CN103105158A - Marine riprapping, flatness-tamping and positioning system - Google Patents

Abstract

The invention provides a marine riprapping, flatness-tamping and positioning system which is a positioning and monitoring system consisting of a GPS (global position system) positioning system, a high-precision laser range finder, a hall sensor, a tilt angle sensor, a multi-channel depth finder and a computer. According to the system, a ship body equipment coordinate system is built on a workboat, the installation parameters of a GPS positioning antenna and the high-precision laser range finder are determined under the coordinate system; the hall sensor is arranged on a riprapping skip car, and the lower end of the wall of a riprapping pipe is provided with the multi-channel depth finder; and according to the plane geometry relationship of key point coordinates under the ship body coordinate system and the tilt correction of key point coordinate value under the ship body coordinate system, the data such as a tilt angle between the ship body coordinate system and a project coordinate system, the positioning point plane project coordinate, the tilt correction of each elevation reference point under the ship body coordinate system, the elevation coordinate of each elevation reference point under the project coordinate system and the like are computed and sorted out, and finally exact is realized. On the premise that the use requirement is met, the complexity of the system can be reduced, and the reliability can be improved.

Description

Marine jackstone rams calms down a system

Technical field

The invention belongs to port engineering GPS construction positioning system, particularly a kind of marine jackstone rams and calms down a system.

Background technology

My office has accepted port Zhuhai and Macao bridge man-made island construction work recently, in this project, have and reach the immersed tube tunnel of more than 7400 meter, difficulty of construction is at the forefront in the world, adopt blotter as the immersed tube basis, not only lay leveling total side amount huge, and the construction depth of water, to lay width, leveling precision etc. all unprecedented.Therefore, need the flat construction of the marine jackstone rammer positioning monitoring system that development one cover utilizes gps system badly.

Summary of the invention

The object of the present invention is to provide a kind of marine jackstone to ram to calm down a system, this system adopts brand-new mentality of designing, solved the difficult problem that marine jackstone rams Pingyuan County's bank construction off sea, by using in addition waterproof case of technical grade laser range finder, coordinate lens hood, water bar has solved the laser range finder anti-strong reflective problem of waterproof under environment in the open.Use the shock resistance obliquity sensor, solved the problem of measurement of angle in the strong vibration environment.The displacement test system that use is comprised of Hall element, copper wheel, wire rope by measured point displacement difference, calculates angle, solved the problem that barrel can't the mounted angle sensor.Use Multichannel depth sounder, solved the problem of underwater survey elevation.This monitoring system has well been verified bearing accuracy in the application of port Zhuhai and Macao bridge project, environment is slightly disliked at the scene show very high adaptability and reliability.

Technical scheme of the present invention is:

A kind of marine jackstone rams calms down a system, it is characterized in that: the positioning monitoring system that is formed by GPS positioning system, high-precision laser range-finding instrument, Hall element, obliquity sensor, Multichannel depth sounder, computing machine, this system sets up the hull equipment coordinate system on workboat, determine GPS positioning antenna, high-precision laser range-finding instrument installation parameter under this coordinate system; On the jackstone truck, Hall element is installed, Multichannel depth sounder is installed in the lower end of jackstone tube wall;

The GPS positioning antenna records the WGS84 coordinate, tries to achieve the engineering coordinate of GPS positioning antenna point according to coordinate transformation parameter; In conjunction with the installation parameter of the equipment such as GPS positioning antenna, obliquity sensor, Hall element, laser range finder and jackstone truck parameter, the rammer hammer flattener car parameter of laser range finder mensuration, calculate the engineering coordinate of jackstone truck hopper central point, test out the distance on the jackstone material mouth of pipe and jackstone plane by Multichannel depth sounder, can obtain the elevation on jackstone plane;

At the first jackstone truck, the second jackstone truck, ram on the hammer flattener car laser reflection handle be installed respectively, determine the installation site of laser range finder on workboat, in work progress, the jackstone truck during Real-Time Monitoring moves and ram the hammer flattener car;

