CN104280060A - Method and device for measuring shape of mooring foundation installation mooring rope in seabed soil - Google Patents

Abstract

The invention discloses a method and device for measuring the shape of a mooring foundation installation mooring rope in seabed soil, and belongs to the technical field of oceanographic engineering monitoring. According to the method, multiple inclination angle sensors are arranged on the mooring foundation installation mooring rope, the distance between every two adjacent inclination angle sensors can be directly obtained through measurement after installation is well achieved, and due to the fact that the inclination angle data of the inclination angle sensors can be transmitted to working staff in real time even when the inclination angle sensors are in the seabed soil, the shape of the mooring foundation installation mooring rope in the seabed soil can be dynamically measured in real time; meanwhile, the inclination angle sensors are precise measurement instruments, the accuracy of the real-time azimuth angles, measured through the inclination angle sensors, between the inclination angle sensors and the horizontal direction is high, and therefore the accuracy of the method for measuring the shape of the mooring foundation installation mooring rope in the seabed soil is high. By means of the device, fitting of the shape of the mooring foundation installation mooring rope in the seabed soil can be automatically completed without artificial calculation, and the device is more suitable for production practice.

Description

Mooring foundation installs the method for measuring shape of palaemon of hawser in seabed soil and measurement mechanism

Technical field

The present invention relates to oceanographic engineering monitoring technical field, particularly a kind of mooring foundation installs the method for measuring shape of palaemon of hawser in seabed soil and measurement mechanism.

Background technology

Along with Marine oil and gas resource is gradually to deep water, ultra-deep-water future development, large-scale floating production system such as semisubmersible platform, floating type production, storage and offloading device (FPSO), open side type (SPAR) platform etc. increase gradually, and corresponding also comes into one's own day by day to the research of floating mooring foundation.Composite fibre materials tightening type mooring system also more and more becomes a kind of main Mooring Arrangements of ocean petroleum developing platform.Towing anchor is the mooring foundation matched with tightening type mooring system, has excellent strength performance and comprehensive advantage, in tightening type mooring system, has consequence.

The mooring foundations such as piled anchor, cylinder anchor, suction anchor, gravity injection anchor and towing anchor are in installation process, the earth resistance effect that hawser is subject to upwards due to cutting soil is installed, in convex form in the soil body, with in water because being formed to recessed stretched wire form of being formed of Gravitative Loads contrasts.The cable part be embedded in seabed soil is installed and is called embedding cable, embed between cable and anchor foundation and there is the complicated relation that intercouples, research embed the morphological character of cable in seabed soil for improve the embedded performance of anchor, kinetic characteristic and accurately orientation problem have very important meaning.Further, be in use embedded in seabed soil owing to embedding cable, its configuration is invisible, and therefore, the research of mooring foundation being installed to the morphological feature of hawser in seabed soil has very important significance.

In prior art, the morphological feature research of hawser in seabed soil is installed mainly based on numerical method to mooring foundation, such as, to its geometric equation and the derivation embedding cable rectangular journey scheduling theory equation, then relatively very few to the physical study of its morphometry, be in the deficienter stage, part research adopts the manual mode cuing open sand, stay cord and envelope test to measure its form, but, these methods not only measurement precision are low, also do not reach dynamic, real-time measurement effect, more cannot be applied to in-site measurement.

Summary of the invention

In order to solve the problem, the present invention proposes and a kind ofly to mooring foundation, the form of hawser in seabed soil can be installed and carry out dynamically, in real time measuring, and the higher mooring foundation of measuring accuracy installs the method for measuring shape of palaemon of hawser in seabed soil and measurement mechanism.

Mooring foundation provided by the invention is installed the method for measuring shape of palaemon of hawser in seabed soil and is comprised the following steps:

Step 1: install on hawser at mooring foundation and install multiple obliquity sensor;

Step 2: the mooring foundation installation hawser that order is provided with obliquity sensor buries with mooring foundation;

Step 3: install in the hawser process of burying with mooring foundation at mooring foundation, gathers that described multiple obliquity sensor records with real-time azimuthal angle that is horizontal direction;

Step 4: the spacing between real-time azimuthal angle that is that record according to described multiple obliquity sensor and horizontal direction and each obliquity sensor, calculate described multiple obliquity sensor separately with horizontal ordinate and ordinate;

Step 5: according to described multiple obliquity sensor separately with the real-time azimuthal angle of horizontal direction, horizontal ordinate and ordinate, matching obtains the real-time modality curves that described mooring foundation installs hawser.

