CN104153391A - Open caisson geometrical shape monitoring method based on differential GPS - Google Patents
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Abstract
本发明公开了一种基于差分GPS的沉井几何形态监控方法,通过设置GPS监控基站,监控沉井在起浮、出坞、拖航、系泊、沉放、对接等工序过程中,沉井中心的坐标、高程、偏位、扭转、刃脚标高、井内外河床面标高、水流速流向、波浪力和水位标高等参数,通过无线组网方式,把沉井顶各个监控点的GPS定位测量数据实时传输到监控中心,实时计算倾斜度和扭转角姿态,通过数据监控方法得出沉井偏位,发放控制指令,再通过控制装置调整拉缆的受力,以达到对沉井偏位量进行修正的目的。本发明提供的监控方法可以实现监控沉井运动姿态精度达到厘米级,对沉井下沉偏位量进行实时修正具有良好的控制能力。
The invention discloses a method for monitoring the geometry of caissons based on differential GPS. By setting up a GPS monitoring base station, the caissons are monitored during the process of floating, undocking, towing, mooring, sinking, and docking. Coordinates of the center, elevation, offset, torsion, elevation of blade foot, elevation of the river bed inside and outside the well, water velocity and flow direction, wave force and water level elevation, etc., through wireless networking, the GPS positioning measurement of each monitoring point on the top of the caisson The data is transmitted to the monitoring center in real time, the inclination and torsion angle are calculated in real time, the caisson deviation is obtained through the data monitoring method, the control command is issued, and the force of the cable is adjusted through the control device to achieve the deviation of the caisson. purpose of the correction. The monitoring method provided by the invention can realize the accuracy of monitoring the movement attitude of the caisson to the centimeter level, and has good control ability for real-time correction of the sinking deviation of the caisson.
Description
技术领域 technical field
本发明涉及沉井几何形态监控,具体涉及一种厘米级精度的、实时无线传输的沉井几何形态监控方法。 The invention relates to caisson geometry monitoring, in particular to a caisson geometry monitoring method with centimeter-level precision and real-time wireless transmission. the
背景技术 Background technique
沉井隧道是从上世纪初开始逐步发展起来的一种大型跨水交通工程。国内目前已有多个越江、跨海工程正在修建或规划修建中。港珠澳大桥岛隧工程、琼州海峡跨海工程、长江口越江工程、蓬莱至旅顺的跨海工程等大型工程中,多数是采用了沉井隧道方案。沉井隧道是由若干预制的管节,分别浮运到现场,逐个依次地沉放安装,在水下将其互相连接并正确定位在已经开挖的水下基槽内,其后辅以相关工程施工,沉井隧道的关键技术主要有基槽浚挖与地基处理技术、管节预制技术、管节浮运与沉放技术、管节接头设计与管节防水技术。沉井浮运与沉放受水流速度与方向、潮汐、水的密度、波浪、大风、拖轮特性、航道特性、管节特性、系缆方式、拖带方案、临场指挥等多方面影响,施工非常复杂,风险较大。沉井拖带和下沉过程中的应力应变及整体稳定性进行监控历来都受到工程界的高度重视。国内外学者也进行了较深入的研究。 The caisson tunnel is a large-scale cross-water traffic project that has been gradually developed since the beginning of the last century. At present, many cross-river and sea-crossing projects are under construction or planned in China. Most of the large-scale projects such as the island tunnel project of the Hong Kong-Zhuhai-Macao Bridge, the Qiongzhou Strait cross-sea project, the Yangtze River Estuary cross-river project, and the Penglai-Lushun sea-cross project have adopted the caisson tunnel scheme. The caisson tunnel consists of a number of prefabricated pipe joints, which are floated to the site and installed one by one. They are connected to each other underwater and correctly positioned in the excavated underwater foundation trench. For engineering construction, the key technologies for caisson tunnels mainly include foundation trench dredging and foundation treatment technology, pipe joint prefabrication technology, pipe joint floating and sinking technology, pipe joint joint design and pipe joint waterproofing technology. The floating and sinking of the caisson is affected by many aspects such as the speed and direction of the water flow, the tide, the density of the water, the waves, the strong wind, the characteristics of the tugboat, the characteristics of the waterway, the characteristics of the pipe joints, the mooring method, the towing scheme, and on-the-spot command. The construction is very complicated. , the risk is greater. The monitoring of stress, strain and overall stability during caisson towing and sinking has always been highly valued by the engineering community. Scholars at home and abroad have also conducted in-depth research. the
