A pushing direction correction system of a pipe jacking machine based on laser light points

Abstract

The application relates to the technical field of tunnel construction, in particular to a pipe jacking machine pushing direction correction system based on a laser light point, which comprises a laser calibration module, a light spot positioning module, a deviation analysis module, an execution module and a multi-pipe cooperative control module; the application calculates the thrust distribution of each jack by combining the position of the jack with the included angle of the pipe jacking deviation direction, can effectively offset the distance deviation and the angle deviation by timely scheduling the jack in the most favorable position, reasonably distributes the torque of each jack, and generates the torque resisting the deviation under the smallest adjustment amount. The scheme dynamically adjusts the output thrust of each jack, optimizes the thrust distribution, improves the adjustment accuracy and efficiency of the system, reduces unnecessary energy consumption, and improves the pushing stability of the pipe jacking machine.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction technology, specifically to a pipe jacking machine propulsion direction correction system based on laser light spots. Background Technology

[0002] In the construction of tunnels and underground pipelines, pipe jacking machines (or tunnel boring machines) are a common type of equipment used to advance pipelines underground. Ensuring the precise direction of the pipe jacking machine's advance is crucial during construction, as it affects the smooth progress of the project and the accurate positioning of the pipeline. Deviations in the direction of the pipe jacking machine's advance can lead to construction quality problems and even structural safety risks.

[0003] Typically, the directional control of a pipe jacking machine relies on traditional measurement methods, such as levels, theodolites, and laser instruments, to adjust the machine by detecting the real-time position of the equipment. However, these methods often have inherent errors and are limited by the influence of the site environment (such as soil pressure, groundwater level, and mechanical wear). Therefore, the directional control of the pipe jacking machine requires precise correction and real-time monitoring.

[0004] In existing technologies, some progress has been made in the research of using laser technology for the correction of the thrust direction of pipe jacking machines. By calibrating the target direction with a laser emitting device and using the reflected light spot for real-time positioning, the thrust direction of the pipe jacking machine can be effectively monitored and corrected. However, the laser positioning results still require manual interpretation, making it difficult to apply to the automatic control of the pipe jacking machine's thrust direction. Furthermore, current pipe jacking machine correction methods often require extensive fine-tuning when correcting thrust, especially when facing large directional deviations, which may require excessive energy adjustments. Some jacks involved in the correction contribute little to the distance correction due to their distance and position, thus failing to play a full role and easily leading to energy waste and mechanical damage.

[0005] To address the aforementioned issues, it is necessary to propose a pipe jacking machine propulsion direction correction system based on laser light spots. Summary of the Invention

[0006] The purpose of this invention is to solve the problems existing in the background art and to propose a pipe jacking machine propulsion direction correction system based on laser light spots.

[0007] The objective of this invention can be achieved through the following technical solutions: A tube jacking machine propulsion direction correction system based on laser spot includes a laser calibration module, a spot positioning module, a deviation analysis module, an execution module, and a multi-tube collaborative control module.

[0008] The laser calibration module is responsible for emitting a detection laser along the preset jacking direction to the optical target at the tail of the pipe jacking machine to calibrate the target jacking direction of the pipe jacking.

[0009] As a preferred embodiment of the present invention, a detection laser is emitted from a laser theodolite to a target inside the pipe jacking machine at preset time intervals, and the emission direction of the detection laser is set to be consistent with the target jacking direction of the pipe jacking machine.

[0010] In a preferred embodiment of the present invention, the laser calibration module controls the wavelength of the detection laser, causing the detection laser to emit alternately in a preset wavelength combination, and switching to the next preset wavelength after each emission is completed.

[0011] The spot positioning module receives the light signal generated by the detection laser on the target and acquires the spot position information. It records the time difference between the emitted detection laser and the light signal generated on the target to obtain the jacking distance data of the jacking pipe.

[0012] As a preferred embodiment of the present invention, the location information of the light spot generated by the detection laser on the optical target of the pipe jacking machine is obtained. A two-dimensional rectangular coordinate system is established in the vertical plane of the location of the light spot. The position coordinates of the light spot in the two-dimensional rectangular coordinate system are obtained at preset time intervals, and the movement trajectory of the light spot position coordinates is recorded to obtain the light spot position information.

