CN103912012B - Tube coupling is the TT&C system of attitude and investigating method under water - Google Patents
Tube coupling is the TT&C system of attitude and investigating method under water Download PDFInfo
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Abstract
The present invention relates to a kind of tube coupling TT&C system of attitude and investigating method under water, particularly relate to a kind of TT&C system of by GPS, sonar equipment and central processing unit tube coupling sinking and docking attitude being instructed and adjust and investigating method.The present invention adopts the design of sonar equipment; This sonar equipment be used in sinking process treat peace tube coupling locate in real time; And in docking operation, treat peace tube coupling and pacify tube coupling relative position relation and locate in real time; Effectively can solve the sinking of tube coupling at depth of water place and docking observing and controlling problem, thus realize the real-time pose adjustment of tube coupling under deepwater environment; Save each construction cost, improve operating efficiency.
Description
Technical field
The present invention relates to a kind of tube coupling TT&C system of attitude and investigating method under water, particularly relate to a kind of TT&C system of by GPS, sonar equipment and central processing unit tube coupling sinking and docking attitude being instructed and adjust and investigating method.
Background technology
At present, the submerged tunnel for vehicle to run is formed by connecting by many immersed tube, and 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 that lays in advance.Installation ship is mostly adopted to pass through the method for hoist cable cable hanging immersed tube when installing large gauge immersed tube; But this kind of method requires very high to immersed tube sedimentation and merging precision, corresponding to control difficulty very large, and be the important guarantee ensureing the smooth sinking of immersed tube and docking to the observing and controlling of tube coupling attitude under water.The attitude under water measuring tower method observing and controlling immersed tube can be adopted when the region construction that the depth of water is more shallow, but it is limited to measure the height of a tower, executing industry-commerce deal tower in the region that the depth of water is darker may be immersed under water completely, the GPS that such measurement top of tower is installed is by ineffective, therefore, deep water TT&C system will be adopted to carry out the observing and controlling of immersed tube attitude under water; The system also not having this kind can carry out deep water observing and controlling at present 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 of attitude and investigating method 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 of attitude and investigating method under water, this TT&C system and investigating method realize the object instructing tube coupling sinking and docking attitude and adjust by GPS, sonar equipment and central processing unit.
The object of the invention is to be achieved through the following technical solutions: the TT&C system of a kind of tube coupling attitude under water, this system comprises GPS, sonar equipment and central processing unit; Described central processing unit is connected with described sonar equipment and GPS respectively.
Described sonar equipment comprises being arranged on installation ship send by ripple device and multiple responder being arranged on tube coupling end face; Described sending is connected with described responder by signal by ripple device.
Described responder is corresponding with the characteristic point position demarcated in advance on tube coupling end face to be arranged.
Described tube coupling end face at least arranges that three responders are corresponding with the characteristic point position demarcated in advance on the end face of tube coupling butt end respectively to be arranged.
Described tube coupling end face at least arranges that two responders are corresponding with the characteristic point position demarcated in advance on tube coupling tail end end face respectively to be arranged.
Apply the investigating method that above-mentioned TT&C system described in one of them realizes, 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 according to the step of tube coupling absolute coordinate system adjustment tube coupling sinking attitude;
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 according to the step of tube coupling relative coordinate system adjustment tube coupling docking attitude.
Also comprise the steps: in described step S1
S11, detected the step of waiting to pacify tube coupling each characteristic point position sonar signal by sonar equipment;
Sonar signal is uploaded to the step of central processing unit by S12, sonar equipment;
Sonar signal is compiled the step of characteristic point position coordinate data by S13, central processing unit;
S14, received the step of installation ship satellite positioning signal by GPS;
Installation ship satellite positioning signal is uploaded to the step of central processing unit by S15, GPS;
Installation ship satellite positioning signal is compiled the step of installation ship coordinate data by S16, central processing unit;
S17, central processing unit calculate treating that peace tube coupling each characteristic point position coordinate data and installation ship coordinate data carry out gathering and set up the step of waiting to pacify tube coupling absolute coordinate system.
