CN117902480A - Ocean engineering immersed tube tunnel erects device - Google Patents
Ocean engineering immersed tube tunnel erects device Download PDFInfo
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- CN117902480A CN117902480A CN202410074130.3A CN202410074130A CN117902480A CN 117902480 A CN117902480 A CN 117902480A CN 202410074130 A CN202410074130 A CN 202410074130A CN 117902480 A CN117902480 A CN 117902480A
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Abstract
The invention relates to the field of ocean engineering and discloses an ocean engineering immersed tube tunnel erection device which comprises a pontoon, wherein a plurality of infusion grooves are formed in the bottom of the pontoon, a plurality of vertical rods are fixedly connected to the top of the pontoon, a motor is fixedly connected to the inner wall of each vertical rod, a propeller is fixedly connected to the output end of each motor, a supporting plate is fixedly connected to the top of each vertical rod, a first winch is arranged on one side of each vertical rod, second winches are arranged on two sides of the top of each supporting plate, a plurality of adjusting plates are arranged on one side of the outer wall of each supporting plate, an electric hoist body is arranged at the bottom of each adjusting plate, a plurality of bearing chains are movably connected to the output end of each electric hoist body, and a positioning plate is connected to the inner part of each bearing chain in a sliding mode. The method can reduce the shipping cost generated in the transportation process of the immersed tube, obviously reduce the fixed time after the immersed tube floats out of port and improve the erection efficiency.
Description
Technical Field
The invention relates to the technical field of ocean engineering, in particular to an ocean engineering immersed tube tunnel erection device.
Background
The immersed tube tunnel is used as an underwater large tunnel engineering, has the characteristics of large selection range of tunnel section shapes, lower requirement on foundations, effective shortening of the path length due to depth of burial, parallel operation of tube joint construction procedures and the like, is particularly suitable for engineering sites such as soft foundations, riverbeds or seabed and the like which are easy to excavate foundation trenches by using water dredging facilities, and is widely applied to cross-sea, river-crossing and river-crossing engineering.
When the conventional immersed tube erection device is used, the conventional immersed tube erection device is usually required to be hoisted to the upper part of an immersed tube through a hoisting device in a port, then fixed after fixed points are completed, finally, when the immersed tube erection device is transported out of the port, a connecting winch at the top of the erection device is bound with a plurality of tugs in directions, the immersed tube erection device is synchronously guided to be towed out of the port through a plurality of tugs, the immersed tube erection device is towed to an installation position in a matched manner by the tugs, and the immersed tube erection device is hoisted and manually positioned in a matched manner through the erection device, so that the whole time consumption is long, the whole process is relatively dependent on manual work and external equipment, and the construction cost is high.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a marine engineering immersed tube tunnel erection device, which solves the problems of higher cost and poorer erection efficiency in the prior art.
In order to achieve the above purpose, the invention is realized by the following technical scheme: the utility model provides a marine engineering immersed tube tunnel erects device, includes the flotation pontoon, a plurality of infusion grooves have been seted up to the bottom of flotation pontoon, the top fixedly connected with of flotation pontoon a plurality of pole setting, the inner wall fixedly connected with motor of pole setting, the output fixedly connected with screw of motor, the top fixedly connected with backup pad of pole setting, one side of pole setting is provided with first capstan winch, the top both sides of backup pad all are provided with the second capstan winch, a plurality of first constant head tanks have been seted up to outer wall one side of backup pad, two near one side sliding connection of backup pad has the regulating plate, the bottom of regulating plate is provided with the electric hoist body, the output swing joint of electric hoist body has a plurality of carrier chains, the inside sliding connection of carrier chain has the locating plate, the bottom of carrier chain is provided with the connecting hook, the inner wall of regulating plate is provided with the adjustment subassembly, the inside water pump that is provided with of flotation pontoon.