邹进贵分析了对施工沉井几何位置等参数进行自动监测的方法,采用了Visual C++编程语言和Access数据库系统,实现了施工沉井自动化监测系统。 Zou Jingui analyzed the method of automatic monitoring of parameters such as the geometric position of the construction caisson, and implemented the automatic monitoring system of the construction caisson by using Visual C++ programming language and Access database system. the
肖文福提出泰州大桥中塔超大沉井下沉监控技术,包括沉井刃口反力、侧壁摩阻力、井壁与土的摩阻力、锚缆力的监测方案,为沉井基础的安全施工提供了及时、准确的预报预警信息。 Xiao Wenfu proposed the subsidence monitoring technology of the super large caisson in the middle tower of Taizhou Bridge, including the monitoring scheme of caisson cutting edge reaction force, side wall friction resistance, shaft wall and soil friction resistance, and anchor cable force, which provides a safe foundation for caisson construction. Timely and accurate forecast and early warning information. the
朱建民对世界上平面尺寸最大的南京长江四桥北锚碇沉井排水下沉安全进行了监控研究。根据有限元分析结果选取典型截面来监控拉应力变化,能够找出结构受力的薄弱环节,为超大型沉井的下沉安全监控提供指导。赵有明依据规范并结合以往的施工经验,提出了南京长江四桥北锚碇沉井几何姿态监控标准。 Zhu Jianmin conducted a monitoring study on the safety of drainage and subsidence of the north anchorage caisson of the Nanjing Fourth Yangtze River Bridge with the largest plane size in the world. According to the results of finite element analysis, a typical section is selected to monitor the change of tensile stress, which can find out the weak link of the structure and provide guidance for the safety monitoring of super large caisson sinking. Zhao Youming put forward the monitoring standard for the geometry and attitude of the caisson in the north anchorage of the Nanjing Yangtze River Fourth Bridge based on the code and the previous construction experience. the
李宗哲提出了向家坝水电站大型沉井群中的6号沉井下沉阻力的监测技术。通过这些监测数据,控制了沉井的安全平稳下沉。 Li Zongzhe proposed the monitoring technology for the sinking resistance of No. 6 caisson in the large caisson group of Xiangjiaba Hydropower Station. Through these monitoring data, the safe and stable sinking of the caisson is controlled. the
陈松从基础位移监控、基础抗滑稳定监控和地基土稳定监控3个方面建立了了江阴长江公路大桥北锚碇沉井的散索鞍水平位移监控模型、沉井前侧地基土水平向反力监控模型和基底反力监控模型。 Chen Song established a monitoring model for the horizontal displacement of the loose cable saddle of the north anchorage caisson of the Jiangyin Yangtze River Highway Bridge from the three aspects of foundation displacement monitoring, foundation anti-sliding stability monitoring, and foundation soil stability monitoring. Force monitoring model and base reaction force monitoring model. the
综合国内外,由于技术条件和监控元件的限制,沉井拖带和下沉过程中的实时监控一般是通过下沉阻力的监控对土压力的监控。目前仍缺少能精确到厘米级监控并提供实时采集并无线传输的监控系统和方法。 At home and abroad, due to the limitations of technical conditions and monitoring components, the real-time monitoring of caisson towing and sinking is generally the monitoring of earth pressure through the monitoring of sinking resistance. At present, there is still a lack of monitoring systems and methods that can be accurate to centimeter-level monitoring and provide real-time collection and wireless transmission. the
发明内容 Contents of the invention
本发明针对现有方法所存在的缺陷,而提供一种基于差分GPS的沉井几何形态监控方法,沉井中心的坐标、高程、偏位、扭转、刃脚标高、井内外河床面标高、水流速流向、波浪力和水位标高等等参数,通过无线传输,实时计算倾斜度和扭转角姿态,并对沉井偏位量进行修正。 The present invention aims at the defects existing in the existing methods, and provides a caisson geometry monitoring method based on differential GPS, the coordinates, elevation, deviation, torsion, blade foot elevation, river bed surface elevation inside and outside the well, water level of the caisson center, etc. Parameters such as flow velocity and direction, wave force and water level are transmitted wirelessly to calculate the inclination and torsion angle attitude in real time, and to correct the offset of the caisson. the