On the first jackstone truck and the second jackstone truck, the displacement measurement system that is comprised of Hall element, copper wheel, wire rope is installed respectively, to correct the angle of inclination of jackstone truck hopper;

Mounted angle sensor on workboat is by the Real Time Monitoring to hull coordinate X-axis, Y-axis angle of inclination, to revise the inclination of each reference point under the hull coordinate system;

Plane geometry relation according to each key point of hull coordinate system, and to the tilt correction of each key point coordinate figure under the hull coordinate system, calculating arranges out under the tilt correction, engineering coordinate system of each elevation reference point under angle, the anchor point plane engineering coordinate, hull coordinate system of hull coordinate system and engineering coordinate system the data such as each elevation reference point elevation coordinate, final accurately location.

Described computing machine host computer coordinates eight many serial ports of passage capture cards to form by desktop computer; Connect on computer interface: three power supplies and translation interface, two Multichannel depth sounders; Power supply and translation interface connect respectively: left GPS positioning system, right GPS positioning system, hull obliquity sensor, jackstone location high-precision laser range-finding instrument, jackstone conduit inclination obliquity sensor, jackstone elevation detection system; Another power supply and translation interface connect respectively: jackstone is located high-precision laser range-finding instrument, jackstone conduit inclination obliquity sensor, jackstone elevation detection system; Another power supply and translation interface connect respectively: high-precision laser range-finding instrument, three compacting tilt detection system, compacting elevation detection system are located in compacting; Two Multichannel depth sounders respectively connect respectively a probing transfer trunk, and each probing transfer trunk connects respectively a plurality of probing probes.

Described computing machine slave computer is made of industry control cabinet, Switching Power Supply, serial interface switching circuit.

Described high-precision laser range-finding instrument is industrial rank laser range finder, has waterproof case, lens hood, camera lens water bar, base plate that angle adjusting device is arranged outside it.

Form displacement measurement system by described Hall element and copper wheel and wire rope, extrapolate the angle of inclination of truck material pipe by the difference in height of test point.

By described Multichannel depth sounder, test out the distance on the jackstone material mouth of pipe and jackstone plane, then go out the elevation of jackstone face according to known coaptation.

Characteristic advantage of the present invention:

Marine jackstone rams that to calm down a system be operating mode, ship machine equipment characteristics, Contents for Monitoring and positioning accuracy request according to practice of construction, determines the composition proposal of system.Satisfying the complexity that reduces system under the prerequisite of request for utilization, to improve reliability.This system has selected the cooperation GPS such as technical grade laser range finder, shock resistance obliquity sensor, Hall element to realize ramming away from the jackstone of seashore to calm down the position.Site operation personnel's suggestion has fully been solicited in the establishment of positioning system software, and various Monitoring Data are very clear, operate very hommization.The proof mechanism of water of laser range finder has been realized the disposition to stadimeter by waterproof apron, water bar, waterproof sealing lid.The selection of shock resistance sensor takes into full account working-yard oscillation intensity and accuracy requirement, and this obliquity sensor resolution reaches 0.001 °, and built-in high precision 16bitA/D differential converter by 5 rank filtering filtering algorithms, is finally exported the inclination angle value of twocouese.The optional RS485 of interface; RS232 or Transistor-Transistor Logic level.Due to the built-in high accuracy number heat detector of ADI company, so output angle has all obtained again revising, guarantee that product is at low temperature and the high high duplication of putting under environment in operating temperature range.Output speed can reach 20 times/second, and the shock resistance index is: 20000g, 0.5ms, 3 times/axle, product belongs to real technical grade product.Multichannel depth sounder HY1600 is based on the Multichannel depth sounder of Windows operating system.The high reliability embedded main board is adopted in collection, XP operating system, and 15 inches large-screen lcs show to have multiple external data IO interface, can realize that hyperchannel depth measurement data real-time three-dimensional shows, are the ideal tools of shallow water depth measurement on a large scale.The depth measurement passage has the extensibility of neck number, has adopted that advanced passage is controlled, figure shows, the depth of water is sentenced the advanced technologies such as the end.