Preferably, the adjusting component comprises a U-shaped block, the both sides at the adjusting plate are connected to U-shaped block fixedly, the inner wall of U-shaped block rotates and is connected with the runner, the inner wall fixedly connected with motor of adjusting plate, the output fixedly connected with transfer line of motor, the outer wall fixedly connected with gear of transfer line, a plurality of second constant head tanks have been seted up to the inner wall of adjusting plate, the equal sliding connection of inner wall both sides of adjusting plate has the sliding plate, the equal fixedly connected with connecting block in both sides of sliding plate, two equal fixedly connected with locking lever in the equal fixedly connected with of looks far away side of sliding plate, two the opposite side of sliding plate is all opened and is run through the groove, two the equal fixedly connected with pinion rack in opposite side of sliding plate.
Preferably, the gear is in meshed connection with the toothed plate, the transmission rod is rotationally connected to the inner wall of the adjusting plate, the locking rod sequentially penetrates through the adjusting plate, the supporting plate and the inner wall of the first positioning groove in a sliding mode, the connecting block is in sliding connection with the inner wall of the second positioning groove, and the toothed plate is in sliding connection with the inner wall of the penetrating groove.
The guiding, positioning and butting system comprises: the system comprises a positioning navigation module, a sensory identification data module, an automatic control module, a communication module, a lifting positioning module and a user interface module;
the positioning navigation module is used for determining the position and the course of the device;
the sensory recognition data module is used for acquiring real-time data of the surrounding environment;
The automatic control module is used for accurately controlling the equipment through an automatic control algorithm and a feedback mechanism;
the communication module is used for establishing a stable communication network and carrying out real-time data transmission and instruction interaction with a base or a control center;
the lifting positioning module is used for controlling lifting equipment to realize automatic immersed tube lifting positioning operation;
The user interface module is used for facilitating an operator to monitor and control the operating state of the device.
Preferably, the positioning navigation module comprises a GNSS receiving unit, a sensing data processing unit and an inertial navigation unit;
the GNSS receiving unit is used for receiving satellite navigation signals and acquiring position information of the equipment;
The sensing data processing unit is used for processing and analyzing the data acquired from the sensor so as to extract positioning and navigation information;
The inertial navigation unit is used to measure acceleration and angular velocity of the device in real time using the gyroscope and accelerometer sensors to determine the position, attitude and velocity of the device.
Preferably, the sensory recognition data module comprises a laser radar sensing unit and a sonar sensing unit;
The laser radar sensing unit is used for acquiring high-precision three-dimensional point cloud data and is used for obstacle detection, topography measurement and environment perception;
the sonar sensing unit is used for acquiring position, distance and depth information of the underwater target.
Preferably, the automatic control module comprises a position and posture control unit, a feedback control unit, a motion planning and path planning unit and a real-time data processing and decision unit;
the position and gesture control unit is used for calculating and controlling the position and gesture of the equipment through the data information of the positioning navigation module;
the feedback control unit is used for comparing the expected position and the expected gesture, and adjusting the control parameters of the equipment in real time to stabilize the movement of the equipment;
the motion planning and path planning unit is used for planning the motion trail and path of the equipment;
the real-time data processing and decision-making unit is used for processing the sensor data and the control instruction and making real-time decisions and adjustments.
Preferably, the communication module comprises a radio communication unit, a satellite communication unit, a data transmission and reception unit;
The radio communication unit is used for carrying out data transmission and instruction interaction with other equipment or a control center;
the satellite communication unit is used for data transmission and instruction interaction with a base or other remote control centers;
The data transmission and reception unit is used for transmission and reception of data.
Preferably, the lifting positioning module comprises an electric hoist control unit and a real-time positioning judgment unit;
The electric hoist control unit is used for controlling lifting, descending and moving actions of the electric hoist;
The real-time positioning judging unit is used for judging the position and the posture of the immersed tube according to the sensor data and the equipment position information.
Preferably, the user interface module comprises a display and touch screen unit, an operation button and control panel unit, and a user interaction and input control unit;
The display and touch screen unit is used for displaying real-time state, position information and alarm of the equipment;
the operation buttons and control panel unit is used for providing various operation buttons and control panels so that an operator can control and monitor the equipment;
The user interaction and input control unit is used for being responsible for interaction and input between a user and the system.