Also comprise the steps: in described step S3
S31, to be detected by sonar equipment and wait pacify tube coupling and pacified the step of tube coupling each characteristic point position sonar signal;
Sonar signal is uploaded to the step of central processing unit by S32, sonar equipment;
Sonar signal is compiled the step of characteristic point position coordinate data by S33, central processing unit;
S34, received the step of installation ship satellite positioning signal by GPS;
Installation ship satellite positioning signal is uploaded to the step of central processing unit by S35, GPS;
Installation ship satellite positioning signal is compiled the step of installation ship coordinate data by S36, central processing unit;
Each characteristic point position coordinate data and installation ship coordinate data are carried out gathering and are calculated and set up the step of pacifying tube coupling Yu waiting the relative coordinate system of pacifying tube coupling by S37, central processing unit.
Also comprise the steps: in described step S2
S21, central processing unit simulate the step of three-dimensional space shape figure according to absolute coordinate system;
S22, step by image display display three-dimensional space shape figure;
S23, operating personnel wait the step of the attitude regulating command of pacifying tube coupling to central processing unit input according to three-dimensional space shape figure;
S24, central processing unit carry out the step adjusted according to the sinking attitude waiting to pacify the attitude regulating command of tube coupling and treat peace tube coupling.
Also comprise the steps: in described step S4
S41, central processing unit simulate the step of three-dimensional space shape figure according to relative coordinate system;
S42, step by image display display three-dimensional space shape figure;
S43, operating personnel wait the step of the attitude regulating command of pacifying tube coupling to central processing unit input according to three-dimensional space shape figure;
S44, central processing unit carry out the step adjusted according to the docking attitude waiting to pacify the attitude regulating command of tube coupling and treat peace tube coupling.
The present invention compared with prior art has following advantage:
1, the present invention adopts the design of sonar equipment; This sonar equipment be used in sinking process treat peace tube coupling locate in real time; And in docking operation, treat peace tube coupling and pacify tube coupling relative position relation and locate in real time; Effectively can solve the sinking of tube coupling at depth of water place and docking observing and controlling problem, thus realize the real-time pose adjustment of tube coupling under deepwater environment; Save each construction cost, improve operating efficiency.
2, the present invention adopts the design of GPS; This GPS passes through the installation ship coordinate data receiving gps satellite signal network real-time Transmission, and with this coordinate data Real-Time Monitoring installation ship running orbit; Unified absolute coordinate system is set up and relative coordinate system provides guarantee for central processing unit; Make tube coupling sinking and butt-joint operation more simple, quick, save artificial, improve efficiency.
3, the present invention adopts the design of central processing unit; This central processing unit by calculate installation ship coordinate system, tube coupling relative coordinate system and tube coupling absolute coordinate system are collected after be based upon unified coordinate system under, and real-time Simulation goes out installation ship, waits pacify tube coupling and pacified the three-dimensional space shape figure of tube coupling; So that staff's reference and carry out writing of attitude regulating command; Make tube coupling pose adjustment more directly perceived, easy, shorten construction progress, improve efficiency.
Accompanying drawing explanation
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, the TT&C system of tube coupling of the present invention attitude under water, this system comprises GPS 1 for locating installation ship, for the sonar equipment of locating tube coupling and the central processing unit for data processing; Described central processing unit is connected with described sonar equipment and GPS respectively.Sonar equipment described in the present embodiment is used in sinking process, treat peace tube coupling 2 and positions; And in docking operation, treat peace tube coupling and pacify tube coupling 3 relative position relation and position; Effectively can solve the sinking of tube coupling at depth of water place and docking observing and controlling problem, thus realize the real-time pose adjustment of tube coupling under deepwater environment; Save each construction cost, improve operating efficiency.
The present invention adopts the design of GPS; GPS passes through the installation ship coordinate data receiving gps satellite signal network real-time Transmission, and with this coordinate data Real-Time Monitoring installation ship running orbit; Unified absolute coordinate system is set up and relative coordinate system provides guarantee for central processing unit; Make tube coupling sinking and butt-joint operation more simple, quick, save artificial, improve efficiency.