Description of drawings

Fig. 1 is that marine jackstone rams and calms down a system interface figure

Fig. 2 is that marine jackstone rams and calms down the plane geometry relation of each key point of system

Fig. 3-12nd, computing machine is located surface chart

Embodiment

Marine jackstone as shown in Figure 1 rams calms down a system: described computing machine host computer coordinates eight many serial ports of passage capture cards to form by desktop computer; Connect on computer interface: three power supplies and translation interface, two Multichannel depth sounders; Power supply and translation interface connect respectively: left GPS positioning system, right GPS positioning system, hull obliquity sensor, jackstone location high-precision laser range-finding instrument, jackstone conduit inclination obliquity sensor, jackstone elevation detection system; Another power supply and translation interface connect respectively: jackstone is located high-precision laser range-finding instrument, jackstone conduit inclination obliquity sensor, jackstone elevation detection system; Another power supply and translation interface connect respectively: high-precision laser range-finding instrument, three compacting tilt detection system, compacting elevation detection system are located in compacting; Two Multichannel depth sounders respectively connect respectively a probing transfer trunk, and each probing transfer trunk connects respectively a plurality of probing probes.

Marine jackstone rams and calms down a system as shown in Figure 2, and positioning system relates to workboat, the first jackstone truck, the second jackstone truck, rams the hammer flattener car.Set up the hull equipment coordinate system on workboat, determine the installation site of GPS positioning antenna, laser range finder and obliquity sensor under this coordinate system.

the pulpit of preparing for positioning system is specially arranged on station keeping ship, the host computer that is mounted with monitoring system in the pulpit (is comprised of desktop computer and multi-serial-port card, be responsible for the operation of TT﹠C software, show, the allotment of the serial ports of various device), slave computer is (by the industry control cabinet, serial interface switching circuit and Switching Power Supply form), obliquity sensor (the biax angle of inclination of responsible monitoring workboat), on-Line UPS (ups power, power supply on station keeping ship is generator powered, sometimes need to switch generator, change have in the process of electricity of short duration in power supply state, be the real-time that guarantees supervisory system and the backup safety that has a power failure rear significant data, must be equipped with ups power, ups power can also effectively be avoided because having a power failure, pressure drop, continue under-voltage, sustained overvoltage, line is made an uproar, frequency drift, switching transient, the various electrical problems such as harmonic wave).

Install on hopper hyperchannel survey establish instrument (being responsible for the distance between Real-Time Monitoring hopper port and riprap layer), the displacement transducer (being converted to angle with the inclination situation of monitoring hopper by the variation to the measured point displacement) that is comprised of Hall element and copper wheel, wire rope be installed on the jackstone truck, mounting industrial level laser stadimeter (being responsible for the shift length of monitoring jackstone truck and rammer flatcar) on hull.

Marine jackstone rams calms down a system-computed formula:

One. the plane geometry relation of each key point

As shown in Figure 2

Two. the angle SAd of hull coordinate system and engineering coordinate system

Known left positioning antenna GPS _L, right positioning antenna GPS _REngineering coordinate (X, Y, Z)

1 $\mathrm{GSAd}=\frac{{\mathrm{GPS}}_{\mathrm{Ry}}-{\mathrm{GPS}}_{\mathrm{Ly}}}{{\mathrm{GPS}}_{\mathrm{Rx}}-{\mathrm{GPS}}_{\mathrm{Lx}}}-\frac{{({\mathrm{GPS}}_{\mathrm{Ry}}-{\mathrm{GPS}}_{\mathrm{Ly}})}^3}{3\×{({\mathrm{GPS}}_{\mathrm{Rx}}-{\mathrm{GPS}}_{\mathrm{Lx}})}^3}$