[0013] As a preferred embodiment of the present invention, the time difference between the emitted detection laser and the light signal generated on the optical target is obtained, and the jacking distance data is calculated.

[0014] The deviation analysis module comprehensively analyzes the spot position information and jacking distance data to calculate the deviation data between the actual jacking direction and the target jacking direction of the pipe jacking machine. This includes distance deviation data, angle deviation data, and the range of the deviation direction, providing correction parameters for the execution module. The location of the jack to be adjusted is determined based on the range of the deviation direction. The output thrust adjustment value of the jack is calculated based on the distance deviation data, angle deviation data, and jack location data.

[0015] Record the current time, as well as the x-axis and y-axis components of the current time spot position coordinates, and the distance and angle deviation data between the actual jacking direction and the target jacking direction of the pipe jacking machine.

[0016] As a preferred embodiment of the present invention, the location zone of the jack to be adjusted is determined according to the interval of the deviation direction. The specific process is as follows: When the position of the light spot at the current time t is identified as being in the first quadrant, the location of the jack to be adjusted is determined to be in the upper right quadrant. When the position of the light spot at the current time t is identified as being in the second quadrant, the location of the jack to be adjusted is determined to be in the upper left quadrant. When the position of the light spot at the current time t is identified as being in the third quadrant, the location of the jack to be adjusted is determined to be in the lower left region. When the position of the light spot at the current time t is identified as being in the fourth quadrant, the location of the jack to be adjusted is determined to be the lower right region. In a preferred embodiment of the present invention, the output jacking force adjustment of each jack is determined based on distance deviation data, angle deviation data, and jack location data. Distance deviation data and angle deviation data are acquired. The angle between the line connecting each jack to the center of the jacking pipe and the positive direction of the axis is obtained.

[0017] Using the distance deviation data at the current moment as the input variable, the PID control algorithm calculates the resultant force required to adjust the output force of all jacks at the current moment.

[0018] In a preferred embodiment of the present invention, the weight of each jack in the resultant force is calculated by using angular deviation data and the angle between the line connecting each jack to the center of the jacking pipe and the positive direction of the axis. The actual output force adjustment amount executed by each jack is calculated by using the weight of the weight, and a correction signal is obtained.

[0019] The execution module controls each jack to adjust its output force based on the correction signal, thereby correcting the jacking direction of the pipe jacking machine. When the deviation angle of the jacking direction of the pipe jacking machine is detected to be greater than a preset threshold, a warning signal is output, and the jacking operation is stopped.

[0020] The output force of each jack in the section where the jack to be adjusted is located is increased or decreased by the same amount as the original output force adjustment, while the output force of each jack in other sections remains unchanged, thereby correcting the jacking direction of the pipe jacking machine.

[0021] In a preferred embodiment of the present invention, when the distance deviation data is detected to be greater than the maximum preset threshold, it is determined that the error between the jacking direction of the pipe jacking machine and the target jacking direction is too large to be corrected by the jacks. At this time, a warning signal is output to stop all jacks from outputting jacking force.

[0022] The multi-tube collaborative control module dynamically adjusts the advancement speed of each jacking pipe based on the jacking distance data, reducing mutual interference and controlling the coordinated jacking of each jacking pipe in the tube curtain.

[0023] Acquire the jacking distance data of each jacking pipe in the pipe jacking system, and calculate the average and standard deviation of the jacking distance data for each jacking pipe. When it is identified that the standard deviation of the jacking distance data of each jacking pipe is greater than a preset threshold, it is determined that the jacking distance of each jacking pipe is uneven. At this time, the jacking construction of the jacking pipe with a jacking distance greater than the average jacking distance is suspended until the standard deviation of the jacking distance data of each jacking pipe is identified to be less than or equal to the preset threshold in the next iteration.