As preferably, described mooring foundation installs hawser, and to follow the part that mooring foundation buries at first be hawser leading portion, described mooring foundation installs hawser, and finally to follow the part that mooring foundation buries be hawser back segment, the packing density of described obliquity sensor by described hawser leading portion to described hawser back segment by close to rare.

As preferably, the spacing between real-time azimuthal angle that is that record according to described multiple obliquity sensor and horizontal direction and each obliquity sensor, the method calculating the respective horizontal ordinate of described multiple obliquity sensor and ordinate is,

Work as θ _i=θ _i+1time, the hawser form between adjacent two obliquity sensors is straight line, has:

x _i+1＝x _i+S _icosθ _i

y _i+1＝y _i-S _isinθ _i

i＝1,2,3.....n；

Work as θ _i≠ θ _i+1time, the hawser form between adjacent two obliquity sensors is circular arc, has:

$x_{i+1}=x_i+S_i\frac{{\sin \mathrm{\θ}}_i-{\sin \mathrm{\θ}}_{i+1}}{{\mathrm{\θ}}_i-{\mathrm{\θ}}_{i+1}}$

$y_{i+1}=y_i+S_i\frac{{\cos \mathrm{\θ}}_i-{\cos \mathrm{\θ}}_{i+1}}{{\mathrm{\θ}}_i-{\mathrm{\θ}}_{i+1}}$

i＝1,2,3.....n

Wherein,

θ _i, θ _i+1, adjacent two obliquity sensors record separately with the real-time azimuthal angle of horizontal direction, the elevation angle is just, the angle of depression is negative,

X _i, x _i+1, adjacent two obliquity sensors horizontal ordinate separately,

Y _i, y _i+1, adjacent two obliquity sensors ordinate separately,

S _i, the spacing between i-th sensor and the i-th+1 sensor.

As preferably, when the coordinate position that the obliquity sensor of most end calculates exceeds soil body surface, also comprise the step that horizontal ordinate and the ordinate of each obliquity sensor calculated are revised:

$x_i^{\′}=x_i-\frac{l_i}{L}\mathrm{\Δ}{x}_n$

$y_i^{\′}=y_i-\frac{l_i}{L}\mathrm{\Δ}{y}_n$

i＝1,2,3.....n

Wherein,

X ' _i, y ' _i, the horizontal ordinate of each obliquity sensor obtained after revising and ordinate,

Δ x _n, Δ y _n, the horizontal ordinate x ' of the obliquity sensor of the horizontal ordinate of the obliquity sensor of the most end calculated and ordinate and known most end _nwith ordinate y ' _ntrue value between difference, i.e. Δ x _n=x _n-x ' _n, Δ y _n=y _n-y ' _n,

L _i, the length of i-th installation hawser between obliquity sensor and mooring foundation,

L, after representing towing, mooring foundation installs the total length that hawser embeds the soil body.

Mooring foundation provided by the invention is installed the configuration measurement mechanism of hawser in seabed soil and is comprised multiple obliquity sensor, data acquisition module, data operation module and data fitting module,

Described multiple obliquity sensor is arranged on mooring foundation and installs on hawser, for measuring the real-time azimuthal angle of its mounting points and horizontal direction separately;

Described data acquisition module is for receiving the data-signal of described obliquity sensor;

Described data operation module be used for according to the spacing of described multiple obliquity sensor separately and between the real-time azimuthal angle of horizontal direction and each obliquity sensor, calculate described multiple obliquity sensor separately with horizontal ordinate and ordinate;

Described data fitting module be used for according to described multiple obliquity sensor separately with the real-time azimuthal angle of horizontal direction, horizontal ordinate and ordinate, matching obtains the real-time modality curves of described mooring foundation installation hawser.

As preferably, described mooring foundation installs hawser, and to follow the part that mooring foundation buries at first be hawser leading portion, described mooring foundation installs hawser, and finally to follow the part that mooring foundation buries be hawser back segment, the packing density of described obliquity sensor by described hawser leading portion to described hawser back segment by close to rare.

