Deviation rectification control method and system for whole construction process of large open caisson

Abstract

The invention discloses a deviation rectification control method and system for the whole construction process of a large open caisson, and relates to the field of building construction.The method comprises the steps that at least three position sensors are installed on the open caisson and used for monitoring information of at least three point positions, not located on the same straight line, on the open caisson; position information obtained by the three position sensors is input into a computer in real time, and the computer decomposes motion of the open caisson in the time step length T into translational motion in the vertical direction and rotation along a horizontal rotating shaft; on the basis of the orientation information of the horizontal rotating shaft, two places farthest away from the two sides of the horizontal rotating shaft are determined to serve as main force application points for deviation rectification, and in the deviation rectification process, downward pressure is at least applied to the main force application points which tilt upwards. The system comprises the modules for realizing the method. Compared with the prior art, the method has the advantages of being high in real-time performance, high in calculation precision, scientific in mechanical regulation and control and the like, and the accuracy of large open caisson construction deviation rectification is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of building construction, and more specifically, to a method and system for correcting and controlling the whole process of large caisson construction. Background Art

[0002] As an important infrastructure construction method, caissons are widely used in projects such as subways, bridges, and high-rise buildings. Since its construction process usually involves deep foundation pits and complex underground environments, the position control and accuracy requirements of caissons are extremely high. The construction of caissons requires precise adjustment in multiple directions. Especially during the installation and settlement of caissons, different degrees of deviation and inclination may occur. These deviations not only affect the quality and safety of construction but may also have an adverse impact on the surrounding environment.

[0003] Traditional caisson deviation correction methods usually rely on manual measurement and adjustment. Traditional level gauges, vertical measuring instruments and other equipment are used for real-time monitoring, and the caisson is corrected by combining manual operations. Although this method can achieve a certain deviation correction effect in the short term, there are many deficiencies. For example, manual intervention is prone to errors, and the response speed during the deviation correction process is slow, unable to precisely control and adjust the movement of the caisson in real time. In addition, the efficiency of manual operation is low, and the response ability of operators to the changes of the caisson is limited, which is likely to cause an extension of the construction period and an increase in costs. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method and system for correcting and controlling the whole process of large caisson construction to solve the problems mentioned in the background art.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A method for correcting and controlling the whole process of large caisson construction includes the following steps:

[0007] S1: Install at least three position sensors on the caisson to monitor the position information of at least three points on the caisson that are not on the same straight line;

[0008] S2: Input the position information obtained by the three position sensors into a computer in real time. The computer decomposes the movement of the caisson within the time step T into:

[0009] 3) Translational motion in the vertical direction;

[0010] 4) Rotation along the horizontal rotation axis;

[0011] S3: Based on the orientation information of the horizontal rotation axis, determine the two locations farthest from both sides of the horizontal rotation axis as the main force application points for deviation correction. During the deviation correction process, at least include applying a downward pressure to the main force application points that are tilted upward.

[0012] In a preferred embodiment, the computer obtains the translational movement in the vertical direction in the following manner:

[0013] The first spatial position of the caisson at the start of the simulation time step T;

[0014] The second spatial position of the caisson at the end of the simulation time step T;

[0015] Calculate the spatial point with the smallest change in the horizontal coordinate when changing from the first spatial position to the second spatial position as the vertical translation point, and obtain the coordinates (x1, y1, z1) of the vertical translation point at the start of step T and the coordinates (x2, y2, z2) at the end of step T, and use the vector (0, 0, z2 - z1) as the translational movement in the vertical direction.

[0016] In a preferred embodiment, a cylindrical region is drawn with the central axis of the caisson as the central axis and a preset radius R, and the vertical translation point is searched for within the cylindrical region.

[0017] In a preferred embodiment, the steps for obtaining the horizontal rotation axis include:

[0018] 1) Set the horizontal rotation axis to pass through the vertical translation point;

[0019] 2) Assume that the orientation of the horizontal rotation axis in the horizontal plane is (x0, y0), and assume that the rotation angle within the time step T is θ;

[0020] 3) Solve for (x0, y0) and θ such that the change of the caisson predicted by this rotation within time T is closest to the actual change.

[0021] In a preferred embodiment, in step 3), the following steps are specifically included:

[0022] Set the loss function as:

[0023]

[0024] where ΔP p,i is the displacement vector of point i predicted based on (x0, y0) and θ within time T;

[0025] ΔP a,i is the actual displacement vector of point i within time T;

[0026] n is the number of points selected as references;

[0027] Solve for (x0, y0) and θ by minimizing the loss function.

