CN103912012A - System and method for measuring and controlling underwater attitudes of pipe sections - Google Patents
System and method for measuring and controlling underwater attitudes of pipe sections Download PDFInfo
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- CN103912012A CN103912012A CN201310002970.0A CN201310002970A CN103912012A CN 103912012 A CN103912012 A CN 103912012A CN 201310002970 A CN201310002970 A CN 201310002970A CN 103912012 A CN103912012 A CN 103912012A
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Abstract
The invention relates to a system and a method for measuring and controlling underwater attitudes of pipe sections, particularly to a measurement and control system and method which is used for guiding and adjusting the sinking and abutting attitudes of the pipe sections through a GPS (Global Positioning System) receiver, a sonar device and a central processing unit. The sonar device is adopted and can be used for performing real-time positioning on the pipe sections to be installed in the sinking process and performing real-time positioning on the relative position relation between the pipe sections to be installed and the installed pipe sections in the abutting process and accordingly the problem of the sinking and abutting measurement and control of the pipe sections in the deep water can be effectively solved and accordingly the real-time attitude adjustment of the pipe sections in the deep water environment is achieved, the construction cost is saved, and the working efficiency is improved.
Description
Technical field
The present invention relates to a kind of tube coupling TT&C system and investigating method of attitude under water, relate in particular to a kind of by GPS receiver, sonar equipment and central processing unit to tube coupling sinking and docking the attitude TT&C system and the investigating method that instruct and adjust.
Background technology
At present, be to be formed by connecting by many immersed tube for the submerged tunnel of vehicle to run, the volume and weight of immersed tube is quite large, and generally its length has about 100-200 rice, and immersed tube is routed on the bedding laying in advance.In the time that being installed, large specification immersed tube mostly adopt installation ship by the method for hoist cable cable hanging immersed tube; But this kind of method is very high to immersed tube sedimentation and merging precision requirement, controls accordingly difficulty very large, and the observing and controlling of attitude is under water the important guarantee that ensures the smooth sinking of immersed tube and docking to tube coupling.In the time that constructing, the more shallow region of the depth of water can adopt the attitude under water of measuring tower method observing and controlling immersed tube, but it is limited to measure the height of a tower, in the time constructing in the darker region of the depth of water, measuring tower may be immersed under water completely, measure like this GPS receiver of top of tower installation by ineffective, therefore, will adopt deep water TT&C system to carry out the immersed tube observing and controlling of attitude under water; The system that does not at present also have this kind can carry out deep water observing and controlling does not more adopt this system to carry out the method for observing and controlling accordingly.
Therefore, be badly in need of providing a kind of new tube coupling TT&C system and investigating method of attitude under water for the problems referred to above.
Summary of the invention
The object of this invention is to provide a kind of tube coupling TT&C system and investigating method of attitude under water, this TT&C system and investigating method are realized tube coupling sinking and are docked the object that attitude instructs and adjusts by GPS receiver, sonar equipment and central processing unit.
The object of the invention is to be achieved through the following technical solutions: a kind of tube coupling is the TT&C system of attitude under water, this system comprises GPS receiver, sonar equipment and central processing unit; Described central processing unit is connected with described sonar equipment and GPS receiver respectively.
Described sonar equipment comprises that being arranged on sending on installation ship is subject to ripple device and multiple responder that is arranged on tube coupling end face; Described sending is connected with described responder by signal by ripple device.
Described responder and the corresponding setting in characteristic point position of demarcating in advance on tube coupling end face.
Described tube coupling end face at least arrange three responders respectively with the corresponding setting in the characteristic point position of pre-demarcation on the end face of tube coupling butt end.
Described tube coupling end face at least arrange two responders respectively with the corresponding setting in the characteristic point position of pre-demarcation on tube coupling tail end end face.
Apply the above-mentioned investigating method that TT&C system realizes described in one of them, this investigating method comprises the following steps:
S1, central processing unit carry out absolute fix to tube coupling and set up the step of absolute coordinate system in tube coupling sinking process;
S2, central processing unit are adjusted the step of tube coupling sinking attitude according to tube coupling absolute coordinate system;
S3, central processing unit carry out relative positioning to tube coupling and set up the step of relative coordinate system in tube coupling docking operation;
S4, central processing unit are adjusted the step of tube coupling docking attitude according to tube coupling relative coordinate system.
