Shield tunneling machine monitoring method, device and equipment based on shield rolling angle

The invention relates to a shield tunneling machine monitoring method and device based on a shield rolling angle, and the method comprises the steps: obtaining a working condition parameter, a positive rolling angle fitting parameter and a negative rolling angle fitting parameter of a to-be-monitored shield tunneling machine, and determining the theoretical shield cutterhead torque of the to-be-monitored shield tunneling machine based on the working condition parameter; based on the positive rolling angle fitting parameter, the negative rolling angle fitting parameter and the theoretical shield cutterhead torque, constructing an optimization model of the shield cutterhead torque; the real-time rolling angle of the shield tunneling machine to be monitored is detected, and the shield cutterhead torque is calculated and predicted according to the optimization model and the real-time rolling angle; and predicting the working state of the shield tunneling machine to be monitored according to the predicted shield c