2. work as GPS _RYGPS _LY

$\mathrm{SAd}=\frac{{\mathrm{GPS}}_{\mathrm{LX}}-{\mathrm{GPS}}_{\mathrm{RX}}}{{\mathrm{GPS}}_{\mathrm{RY}}-{\mathrm{GPS}}_{\mathrm{LY}}}-\frac{{({\mathrm{GPS}}_{\mathrm{LX}}-{\mathrm{GPS}}_{\mathrm{RX}})}^3}{3\×{({\mathrm{GPS}}_{\mathrm{RY}}-{\mathrm{GPS}}_{\mathrm{LY}})}^3}+\mathrm{GSAd}$

Work as GPS _RY=GPS _LYAnd GPS _RXGPS _LX

SAd=270°+GSAd

Work as GPS _RY＜GPS _LY

Work as GPS _RY=GPS _LYAnd GPS _RX＜GPS _LX

SAd=90°+GSAd

Three. anchor point plane engineering coordinate

1. ram flat spot (HP) centre coordinate

$\mathrm{HPSAd}=\frac{{\mathrm{HPG}}_x-{\mathrm{GL}}_x+{\mathrm{HPG}}_d}{{\mathrm{HP}}_y-{\mathrm{GL}}_y}-\frac{{({\mathrm{HPG}}_x-{\mathrm{GL}}_x+{\mathrm{HPG}}_d)}^3}{3\×{({\mathrm{HP}}_y-{\mathrm{GL}}_y)}^3}$

$D=\sqrt{{({\mathrm{HPG}}_x-{\mathrm{GL}}_x+{\mathrm{HPG}}_d)}^2+{({\mathrm{HP}}_y-{\mathrm{GL}}_y)}^2}$

HP0 _X=D×cos(SAd+HPSAd)+GPS _LX

HP0 _Y=D×sin(SAd+HPSAd)+GPS _LY

2. jackstone point 1 (PS1) centre coordinate

$\mathrm{<figure-callout\; id="1"\; label="PS"\; filenames="HDA00002760316000041.png"\; state="\{\{state\}\}">PS</figure-callout>}1\mathrm{SAd}=\frac{{\mathrm{PS}1G}_x-{\mathrm{GL}}_x+{\mathrm{PS}1G}_d}{\mathrm{PS}1y-{\mathrm{GL}}_y}-\frac{{({\mathrm{PS}1G}_x-{\mathrm{GL}}_x+{\mathrm{PS}1G}_d)}^3}{3\&times;{(\mathrm{PS}1y-{\mathrm{GL}}_y)}^3}$

$D=\sqrt{{({\mathrm{PS}1G}_x-{\mathrm{GL}}_x+{\mathrm{PS}1G}_d)}^2+{({\mathrm{PS}1}_y-{\mathrm{GL}}_y)}^2}$

PS10 _X=D×cos(SAd+PS1SAd)+GPS _LX

PS10 _Y=D×sin(SAd+PS1SAd)+GPS _LY

3. jackstone point 2 (PS2) centre coordinate

$\mathrm{<figure-callout\; id="2"\; label="PS"\; filenames="HDA00002760316000041.png"\; state="\{\{state\}\}">PS</figure-callout>}2\mathrm{SAd}=\frac{{\mathrm{PS}2G}_x-{\mathrm{GL}}_x+\mathrm{PS}2G_d}{\mathrm{PS}2y-{\mathrm{GL}}_y}-\frac{{({\mathrm{PS}2G}_x-{\mathrm{GL}}_x+{\mathrm{PS}2G}_d)}^3}{3\&times;{(\mathrm{PS}2y-{\mathrm{GL}}_y)}^3}$

$D=\sqrt{{({\mathrm{PS}2G}_x-{\mathrm{GL}}_x+{\mathrm{PS}2G}_d)}^2+{(\mathrm{PS}{2}_y-{\mathrm{GL}}_y)}^2}$