[0028] In a preferred embodiment, the method further includes setting a PID for load control, where the input of the PID is the angle α between the axis of the caisson and the horizontal plane, and a deviation correction force is output according to the determined main force application points, with the control target of the PID being that α tends to 90 degrees.

[0029] In a preferred embodiment, during the deviation correction process, a plurality of loads are arranged on the side where the horizontal rotating shaft tilts upwards, and the load forces of the plurality of loads increase linearly with the increase in the distance from the horizontal rotating shaft.

[0030] Therefore, the present invention also discloses a deviation correction control system for the whole process of large caisson construction, including:

[0031] At least three position sensor modules, used to monitor the position information of at least three points on the caisson that are not on the same straight line;

[0032] A computer processing module, used to receive and process the position information from the position sensor module in real time, and decompose the movement of the caisson within the time step T into translational motion in the vertical direction and rotational motion along the horizontal rotating shaft;

[0033] A deviation correction decision module, used to determine the two points farthest from both sides of the horizontal rotating shaft as the main force application points for deviation correction according to the horizontal rotating shaft orientation information output by the computer processing module;

[0034] A deviation correction execution module, used to perform deviation correction on the caisson according to the instructions of the deviation correction decision module, at least including applying a downward pressure to the main force application point that tilts upwards.

[0035] In a preferred embodiment, the deviation correction execution module further includes any one or two of the following: 1) reaction piles inserted into the ground, and ropes between the reaction piles and the caisson; 2) water tanks arranged on the top of the caisson, and the load pressure is adjusted by adjusting the water injection volume of the water tanks.

[0036] In a preferred embodiment, the deviation correction decision module further includes a PID controller, where the input of the PID is the angle α between the axis of the caisson and the horizontal plane, and a deviation correction force is output according to the determined main force application points, with the control target of the PID being that α tends to 90 degrees.

[0037] The advantages of the present invention over the prior art are as follows. Through sensor measurement and computer simulation calculation, the present invention can accurately obtain the movement information of the caisson. By using the velocity decomposition of a rigid body, quantitative information on deflection can be decomposed, and a force is applied at the position of the maximum moment of the caisson deflection. Using the lever principle, more effective precise rectification of the caisson can be achieved. Such a rectification process can be precisely calculated every time step T, enabling more precise control. Combining with the PID control technology, through the real-time feedback of the movement error of the caisson, the precision of the rectification control can be further improved. Compared with the traditional manual adjustment, through computer intelligent control, the present invention can greatly improve in terms of precision and efficiency, significantly shorten the construction period, and reduce the construction risk. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a flowchart of the method of the present invention;

[0039] Figure 2 is a schematic diagram of the method of the present invention;

[0040] Figure 3 is a schematic diagram of the system of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0041] The following describes the specific embodiments of the present invention with reference to the accompanying drawings.

[0042] As Figure 1 described, a method for rectification control throughout the whole process of large caisson construction of the present invention includes the following steps:

[0043] S1: Install at least three position sensors on the caisson to monitor the position information of at least three points on the caisson that are not on the same straight line;

[0044] S2: Input the position information obtained by the three position sensors into the computer in real time. The computer decomposes the movement of the caisson within the time step T into:

[0045] 1) Translation in the vertical direction;

[0046] 2) Rotation along the horizontal rotation axis;

[0047] S3: Based on the orientation information of the horizontal rotation axis, determine the two points farthest from both sides of the horizontal rotation axis as the main force application points for rectification. During the rectification process, at least include applying a downward pressure to the main force application points that tilt upward.

[0048] More specifically, the computer obtains the translation in the vertical direction through the following method:

[0049] Simulate the first spatial position of the caisson at the beginning of the time step T;

[0050] The second spatial position of the caisson at the end of the simulation time step T;

[0051] When calculating the transformation from the first spatial position to the second spatial position, the spatial point with the smallest horizontal coordinate change is taken as the vertical translation point, and the coordinates (x1, y1, z1) of the vertical translation point at the start of step T and the coordinates (x2, y2, z2) at the end of step T are obtained, and the vector (0, 0, z2 - z1) is taken as the vertical translation.

[0052] In most cases, the movement of the caisson is both downward and may be inclined. In a special case, for example, the entire caisson rotates around only one point, as Figure 2 shown, then the vertical translation point neither moves horizontally nor vertically, such as the central black dot in the figure. In some cases, for the sake of convenience, the center of gravity can be directly taken as the vertical translation point.