Sonar equipment described in the present embodiment comprises being arranged on installation ship send by ripple device 4 and multiple responder 5 being arranged on tube coupling end face; Described sending is connected with described responder by sonar signal by ripple device.Multiple responder described in the present embodiment is separately positioned on to be treated peace tube coupling butt end 6 and has pacified tube coupling tail end 7.
Responder described in the present embodiment is corresponding with the characteristic point position demarcated in advance on tube coupling end face to be arranged.Wait described in the present embodiment to pacify tube coupling end face at least arrange three responders respectively with demarcate waiting to pacify that the characteristic point position on the end face of tube coupling butt end is corresponding arranges in advance; Pacified described in the present embodiment tube coupling end face at least arrange two responders respectively with demarcate in advance pacifying that the characteristic point position on tube coupling tail end end face is corresponding to be arranged.Tube coupling characteristic point position described in the present embodiment refers to the coordinate collection position that can reflect the spatial shape of tube coupling on the whole; Treat described in the present embodiment peace tube coupling characteristic point position be mainly arranged on treat on peace angle, end face two ends, tube coupling butt end and treat on peace tube coupling butt end end face with corresponding position, GPS position; Described tube coupling characteristic point position of having pacified mainly is 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 according to the coordinate data of each tube coupling characteristic point and meet WGS84 coordinate system standard (World Geodetic System1984, be for GPS global positioning system uses and the coordinate system set up) tube coupling coordinate system, and simulate tube coupling three-dimensional space shape figure with this tube coupling coordinate system; Central processing unit adjusts according to this tube coupling three-dimensional space shape figure the attitude of tube coupling in sinking or docking construction and instructs.The present invention adopts the design of central processing unit; This central processing unit by calculate installation ship coordinate system, tube coupling relative coordinate system and tube coupling absolute coordinate system are collected after be based upon unified coordinate system under, and real-time Simulation goes out installation ship, waits pacify tube coupling and pacified the three-dimensional space shape figure of tube coupling; So that staff's reference and carry out writing of attitude regulating command; Make tube coupling pose adjustment more directly perceived, easy, shorten construction progress, improve efficiency.
Send described in the present embodiment and arrange by ripple device is corresponding with the GPS position on described installation ship; Described sending is arranged on bottom GPS by ripple device, 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 two and send by ripple device, and correspondingly with the GPS of two on installation ship respectively arranges.
Responder described in the present embodiment is provided with the depth gauge 8 for measuring each characteristic point position water level depth; The depth value measuring each characteristic point position in real time measured by depth gauge, sent numerical value passback by ripple device by responder.
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 and with send the measuring and control data be connected by ripple device receiving terminal.Described attitude data treating apparatus is connected with gps data receiving terminal and measuring and control data receiving terminal respectively; Described attitude data treating apparatus is also connected with image display.Described central processing unit also comprises the data storage be connected with attitude data treating apparatus; This data storage is used for the data storage storing and call each characteristic point coordinate data, absolute coordinate system, relative coordinate system, tube coupling three-dimensional space shape figure and installation ship coordinate data at any time.GPS described in the present embodiment is connected with described gps data receiving terminal by cable, thus realizes the real-time Transmission of each tube coupling characteristic point coordinate data; And with this by the real-time tube coupling coordinate system set up and Global Positioning System Dynamic link library.Described central processing unit also comprises the pose adjustment control end be connected with attitude data treating apparatus; This pose adjustment control end can be used for sending the attitude regulating command of waiting to pacify tube coupling, carries out the pose adjustment operation of tube coupling in sinking and docking operation to control device for adjusting posture.
Shown in Figure 3, the investigating method of tube coupling of the present invention attitude under water, this investigating method comprises the following steps:
1, fitting-out TT&C system in advance, wherein the responder of sonar equipment respectively with wait to pacify tube coupling butt end, pacify that characteristic point position that tube coupling tail end demarcates in advance is corresponding installs.
2, central processing unit carries out absolute fix to tube coupling and sets up tube coupling absolute coordinate system in tube coupling sinking process; Wherein further comprising the steps of:
Detected by sonar equipment and wait to pacify tube coupling each characteristic point position coordinate data: send and send sonar signal to the responder of waiting to pacify tube coupling butt end by ripple device; The characteristic point position coordinate data collected is beamed back with sonar signal form and is sent by ripple device by responder.