为了达到上述目的,本发明采用如下的技术方案 In order to achieve the above object, the present invention adopts the following technical solutions
基于差分GPS的沉井几何形态监控方法,该方法包括如下步骤: The caisson geometry monitoring method based on differential GPS, the method comprises the following steps:
(1)在沉井顶的四周布设4个监控点如图2,点位可根据现场情况考虑,并设立测量点位标志,安装GPS接收机天线,与岸侧安置的GPS基准站一起,构成实时动态相对定位; (1) Four monitoring points are arranged around the top of the caisson as shown in Figure 2. The points can be considered according to the site conditions, and the measurement point marks are set up, and the GPS receiver antenna is installed. Together with the GPS reference station placed on the shore, it constitutes Real-time dynamic relative positioning;
(2)建立钢沉井下沉GPS基准站,在栈桥处建立一个监控基站,用于沉井的实时监控; (2) Establish a sinking GPS reference station for steel caissons, and establish a monitoring base station at the trestle bridge for real-time monitoring of caissons;
(3)系统通过无线组网方式,把沉井顶各个监控点的GPS定位测量数据实时传输到监控中心; (3) The system transmits the GPS positioning measurement data of each monitoring point on the top of the caisson to the monitoring center in real time through wireless networking;
(4)测量沉井施工平面位置。根据施工现场情况及施工工艺,几何监控主要采用高效率、高精度、高可靠性和低消耗的差分全球卫星定位系统(DGPS)进行平面位置测量,并以全站仪测量结果进行校核; (4) Measure the construction plane position of the caisson. According to the construction site conditions and construction technology, the geometric monitoring mainly adopts the high-efficiency, high-precision, high-reliability and low-consumption differential global satellite positioning system (DGPS) for plane position measurement, and checks with the measurement results of the total station;
(5)监控沉井位移。根据沉井的平面定位结果,将沉井四周四个GPS点的定位结果和理论结果进行比较,得到每个监控点的x,y坐标差,并计算点位位移,利用沉井四周GPS点的坐标计算出沉中心坐标,和沉井中心的设计位置进行比较,可以得到沉井中心的整体位移; (5) Monitor caisson displacement. According to the plane positioning results of the caisson, the positioning results of the four GPS points around the caisson are compared with the theoretical results to obtain the x, y coordinate difference of each monitoring point, and the point displacement is calculated, using the GPS points around the caisson The coordinates of the caisson center are calculated from the coordinates, and compared with the design position of the caisson center, the overall displacement of the caisson center can be obtained;
(6)测量沉井高程。在岸上选择2-3个高程控制点,并在其上置GPS接收机,另一个接收机初始化后按GPS-RTK法分别测出沉井轴线点的大地高,按上述加权平均法原理可求得正常高; (6) Measure caisson elevation. Select 2-3 elevation control points on the shore, and place a GPS receiver on them. After the other receiver is initialized, measure the geodetic height of the caisson axis points respectively according to the GPS-RTK method, which can be obtained according to the above weighted average method principle normal height;
(7)测量控制沉井倾斜值。通过监控沉井轴线控制点高程,计算出沉井的倾斜度。通过2、4点和1、3点之间高差和距离相比求得沉井倾斜度; (7) Measure and control caisson inclination value. By monitoring the elevation of the control point of the caisson axis, the inclination of the caisson is calculated. Calculate the caisson inclination by comparing the height difference and distance between points 2 and 4 and points 1 and 3;
(8)计算沉井扭转度。根据沉井下沉到位后所测得的轴线控制点1′、3′或2′、4′两点坐标求出它们与桥轴线的夹角,即为沉井扭角。 (8) Calculate caisson torsion. According to the coordinates of axis control points 1′, 3′ or 2′, 4′ measured after the caisson sinks in place, the angle between them and the bridge axis is obtained, which is the torsion angle of the caisson. the
本发明运用差分GPS技术对监控沉井几何形态进行高精度处理,使得监控精度可以达到厘米级,使得对沉井下沉偏位量进行实时修正具有良好的控制能力。 The invention utilizes the differential GPS technology to process the geometry of the monitored caisson with high precision, so that the monitoring accuracy can reach centimeter level, and the real-time correction of the sinking deviation of the caisson has good control ability. the