As preferably, the spacing between real-time azimuthal angle that is that described data operation module records according to described multiple obliquity sensor and horizontal direction and each obliquity sensor, calculating described multiple obliquity sensor with the method for horizontal ordinate and ordinate is separately,

Work as θ _i=θ _i+1time, the hawser form between adjacent two obliquity sensors is straight line, has:

x _i+1＝x _i+S _icosθ _i

y _i+1＝y _i-S _isinθ _i

i＝1,2,3.....n；

Work as θ _i≠ θ _i+1time, the hawser form between adjacent two obliquity sensors is circular arc, has:

$x_{i+1}=x_i+S_i\frac{{\sin \mathrm{\θ}}_i-{\sin \mathrm{\θ}}_{i+1}}{{\mathrm{\θ}}_i-{\mathrm{\θ}}_{i+1}}$

$y_{i+1}=y_i+S_i\frac{{\cos \mathrm{\θ}}_i-{\cos \mathrm{\θ}}_{i+1}}{{\mathrm{\θ}}_i-{\mathrm{\θ}}_{i+1}}$

i＝1,2,3.....n

Wherein,

θ _i, θ _i+1, adjacent two obliquity sensors record separately with the real-time azimuthal angle of horizontal direction, be counterclockwise the elevation angle be just, clockwise direction is the angle of depression is negative,

X _i, x _i+1, adjacent two obliquity sensors horizontal ordinate separately,

Y _i, y _i+1, adjacent two obliquity sensors ordinate separately,

S _i, the spacing between i-th sensor and the i-th+1 sensor.

As preferably, also comprise data correction module, when the coordinate position that the obliquity sensor of most end calculates exceeds soil body surface, described data correction module is used for the horizontal ordinate of the described each obliquity sensor obtained by described data operation module and ordinate to be modified to:

$x_i^{\′}=x_i-\frac{l_i}{L}\mathrm{\Δ}{x}_n$

$y_i^{\′}=y_i-\frac{l_i}{L}\mathrm{\Δ}{y}_n$

i＝1,2,3.....n

Wherein,

X ' _i, y ' _i, the horizontal ordinate of each obliquity sensor obtained after revising and ordinate,

Δ x _n, Δ y _n, the horizontal ordinate x ' of the obliquity sensor of the horizontal ordinate of the obliquity sensor of the most end calculated and ordinate and known most end _nwith ordinate y ' _ntrue value between difference, i.e. Δ x _n=x _n-x ' _n, Δ y _n=y _n-y ' _n,

L _i, the length of i-th installation hawser between obliquity sensor and mooring foundation,

L, after representing towing, mooring foundation installs the total length that hawser embeds the soil body.

Mooring foundation provided by the invention is installed the method for measuring shape of palaemon of hawser in seabed soil and is arranged on by multiple obliquity sensor on mooring foundation installation hawser, just can directly by measuring the distance obtained between adjacent two obliquity sensors after installing, due to obliquity sensor in seabed soil also can in real time by its respective inclination data real-time Transmission to staff, therefore, it is possible to carry out dynamically, in real time measuring to the form of the mooring foundation installation hawser be in seabed soil; Meanwhile, because obliquity sensor is a kind of fine measuring instrument, the degree of accuracy at the real-time azimuthal angle of the respective and horizontal direction recorded with it is higher, and therefore, the method for measuring shape of palaemon degree of accuracy of mooring foundation installation hawser provided by the invention in seabed soil is higher.

The data acquisition module of the configuration measurement mechanism of mooring foundation installation hawser provided by the invention in seabed soil can gather the real-time azimuthal angle of the respective and horizontal direction recorded by multiple obliquity sensor automatically, the real-time azimuthal angle of the respective and horizontal direction that data operation module records according to multiple obliquity sensor, spacing between adjacent two sensors carries out computing, obtain multiple obliquity sensor horizontal ordinate separately, ordinate, the real-time azimuthal angle of the respective and horizontal direction that data fitting module can record according to multiple obliquity sensor, horizontal ordinate, ordinate completes the matching of mooring foundation being installed to the form of hawser in seabed soil automatically, and without the need to artificial calculating, therefore, be more applicable for production practices.