Working principle: when the worker uses this erection device to erect the immersed tube tunnel, control whole draft through adjusting the interior water of flotation pontoon, can get into from this and fix between the immersed tube in the harbour, because with engineering immersed tube length difference, before fixed, the worker can be according to the fixed distance between two adjusting plates of whole equilibrium adjustment, thereby satisfy the fixed demand of immersed tube of multiple different length, and after the immersed tube floats up and fix with the immersed tube top through the coupling hook, can remove through the fixed butt joint system control integral device of guide location.
Firstly, the propeller is controlled by a motor to rotate so as to generate thrust, the whole device is pushed out of a port, after entering shallow sea, the draught depth of the whole device can be controlled by adjusting the air in the pontoon, so that the stability in the moving process in the sea is improved, the influence of wind and waves on the whole balance is avoided, the path planning can be performed by matching system components such as a position and gesture control unit, a sonar sensing unit, a motion planning and path planning unit and the like in the moving process, the influence of submarine reefs can be effectively avoided, and after the sea is reached, the installation position of the whole erection device can be locked by releasing the first winch and the second winch.
After the positioning is finished, the water filling content in the electric hoist body and the immersed tube is controlled, so that the immersed tube waterline is gradually increased until the immersed tube slowly falls to a proper installation position for installation.
The invention provides a marine engineering immersed tube tunnel erection device. The beneficial effects are as follows:
1. According to the invention, through the matched use of the pontoon, the motor, the propeller, the supporting plate and other parts, the consignment cost generated in the immersed tube transportation process can be effectively reduced, the fixed time after the immersed tube floats out of the port can be obviously reduced, and the erection efficiency is improved.
2. According to the invention, through the matching use of the adjusting plate, the second positioning groove, the rotating wheel, the U-shaped block and other parts, the adaptability to immersed tubes with different lengths can be improved, the adjusting time is shortened, the time consumption of the whole process is shortened, and the fixing cost is saved.
3. According to the invention, through the cooperation of the components such as the propeller, the motor, the lifting positioning module, the automatic control module and the like, the effects of positioning and sedimentation and fixing can be rapidly realized, the real-time positioning judgment unit is used for assisting in the sedimentation process, the docking error is effectively reduced, and the influence of repeated adjustment on the aging of the whole engineering is avoided.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a schematic view of a positioning plate structure according to the present invention;
FIG. 3 is a schematic cross-sectional view of an adjusting plate according to the present invention;
FIG. 4 is a schematic diagram of an exploded view of an actuator plate according to the present invention;
FIG. 5 is a schematic diagram of a guidance positioning docking system of the present invention;
FIG. 6 is a schematic diagram of a positioning navigation module according to the present invention;
FIG. 7 is a schematic diagram of a sensory identification data module according to the present invention;
FIG. 8 is a schematic diagram of an automated control module of the present invention;
FIG. 9 is a schematic diagram of a communication module according to the present invention;
FIG. 10 is a schematic view of a handling positioning module of the present invention;
FIG. 11 is a schematic diagram of a user interface module according to the present invention.
Wherein, 1, pontoon; 2. an infusion tank; 3. a vertical rod; 4. a motor; 5. a propeller; 6. a support plate; 7. a first winch; 8. a second winch; 9. a first positioning groove; 10. an adjustment plate; 11. a U-shaped block; 12. a rotating wheel; 13. an electric hoist body; 14. a load-bearing chain; 15. a positioning plate; 16. a connecting hook; 17. a motor; 18. a transmission rod; 19. a gear; 20. a second positioning groove; 21. a sliding plate; 22. a through groove; 23. a connecting block; 24. a locking lever; 25. toothed plate.