In described step S1, also comprise the steps:
S11, detect the step of the each characteristic point of tube coupling to be pacified position sonar signal by sonar equipment;
S12, sonar equipment are uploaded to sonar signal the step of central processing unit;
The step of characteristic point position coordinate data compiled sonar signal by S13, central processing unit;
S14, receive the step of installation ship satellite positioning signal by GPS receiver;
S15, GPS receiver are uploaded to installation ship satellite positioning signal the step of central processing unit;
The step of installation ship coordinate data compiled installation ship satellite positioning signal by S16, central processing unit;
Each tube coupling to be pacified characteristic point position coordinate data and installation ship coordinate data are gathered the step of calculating and set up tube coupling absolute coordinate system to be pacified by S17, central processing unit.
In described step S3, also comprise the steps:
S31, detect tube coupling to be pacified and pacified the step of the each characteristic point of tube coupling position sonar signal by sonar equipment;
S32, sonar equipment are uploaded to sonar signal the step of central processing unit;
The step of characteristic point position coordinate data compiled sonar signal by S33, central processing unit;
S34, receive the step of installation ship satellite positioning signal by GPS receiver;
S35, GPS receiver are uploaded to installation ship satellite positioning signal the step of central processing unit;
The step of installation ship coordinate data compiled installation ship satellite positioning signal by S36, central processing unit;
Each characteristic point position coordinate data and installation ship coordinate data are gathered the step of calculating and set up the relative coordinate system of having pacified tube coupling and tube coupling to be pacified by S37, central processing unit.
In described step S2, also comprise the steps:
S21, central processing unit simulate the step of three-dimensional space shape figure according to absolute coordinate system;
S22, show the step of three-dimensional space shape figure by image display;
S23, operating personnel input the step of the attitude adjustment instruction of tube coupling to be pacified to central processing unit according to three-dimensional space shape figure;
S24, central processing unit are adjusted instruction according to the attitude of tube coupling to be pacified and are treated the step that the sinking attitude of peace tube coupling is adjusted.
In described step S4, also comprise the steps:
S41, central processing unit simulate the step of three-dimensional space shape figure according to relative coordinate system;
S42, show the step of three-dimensional space shape figure by image display;
S43, operating personnel input the step of the attitude adjustment instruction of tube coupling to be pacified to central processing unit according to three-dimensional space shape figure;
S44, central processing unit are adjusted instruction according to the attitude of tube coupling to be pacified and are treated the step that the docking attitude of peace tube coupling is adjusted.
The present invention compared with prior art has advantages of following:
1, the present invention adopts the design of sonar equipment; This sonar equipment is used in to be treated peace tube coupling and locates in real time in sinking process; And in docking operation, treat peace tube coupling and pacify tube coupling relative position relation and locate in real time; Can effectively solve tube coupling in the sinking at depth of water place and docking observing and controlling problem, thereby realize the real-time attitude adjustment of tube coupling under deepwater environment; Save each construction cost, improved operating efficiency.
2, the present invention adopts the design of GPS receiver; This GPS receiver passes through to receive the installation ship coordinate data of gps satellite signal network real-time Transmission, and with this coordinate data Real-Time Monitoring installation ship running orbit; For central processing unit is set up unified absolute coordinate system and relative coordinate system provides guarantee; Make tube coupling sinking and butt-joint operation more simple, quick, saved manually, improved efficiency.
3, the present invention adopts the design of central processing unit; This central processing unit is based upon under unified coordinate system after installation ship coordinate system, tube coupling relative coordinate system and tube coupling absolute coordinate system being collected by calculating, and real-time Simulation goes out installation ship, tube coupling to be pacified and pacified the three-dimensional space shape figure of tube coupling; So that staff's reference and carry out attitude and adjust the writing of instruction; Make the adjustment of tube coupling attitude more directly perceived, easy, shortened construction progress, improved efficiency.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is the structural representation of TT&C system of the present invention;
Fig. 2 is the connection block diagram of each device in TT&C system of the present invention;
Fig. 3 is the step block diagram of investigating method of the present invention.