[0053] The reason for decomposing the above process into a vertical downward translation and a horizontal rotation is also taking into account the special situation of the caisson. The main reason for the caisson skew is the unevenness in the bottom area. Therefore, it is often the case that a certain area sinks downward in advance and there is a slight rotation around the vertical direction. Therefore, directly setting the rotation of the horizontal axis can greatly reduce the calculation amount.

[0054] Generally, the vertical translation point can be found near the central axis. This is because due to the position restrictions on both sides of the caisson, it generally rotates around the center. So the vertical translation point is generally located in the central area. Then a cylindrical area can be drawn with the central axis of the caisson as the central axis and a preset radius R, and the vertical translation point is searched for within the cylindrical area.

[0055] In a more specific embodiment, the computer can adopt a method of comparing different regions, and this method is relatively fast:

[0056] The space occupied or surrounded by the caisson (in the above preferred embodiment, a cylindrical area can be drawn with the preset radius R) can be divided into multiple small regions. These small regions can be realized by simple grid division. Each grid unit contains multiple points. The specific way of grid division can be selected according to the size and accuracy requirements of the caisson monitoring area. For example, if the area is large, it can be divided into coarser grids; if a more precise search is required, it can be divided into smaller grids.

[0057] In each grid unit, we select one of the points as the representative point and calculate its horizontal change amount. Then, we compare all the grid units and select the grid unit with the smallest change amount. This is equivalent to searching for the region with the smallest horizontal change in the entire space.

[0058] Once the region with the least change is found, we can further refine this region:

[0059] Divide this region into smaller grids again and continue with the same comparison.

[0060] In the refined region, calculate the horizontal change amount at each point and select the point with the least horizontal change.

[0061] This process can be repeated to gradually narrow down the search range until the point with the least change is found.

[0062] In some cases, there may be multiple similar points, making it impossible to directly distinguish which point has the least change. To avoid this situation, after selecting the region with the least change, we can apply a local optimization algorithm to further determine the optimal point. For example, the gradient descent method or the least squares method can be used to fine-tune the selected point to further optimize the result.

[0063] Furthermore, the specific steps to solve the rotational part are as follows:

[0064] 1) Set the horizontal rotation axis to pass through the vertical moving point;

[0065] 2) Assume that the orientation of the horizontal rotation axis in the horizontal plane is (x0, y0), and assume that the rotation angle within the time step T is θ;

[0066] 3) Solve for (x0, y0) and θ such that the change of the caisson within the predicted time T through this rotation is closest to the actual change.

[0067] Among them, the solution method can be as follows:

[0068] Set the loss function as:

[0069]

[0070] where ΔP p,i is the displacement vector of point i within time T predicted according to (x0, y0) and θ;

[0071] ΔP a,i is the actual displacement vector of point i within time T;

[0072] n is the number of selected reference points;

[0073] Solve for (x0, y0) and θ by minimizing the loss function.

[0074] Among them, the selection of points can be diverse. For example, the positions of three sensors can be directly used as the reference points for solving.

[0075] In the above solution steps, the displacement vector ΔP p,i and ΔP a,i may include the superposition of translational vectors or may not include the superposition of translational vectors, because the translational vectors disappear through the minus sign in the loss function, and the result is the same.

[0076] More specifically, when the computer calculates, the least squares method can be used for calculation, and the point positions can be selected in the horizontal plane, which will be faster.

[0077] When calculating, different calculation strategies can also be adopted. For example, the orientation of (x0, y0) can be divided into multiple regions from 0 to 360°. In each region, a specific orientation is selected to calculate the optimal θ value that can minimize the value of the loss function. Then, the values of the loss functions for different regional orientations are compared, the region corresponding to the minimum value is selected, and further division is performed within this region to gradually approach the optimal (x0, y0) and θ values.

[0078] More specifically:

[0079] For example, each 30° is an interval. In each interval, the direction of (x0, y0) is fixed, and the corresponding θ value that minimizes the loss function is quickly solved through univariate optimization. After completing a full-circle scan, the interval with the smallest loss value is selected as the fine search range, and this interval is further subdivided into smaller angular steps (such as 5°) to repeat the optimization process. This hierarchical search mechanism can not only avoid falling into local optima but also significantly reduce the computational complexity. For each determined axis rotation direction, the solution of the θ angle is transformed into a root-finding problem of a univariate nonlinear equation, and the Newton iteration method can be used for rapid convergence.