Detailed Description
The following description of the embodiments of the present invention will be made more apparent and fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples:
Referring to fig. 1-2, an embodiment of the invention provides a marine engineering immersed tunnel erection device, which comprises a pontoon 1, a plurality of infusion grooves 2 are formed in the bottom of the pontoon 1, a plurality of vertical rods 3 are fixedly connected to the top of the pontoon 1, a motor 4 is fixedly connected to the inner wall of the vertical rods 3, a propeller 5 is fixedly connected to the output end of the motor 4, a supporting plate 6 is fixedly connected to the top of the vertical rods 3, a first winch 7 is arranged on one side of the vertical rods 3, second winches 8 are arranged on two sides of the top of the supporting plate 6, a plurality of first positioning grooves 9 are formed on one side of the outer wall of the supporting plate 6, an adjusting plate 10 is slidingly connected to the adjacent side of the two supporting plates 6, an electric hoist body 13 is arranged at the bottom of the adjusting plate 10, a plurality of bearing chains 14 are movably connected to the output ends of the electric hoist body 13, a positioning plate 15 is slidingly connected to the inner sides of the bearing chains 14, a connecting hook 16 is arranged at the bottom of the bearing chains 14, an adjusting assembly is arranged on the inner wall of the adjusting plate 10, a water pump is arranged in the pontoon 1, and the water pump can control the water content in the pontoon 1, thereby adjusting the overall draft of the device.
The integral draft is controlled by adjusting the water body in the pontoon 1, thereby being capable of entering a port and being fixed between immersed tubes, the propeller 5 is controlled to rotate through the motor 4, so that thrust is generated, the integral device is pushed out of the port, after entering shallow sea, the integral device draft can be controlled by adjusting the air in the pontoon 1, thereby improving the stability in the moving process in the sea, avoiding the influence of wind and waves on the integral balance, being matched with system components such as a position and attitude control unit, a sonar sensing unit, a motion planning unit, a path planning unit and the like in the moving process, being capable of carrying out path planning and effectively avoiding the influence of submarine reefs, and being capable of locking the installation position of the integral erection device through the release of the first winch 7 and the second winch 8 after the integral device arrives.
Referring to fig. 3-4, the adjusting assembly includes a U-shaped block 11, the U-shaped block 11 is fixedly connected to two sides of the adjusting plate 10, a rotating wheel 12 is rotatably connected to an inner wall of the U-shaped block 11, a motor 17 is fixedly connected to an inner wall of the adjusting plate 10, a driving rod 18 is fixedly connected to an output end of the motor 17, a gear 19 is fixedly connected to an outer wall of the driving rod 18, a plurality of second positioning grooves 20 are formed in an inner wall of the adjusting plate 10, sliding plates 21 are slidably connected to two sides of the inner wall of the adjusting plate 10, connecting blocks 23 are fixedly connected to two sides of the sliding plates 21, locking rods 24 are fixedly connected to two opposite sides of the two sliding plates 21, through grooves 22 are formed in opposite sides of the two sliding plates 21, tooth plates 25 are fixedly connected to opposite sides of the two sliding plates 21, and the locking rods 24 sequentially penetrate through the adjusting plate 10, the supporting plate 6 and are slidably connected to the inner wall of the first positioning groove 9.
According to the distance between two regulating plates 10 of whole equilibrium adjustment, when the regulating plate 10 needs to fix after moving, accessible control motor 17 drives gear 19 and rotates, through the meshing connection between gear 19 and the pinion rack 25, promotes both sides sliding plate 21 and drives locking lever 24 and be connected with first constant head tank 9, satisfies the fixed demand of immersed tube of multiple different length from this, and after the immersed tube floats up and is fixed with the immersed tube top through connecting hook 16, can move through the fixed butt joint system control integral device of guide location.
The gear 19 is in meshing connection with the toothed plate 25, the positions of the sliding plates 21 on two sides can be synchronized through meshing connection, the transmission rod 18 is rotationally connected to the inner wall of the adjusting plate 10, the connection stability of the transmission rod 18 is improved, the connecting block 23 is slidingly connected to the inner wall of the second positioning groove 20, the movement of the sliding plate 21 is limited, the toothed plate 25 is slidingly connected to the inner wall of the through groove 22, and the position of the toothed plate 25 is prevented from being disturbed due to no space when the sliding plates 21 on two sides are close to each other.
Referring to fig. 5, a guidance positioning docking system includes: the system comprises a positioning navigation module, a sensory identification data module, an automatic control module, a communication module, a lifting positioning module and a user interface module;
The positioning navigation module is used for determining the position and the course of the device by using the positioning equipment;
the sensory recognition data module is used for acquiring real-time data of the surrounding environment;
The automatic control module is used for accurately controlling the equipment through an automatic control algorithm and a feedback mechanism;
the communication module is used for establishing a stable communication network, so that the equipment can perform real-time data transmission and instruction interaction with a base or other control centers;
the lifting positioning module is used for controlling lifting equipment to realize automatic immersed tube lifting positioning operation;
The user interface module is used for facilitating an operator to monitor and control the running state of the equipment.