[0024] Compared with the prior art, the beneficial effects of the present invention are: This invention calculates the thrust distribution of each jack by combining the angle between the jack's position and the direction of pipe jacking deviation. This allows for timely deployment of jacks in the most advantageous positions to effectively counteract distance and angular deviations, rationally distributing the torque of each jack, and generating torque to counteract deviations with minimal adjustment. This scheme optimizes thrust distribution by dynamically adjusting the output thrust of each jack, improving the system's adjustment accuracy and efficiency, reducing unnecessary energy consumption, and enhancing the propulsion stability of the pipe jacking machine. Attached Figure Description

[0025] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings: Figure 1 This is a system block diagram of the present invention; Figure 2 This is a schematic diagram of the detection laser proposed in the embodiments of the present invention; Figure 3 This is a schematic diagram of the movement trajectory of the spot position coordinates proposed in the embodiments of the present invention; Figure 4 This is a schematic diagram of the jack position grouping proposed in the embodiments of the present invention; Figure 5 This is a schematic diagram of the first, second, and third trajectories proposed in the embodiments of the present invention. Detailed Implementation

[0026] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] First embodiment: Please see Figure 1 As shown, a tube jacking machine propulsion direction correction system based on laser spot includes a laser calibration module, a spot positioning module, a deviation analysis module, an execution module, and a multi-tube collaborative control module.

[0028] The laser calibration module is responsible for emitting a detection laser along the preset jacking direction to the optical target at the tail of the pipe jacking machine to calibrate the target jacking direction of the pipe jacking.

[0029] Please see Figure 2 As shown, every preset time interval of 0.5 seconds, a detection laser is emitted from a laser theodolite to the optical target inside the pipe jacking machine, and the emission direction of the detection laser is set to be consistent with the target jacking direction of the pipe jacking machine.

[0030] Furthermore, the laser calibration module controls the wavelength of the detection laser, causing the detection laser to emit alternately in a preset wavelength combination, and switching to the next preset wavelength after each emission is completed.

[0031] The spot positioning module receives the light signal generated by the detection laser on the target and acquires the spot position information. It records the time difference between the emitted detection laser and the light signal generated on the target to obtain the jacking distance data of the jacking pipe.

[0032] Please see Figure 3 As shown, the location information of the spot generated by the detection laser on the target of the pipe jacking machine is obtained. A two-dimensional rectangular coordinate system is established in the vertical plane of the spot location. Every preset time interval of 0.5s, the position coordinates of the spot location in the two-dimensional rectangular coordinate system are obtained, and the movement trajectory of the spot position coordinates is recorded to obtain the spot position information.

[0033] Furthermore, the time difference between the emitted detection laser and the optical signal generated on the optical target is obtained. By using a preset formula: Calculate the jacking distance data d.

[0034] The deviation analysis module comprehensively analyzes the spot position information and jacking distance data to calculate the deviation data between the actual jacking direction and the target jacking direction of the pipe jacking machine. This includes distance deviation data, angle deviation data, and the range of the deviation direction, providing correction parameters for the execution module. The location of the jack to be adjusted is determined based on the range of the deviation direction. The output thrust adjustment value of the jack is calculated based on the distance deviation data, angle deviation data, and jack location data.

[0035] Record the current time t, as well as the x-component x(t) and y-component y(t) of the current time spot position coordinates.

[0036] By using a preset formula: Calculate the distance deviation data L(t) and angle deviation data θ(t) between the actual jacking direction and the target jacking direction of the pipe jacking machine at the current time t.

[0037] It should be noted that the distance deviation data represents the Euclidean distance difference between the spot position and the target position (origin (0,0)); the angle deviation data represents the angle deviation between the actual jacking direction of the pipe jacking machine and the target jacking direction.