Detailed description of the invention
Shown in Fig. 1, Fig. 2, tube coupling of the present invention is the TT&C system of attitude under water, and this system comprises for the GPS receiver 1 to installation ship location, for the sonar equipment to tube coupling location and for the central processing unit of data processing; Described central processing unit is connected with described sonar equipment and GPS receiver respectively.Sonar equipment described in the present embodiment positions for treat peace tube coupling 2 in sinking process; And in docking operation, treat peace tube coupling and pacify tube coupling 3 relative position relations and position; Can effectively solve tube coupling in the sinking at depth of water place and docking observing and controlling problem, thereby realize the real-time attitude adjustment of tube coupling under deepwater environment; Save each construction cost, improved operating efficiency.
The present invention adopts the design of GPS receiver; GPS receiver passes through to receive the installation ship coordinate data of gps satellite signal network real-time Transmission, and with this coordinate data Real-Time Monitoring installation ship running orbit; For central processing unit is set up unified absolute coordinate system and relative coordinate system provides guarantee; Make tube coupling sinking and butt-joint operation more simple, quick, saved manually, improved efficiency.
Sonar equipment described in the present embodiment comprises that being arranged on sending on installation ship is subject to ripple device 4 and multiple responder 5 that is arranged on tube coupling end face; Described sending is connected with described responder by sonar signal by ripple device.Multiple responders described in the present embodiment are separately positioned on tube coupling to be pacified butt end 6 and have pacified tube coupling tail end 7.
Responder described in the present embodiment and the corresponding setting in characteristic point position of demarcating in advance on tube coupling end face.Tube coupling end face to be pacified described in the present embodiment at least arranges the corresponding setting in characteristic point position on the end face of tube coupling to be pacified butt end with pre-demarcation respectively of three responders; Described in the present embodiment, pacified tube coupling end face at least arrange two responders respectively with pre-demarcation in the corresponding setting in characteristic point position of pacifying on tube coupling tail end end face.Tube coupling characteristic point position described in the present embodiment refers to the coordinate collection position of the spatial shape that can reflect on the whole tube coupling; The position of tube coupling characteristic point to be pacified described in the present embodiment is mainly arranged on angle, end face two ends, tube coupling to be pacified butt end and on the end face of tube coupling to be pacified butt end and GPS receiver location corresponding position; The described tube coupling characteristic point position of having pacified is mainly arranged on and has pacified on angle, end face two ends, tube coupling butt end.
Central processing unit described in the present embodiment can be set up and meet WGS84 coordinate system standard (World Geodetic System1984 according to the coordinate data of each tube coupling characteristic point, to use for GPS global positioning system the coordinate system of setting up) tube coupling coordinate system, and simulate tube coupling three-dimensional space shape figure with this tube coupling coordinate system; Central processing unit according to this tube coupling three-dimensional space shape figure to tube coupling the attitude in sinking or docking construction adjust and instruct.The present invention adopts the design of central processing unit; This central processing unit is based upon under unified coordinate system after installation ship coordinate system, tube coupling relative coordinate system and tube coupling absolute coordinate system being collected by calculating, and real-time Simulation goes out installation ship, tube coupling to be pacified and pacified the three-dimensional space shape figure of tube coupling; So that staff's reference and carry out attitude and adjust the writing of instruction; Make the adjustment of tube coupling attitude more directly perceived, easy, shortened construction progress, improved efficiency.
Described in the present embodiment, send and be subject to ripple device and the corresponding setting of GPS receiver location on described installation ship; Described sending is subject to ripple device to be arranged on GPS receiver bottom, to realize the unification of installation ship coordinate system and tube coupling coordinate system, reduces measure error.
TT&C system described in the present embodiment at least comprises that two are sent and are subject to ripple device, and respectively with the corresponding setting of two GPS receivers on installation ship.
Responder described in the present embodiment is provided with the depth gauge 8 for measuring each characteristic point position water level depth; Depth gauge is measured the depth value of measuring in real time each characteristic point position, by responder, numerical value passback is sent and is subject to ripple device.