The sonar signal received is uploaded to central processing unit by sonar equipment: send, by ripple device, the sonar signal received 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; Characteristic point position coordinate data is stored in data storage by attitude data treating apparatus.
Installation ship satellite positioning signal is received: GPS receives the satellite positioning signal of installation ship position by GPS.
Installation ship satellite positioning signal is uploaded to central processing unit by GPS: satellite positioning signal is uploaded to gps data receiving terminal by GPS; 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; Installation ship coordinate data is stored in data storage by attitude data treating apparatus.
The attitude data treating apparatus of central processing unit will treat that peace tube coupling each characteristic point position coordinate data and installation ship coordinate data recall and carry out gathering calculating in data storage; The absolute coordinate system of waiting to pacify tube coupling is set up according to result of calculation.
Also can complete according to the following steps in above-mentioned 2:
Installation ship satellite positioning signal is received: GPS receives the satellite positioning signal of installation ship position by GPS.
Installation ship satellite positioning signal is uploaded to central processing unit by GPS: satellite positioning signal is uploaded to gps data receiving terminal by GPS; 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; Installation ship coordinate data is stored in data storage by attitude data treating apparatus.
Detected by sonar equipment and wait to pacify tube coupling each characteristic point position coordinate data: send and send sonar signal to the responder of waiting to pacify tube coupling butt end by ripple device; The characteristic point position coordinate data collected is beamed back with sonar signal form and is sent by ripple device by responder.
The sonar signal received is uploaded to central processing unit by sonar equipment: send, by ripple device, the sonar signal received 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; Characteristic point position coordinate data is stored in data storage by attitude data treating apparatus.
The attitude data treating apparatus of central processing unit will treat that peace tube coupling each characteristic point position coordinate data and installation ship coordinate data recall and carry out gathering calculating in data storage; The absolute coordinate system of waiting to pacify tube coupling is set up according to result of calculation.
3, central processing unit is according to tube coupling absolute coordinate system adjustment tube coupling sinking attitude: the attitude data treating apparatus of central processing unit simulates three-dimensional space shape figure according to absolute coordinate system; By image display display three-dimensional space shape figure; Operating personnel input the attitude regulating command of waiting to pacify tube coupling to attitude data treating apparatus according to three-dimensional space shape figure; Attitude regulating command is sent to pose adjustment control end by attitude data treating apparatus; Pose adjustment control end realizes the pose adjustment of tube coupling in sinking process according to attitude regulating command by operating attitude adjusting device; Until butt-joint operation starts.
4, central processing unit carries out relative positioning to tube coupling and sets up tube coupling relative coordinate system in tube coupling docking operation; Wherein further comprising the steps of:
Wait pacify tube coupling and pacified tube coupling each characteristic point position coordinate data by sonar equipment measurement: send, by ripple device, sonar signal is sent to the responder treating peace tube coupling butt end and the responder of having pacified tube coupling tail end respectively; The characteristic point position coordinate data collected is beamed back with sonar signal form and is sent by ripple device by responder.
The sonar signal received is uploaded to central processing unit by sonar equipment: send, by ripple device, the sonar signal received 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; Characteristic point position coordinate data is stored in data storage by attitude data treating apparatus.
Installation ship satellite positioning signal is received: GPS receives the satellite positioning signal of installation ship position by GPS.
Installation ship satellite positioning signal is uploaded to central processing unit by GPS: satellite positioning signal is uploaded to gps data receiving terminal by GPS; 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; Installation ship coordinate data is stored in data storage by attitude data treating apparatus.
Each characteristic point position coordinate data and installation ship coordinate data recall and carry out gathering calculating by the attitude data treating apparatus of central processing unit in data storage; Set up according to result of calculation and pacified tube coupling and the relative coordinate system of waiting to pacify tube coupling.
Also can complete according to the following steps in above-mentioned 4:
Installation ship satellite positioning signal is received: GPS receives the satellite positioning signal of installation ship position by GPS.