[0038] Please see Figure 4As shown, in this embodiment, the jacks are divided into four groups according to their location, including the upper left area, the lower left area, the upper right area, and the lower right area. The location zone of the jack to be adjusted is determined based on the interval where the deviation direction is located. The specific process is as follows: When the position of the light spot at the current time t is identified as being in the first quadrant, that is, the component x(t) of the coordinate on the x-axis is greater than 0, and the component y(t) of the coordinate on the y-axis is greater than 0, the position of the jack to be adjusted is determined to be in the upper right quadrant. When the position of the light spot at the current time t is identified as being in the second quadrant, that is, the component x(t) of the coordinate on the x-axis is less than 0, and the component y(t) of the light spot position coordinate on the y-axis is greater than 0, the position of the jack to be adjusted is determined to be in the upper left quadrant. When it is detected that the position of the light spot at the current time t is in the third quadrant, that is, the component x(t) of the coordinate on the x-axis is less than 0, and the component y(t) of the light spot position coordinate on the y-axis is less than 0, the position of the jack to be adjusted is determined to be the lower left region. When the position of the light spot at the current time t is identified as being in the fourth quadrant, that is, the component x(t) of the coordinate on the x-axis is greater than 0 and the component y(t) of the light spot position coordinate on the y-axis is less than 0, the position of the jack to be adjusted is determined to be in the lower right quadrant. It's important to note that the purpose and significance of zone control is to counteract distance deviations with minimal adjustments. Specifically, zone control divides the jacks into four zones based on their location (upper left, lower left, upper right, and lower right), and determines the zone for adjusting the jacks based on the direction of the light spot deviation. This ensures that a torque opposing the deviation is generated directly within a minimal adjustment range. In this way, each jack requires only minor adjustments to effectively correct the attitude of the entire system, reducing unnecessary energy waste and improving adjustment efficiency.

[0039] Furthermore, the output jacking force adjustment of each jack is determined based on the distance deviation data, angle deviation data, and jack location data. Distance deviation data L(t) and angle deviation data θ(t) are obtained. The angle ri between the line connecting each jack to the center of the jacking pipe and the positive x-axis is obtained.

[0040] Where i is the sequential number of the jack.

[0041] By using a preset PID control formula: Given a distance deviation of L(t) at the current time t, calculate the resultant force required to be generated by the output force adjustment of all jacks at the current time t. Among them , and These are the preset proportional adjustment factor, integral adjustment factor, and derivative adjustment factor, respectively.

[0042] It should be noted that, This refers to the net force generated by each jack to resist distance and angle deviations; it is the amount that needs to be increased or decreased based on the original output force of the jack. When A positive value represents an increase, and a negative value represents a decrease.

[0043] Furthermore, the distribution of the resultant force by each jack is calculated using the angle deviation data θ(t) and the angle ri between the line connecting each jack to the center of the jacking pipe and the positive x-axis, through a preset formula: Calculate the angle distribution weights of each jack i at time t. The output force adjustment of each jack i at time t, i.e., the correction signal .

[0044] It should be noted that each jack contributes differently to resisting deviations in the jacking direction due to its different location. The specific contribution needs to consider both the direction of the deviation and whether the jack's location coincides with the target direction. Calculating the force distribution of each jack by combining the angle between the line connecting each jack to the center of the jacking pipe and the positive x-axis ensures that the thrust adjustment of each jack is closely related to its location, distance deviation, and angular deviation. Specifically, the jack's location determines the lever arm length of the force it generates (i.e., the angle with the x-axis). Jacks in different locations produce different thrust effects, especially when resisting distance and angular deviations; some jacks contribute more, while others contribute less. Therefore, when adjusting the thrust of each jack, its angular deviation from the target direction and its quadrant position must be considered.

[0045] The execution module controls each jack to adjust its output force based on the correction signal, thereby correcting the jacking direction of the pipe jacking machine. When the deviation angle of the jacking direction of the pipe jacking machine is detected to be greater than a preset threshold, a warning signal is output, and the jacking operation is stopped.

[0046] Let the output force of each jack i in the zone where the jack to be adjusted is adjusted by the amount that is originally applied. , "Positive" means adding to the original. , A negative value indicates a reduction from the original value. By keeping the output force of each jack in other locations constant, the jacking direction of the pipe jacking machine can be corrected.

[0047] Furthermore, when the distance deviation data L(t) is detected to be greater than the maximum preset threshold Lmax, it is determined that the error between the jacking direction of the pipe jacking machine and the target jacking direction is too large to be corrected by the jacks. At this time, a warning signal is output, causing all jacks to stop outputting jacking force.

[0048] The multi-tube collaborative control module dynamically adjusts the advancement speed of each jacking pipe based on the jacking distance data, reducing mutual interference and controlling the coordinated jacking of each jacking pipe in the tube curtain.