Accompanying drawing explanation

The mounting means schematic diagram of method for measuring shape of palaemon in application process the obliquity sensor of mooring foundation installation hawser in seabed soil that Fig. 1 provides for the embodiment of the present invention;

The mooring foundation that Fig. 2 provides for the embodiment of the present invention installs the method for measuring shape of palaemon of hawser in seabed soil in application process, that record separately according to adjacent two obliquity sensors with real-time azimuthal angle θ that is horizontal direction _i, θ _i+1and the interval S between adjacent two obliquity sensors _icalculate the respective horizontal ordinate of adjacent two obliquity sensors and always make the schematic diagram of timestamp, wherein, θ _i, θ _i+1for the elevation angle;

Fig. 3 is each flow chart of steps of the method for measuring shape of palaemon of mooring foundation installation hawser in seabed soil that the embodiment of the present invention provides;

Fig. 4 is that the signal of the configuration measurement mechanism of mooring foundation installation hawser in seabed soil that the embodiment of the present invention provides flows to process flow diagram.

Embodiment

In order to understand the present invention in depth, below in conjunction with drawings and the specific embodiments, the present invention is described in detail.

See accompanying drawing 1 and accompanying drawing 3, mooring foundation provided by the invention is installed the method for measuring shape of palaemon of hawser in seabed soil and is comprised the following steps:

Step 1: install on hawser at mooring foundation and install multiple obliquity sensor, be respectively P _i(i=1 ~ 8);

Step 2: order is provided with obliquity sensor P _ithe mooring foundation of (i=1 ~ 8) is installed hawser and is buried with mooring foundation, and in the present embodiment, mooring foundation is installed hawser and buried with plate anchor 1, and the position near plate anchor 1 on hawser is its front end heaving pile point 2, is its rear end towpoint 3 near the position of drag;

Step 3: in the process that mooring foundation installation hawser buries with mooring foundation, gather multiple obliquity sensor P _i(i=1 ~ 8) record with the real-time azimuthal angle θ of horizontal direction _i(i=1 ~ 8);

Step 4: according to multiple obliquity sensor P _i(i=1 ~ 8) record with the real-time azimuthal angle of horizontal direction and each obliquity sensor P _iinterval S between (i=1 ~ 8) _i(i=1 ~ 7), calculate multiple obliquity sensor separately with horizontal ordinate x _i(i=1 ~ 8) and ordinate y _i(i=1 ~ 8);

Step 5: according to multiple obliquity sensor P _i(i=1 ~ 8) separately and the real-time azimuthal angle θ of horizontal direction _i(i=1 ~ 8), horizontal ordinate x _i(i=1 ~ 8) and ordinate y _i(i=1 ~ 8), matching obtains the real-time modality curves that mooring foundation installs hawser.

Mooring foundation provided by the invention installs the method for measuring shape of palaemon of hawser in seabed soil by multiple obliquity sensor P _i(i=1 ~ 8) are arranged on mooring foundation and install on hawser, just can directly by measuring the distance S obtained between adjacent two obliquity sensors after installing _i(i=1 ~ 7), due to obliquity sensor P _i(i=1 ~ 8) also can in real time by its respective inclination data θ in seabed soil _i(i=1 ~ 8) real-time Transmission to staff, therefore, it is possible to carry out dynamically, in real time measuring to the form that the mooring foundation that is in seabed soil installs hawser; Meanwhile, due to obliquity sensor P _i(i=1 ~ 8) are a kind of fine measuring instruments, the degree of accuracy θ at the real-time azimuthal angle of the respective and horizontal direction recorded with it _i(i=1 ~ 8) are higher, and therefore, the method for measuring shape of palaemon degree of accuracy of mooring foundation installation hawser provided by the invention in seabed soil is higher.

Wherein, mooring foundation installs hawser, and to follow the part that mooring foundation buries at first be hawser leading portion 2, and mooring foundation installs hawser, and finally to follow the part that mooring foundation buries be hawser back segment 3, obliquity sensor P _ithe packing density of (i=1 ~ 8) by hawser leading portion 2 to hawser back segment 3 by close to rare.First follow mooring foundation due to hawser leading portion 2 to bury, its final metamorphosis is also obvious, therefore for improving measuring accuracy, arranges obliquity sensor P _itime (i=1 ~ 8), it is closeer that hawser leading portion 2 part should be arranged, the accuracy of this measuring method is determined by the position and quantity arranging obliquity sensor, if arranged thin, the morphological Simulation of the longer hawser between two sensors can be made to be the circular arc of a standard, if arrange overstocked, then can affect the behavior of burying of hawser.In the present embodiment, hawser is overall length 5m, the antitorque wire rope of diameter 6mm, and its length finally embedding cable is 4m, wherein, and S ₁for 315mm, S ₂for 385mm, S ₃for 455mm, S ₄for 525mm, S ₅for 595mm, S ₆for 665mm, S ₇for 735mm.