Referring to fig. 6, the positioning navigation module includes a GNSS receiving unit, a sensing data processing unit, and an inertial navigation unit;
The GNSS receiving unit is used for receiving signals of the global satellite navigation system, acquiring position and time information of equipment, performing positioning calculation by using a plurality of satellite signals, and calculating positioning parameters such as longitude, latitude and altitude of the device by measuring arrival time difference of the signals and satellite positions. GNSS receiving units typically include an antenna, a receiver, and associated signal processing circuitry;
the sensing data processing unit is used for processing and analyzing the data acquired from the sensor to extract useful positioning and navigation information, filtering, calibrating and fusing the sensor data, and extracting useful positioning and navigation information such as the position, the gesture and the speed of the equipment. The sensing data processing unit uses a Kalman filter to improve the accuracy and stability of data;
the inertial navigation unit is used for measuring acceleration and angular velocity of the device in real time by using sensors such as gyroscopes and accelerometers to estimate the position, attitude and velocity of the device, and by integrating these measurements, the position, attitude and velocity of the device can be estimated. The inertial navigation unit has higher update frequency and real-time performance, and can continuously provide navigation information even if a positioning signal is lost.
Referring to fig. 7, the sensory recognition data module includes a laser radar sensing unit and a sonar sensing unit;
The laser radar sensing unit is used for acquiring high-precision three-dimensional point cloud data for obstacle detection, topography measurement and environment perception, and the point cloud data can be used for obstacle detection, topography measurement and environment perception. The laser radar sensing unit generally comprises a laser transmitter, a receiver and a related signal processing circuit, and can realize high-precision sensing and modeling of positioning connection points so as to improve the overall docking stability and accuracy;
The sonar sensing unit is used for acquiring information such as the position, the distance, the depth and the like of an underwater target, is used for underwater topography measurement and target detection, and generally comprises a transmitter, a receiver and a related signal processing circuit, and can realize the perception and detection of an underwater environment.
Referring to fig. 8, the automation control module includes a position and posture control unit, a feedback control unit, a motion planning and path planning unit, and a real-time data processing and decision unit;
the position and gesture control unit is used for calculating and controlling the accurate position and gesture of the equipment according to the position and gesture information provided by the positioning navigation module, and the actuating mechanism is controlled: a motor 4, a motor 17 and the like, and realizes the motion and positioning control of the device;
The feedback control unit is used for comparing the expected position and the expected gesture, adjusting the control parameters of the equipment in time so as to keep the equipment to stably and accurately move, realizing closed-loop control by using a P ID control algorithm, and improving the stability and the robustness of the system;
the motion planning and path planning unit is used for planning a motion track and a path of equipment, ensuring that the equipment can safely and efficiently complete tasks, generating a safe and efficient motion path by using the technologies of a path planning algorithm, an obstacle avoidance algorithm and the like and considering the dynamic constraint and environmental obstacle of the device, and realizing autonomous navigation and obstacle avoidance functions through cooperation of the motion planning and path planning unit, a navigation module and a perception module;
The real-time data processing and decision-making unit is used for processing sensor data and control instructions, making real-time decisions and adjusting to meet task demands and cope with changing environmental conditions, and taking corresponding control strategies and actions according to current environmental states and task demands, and the real-time data processing and decision-making unit can use model prediction technology to improve the intellectualization and self-adaptability of the system.
Referring to fig. 9, the communication module includes a radio communication unit, a satellite communication unit, and a data transmission and reception unit;
The radio communication unit is used for carrying out data transmission and instruction interaction with other equipment or a control center;
the satellite communication unit is used for data transmission and instruction interaction with a base or other remote control centers;
The data transmission and receiving unit is used for realizing the transmission and the receiving of data, ensuring stable and reliable data exchange and supporting the remote monitoring and control of the system.