[0049] Acquire the jacking distance data d of each jacking pipe in the pipe jacking system, and calculate the average value μ(d) and standard deviation σ(d) of the jacking distance data d of each jacking pipe. When it is identified that the standard deviation of the jacking distance data d of each jacking pipe is greater than the preset threshold σMax, it is determined that the jacking distance of each jacking pipe is uneven. At this time, the jacking construction of the jacking pipe with a jacking distance greater than the average jacking distance μ(d) is suspended until the standard deviation of the jacking distance data d of each jacking pipe is identified to be less than or equal to the preset threshold σMax in the next detection.

[0050] It should be noted that because the execution module dynamically adjusts the jacking direction of each pipe jacking machine and continuously compensates for directional errors, the jacking distance and jacking speed of each pipe in the pipe curtain will vary. Specifically, when a directional error occurs during the advancement of a pipe jacking machine, the system will adjust its attitude and advancement direction through the execution module to ensure the accuracy of the overall path. However, adjusting the jacking direction will consume additional fine-tuning time, making it difficult for each pipe to advance synchronously, resulting in differences in distance between the preceding and following pipes. Due to the recompaction of the underground soil caused by the advancement of the preceding pipe, the subsequent advancement of each pipe jacking machine usually faces greater underground resistance.

[0051] It should be further explained that when multiple pipe jacking machines are advanced simultaneously, all the pipes are evenly distributed on the same horizontal plane, and the pushing force and pressure of each machine are evenly distributed throughout the pipe curtain. Therefore, when controlling the coordinated advancement of each pipe jacking machine, the underground soil resistance experienced by each machine is relatively uniform, and no single pipe jacking machine bears excessive soil friction alone. At this point, the overall system has high advancement efficiency, and the soil resistance distribution is relatively uniform, resulting in more even distribution of underground soil disturbance and preventing excessive concentrated pressure, thus avoiding situations where a single machine bears an excessive load.

[0052] Second embodiment: Please see Figure 5 As shown, in this embodiment, the laser calibration module alternately emits lasers at preset wavelengths of 650nm, 780nm, and 850nm each time it detects laser emission.

[0053] The position information of light spots at 650nm, 780nm, and 850nm was obtained through the spot positioning module, including the position coordinates and movement trajectory of the light spots in the two-dimensional Cartesian coordinate system at wavelengths of 650nm, 780nm, and 850nm, respectively. The detection laser trajectory with a wavelength of 650nm is denoted as the first trajectory; The detection laser trajectory with a wavelength of 780nm is denoted as the second trajectory; The detection laser trajectory with a wavelength of 850nm is denoted as the third trajectory; Furthermore, the first, second, and third trajectories are fused using Kalman filtering to obtain a fused trajectory. This fused trajectory is then output as the movement trajectory of the light spot's position coordinates to the deviation analysis module to reduce interference from ambient light.

[0054] It should be understood that the terms “comprising” and “including” used in this disclosure and claims indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0055] It should also be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the disclosure. As used in this disclosure and claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this disclosure and claims means any combination and all possible combinations of one or more of the associated listed items, and includes such combinations; The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A pipe jacking machine propulsion direction correction system based on laser spot, comprising a laser calibration module, a spot positioning module, a deviation analysis module, and an execution module, characterized in that: The laser calibration module is responsible for emitting a detection laser along the preset jacking direction to the optical target at the tail of the pipe jacking machine to calibrate the target jacking direction of the pipe jacking, and setting the emission direction of the detection laser to be consistent with the target jacking direction of the pipe jacking. The spot positioning module receives the light signal generated by the detection laser on the light target and obtains the spot position information; it records the time difference between the emitted detection laser and the light signal generated on the light target to obtain the jacking distance data of the jacking tube; The deviation analysis module performs a comprehensive analysis of the spot position information and jacking distance data, calculates the deviation data between the actual jacking direction of the pipe jacking machine and the target jacking direction, and determines the location of the jack to be adjusted and the output thrust adjustment value of the jack. The execution module controls each jack to adjust its output force according to the correction signal; when it detects that the deviation angle of the jacking direction of the pipe jacking machine is greater than the preset threshold, it outputs a warning signal and stops the jacking operation.