附图说明 Description of drawings
以下结合附图和具体实施方式来进一步说明本发明。 The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. the
图1为本发明的流程图 Fig. 1 is a flowchart of the present invention
图2为沉井顶GPS测点布置示意图 Figure 2 is a schematic diagram of the arrangement of GPS measuring points on the top of the caisson
图3为沉井GPS观测示意图 Figure 3 is a schematic diagram of caisson GPS observation
图4为钢沉井扭转测量示意图 Figure 4 is a schematic diagram of steel caisson torsion measurement
具体实施方式 Detailed ways
为了使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解,下面结合具体图示,进一步阐述本发明。 In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific illustrations. the
高精度、实时性无线传输是沉井几何形态监控的关键。为此,本发明提供一种基于差分GPS的沉井几何形态监控方法,该方法包括如下步骤(如图1所示): High-precision, real-time wireless transmission is the key to caisson geometry monitoring. For this reason, the present invention provides a kind of caisson geometry monitoring method based on differential GPS, and the method comprises the following steps (as shown in Figure 1):
(1)在沉井顶的四周布设4个监控点如图2,点位可根据现场情况考虑,并设立测量点位标志,安装GPS接收机天线,与岸侧安置的GPS基准站一起,构成实时动态相对定位。 (1) Four monitoring points are arranged around the top of the caisson as shown in Figure 2. The points can be considered according to the site conditions, and the measurement point marks are set up, and the GPS receiver antenna is installed. Together with the GPS reference station placed on the shore, it constitutes Real-time dynamic relative positioning. the
(2)建立钢沉井下沉GPS基准站 (2) Establishment of GPS reference station for steel caisson sinking
在栈桥处建立一个监控基站,用于沉井的实时监控。 Set up a monitoring base station at the trestle bridge for real-time monitoring of caissons. the
除了权利要求3所述的方式,其特征在于,还包括实现多个监控点同步采 集。 Except the described mode of claim 3, it is characterized in that, also comprise realizing a plurality of monitoring point synchronous acquisitions. the
(3.1)设置相应IP协议,通过无线网络,由全向天线接收来自各监控点的数据,再传送给数据处理中心; (3.1) Set the corresponding IP protocol, through the wireless network, the data from each monitoring point is received by the omnidirectional antenna, and then transmitted to the data processing center;
(3.2)GPS接收机采用的接口标准时RS-232串行接口,无线扩频通信网络为RJ-45接口; (3.2) The interface standard adopted by GPS receiver is RS-232 serial interface, and the wireless spread spectrum communication network is RJ-45 interface;
(3.3)通过基于IP协议的串口通讯设备服务器可实现协议的转换,组成单点对多点的无线通讯系统,实现多个监控点同步采集。 (3.3) Through the serial port communication equipment server based on the IP protocol, the protocol conversion can be realized, and a single-point to multi-point wireless communication system can be formed to realize synchronous collection of multiple monitoring points. the
除了权利要求4所述的方式,其特征在于,还包括在监控室内设立GPS测量控制和计算中心,随时将基站点和流动站的测量参数和数据通过无线局域网进行传输,在控制中心进行分析处理,得到各个监控点的平面位置。 In addition to the method described in claim 4, it is characterized in that it also includes setting up a GPS measurement control and calculation center in the monitoring room, and transmitting the measurement parameters and data of the base station and the mobile station through the wireless local area network at any time, and analyzing and processing at the control center , to get the plane position of each monitoring point. the
(5)监控沉井位移。根据沉井的平面定位结果,将沉井四周四个GPS点的定位结果和理论结果进行比较,得到每个监控点的x,y坐标差,并计算点位位移,利用沉井四周GPS点的坐标计算出沉中心坐标,和沉井中心的设计位置进行比较,可以得到沉井中心的整体位移; (5) Monitor caisson displacement. According to the plane positioning results of the caisson, the positioning results of the four GPS points around the caisson are compared with the theoretical results to obtain the x, y coordinate difference of each monitoring point, and the point displacement is calculated, using the GPS points around the caisson The coordinates of the caisson center are calculated from the coordinates, and compared with the design position of the caisson center, the overall displacement of the caisson center can be obtained;
