to Figure 3 the geometric relationship, it can be known that ∠α = ∠a + ∠b; the lengths of AO and BO can be obtained through measurement at the measurement points. Perpendiculars to the AB side are drawn through points D and C respectively. The lengths of FO and GO are obtained through the measurement points of points C and D; the lengths of AF and BG can be calculated from the measurement data, and according to the similarity relationship, ∠ADF = ∠AEO = ∠a; similarly, ∠BCG = ∠BEO = ∠b;

[0064] In △ADF, ∠a is obtained through the sine theorem. Similarly, ∠b is obtained, and then ∠α is obtained according to ∠α = ∠a + ∠b.

[0065] Step S43: Send the model data of the shield tunnel three-dimensional model to the trained deep learning network for processing to obtain the current seam opening angle data.

[0066] It is understandable that by transmitting the data of the 3D model of the shield tunnel to the deep learning network for processing, the system can predict the opening angle of the joint in real time and accurately. This method improves the real-time performance and accuracy of the calculation of the joint opening angle, reduces manual intervention, and greatly enhances the automation level.

[0067] Step S5: Dynamically adjust the current joint opening angle data of the segment. Specifically, filter the current joint opening angle data of the segment through an adaptive filtering algorithm to obtain the adjusted opening angle data at the current moment.

[0068] It is understandable that in this step, step S5 includes step S51 and step S52.

[0069] Step S51: Initialize the preset adaptive filter parameters based on the current joint opening angle data of the segment. Specifically, initialize the preset adaptive filter parameters by using the least mean square algorithm to obtain the initialized filter.

[0070] It is understandable that by dynamically adjusting the current joint opening angle data of the segment through an adaptive filtering algorithm, the system can effectively remove the noise and instantaneous fluctuations in the data, ensuring the smoothness and accuracy of the joint opening angle data.

[0071] Among them, the formula for initializing the filter parameters is as follows:

[0072]

[0073] Among them, is the output of the filter, x(n - i) is the input signal, w i (n) is the filter weight, M is the order of the filter, n is the current moment of the filter, and i is the delay index of the historical input signal of the filter.

[0074] Step S52: Send the current joint opening angle data of the segment to the initialized filter for filtering to obtain the adjusted current joint opening angle data.

[0075] It is understandable that the update formula of the filter d in this step is:

[0076] w i (n + 1) = w i (n) + μe(n)x(n - i)

[0077] Among them, w i (n) is the filter weight, w i(n + 1) represents the weight of the filter at the next moment, μ represents the learning rate, e(n) represents the error, and x(n - i) is the input signal.

[0078] Embodiment 2:

[0079] As Figure 2 shown, this embodiment provides a measurement system for the opening angle of the segment joints of a shield tunnel. Refer to Figure 2 The system includes an acquisition unit 701, a processing unit 702, an analysis unit 703, a calculation unit 704, and an adjustment unit 705.

[0080] The acquisition unit 701 is used to acquire the first information, and the first information includes the intersection position information of the segments of the shield tunnel, the position information of the fixed angle irons, and the position information of the displacement gauges;

[0081] The processing unit 702 is used to preprocess the first information based on the Kalman filter to obtain the preprocessed first information;

[0082] The analysis unit 703 is used to send the preprocessed first information to a preset finite element model for analysis and processing. Among them, the force and deformation parameters of the segments of the shield tunnel and the fixed angle irons are determined through finite element analysis and the particle swarm optimization algorithm to obtain the first information with optimized positions;

[0083] The calculation unit 704 is used to obtain the current joint opening angle data of the segments based on the first information with optimized positions and a preset calculation method for the joint opening angle;

[0084] The adjustment unit 705 is used to dynamically adjust the current joint opening angle data of the segments. Among them, the current joint opening angle data of the segments is filtered through an adaptive filtering algorithm to obtain the adjusted opening angle data at the current moment.

[0085] It should be noted that regarding the system in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0086] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

[0087] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A method for measuring the opening angle of shield tunnel segment joints, characterized in that: include: Acquire first information, wherein the first information includes intersection position information of shield tunnel segments, fixed angle iron position information, and displacement meter position information; Preprocessing the first information based on Kalman filtering to obtain preprocessed first information; The preprocessed first information is sent to a preset finite element model for analysis and processing, wherein the stress and deformation parameters of the shield tunnel segments and the fixed angle irons are determined by finite element analysis and particle swarm optimization algorithm to obtain the first information after position optimization; Based on the first information after position optimization and a preset calculation method of the joint opening angle, current joint opening angle data of the pipe segment is obtained; The current joint opening angle data of the pipe segment is dynamically adjusted, wherein the current joint opening angle data of the pipe segment is filtered by an adaptive filtering algorithm to obtain the adjusted opening angle data at the current moment.

2. The method for measuring the opening angle of shield tunnel segment joints according to claim 1 is characterized in that , preprocessing the first information based on Kalman filtering to obtain the preprocessed first information, including: Establishing a state estimation model of the shield tunnel segment intersection, fixed angle iron and displacement meter based on the first information, wherein the state estimation model includes the geometric position, velocity, acceleration and corresponding observation equation of the shield tunnel segment; The state data of the segment intersection, fixed angle iron and displacement meter at the next moment are predicted according to the state estimation model, and the real-time observation data and the state data at the next moment are compared and updated based on the preset real-time observation data and Kalman filter update steps to obtain the updated first information at the current moment.