2. The pipe jacking machine propulsion direction correction system based on laser light spots according to claim 1, characterized in that, It also includes a multi-pipe collaborative control module: The multi-tube collaborative control module dynamically adjusts the advancement speed of each jacking pipe based on the jacking distance data, reducing mutual interference and controlling the coordinated jacking of each jacking pipe in the tube curtain.

3. The pipe jacking machine propulsion direction correction system based on laser light spots according to claim 1, characterized in that, The specific process for obtaining the location information of the light spot is as follows: To obtain the location information of the spot generated by the detection laser on the target of the pipe jacking machine, a two-dimensional rectangular coordinate system is established in the vertical plane of the spot location. The position coordinates of the spot location in the two-dimensional rectangular coordinate system are obtained at preset time intervals, and the movement trajectory of the spot position coordinates is recorded to obtain the spot position information. The time difference between the emitted detection laser and the light signal generated on the optical target is obtained, and the jacking distance data is calculated.

4. The pipe jacking machine propulsion direction correction system based on laser light spots according to claim 1, characterized in that, The specific process for calculating the deviation between the actual jacking direction and the target jacking direction of the pipe jacking machine is as follows: Calculate the distance deviation data, angle deviation data, and the interval where the deviation direction is located to provide correction parameters for the execution module; Record the current time, as well as the x-axis and y-axis components of the current time spot position coordinates, and the distance and angle deviation data between the actual jacking direction and the target jacking direction of the pipe jacking machine; Determine the location zone of the jacks to be adjusted based on the direction of the deviation; determine the output jacking force adjustment amount of each jack based on the distance deviation data, angle deviation data, and jack location data; obtain the distance deviation data and angle deviation data; obtain the angle between the line connecting each jack to the center of the jacking pipe and the positive direction of the axis.

5. The pipe jacking machine propulsion direction correction system based on laser light spots according to claim 4, characterized in that, The specific process for determining the location zone of the jack to be adjusted based on the direction of deviation is as follows: When the current position of the light spot is detected in the first quadrant, the location of the jack to be adjusted is determined to be the upper right quadrant. When the current position of the light spot is detected to be in the second quadrant, the location of the jack to be adjusted is determined to be the upper left quadrant. When the current position of the light spot is detected to be in the third quadrant, the location of the jack to be adjusted is determined to be the lower left region; When the current position of the light spot is detected to be in the fourth quadrant, the location of the jack to be adjusted is determined to be the lower right quadrant.

6. The pipe jacking machine propulsion direction correction system based on laser light spots according to claim 5, characterized in that, The specific process for determining the output jacking force adjustment of each jack is as follows: Using the distance deviation data at the current moment as the input variable, the PID control algorithm is used to calculate the resultant force required to adjust the output force of all jacks at the current moment. The weight of each jack in the resultant force is calculated by using the angle deviation data and the angle between the line connecting each jack to the center of the jacking pipe and the positive direction of the axis. The actual output force adjustment of each jack is then calculated by using the weight, and the correction signal is obtained.

7. The pipe jacking machine propulsion direction correction system based on laser light spots according to claim 2, characterized in that, The specific process of coordinated jacking of each pipe in the control tube curtain is as follows: Acquire the jacking distance data of each jacking pipe in the pipe jacking, and calculate the average value and standard deviation of the jacking distance data of each jacking pipe; when it is identified that the standard deviation of the jacking distance data of each jacking pipe is greater than the preset threshold, it is determined that the jacking distance of each jacking pipe is uneven. At this time, the jacking pipe whose jacking distance is greater than the average jacking distance is suspended from jacking construction until the standard deviation of the jacking distance data of each jacking pipe is identified to be less than or equal to the preset threshold in the next iteration.

8. The pipe jacking machine propulsion direction correction system based on laser light spots according to claim 1, characterized in that, The laser calibration module controls the wavelength of the detection laser, causing it to emit alternately in preset wavelength combinations, switching to the next preset wavelength after each emission. The position information of the laser spot for each preset wavelength is obtained by the laser spot positioning module, and the motion trajectory of the laser spot for each preset wavelength is obtained respectively: The motion trajectories of laser spots of various preset wavelengths are fused using Kalman filtering to obtain a fused trajectory. The fused trajectory is then output as the motion trajectory of the laser spot position coordinates to the deviation analysis module to reduce interference from ambient light.

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