[0080] After obtaining the preliminary parameters, the system starts the global optimization process. The optimal (x0, y0, θ) obtained through hierarchical search is used as the initial value, and the Levenberg-Marquardt algorithm is called for joint optimization. This algorithm balances the advantages of gradient descent and the Gauss-Newton method by dynamically adjusting the damping factor, improving the computational speed while ensuring convergence stability. During the optimization process, the system calculates the Jacobian matrix in real time: the partial derivatives of x0, y0, and θ are calculated respectively to quantify the influence degree of each parameter adjustment on the loss function. The analytical expression of the Jacobian matrix can be derived through the differential of the rotation matrix. For example, the displacement change caused by a small change in the axis rotation direction can be calculated through vector cross product.

[0081] To enhance the robustness of the algorithm, a multiple verification mechanism can be introduced. After the parameter solution is completed, the predicted displacement is cross-verified with the measured data of all sensors (including redundant sensors that did not participate in the optimization). If there is a significant deviation, the iterative reweighted least squares method is triggered to exclude interference by reducing the weight coefficient of abnormal data points. At the same time, sometimes parameter constraint conditions can also be set in combination with the mechanical characteristics of the caisson structure: the axis of rotation direction needs to be within ±15° of the central axis, and the absolute value of the rotation angle θ does not exceed 5°. These prior knowledge are incorporated into the optimization process through the Lagrange multiplier method to prevent physically unreasonable solutions.

[0082] Of course, there are other solution methods. Here, only one example is given to illustrate that such calculations are feasible.

[0083] In a more specific embodiment, for the time step T, it can be dynamically adjusted according to the moving speed of the caisson; the moving speed of the caisson can be approximately represented by the moving speed of the center of gravity. When the caisson moves faster, the time step T can be selected smaller, so as to grasp the fine deflection of the caisson during the movement.

[0084]

[0085] Where k1 and k2 are adjustment parameters, which can be specifically selected according to the specific situation.

[0086] After having a more accurate understanding of the movement of the caisson, by collecting historical caisson movement data (including position, vertical speed, horizontal rotation angular velocity, etc.), a prediction model can be established using a supervised learning algorithm to predict the movement state of the caisson at the next moment, so as to optimize the time step and control signal.

[0087] In another embodiment, the data acquisition of the movement situation can also be carried out in other ways. The specific implementation method is as follows:

[0088] Step 1: Fix at least one camera near the edge position at the top of the caisson, with the lens facing outside the caisson, and the field of view covering the area containing stable reference objects, such as buildings on the shore, trees or distant landmarks. The camera selects an industrial-grade device with a resolution of not less than 1920×1080 pixels and a frame rate of not less than 30 frames per second, and is fixed on the surface of the caisson through bolts or welded brackets to ensure its stable position during the movement of the caisson. The camera is equipped with a waterproof and dustproof housing with a protection level of not less than IP66, and an LED fill light or an infrared module can be selected to adapt to low-light environments. The data transmission cable is connected to the processing unit to ensure real-time transmission of the video stream.

[0089] Step 2: The camera continuously captures the external environment at fixed time intervals (e.g., 0.1 seconds), generates a sequence of images with timestamps, and transmits them to the processing unit. The processing unit preprocesses each frame of the image and identifies the feature points of at least three stable reference objects. These feature points are parts of objects with high contrast or geometric significance in the picture, such as the top corners of buildings or the edges of tree trunks. The recognition process uses a corner detection algorithm or a feature extraction algorithm to extract the two-dimensional pixel coordinates of each feature point in the image plane.

[0090] Step 3: For two adjacent frames of images, the processing unit calculates the change in the coordinates of each feature point and obtains the displacement of each point. The change in pixel units is converted into the displacement of the actual physical distance through the pre-calibrated camera parameters (including focal length and lens distortion). If the distance of the reference object is unknown, it can be roughly estimated through the geometric relationship of multiple frames of images. The obtained displacement data reflects the relative movement of the reference object relative to the camera, which directly corresponds to the posture change of the caisson.

[0091] Step 4: Decompose the motion state of the caisson according to the displacement of the reference object, which is divided into two parts: vertical translation and horizontal rotation:

[0092] a) Vertical translation extraction:

[0093] The processing unit calculates the average displacement of all feature points, which reflects the overall movement of the camera. The size and positive and negative changes in the vertical direction represent the up and down translation distance of the caisson, and the changes in the horizontal direction may correspond to drift.