Central processing unit described in the present embodiment comprises data sink and attitude data treating apparatus; Described data sink comprise the gps data receiving terminal that is connected with GPS receiver and with send the measuring and control data receiving terminal that be connected by ripple device.Described attitude data treating apparatus is connected with gps data receiving terminal and measuring and control data receiving terminal respectively; On described attitude data treating apparatus, be also connected with image display.Described central processing unit also comprises the data storage being connected with attitude data treating apparatus; This data storage is for storing and call at any time the data storage of each characteristic point coordinate data, absolute coordinate system, relative coordinate system, tube coupling three-dimensional space shape figure and installation ship coordinate data.The receiver of GPS described in the present embodiment is connected with described gps data receiving terminal by cable, thereby realizes the real-time Transmission of each tube coupling characteristic point coordinate data; And with this, real-time tube coupling coordinate system of setting up is dynamically connected with Global Positioning System.Described central processing unit also comprises the attitude adjustment control end being connected with attitude data treating apparatus; This attitude is adjusted the attitude adjustment instruction that control end can be used for sending tube coupling to be pacified, and carries out the attitude adjustment operation of tube coupling in sinking and docking operation to control device for adjusting posture.
Shown in Figure 3, tube coupling of the present invention is the investigating method of attitude under water, and this investigating method comprises the following steps:
1, fitting-out TT&C system in advance, wherein the responder of sonar equipment is respectively with tube coupling to be pacified butt end, pacify the corresponding installation in characteristic point position that tube coupling tail end is demarcated in advance.
2, central processing unit carries out absolute fix and sets up tube coupling absolute coordinate system tube coupling in tube coupling sinking process; Wherein further comprising the steps of:
Detect the each characteristic point of tube coupling to be pacified position coordinate data by sonar equipment: send and be subject to ripple device to send the responder of sonar signal to tube coupling to be pacified butt end; Responder is beamed back with sonar signal form the characteristic point position coordinate data collecting send and is subject to ripple device.
The sonar signal receiving is uploaded to central processing unit by sonar equipment: send and be subject to ripple device that the sonar signal receiving is uploaded to measuring and control data receiving terminal; This sonar signal is compiled characteristic point position coordinate data by measuring and control data receiving terminal; And this characteristic point position coordinate data is uploaded to attitude data treating apparatus; Attitude data treating apparatus is stored to characteristic point position coordinate data in data storage.
Receive installation ship satellite positioning signal by GPS receiver: GPS receiver receives the satellite positioning signal of installation ship position.
Installation ship satellite positioning signal is uploaded to central processing unit by GPS receiver: satellite positioning signal is uploaded to gps data receiving terminal by GPS receiver; Satellite positioning signal is compiled installation ship coordinate data by gps data receiving terminal, and this installation ship coordinate data is uploaded to attitude data treating apparatus; Attitude data treating apparatus is stored to installation ship coordinate data in data storage.
The attitude data treating apparatus of central processing unit by each tube coupling to be pacified characteristic point position coordinate data and installation ship coordinate data from recalling in data storage and gathering calculating; Set up the absolute coordinate system of tube coupling to be pacified according to result of calculation.
In above-mentioned 2, also can complete according to the following steps:
Receive installation ship satellite positioning signal by GPS receiver: GPS receiver receives the satellite positioning signal of installation ship position.
Installation ship satellite positioning signal is uploaded to central processing unit by GPS receiver: satellite positioning signal is uploaded to gps data receiving terminal by GPS receiver; Satellite positioning signal is compiled installation ship coordinate data by gps data receiving terminal, and this installation ship coordinate data is uploaded to attitude data treating apparatus; Attitude data treating apparatus is stored to installation ship coordinate data in data storage.
Detect the each characteristic point of tube coupling to be pacified position coordinate data by sonar equipment: send and be subject to ripple device to send the responder of sonar signal to tube coupling to be pacified butt end; Responder is beamed back with sonar signal form the characteristic point position coordinate data collecting send and is subject to ripple device.
The sonar signal receiving is uploaded to central processing unit by sonar equipment: send and be subject to ripple device that the sonar signal receiving is uploaded to measuring and control data receiving terminal; This sonar signal is compiled characteristic point position coordinate data by measuring and control data receiving terminal; And this characteristic point position coordinate data is uploaded to attitude data treating apparatus; Attitude data treating apparatus is stored to characteristic point position coordinate data in data storage.