PS20 _X=D×cos(SAd+PS2SAd)+GPS _LX

PS20 _Y=D×sin(SAd+PS2SAd)+GPS _LY

Four. the tilt correction of each elevation reference point under the hull coordinate system

If α, β are the vertical, horizontal inclination angle of hull, when fore-body is faced upward, α is "+", and during the hull Right deviation, β is "+".α, β were not equal at 0 o'clock at that time, and the elevation coordinate modification value of each elevation reference point is:

1.GPS _LThe elevation coordinate

GL _Z'=-(β-β ³/6)×GLx+(α-α ³/6)×(1-β ²/2)×GLy+(1-α ²/2)×(1-β ²/2)×GLz

2. ram flat spot (HP) elevation reference point elevation coordinate

HP' _z=-(β-β ³/6)×(HPGx+HPGd)+(α-α ³/6)×(1-β ²/2)×HPy+(1-α ²/2)×(1-β ²/2)×HPz

3. jackstone point 1 (PS1) elevation reference point elevation coordinate

PS1 _z'=-(β-β ³/6)×(PS1Gx+PS1Gd)+(α-α ³/6)×(1-β ²/2)×PS1y+(1-α ²/2)×(1-β ²/2)×PS1z

4. jackstone point 2 (PS2) elevation reference point elevation coordinate

PS2 _z'=-(β-β ³/6)×(PS2Gx+PS2Gd+(α-α ³/6)×(1-β ²/2)×PS2y+(1-α ²/2)×(1-β ²/2)×PS2z

Five. each elevation reference point elevation coordinate under engineering coordinate system

1. ram flat spot (HP) elevation reference point elevation coordinate

HP _H=GPS _LZ-GLz′+HP _z'

2. jackstone point 1 (PS1) elevation reference point elevation coordinate

PS1 _H=GPS _LZ-GLz′+PS1 _z'

3. jackstone point 2 (PS2) elevation reference point elevation coordinate

PS2 _H=GPS _LZ-GLz′+PS2 _z'

The position computer interface

1, welcome the interface as shown in Figure 3.

2, main interface as shown in Figure 4.

Main interface comprises graphical display area (parameters such as PS1 inclination angle, HS inclination angle, PS2 inclination angle, PS1 deviation, HS deviation, PS2 deviation, bow orientation, baseline fix are provided), parameter display area (parameters such as GPS state, PS1 point coordinate, HS point coordinate, PS2 point coordinate, hull inclination are provided), control zone control knobs such as (system's setting, checking computations instrument, printing reports, foundation stake position, positional parameter are provided) beginning to monitor, withdraw from.

3, system arranges the interface as shown in Figure 5.

System arranges the interface and comprises: the parameters such as equipment installation parameter, dip correction, data smoothing number of times, depth measurement 3 displacement scale coefficients.

4, the positional parameter interface as shown in Figure 6.

The positional parameter interface comprises: the parameters such as coordinate conversion mode, datum ellipsoid, location baseline parameter, conversion 7 parameters, Gauss projection, engineering name, the elements of a fix, document data record.

5, the checking computations tools interfaces as shown in Figure 7.

The checking computations tools interfaces comprises: the functions such as angle conversion, coordinate checking computations.

6, the PS1 point arrange and the growth data interface as shown in Figure 8.

The PS1 point arranges and the growth data interface comprises: the parameters such as depth measurement point planimetric coordinates, ultrasonic listening, depth measurement displacement, preset coordinates, baseline offset distance.

7, the PS2 point arrange and the growth data interface as shown in Figure 9.

8, the PS2 point arrange and the growth data interface with the setting of PS1 point and growth data interface.

9, compacting point growth data interface as shown in figure 10.

Compacting point growth data interface comprises: the parameters such as depth measurement displacement, tamping plate inclination, baseline offset distance, preset coordinates.

10, GPS engineering coordinate interface as shown in figure 11.

11, data file is selected the interface as shown in figure 12.