3. The method for measuring the opening angle of shield tunnel segment joints according to claim 1 is characterized in that , sending the preprocessed first information to a preset finite element model for analysis and processing, wherein the stress and deformation parameters of the shield tunnel segment and the fixed angle iron are determined by finite element analysis and particle swarm optimization algorithm, and the first information after position optimization is obtained, including: Establishing a finite element model of the shield tunnel segment and the fixed angle iron according to the preprocessed first information, wherein the finite element model includes the geometric shape of the shield tunnel segment, material properties, friction coefficient at the joint, and soil pressure data; Analyze the stress and deformation of the shield tunnel segments and the fixed angle irons based on the finite element model to obtain stress and deformation data information of at least two shield tunnel segments and the fixed angle irons; The force deformation data information is optimized based on a particle swarm optimization algorithm to obtain first information after position optimization.

4. The method for measuring the opening angle of shield tunnel segment joints according to claim 1 is characterized in that , based on the first information after position optimization and the preset calculation method of the joint opening angle, the current joint opening angle data of the pipe segment is obtained, including: Modeling the first information after position optimization to obtain a three-dimensional model of the shield tunnel after position optimization; The model data obtained based on the preset history and the preset calculation method of the seam opening angle are sent to the deep learning network for seam opening angle calculation learning and training to obtain a trained deep learning network; The model data of the shield tunnel 3D model is sent to the trained deep learning network for processing to obtain the current joint opening angle data.

5. The method for measuring the opening angle of shield tunnel segment joints according to claim 4 is characterized in that The method for calculating the preset seam opening angle includes: Determine the lateral displacement of the displacement meter based on the position information of the displacement meter, wherein the difference in the readings of the displacement meter is the lateral displacement of the displacement meter; The displacement difference of two displacement meters at different heights is determined according to the displacement meter readings, and the first angle is determined by the cosine theorem and the displacement difference of the two displacement meters at different heights. Similarly, at least two first angles are obtained, and the current seam opening angle data is obtained by adding all the first angles.

6. A system for measuring the opening angle of shield tunnel segment joints, characterized in that: include: An acquisition unit, used to acquire first information, wherein the first information includes intersection position information of shield tunnel segments, fixed angle iron position information, and displacement meter position information; a processing unit, configured to preprocess the first information based on Kalman filtering to obtain preprocessed first information; An analysis unit is used to send the preprocessed first information to a preset finite element model for analysis and processing, wherein the stress and deformation parameters of the shield tunnel segment and the fixed angle iron are determined by finite element analysis and particle swarm optimization algorithm to obtain the first information after position optimization; A calculation unit, used to obtain current joint opening angle data of the pipe segment based on the first information after position optimization and a preset joint opening angle calculation method; The adjustment unit is used to dynamically adjust the current joint opening angle data of the pipe segment, wherein the current joint opening angle data of the pipe segment is filtered by an adaptive filtering algorithm to obtain the adjusted opening angle data at the current moment.

7. The system for measuring the opening angle of shield tunnel segment joints according to claim 6, characterized in that: The processing unit comprises: A first processing subunit is used to establish a state estimation model of the shield tunnel segment intersection, the fixed angle iron and the displacement meter based on the first information, wherein the state estimation model includes the geometric position, velocity, acceleration and corresponding observation equation of the shield tunnel segment; The second processing subunit is used to predict the state data of the segment intersection, fixed angle iron and displacement meter at the next moment according to the state estimation model, and compare and update the real-time observation data with the state data at the next moment based on the preset real-time observation data and Kalman filter update steps to obtain the updated first information at the current moment.

8. The system for measuring the opening angle of shield tunnel segment joints according to claim 6, characterized in that: The analysis unit comprises: A first analysis subunit is used to establish a finite element model of the shield tunnel segment and the fixed angle iron according to the preprocessed first information, wherein the finite element model includes the geometric shape of the shield tunnel segment, material properties, friction coefficient at the joint and soil pressure data; The second analysis subunit is used to analyze the stress and deformation of the shield tunnel segments and the fixed angle irons based on the finite element model to obtain stress and deformation data information of at least two shield tunnel segments and fixed angle irons; The third analysis subunit is used to optimize the force deformation data information based on a particle swarm optimization algorithm to obtain first information after position optimization.

9. The system for measuring the opening angle of shield tunnel segment joints according to claim 6, characterized in that: The computing unit comprises: A first calculation subunit is used to model the first information after the position is optimized to obtain a three-dimensional model of the shield tunnel after the position is optimized; A second calculation subunit is used to send the model data obtained based on the preset historical establishment and the preset calculation method of the seam opening angle to the deep learning network for seam opening angle calculation learning and training to obtain a trained deep learning network; The third computing subunit is used to send the model data of the shield tunnel three-dimensional model to the trained deep learning network for processing to obtain the current joint opening angle data.

10. The system for measuring the opening angle of shield tunnel segment joints according to claim 9, characterized in that: The second computing subunit comprises: A first calculation subunit is used to determine the lateral displacement of the displacement meter based on the position information of the displacement meter, wherein the difference in the readings of the displacement meter is the lateral displacement of the displacement meter; The second calculation subunit is used to determine the displacement difference of two displacement meters at different heights according to the readings of the displacement meter, and determine the first angle by the cosine theorem and the displacement difference of the two displacement meters at different heights. Similarly, at least two first angles are obtained, and the current seam opening angle data is obtained by adding all the first angles.

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