The attitude data treating apparatus of central processing unit by each tube coupling to be pacified characteristic point position coordinate data and installation ship coordinate data from recalling in data storage and gathering calculating; Set up the absolute coordinate system of tube coupling to be pacified according to result of calculation.
3, central processing unit is adjusted tube coupling sinking attitude according to tube coupling absolute coordinate system: the attitude data treating apparatus of central processing unit simulates three-dimensional space shape figure according to absolute coordinate system; Show three-dimensional space shape figure by image display; The attitude that operating personnel input tube coupling to be pacified according to three-dimensional space shape figure to attitude data treating apparatus is adjusted instruction; Attitude data treating apparatus is adjusted instruction by attitude and is sent to attitude adjustment control end; Attitude is adjusted control end and is realized the attitude adjustment of tube coupling in sinking process according to attitude adjustment instruction by operating attitude adjusting device; Until butt-joint operation starts.
4, central processing unit carries out relative positioning and sets up tube coupling relative coordinate system tube coupling in tube coupling docking operation; Wherein further comprising the steps of:
By sonar equipment measurement tube coupling to be pacified with pacified the each characteristic point of tube coupling position coordinate data: send the responder that is subject to ripple device that sonar signal is sent to respectively to the responder of tube coupling to be pacified butt end and has pacified tube coupling tail end; Responder is beamed back with sonar signal form the characteristic point position coordinate data collecting send and is subject to ripple device.
The sonar signal receiving is uploaded to central processing unit by sonar equipment: send and be subject to ripple device that the sonar signal receiving is uploaded to measuring and control data receiving terminal; This sonar signal is compiled characteristic point position coordinate data by measuring and control data receiving terminal; And this characteristic point position coordinate data is uploaded to attitude data treating apparatus; Attitude data treating apparatus is stored to characteristic point position coordinate data in data storage.
Receive installation ship satellite positioning signal by GPS receiver: GPS receiver receives the satellite positioning signal of installation ship position.
Installation ship satellite positioning signal is uploaded to central processing unit by GPS receiver: satellite positioning signal is uploaded to gps data receiving terminal by GPS receiver; Satellite positioning signal is compiled installation ship coordinate data by gps data receiving terminal, and this installation ship coordinate data is uploaded to attitude data treating apparatus; Attitude data treating apparatus is stored to installation ship coordinate data in data storage.
The attitude data treating apparatus of central processing unit by each characteristic point position coordinate data and installation ship coordinate data from recalling in data storage and gathering calculating; Set up the relative coordinate system of having pacified tube coupling and tube coupling to be pacified according to result of calculation.
In above-mentioned 4, also can complete according to the following steps:
Receive installation ship satellite positioning signal by GPS receiver: GPS receiver receives the satellite positioning signal of installation ship position.
Installation ship satellite positioning signal is uploaded to central processing unit by GPS receiver: satellite positioning signal is uploaded to gps data receiving terminal by GPS receiver; Satellite positioning signal is compiled installation ship coordinate data by gps data receiving terminal, and this installation ship coordinate data is uploaded to attitude data treating apparatus; Attitude data treating apparatus is stored to installation ship coordinate data in data storage.
By sonar equipment measurement tube coupling to be pacified with pacified the each characteristic point of tube coupling position coordinate data: send the responder that is subject to ripple device that sonar signal is sent to respectively to the responder of tube coupling to be pacified butt end and has pacified tube coupling tail end; Responder is beamed back with sonar signal form the characteristic point position coordinate data collecting send and is subject to ripple device.
The sonar signal receiving is uploaded to central processing unit by sonar equipment: send and be subject to ripple device that the sonar signal receiving is uploaded to measuring and control data receiving terminal; This sonar signal is compiled characteristic point position coordinate data by measuring and control data receiving terminal; And this characteristic point position coordinate data is uploaded to attitude data treating apparatus; Attitude data treating apparatus is stored to characteristic point position coordinate data in data storage.
The attitude data treating apparatus of central processing unit by each characteristic point position coordinate data and installation ship coordinate data from recalling in data storage and gathering calculating; Set up the relative coordinate system of having pacified tube coupling and tube coupling to be pacified according to result of calculation.