Wherein, according to multiple obliquity sensor P _i(i=1 ~ 8) record with the real-time azimuthal angle θ of horizontal direction _iinterval S between (i=1 ~ 8) and each obliquity sensor _i(i=1 ~ 7), calculate multiple obliquity sensor P _i(i=1 ~ 8) separately and horizontal ordinate x _i(i=1 ~ 8) and ordinate y _ithe method of (i=1 ~ 8) is,

Work as θ _i=θ _i+1time, the hawser form between adjacent two obliquity sensors is straight line, has:

x _i+1＝x _i+S _icosθ _i

y _i+1＝y _i-S _isinθ _i

i＝1,2,3.....n；

Work as θ _i≠ θ _i+1time, the hawser form between adjacent two obliquity sensors is circular arc, has:

$x_{i+1}=x_i+S_i\frac{{\sin \mathrm{\θ}}_i-{\sin \mathrm{\θ}}_{i+1}}{{\mathrm{\θ}}_i-{\mathrm{\θ}}_{i+1}}$

$y_{i+1}=y_i+S_i\frac{{\cos \mathrm{\θ}}_i-{\cos \mathrm{\θ}}_{i+1}}{{\mathrm{\θ}}_i-{\mathrm{\θ}}_{i+1}}$

i＝1,2,3.....n

Wherein,

θ _i, θ _i+1, adjacent two obliquity sensors record separately with the real-time azimuthal angle of horizontal direction, the elevation angle is just, the angle of depression is negative,

X _i, x _i+1, adjacent two obliquity sensors horizontal ordinate separately,

Y _i, y _i+1, adjacent two obliquity sensors ordinate separately,

S _i, the spacing between i-th sensor and the i-th+1 sensor.

Wherein, mooring foundation provided by the invention installs the accumulation that the method for measuring shape of palaemon of hawser in seabed soil exists iteration error, may occur last sensor P ₈coordinate figure exceed the phenomenon of soil body surface, therefore reply measurement result is revised.

As the obliquity sensor P of the most end calculated ₈when the coordinate position calculated exceeds soil body surface, also comprise each obliquity sensor P to calculating _ithe horizontal ordinate x of (i=1 ~ 8) _i(i=1 ~ 8) and ordinate y _i(i=1 ~ 8) carry out the step revised:

$x_i^{\′}=x_i-\frac{l_i}{L}\mathrm{\Δ}{x}_n$

$y_i^{\′}=y_i-\frac{l_i}{L}\mathrm{\Δ}{y}_n$

i＝1,2,3.....n

Wherein,

X ' _i, y ' _i, the horizontal ordinate of each obliquity sensor obtained after revising and ordinate,

Δ x _n, Δ y _n, the horizontal ordinate x ' of the obliquity sensor of the horizontal ordinate of the obliquity sensor of the most end calculated and ordinate and known most end _nwith ordinate y ' _ntrue value between difference, i.e. Δ x _n=x _n-x ' _n, Δ y _n=y _n-y ' _n,

L _i, the length of i-th installation hawser between obliquity sensor and mooring foundation,

L, after representing towing, mooring foundation installs the total length that hawser embeds the soil body.

See accompanying drawing 1 and accompanying drawing 4, mooring foundation provided by the invention is installed the configuration measurement mechanism of hawser in seabed soil and is comprised multiple obliquity sensor P _i(i=1 ~ 8), data acquisition module, data operation module and data fitting module,

Multiple obliquity sensor P _i(i=1 ~ 8) are arranged on mooring foundation and install on hawser, for measuring the real-time azimuthal angle θ of its mounting points and horizontal direction separately _i;

Data acquisition module is for receiving obliquity sensor P _ithe data-signal of (i=1 ~ 8);

Data operation module is used for according to multiple obliquity sensor P _i(i=1 ~ 8) separately and the real-time azimuthal angle θ of horizontal direction _iinterval S between (i=1 ~ 8) and each obliquity sensor _i(i=1 ~ 7), calculate multiple obliquity sensor separately with horizontal ordinate x _i(i=1 ~ 8) and ordinate y _i(i=1 ~ 8);

Data fitting module is used for according to multiple obliquity sensor P _i(i=1 ~ 8) separately and the real-time azimuthal angle θ of horizontal direction _i(i=1 ~ 8), horizontal ordinate x _i(i=1 ~ 8) and ordinate y _i(i=1 ~ 8), matching obtains the real-time modality curves that mooring foundation installs hawser.