Referring to fig. 10, the lifting positioning module includes an electric hoist control unit and a real-time positioning judgment unit;
The electric hoist control unit is used for controlling the actions of lifting, descending, moving and the like of the electric hoist, realizing the accurate lifting and positioning of the immersed tube, and realizing the motion control and position adjustment of lifting equipment by controlling the motor 4 and the transmission device according to the lifting task and the operation requirement;
The real-time positioning judging unit is used for judging the position and the posture of the immersed tube in real time according to the sensor data and the equipment position information so as to guide the lifting operation and ensure the safety, accurately judging the position and the posture of the immersed tube by using technologies such as image recognition, laser ranging and the like, and can provide real-time feedback and monitoring of the lifting position so as to guide the lifting operation and ensure the safety.
Referring to fig. 11, the user interface module includes a display and touch screen unit, an operation button and control panel unit, and a user interaction and input control unit;
the display and touch screen unit is used for displaying real-time state, position information, alarms and the like of the equipment, user interaction and operation are performed through the touch screen, and the user can perform interaction and operation through the touch screen, such as checking the state of the equipment, setting parameters, sending instructions and the like. The display and the touch screen unit can provide an intuitive and friendly user interface, so that a user can monitor and control the equipment conveniently;
The operation button and control panel unit is used for providing various operation buttons and control panels so that an operator can control and monitor equipment, and the operation buttons and the control panel unit can provide a quick and convenient manual control mode and are suitable for emergency situations or specific operation requirements;
The user interaction and input control unit is used for being responsible for interaction and input between a user and the system, and comprises modes of voice input, gesture recognition, keyboard input and the like so as to meet the requirements of different users, and supports various input modes, such as voice input, gesture recognition, keyboard input and the like so as to meet the requirements of different users. The user interaction and input control unit provides flexible and various user interaction modes, and user experience and operation convenience are enhanced.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a marine engineering immersed tube tunnel erects device, includes flotation pontoon (1), a serial communication port, a plurality of instillation grooves (2) have been seted up to the bottom of flotation pontoon (1), the top fixedly connected with of flotation pontoon (1) a plurality of pole setting (3), the inner wall fixedly connected with motor (4) of pole setting (3), the output fixedly connected with screw (5) of motor (4), the top fixedly connected with backup pad (6) of pole setting (3), one side of pole setting (3) is provided with first reel (7), the top both sides of backup pad (6) all are provided with second capstan winch (8), a plurality of first constant head tank (9) have been seted up to outer wall one side of backup pad (6), two near one side sliding connection of backup pad (6) has regulating plate (10), the bottom of regulating plate (10) is provided with electric hoist body (13), the output swing joint of electric hoist body (13) has a plurality of bearing chains (14), the inside sliding connection of bearing chains (14) has locating plate (15), the bottom of bearing chains (14) all is provided with inside hook (16), regulating plate (16) is provided with water pump assembly (1).
2. The ocean engineering immersed tube tunnel erection device according to claim 1, wherein the adjusting assembly comprises a U-shaped block (11), the U-shaped block (11) is fixedly connected to two sides of an adjusting plate (10), a rotating wheel (12) is rotatably connected to the inner wall of the U-shaped block (11), a motor (17) is fixedly connected to the inner wall of the adjusting plate (10), a transmission rod (18) is fixedly connected to the output end of the motor (17), a gear (19) is fixedly connected to the outer wall of the transmission rod (18), a plurality of second positioning grooves (20) are formed in the inner wall of the adjusting plate (10), sliding plates (21) are slidably connected to two sides of the inner wall of the adjusting plate (10), locking rods (24) are fixedly connected to two opposite sides of the sliding plates (21), penetrating grooves (22) are formed in opposite sides of the two sliding plates (21), and tooth plates (25) are fixedly connected to opposite sides of the two sliding plates (21).
3. The ocean engineering immersed tube tunnel erection device according to claim 2, wherein the gear (19) is in meshed connection with the toothed plate (25), the transmission rod (18) is rotatably connected to the inner wall of the adjusting plate (10), the locking rod (24) sequentially penetrates through the adjusting plate (10), the supporting plate (6) and is slidably connected to the inner wall of the first positioning groove (9), the connecting block (23) is slidably connected to the inner wall of the second positioning groove (20), and the toothed plate (25) is slidably connected to the inner wall of the penetrating groove (22).