Installation ship satellite positioning signal is uploaded to central processing unit by GPS: satellite positioning signal is uploaded to gps data receiving terminal by GPS; 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; Installation ship coordinate data is stored in data storage by attitude data treating apparatus.
Wait pacify tube coupling and pacified tube coupling each characteristic point position coordinate data by sonar equipment measurement: send, by ripple device, sonar signal is sent to the responder treating peace tube coupling butt end and the responder of having pacified tube coupling tail end respectively; The characteristic point position coordinate data collected is beamed back with sonar signal form and is sent by ripple device by responder.
The sonar signal received is uploaded to central processing unit by sonar equipment: send, by ripple device, the sonar signal received 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; Characteristic point position coordinate data is stored in data storage by attitude data treating apparatus.
Each characteristic point position coordinate data and installation ship coordinate data recall and carry out gathering calculating by the attitude data treating apparatus of central processing unit in data storage; Set up according to result of calculation and pacified tube coupling and the relative coordinate system of waiting to pacify tube coupling.
6, central processing unit is according to tube coupling absolute coordinate system adjustment tube coupling sinking attitude: the attitude data treating apparatus of central processing unit simulates three-dimensional space shape figure according to absolute coordinate system; By image display display three-dimensional space shape figure; Operating personnel input the attitude regulating command of waiting to pacify tube coupling to attitude data treating apparatus according to three-dimensional space shape figure; Attitude regulating command is sent to pose adjustment control end by attitude data treating apparatus; Pose adjustment control end realizes the pose adjustment of tube coupling in docking operation according to attitude regulating command by operating attitude adjusting device; Until butt-joint operation completes.
7, TT&C system removes TT&C system after instructing tube coupling sinking and docking.
Claims (10)
1. a TT&C system for tube coupling attitude under water, is characterized in that: comprising:
GPS, for receiving the installation ship satellite positioning signal of gps satellite signal network real-time Transmission;
Sonar equipment, comprises and is arranged on sending by ripple device on installation ship, and is arranged on the responder of waiting to pacify tube coupling and pacified on tube coupling; Described send by ripple device relative fixing with described GPS position, and described in send and be connected by sonar signal by between ripple device with described responder;
Central processing unit, comprises data sink, data storage, attitude data treating apparatus and pose adjustment control end;
Wherein:
Described data sink comprises gps data receiving terminal and measuring and control data receiving terminal; Described gps data receiving terminal is connected with described GPS, and described installation ship satellite positioning signal is compiled installation ship coordinate data; Described measuring and control data receiving terminal is connected by ripple device with described sending, and described sonar signal is compiled the characteristic point position coordinate data of waiting to pacify tube coupling and pacified pipe;
Described data storage is for storing described installation ship coordinate data and characteristic point position coordinate data;
The absolute coordinate system of waiting to pacify tube coupling set up by described attitude data treating apparatus according to the data in described data storage, and pacified tube coupling and waited to pacify the relative coordinate system between tube coupling, and tube coupling and the spatial shape of waiting to pacify tube coupling described in simulating according to described absolute coordinate system and relative coordinate system, are pacified;
Described pose adjustment control end is treated peace tube coupling according to the result of described attitude data treating apparatus and is carried out pose adjustment.
2. the TT&C system of tube coupling attitude under water according to claim 1, is characterized in that: described responder is arranged on the end face of waiting to pacify tube coupling and pacified tube coupling.
3. the TT&C system of tube coupling attitude under water according to claim 2, is characterized in that: described responder is corresponding with the characteristic point position demarcated in advance on tube coupling end face to be arranged.
4. the TT&C system of tube coupling attitude under water according to claim 3, is characterized in that: described in wait to pacify tube coupling end face and at least arrange that three responders are corresponding with the characteristic point position demarcated in advance on the end face of tube coupling butt end respectively to be arranged.
5. the TT&C system of tube coupling attitude under water according to claim 4, is characterized in that: described tube coupling end face of having pacified at least arranges that two responders are corresponding with the characteristic point position demarcated in advance on tube coupling tail end end face respectively to be arranged.