Claims (6)

1. a marine jackstone rams and calms down a system, it is characterized in that: the positioning monitoring system that is formed by GPS positioning system, high-precision laser range-finding instrument, Hall element, obliquity sensor, Multichannel depth sounder, computing machine, this system sets up the hull equipment coordinate system on workboat, determine GPS positioning antenna, high-precision laser range-finding instrument installation parameter under this coordinate system; On the jackstone truck, Hall element is installed, Multichannel depth sounder is installed in the lower end of jackstone tube wall;

The GPS positioning antenna records the WGS84 coordinate, tries to achieve the engineering coordinate of GPS positioning antenna point according to coordinate transformation parameter; In conjunction with the installation parameter of the equipment such as GPS positioning antenna, obliquity sensor, Hall element, laser range finder and jackstone truck parameter, the rammer hammer flattener car parameter of laser range finder mensuration, calculate the engineering coordinate of jackstone truck hopper central point, test out the distance on the jackstone material mouth of pipe and jackstone plane by Multichannel depth sounder, can obtain the elevation on jackstone plane;

At the first jackstone truck, the second jackstone truck, ram on the hammer flattener car laser reflection handle be installed respectively, determine the installation site of laser range finder on workboat, in work progress, the jackstone truck during Real-Time Monitoring moves and ram the hammer flattener car;

On the first jackstone truck and the second jackstone truck, the displacement measurement system that is comprised of Hall element, copper wheel, wire rope is installed respectively, to correct the angle of inclination of jackstone truck hopper;

Mounted angle sensor on workboat is by the Real Time Monitoring to hull coordinate X-axis, Y-axis angle of inclination, to revise the inclination of each reference point under the hull coordinate system;

Plane geometry relation according to each key point of hull coordinate system, and to the tilt correction of each key point coordinate figure under the hull coordinate system, calculating arranges out under the tilt correction, engineering coordinate system of each elevation reference point under angle, the anchor point plane engineering coordinate, hull coordinate system of hull coordinate system and engineering coordinate system the data such as each elevation reference point elevation coordinate, final accurately location.

2. marine jackstone described according to claims 1 rams and calms down a system, and it is characterized in that: described computing machine host computer coordinates eight many serial ports of passage capture cards to form by desktop computer; Connect on computer interface: three power supplies and translation interface, two Multichannel depth sounders; Power supply and translation interface connect respectively: left GPS positioning system, right GPS positioning system, hull obliquity sensor, jackstone location high-precision laser range-finding instrument, jackstone conduit inclination obliquity sensor, jackstone elevation detection system; Another power supply and translation interface connect respectively: jackstone is located high-precision laser range-finding instrument, jackstone conduit inclination obliquity sensor, jackstone elevation detection system; Another power supply and translation interface connect respectively: high-precision laser range-finding instrument, three compacting tilt detection system, compacting elevation detection system are located in compacting; Two Multichannel depth sounders respectively connect respectively a probing transfer trunk, and each probing transfer trunk connects respectively a plurality of probing probes.

3. marine jackstone described according to claims 1 rams and calms down a system, and it is characterized in that: described computing machine slave computer is made of industry control cabinet, Switching Power Supply, serial interface switching circuit.

4. marine jackstone described according to claims 1 rams and calms down a system, and it is characterized in that: described high-precision laser range-finding instrument is industrial rank laser range finder, and it is outer has waterproof case, lens hood, camera lens water bar, base plate that angle adjusting device is arranged.

5. marine jackstone described according to claims 1 rams and calms down a system, it is characterized in that: form displacement measurement system by described Hall element and copper wheel and wire rope, extrapolate the angle of inclination of truck material pipe by the difference in height of test point.

6. marine jackstone described according to claims 1 rams and calms down a system, it is characterized in that: by described Multichannel depth sounder, test out the distance on the jackstone material mouth of pipe and jackstone plane, then go out the elevation of jackstone face according to known coaptation.

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