4. A guide positioning docking system, a marine engineering immersed tube tunnel erection device according to any one of claims 1-3, comprising: the system comprises a positioning navigation module, a sensory identification data module, an automatic control module, a communication module, a lifting positioning module and a user interface module;
the positioning navigation module is used for determining the position and the course of the device;
the sensory recognition data module is used for acquiring real-time data of the surrounding environment;
The automatic control module is used for accurately controlling the equipment through an automatic control algorithm and a feedback mechanism;
the communication module is used for establishing a stable communication network and carrying out real-time data transmission and instruction interaction with a base or a control center;
the lifting positioning module is used for controlling lifting equipment to realize automatic immersed tube lifting positioning operation;
The user interface module is used for facilitating an operator to monitor and control the operating state of the device.
5. The guidance positioning docking system of claim 4, wherein the positioning navigation module comprises a GNSS receiving unit, a sensory data processing unit, an inertial navigation unit;
the GNSS receiving unit is used for receiving satellite navigation signals and acquiring position information of the equipment;
The sensing data processing unit is used for processing and analyzing the data acquired from the sensor so as to extract positioning and navigation information;
The inertial navigation unit is used to measure acceleration and angular velocity of the device in real time using the gyroscope and accelerometer sensors to determine the position, attitude and velocity of the device.
6. The guidance positioning docking system of claim 4, wherein the sensory recognition data module comprises a lidar sensing unit, a sonar sensing unit;
The laser radar sensing unit is used for acquiring high-precision three-dimensional point cloud data and is used for obstacle detection, topography measurement and environment perception;
the sonar sensing unit is used for acquiring position, distance and depth information of the underwater target.
7. The guidance positioning docking system of claim 4, wherein the automation control module comprises a position and attitude control unit, a feedback control unit, a motion planning and path planning unit, a real-time data processing and decision unit;
the position and gesture control unit is used for calculating and controlling the position and gesture of the equipment through the data information of the positioning navigation module;
the feedback control unit is used for comparing the expected position and the expected gesture, and adjusting the control parameters of the equipment in real time to stabilize the movement of the equipment;
the motion planning and path planning unit is used for planning the motion trail and path of the equipment;
the real-time data processing and decision-making unit is used for processing the sensor data and the control instruction and making real-time decisions and adjustments.
8. The guidance positioning docking system of claim 4, wherein the communication module comprises a radio communication unit, a satellite communication unit, a data transmission and reception unit;
The radio communication unit is used for carrying out data transmission and instruction interaction with other equipment or a control center;
the satellite communication unit is used for data transmission and instruction interaction with a base or other remote control centers;
The data transmission and reception unit is used for transmission and reception of data.
9. The guiding, positioning and docking system according to claim 4, wherein the lifting and positioning module comprises an electric hoist control unit and a real-time positioning and judging unit;
The electric hoist control unit is used for controlling lifting, descending and moving actions of the electric hoist;
The real-time positioning judging unit is used for judging the position and the posture of the immersed tube according to the sensor data and the equipment position information.
10. The guidance positioning docking system of claim 4, wherein the user interface module comprises a display and touch screen unit, an operation button and control panel unit, a user interaction and input control unit;
The display and touch screen unit is used for displaying real-time state, position information and alarm of the equipment;
the operation buttons and control panel unit is used for providing various operation buttons and control panels so that an operator can control and monitor the equipment;
The user interaction and input control unit is used for being responsible for interaction and input between a user and the system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410074130.3A CN117902480A (en) | 2024-01-17 | 2024-01-17 | Ocean engineering immersed tube tunnel erects device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410074130.3A CN117902480A (en) | 2024-01-17 | 2024-01-17 | Ocean engineering immersed tube tunnel erects device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117902480A true CN117902480A (en) | 2024-04-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410074130.3A Pending CN117902480A (en) | 2024-01-17 | 2024-01-17 | Ocean engineering immersed tube tunnel erects device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117902480A (en) |
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2024
- 2024-01-17 CN CN202410074130.3A patent/CN117902480A/en active Pending
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