(6)测量沉井高程。在岸上选择2-3个高程控制点,并在其上置GPS接收机,另一个接收机初始化后按GPS-RTK法分别测出沉井轴线点的大地高,按上述加权平均法原理可求得正常高; (6) Measure caisson elevation. Select 2-3 elevation control points on the shore, and place a GPS receiver on them. After the other receiver is initialized, measure the geodetic height of the caisson axis points respectively according to the GPS-RTK method, which can be obtained according to the above weighted average method principle normal height;
除了权利要求7所述的方式,其特征在于,还包括在施工到混凝土浇筑段时,需要即时测量每次浇筑混凝土后,上、下节之间的相对倾斜变化,并建立即时的三维模型,以便在最后得出沉井的真实三维姿态。同时,采用垂球即时检测每节沉井内侧的倾斜度,测定每节沉井的顶口及前一节沉井顶口的倾斜度来进行计算,并作好记录,分析每次焊接后,下面一节沉井对上面一节沉井的影响和规律,提前进行改正。沉井下沉深度、平面位置及偏斜采用全站仪、水准仪、自动高程监控微压传感器和测斜仪监控。 In addition to the method described in claim 7, it is characterized in that it also includes that when the concrete is poured, the relative inclination between the upper and lower sections needs to be measured immediately after each pouring of concrete, and an instant three-dimensional model is established, In order to obtain the real three-dimensional posture of the caisson in the end. At the same time, use the vertical ball to detect the inclination of each caisson in real time, measure the inclination of the top of each caisson and the top of the previous caisson to calculate, and make a record. After each welding, the The impact and law of the caisson in the lower section on the caisson in the upper section shall be corrected in advance. The sinking depth, plane position and deflection of the caisson are monitored by total stations, levels, automatic elevation monitoring micro-pressure sensors and inclinometers. the
除了权利要求8所述的方式,其特征在于,还包括沉井下沉到位后,可以直接采用GPS-RTK测量模式测出沉井的顶面轴线控制点坐标。同时用全站仪极坐标法进行检核,保证所测数据准确。钢沉井扭转测量示意图如图4。 In addition to the method described in claim 8, it is characterized in that after the caisson is sunk in place, the coordinates of the top axis control point of the caisson can be measured directly by using the GPS-RTK measurement mode. At the same time, the polar coordinate method of the total station is used for checking to ensure the accuracy of the measured data. The schematic diagram of steel caisson torsion measurement is shown in Fig. 4. the
以上显示和描述了本发明的基本原理、主要特征和本发明的优点。本行业的技术人员应该了解,本发明不受上述实施例的限制,上述实施例和说明书中 描述的只是说明本发明的原理,在不脱离本发明精神和范围的前提下,本发明还会有各种变化和改进,这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。 The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and that described in the above-mentioned embodiments and the specification only illustrates the principles of the present invention, and the present invention will also have other functions without departing from the spirit and scope of the present invention. Variations and improvements are possible, which fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents. the
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CN112814011A (en) * | 2021-01-07 | 2021-05-18 | 西南交通大学 | Ultra-large open caisson foundation construction monitoring system and construction regulation and control method based on monitoring system |
CN112902934A (en) * | 2021-01-22 | 2021-06-04 | 中铁大桥科学研究院有限公司 | Open caisson geometric attitude testing method based on GPS-EJA |
CN114964350A (en) * | 2021-02-19 | 2022-08-30 | 中国铁道科学研究院集团有限公司 | Ultra-large type open caisson foundation construction monitoring system |
CN117073765A (en) * | 2023-10-07 | 2023-11-17 | 中铁四局集团第二工程有限公司 | Intelligent construction auxiliary decision-making system and auxiliary decision-making method for open caisson floating and sinking installation |
CN117073765B (en) * | 2023-10-07 | 2024-03-15 | 中铁四局集团有限公司 | Intelligent construction auxiliary decision-making system and auxiliary decision-making method for open caisson floating and sinking installation |
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