6, central processing unit is adjusted tube coupling sinking attitude according to tube coupling absolute coordinate system: the attitude data treating apparatus of central processing unit simulates three-dimensional space shape figure according to absolute coordinate system; Show three-dimensional space shape figure by image display; The attitude that operating personnel input tube coupling to be pacified according to three-dimensional space shape figure to attitude data treating apparatus is adjusted instruction; Attitude data treating apparatus is adjusted instruction by attitude and is sent to attitude adjustment control end; Attitude is adjusted control end and is realized the attitude adjustment of tube coupling in docking operation according to attitude adjustment instruction by operating attitude adjusting device; Until butt-joint operation completes.
7, TT&C system is removed TT&C system after instructing tube coupling sinking and docking.
Claims (10)
1. a tube coupling TT&C system for attitude under water, is characterized in that: this system comprises GPS receiver, sonar equipment and central processing unit; Described central processing unit is connected with described sonar equipment and GPS receiver respectively.
2. the tube coupling TT&C system of attitude under water according to claim 1, is characterized in that: described sonar equipment comprises that being arranged on sending on installation ship is subject to ripple device and multiple responder that is arranged on tube coupling end face; Described sending is connected with described responder by signal by ripple device.
3. the tube coupling TT&C system of attitude under water according to claim 2, is characterized in that: described responder and the corresponding setting in characteristic point position of demarcating in advance on tube coupling end face.
4. the tube coupling TT&C system of attitude under water according to claim 3, is characterized in that: described tube coupling end face at least arrange three responders respectively with the corresponding setting in the characteristic point position of pre-demarcation on the end face of tube coupling butt end.
5. the tube coupling TT&C system of attitude under water according to claim 4, is characterized in that: described tube coupling end face at least arrange two responders respectively with the corresponding setting in the characteristic point position of pre-demarcation on tube coupling tail end end face.
6. application rights requires 1-5 tube coupling investigating method that the TT&C system of attitude realizes described in one of them under water, it is characterized in that: this investigating method comprises the following steps:
S1, central processing unit carry out absolute fix to tube coupling and set up the step of absolute coordinate system in tube coupling sinking process;
S2, central processing unit are adjusted the step of tube coupling sinking attitude according to tube coupling absolute coordinate system;
S3, central processing unit carry out relative positioning to tube coupling and set up the step of relative coordinate system in tube coupling docking operation;
S4, central processing unit are adjusted the step of tube coupling docking attitude according to tube coupling relative coordinate system.
7. according to the investigating method of attitude under water of tube coupling described in claim 14, it is characterized in that: in described step S1, also comprise the steps:
S11, detect the step of the each characteristic point of tube coupling to be pacified position sonar signal by sonar equipment;
S12, sonar equipment are uploaded to sonar signal the step of central processing unit;
The step of characteristic point position coordinate data compiled sonar signal by S13, central processing unit;
S14, receive the step of installation ship satellite positioning signal by GPS receiver;
S15, GPS receiver are uploaded to installation ship satellite positioning signal the step of central processing unit;
The step of installation ship coordinate data compiled installation ship satellite positioning signal by S16, central processing unit;
Each tube coupling to be pacified characteristic point position coordinate data and installation ship coordinate data are gathered the step of calculating and set up tube coupling absolute coordinate system to be pacified by S17, central processing unit.
8. according to the investigating method of attitude under water of tube coupling described in claim 15, it is characterized in that: in described step S3, also comprise the steps:
S31, detect tube coupling to be pacified and pacified the step of the each characteristic point of tube coupling position sonar signal by sonar equipment;
S32, sonar equipment are uploaded to sonar signal the step of central processing unit;
The step of characteristic point position coordinate data compiled sonar signal by S33, central processing unit;
S34, receive the step of installation ship satellite positioning signal by GPS receiver;
S35, GPS receiver are uploaded to installation ship satellite positioning signal the step of central processing unit;
The step of installation ship coordinate data compiled installation ship satellite positioning signal by S36, central processing unit;
Each characteristic point position coordinate data and installation ship coordinate data are gathered the step of calculating and set up the relative coordinate system of having pacified tube coupling and tube coupling to be pacified by S37, central processing unit.