[0094] b) Horizontal rotation extraction:

[0095] Subtract the average value from the displacement of each feature point to obtain the relative displacement, which reflects the rotation component of the caisson. Under the assumption of a two-dimensional plane, the direction of the rotation axis and the rotation center are fitted based on these relative displacements, and the rotation angle is estimated by the movement distance of each point relative to the center. If three-dimensional analysis is required, the perspective relationship of multiple frames of images is combined to infer the rotation direction and angle of the caisson around the horizontal axis.

[0096] Step 5: The processing unit outputs the caisson motion parameters at fixed intervals, including the vertical translation distance, the position of the rotation axis and the rotation angle, for example, "translation -0.05 meters, rotation 1 degree around the X-axis". According to the direction of the rotation axis, the two side points on the caisson surface farthest from the rotation axis are determined as the correction force points. If the reference object displacement shows an upward movement on one side, that side is the warped area, and downward pressure is applied by a hydraulic jack, with the magnitude of the pressure being proportional to the rotation angle (for example, 10 tons of force are applied for every 1 degree, depending on the mass of the caisson). The camera continues to capture images and updates the motion parameters in real time until the angle is reduced to a preset threshold (such as 0.5 degrees).

[0097] For example, on a 10-meter by 10-meter caisson, a camera is installed at the edge, with its lens facing the building on the shore, and the shooting interval is 0.1 second. Three feature point coordinates are recognized in the first frame, and slight movements of these points are shown in the second frame. The average displacement corresponding to the translation amount is calculated, the rotation angle is about 0.8 degrees, and the axis of rotation is approximately along the horizontal axis. When rectifying the deviation, an 8-ton pressure is applied to the tilted side, and after 5 seconds, the rotation angle drops to 0.3 degrees.

[0098] The advantages of this embodiment are that the rotation detection of the caisson is realized by using a single camera, the sensor structure is simple, the installation is convenient, the cost is low, the visual data is intuitive, it can adapt to various construction environments, and the processing has strong real-time performance and supports rapid deviation rectification.

[0099] In a more specific embodiment, the method further includes setting a PID for load control, wherein the input of the PID is the angle α between the axis of the caisson and the horizontal plane, and the deviation rectification force is output according to the determined main force application points, with α tending to 90 degrees as the control target of the PID.

[0100] In a more specific embodiment, during the deviation rectification process, multiple loads are set on the tilted side of the horizontal axis of rotation, and the load forces of the multiple loads increase linearly with the increase of the distance from the horizontal axis of rotation. For example, water tanks can be set at multiple points on the top of the caisson, and the load of the water tank increases linearly with the increase of the distance from the horizontal axis of rotation. According to the direction of the axis of rotation measured within the time step T, the load of the water tank can be changed in real time, which is a scheme of changing the load while measuring, and is more flexible.

[0101] In another embodiment, a winch or a device for applying a load can also be preset at multiple points, and the load is applied in real time at the main deviation rectification points according to the direction of the axis of rotation measured within the time step T. The scheme of changing the load points in real time and precisely controlling has higher efficiency.

[0102] Thus, as Figure 3 shown, the present invention actually also discloses a deviation rectification control system for the whole process of large caisson construction, including:

[0103] At least three position sensor modules for monitoring the position information of at least three points on the caisson that are not on the same straight line;

[0104] A computer processing module for receiving and real-time processing the position information from the position sensor module, and decomposing the movement of the caisson within the time step T into a translation in the vertical direction and a rotation along the horizontal axis of rotation;

[0105] A deviation rectification decision module for determining the two points farthest from both sides of the horizontal axis of rotation as the main force application points for deviation rectification according to the horizontal axis of rotation orientation information output by the computer processing module;

[0106] The deviation correction execution module is used to correct the deviation of the caisson according to the instructions of the deviation correction decision module, and at least includes applying a downward pressure to the main force application point that tilts upward.

[0107] Among them, the deviation correction execution module further includes any one or two of the following: 1) reaction piles inserted into the ground, and a pulling rope between the reaction piles and the caisson; 2) a water tank arranged at the top of the caisson, and the water tank adjusts the load pressure by adjusting the water injection volume.

[0108] Similarly, the deviation correction decision module further includes a PID controller. Among them, the input of the PID is the angle α between the axis of the caisson and the horizontal plane, and the deviation correction force is output according to the determined main force application point, with α tending to 90 degrees as the control target of the PID.