6. application rights requires to it is characterized in that the investigating method that the TT&C system of 1-5 tube coupling described in one of them attitude under water realizes: this investigating method comprises the following steps:
S1, central processing unit are treating that treating peace tube coupling in peace tube coupling sinking process carries out absolute fix and set up the step of absolute coordinate system;
S2, central processing unit are according to waiting that pacifying tube coupling absolute coordinate system adjusts the step of waiting to pacify tube coupling sinking attitude;
S3, central processing unit are being treated to treat peace tube coupling and pacify tube coupling in peace tube coupling docking operation to carry out relative positioning and the step setting up relative coordinate system;
S4, central processing unit wait the step of pacifying tube coupling docking attitude according to the relative coordinate system adjustment of waiting to pacify tube coupling.
7. the investigating method of tube coupling attitude under water according to claim 6, is characterized in that: also comprise the steps: in described step S1
S11, detected the step of waiting to pacify tube coupling each characteristic point position sonar signal by sonar equipment;
Sonar signal is uploaded to the step of central processing unit by S12, sonar equipment;
Sonar signal is compiled the step of characteristic point position coordinate data by S13, central processing unit;
S14, received the step of installation ship satellite positioning signal by GPS;
Installation ship satellite positioning signal is uploaded to the step of central processing unit by S15, GPS;
Installation ship satellite positioning signal is compiled the step of installation ship coordinate data by S16, central processing unit;
S17, central processing unit calculate treating that peace tube coupling each characteristic point position coordinate data and installation ship coordinate data carry out gathering and set up the step of waiting to pacify tube coupling absolute coordinate system.
8. the investigating method of tube coupling attitude under water according to claim 7, is characterized in that: also comprise the steps: in described step S3
S31, to be detected by sonar equipment and wait pacify tube coupling and pacified the step of tube coupling each characteristic point position sonar signal;
Sonar signal is uploaded to the step of central processing unit by S32, sonar equipment;
Sonar signal is compiled the step of characteristic point position coordinate data by S33, central processing unit;
S34, received the step of installation ship satellite positioning signal by GPS;
Installation ship satellite positioning signal is uploaded to the step of central processing unit by S35, GPS;
Installation ship satellite positioning signal is compiled the step of installation ship coordinate data by S36, central processing unit;
Each characteristic point position coordinate data and installation ship coordinate data are carried out gathering and are calculated and set up the step of pacifying tube coupling Yu waiting the relative coordinate system of pacifying tube coupling by S37, central processing unit.
9. the investigating method of tube coupling attitude under water according to claim 6, is characterized in that: also comprise the steps: in described step S2
S21, central processing unit simulate the step of the three-dimensional space shape figure waiting to pacify tube coupling according to absolute coordinate system;
S22, shown the step of three-dimensional space shape figure of waiting to pacify tube coupling by image display;
S23, operating personnel wait to pacify the step of attitude regulating command of tube coupling to central processing unit input according to the three-dimensional space shape figure waiting to pacify tube coupling;
S24, central processing unit carry out the step adjusted according to the sinking attitude waiting to pacify the attitude regulating command of tube coupling and treat peace tube coupling.
10. the investigating method of tube coupling attitude under water according to claim 6, is characterized in that: also comprise the steps: in described step S4
S41, central processing unit simulate the step of the three-dimensional space shape figure waiting to pacify tube coupling and pacified tube coupling according to relative coordinate system;
S42, to be shown by image display and wait to pacify tube coupling and the step of three-dimensional space shape figure of to have pacified tube coupling;
S43, operating personnel wait the step of the attitude regulating command of pacifying tube coupling to central processing unit input according to three-dimensional space shape figure;
S44, central processing unit carry out the step adjusted according to the docking attitude waiting to pacify the attitude regulating command of tube coupling and treat peace tube coupling.
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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 |
| 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 |
| CN107037433B (en) * | 2017-03-22 | 2020-07-14 | 中交第一航务工程局有限公司 | Sonar deviation measurement and control system and deviation measurement and control method for immersed tube installation |
| 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 |
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| CN103912012A (en) | 2014-07-09 |
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