9. according to the investigating method of attitude under water of tube coupling described in claim 16, it is characterized in that: in described step S2, also comprise the steps:
S21, central processing unit simulate the step of three-dimensional space shape figure according to absolute coordinate system;
S22, show the step of three-dimensional space shape figure by image display;
S23, operating personnel input the step of the attitude adjustment instruction of tube coupling to be pacified to central processing unit according to three-dimensional space shape figure;
S24, central processing unit are adjusted instruction according to the attitude of tube coupling to be pacified and are treated the step that the sinking attitude of peace tube coupling is adjusted.
10. according to the investigating method of attitude under water of tube coupling described in claim 17, it is characterized in that: in described step S4, also comprise the steps:
S41, central processing unit simulate the step of three-dimensional space shape figure according to relative coordinate system;
S42, show the step of three-dimensional space shape figure by image display;
S43, operating personnel input the step of the attitude adjustment instruction of tube coupling to be pacified to central processing unit according to three-dimensional space shape figure;
S44, central processing unit are adjusted instruction according to the attitude of tube coupling to be pacified and are treated the step that the docking attitude of peace tube coupling is adjusted.
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Cited By (9)
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| CN105672357A (en) * | 2015-12-31 | 2016-06-15 | 中交第一航务工程局有限公司 | Pipe joint installation and positioning control system and method |
| CN106950576A (en) * | 2017-03-14 | 2017-07-14 | 中交第航务工程局有限公司 | Cultellation method and system in one kind pipe |
| CN107024227A (en) * | 2017-03-22 | 2017-08-08 | 中交第航务工程局有限公司 | A kind of combined type TT＆C system installed for immersed tube and method |
| CN107037433A (en) * | 2017-03-22 | 2017-08-11 | 中交第航务工程局有限公司 | A kind of sonar deviation TT＆C system and deviation investigating method installed for immersed tube |
| CN112000069A (en) * | 2020-07-24 | 2020-11-27 | 中交第一航务工程局有限公司 | Integrated measurement and control system for floating transportation and installation of open sea immersed tube and measurement and control method thereof |
| CN112922036A (en) * | 2021-01-25 | 2021-06-08 | 交通运输部广州打捞局 | Automatic control system and method for underwater attitude adjustment of immersed tube |
| CN114440844A (en) * | 2022-03-14 | 2022-05-06 | 中交第一航务工程局有限公司 | Method for calibrating large-curvature immersed tube at one time in high and cold environment |
| CN115162409A (en) * | 2022-07-19 | 2022-10-11 | 深圳大学 | Immersed tube tunnel final joint butt joint measuring method |
| CN115983046A (en) * | 2023-02-27 | 2023-04-18 | 中交天津港湾工程研究院有限公司 | Underwater accurate butt joint method for predicting motion trail of prefabricated structure |
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| CN105672357B (en) * | 2015-12-31 | 2018-04-27 | 中交第一航务工程局有限公司 | A kind of tube coupling installation positioning control system and method |
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| CN107037433A (en) * | 2017-03-22 | 2017-08-11 | 中交第航务工程局有限公司 | A kind of sonar deviation TT＆C system and deviation investigating method installed for immersed tube |
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| CN112000069A (en) * | 2020-07-24 | 2020-11-27 | 中交第一航务工程局有限公司 | Integrated measurement and control system for floating transportation and installation of open sea immersed tube and measurement and control method thereof |
| CN112922036A (en) * | 2021-01-25 | 2021-06-08 | 交通运输部广州打捞局 | Automatic control system and method for underwater attitude adjustment of immersed tube |
| CN114440844A (en) * | 2022-03-14 | 2022-05-06 | 中交第一航务工程局有限公司 | Method for calibrating large-curvature immersed tube at one time in high and cold environment |
| CN114440844B (en) * | 2022-03-14 | 2024-02-02 | 中交第一航务工程局有限公司 | One-time calibration method for large-curvature immersed tube in high and cold environment |
| CN115162409A (en) * | 2022-07-19 | 2022-10-11 | 深圳大学 | Immersed tube tunnel final joint butt joint measuring method |
| CN115983046A (en) * | 2023-02-27 | 2023-04-18 | 中交天津港湾工程研究院有限公司 | Underwater accurate butt joint method for predicting motion trail of prefabricated structure |
| CN115983046B (en) * | 2023-02-27 | 2023-07-14 | 中交天津港湾工程研究院有限公司 | Underwater accurate docking method for predicting movement track of prefabricated structure |
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