[0109] As mentioned above, it is only the preferred 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, according to the technical solution and inventive concept of the present invention, makes equivalent replacements or changes, and should be covered by the protection scope of the present invention.

Claims

1. A method for correcting deviation during the whole process of large-scale caisson construction, characterized in that: The steps include: S1: Install at least three position sensors on the caisson to monitor the position information of at least three points on the caisson that are not located on the same straight line; S2: The position information obtained by the three position sensors is input into the computer in real time, and the computer decomposes the movement of the caisson within the time step T into: 1) Vertical translation; 2) Rotation along a horizontal axis; S3: Based on the orientation information of the horizontal rotation axis, two locations farthest from both sides of the horizontal rotation axis are determined as main force application points for correction. The correction process at least includes applying downward pressure to the main force application points that are tilted upward.

2. According to the large-scale caisson construction whole process correction control method according to claim 1, it is characterized in that: The computer obtains the vertical translation in the following way: The first spatial position of the caisson at the beginning of the simulation time step T; The second spatial position of the caisson at the end of the simulation time step T; Calculate the spatial point with the smallest change in horizontal coordinate when transforming from the first spatial position to the second spatial position as the vertical translation point, and obtain the coordinates (x1, y1, z1) of the vertical translation point at the beginning of step T and the coordinates (x2, y2, z2) at the end of step T, and use the vector (0, 0, z2-z1) as the vertical translation.

3. According to the large-scale caisson construction whole process correction control method as described in claim 1, it is characterized in that: A cylindrical area is drawn with the central axis of the caisson as the central axis and a radius of a preset value R, and the vertical translation point is found in the cylindrical area.

4. According to claim 2, the whole process correction control method of large caisson construction is characterized in that: The steps to obtain the horizontal axis include: 1) Setting the horizontal axis of rotation to pass through the vertical translation point; 2) Assume that the direction of the horizontal axis in the horizontal plane is (x0, y0), and assume that the rotation angle in the time step T is θ; 3) Solve (x0, y0) and θ so that the change of the caisson within time T predicted by the rotation is closest to the actual change.

5. According to the large-scale caisson construction whole process correction control method as described in claim 4, it is characterized in that: In step 3), the following steps are specifically included: Set the loss function to: Where ΔP p,i is the displacement vector of point i in time T predicted based on (x0, y0) and θ; ΔP a,i is the actual displacement vector of point i in time T; n is the number of reference points selected; By minimizing the loss function, we solve (x0, y0) and θ.

6. According to claim 1, the whole process deviation correction control method for large caisson construction is characterized in that: The method also includes setting PID for load control, wherein the input of PID is the angle α between the caisson axis and the horizontal plane, and the correcting force is output according to the determined main force application point, with α approaching 90 degrees as the control target of PID.

7. According to claim 1, the whole process deviation correction control method for large caisson construction is characterized in that: During the deviation correction process, a plurality of loads are arranged on the tilted side of the horizontal rotation axis, and the load forces of the plurality of loads increase linearly with the increase of the distance from the horizontal rotation axis.

8. A large-scale caisson construction whole process correction control system, characterized in that: include: At least three position sensor modules, used to monitor the position information of at least three points on the caisson that are not located on the same straight line; A computer processing module is used to receive and process in real time the position information from the position sensor module, and decompose the movement of the caisson within the time step T into a translation in the vertical direction and a rotation along the horizontal axis; A deviation correction decision module, used to determine two locations farthest from both sides of the horizontal rotation axis as main force application points for deviation correction according to the horizontal rotation axis orientation information output by the computer processing module; The deviation correction execution module is used to correct the caisson according to the instructions of the deviation correction decision module, which at least includes applying downward pressure to the main force application point that is tilted upward.

9. The large-scale caisson construction whole process deviation correction control system according to claim 8 is characterized in that: The deviation correction execution module also includes any one or two of the following: 1) a reaction pile inserted into the ground, and a pull rope between the reaction pile and the caisson; 2) a water tank arranged on the top of the caisson, and the water tank adjusts the load pressure by adjusting the water injection volume.

10. The large-scale caisson construction whole process deviation correction control system according to claim 8, characterized in that: The deviation correction decision module also includes a PID controller, wherein the input of the PID is the angle α between the caisson axis and the horizontal plane, and the deviation correction force is output according to the determined main force application point, with α tending to 90 degrees as the control target of the PID.

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