The data acquisition module that mooring foundation provided by the invention installs the configuration measurement mechanism of hawser in seabed soil can gather automatically by multiple obliquity sensor P _ithe real-time azimuthal angle θ of the respective and horizontal direction that (i=1 ~ 8) record _i(i=1 ~ 8), data operation module is according to multiple obliquity sensor P _ithe real-time azimuthal angle θ of the respective and horizontal direction that (i=1 ~ 8) record _iinterval S between (i=1 ~ 8), adjacent two sensors _i(i=1 ~ 7) carry out computing, obtain multiple obliquity sensor P _ithe horizontal ordinate x that (i=1 ~ 8) are respective _i(i=1 ~ 8), ordinate y _i, data fitting module can according to multiple obliquity sensor P _ithe real-time azimuthal angle θ of the respective and horizontal direction that (i=1 ~ 8) record _i(i=1 ~ 8), horizontal ordinate x _i(i=1 ~ 8), ordinate y _i(i=1 ~ 8) complete the matching of mooring foundation being installed to the form of hawser in seabed soil automatically, and without the need to artificial calculating, therefore, are more applicable for production practices.

Wherein, mooring foundation installs hawser, and to follow the part that mooring foundation buries at first be hawser leading portion 2, and mooring foundation installs hawser, and finally to follow the part that mooring foundation buries be hawser back segment 3, obliquity sensor P _ithe packing density of (i=1 ~ 8) by hawser leading portion 2 to hawser back segment 3 by close to rare.First follow mooring foundation due to hawser leading portion 2 to bury, its final metamorphosis is also obvious, therefore for improving measuring accuracy, placement sensor P _itime (i=1 ~ 8), it is closeer that hawser leading portion 2 part should be arranged, the accuracy of this measuring method is determined by the position and quantity arranging obliquity sensor, if arranged thin, the morphological Simulation of the longer hawser between two sensors can be made to be the circular arc of a standard, if arrange overstocked, then can affect the behavior of burying of hawser.In the present embodiment, hawser is overall length 5m, the antitorque wire rope of diameter 6mm, and its length finally embedding cable is 4m, wherein, and S ₁for 315mm, S ₂for 385mm, S ₃for 455mm, S ₄for 525mm, S ₅for 595mm, S ₆for 665mm, S ₇for 735mm.

Wherein, data operation module is according to multiple obliquity sensor P _i(i=1 ~ 8) record with the real-time azimuthal angle θ of horizontal direction _i(i=1 ~ 8) and each obliquity sensor P _iinterval S between (i=1 ~ 8) _i(i=1 ~ 7) S, calculates multiple obliquity sensor P _i(i=1 ~ 8) separately and horizontal ordinate x _i(i=1 ~ 8) and ordinate y _ithe method of (i=1 ~ 8) is,

Work as θ _i=θ _i+1time, the hawser form between adjacent two obliquity sensors is straight line, has:

x _i+1＝x _i+S _icosθ _i

y _i+1＝y _i-S _isinθ _i

i＝1,2,3.....n；

Work as θ _i≠ θ _i+1time, the hawser form between adjacent two obliquity sensors is circular arc, has:

$x_{i+1}=x_i+S_i\frac{{\sin \mathrm{\θ}}_i-{\sin \mathrm{\θ}}_{i+1}}{{\mathrm{\θ}}_i-{\mathrm{\θ}}_{i+1}}$

$y_{i+1}=y_i+S_i\frac{{\cos \mathrm{\θ}}_i-{\cos \mathrm{\θ}}_{i+1}}{{\mathrm{\θ}}_i-{\mathrm{\θ}}_{i+1}}$

i＝1,2,3.....n

Wherein,

θ _i, θ _i+1, adjacent two obliquity sensors record separately with the real-time azimuthal angle of horizontal direction, the elevation angle is just, the angle of depression is negative,

X _i, x _i+1, adjacent two obliquity sensors horizontal ordinate separately,

Y _i, y _i+1, adjacent two obliquity sensors ordinate separately,

S _i, the spacing between i-th sensor and the i-th+1 sensor.

Wherein, mooring foundation provided by the invention installs the accumulation that the method for measuring shape of palaemon of hawser in seabed soil exists iteration error, may occur that the coordinate figure of last sensor exceeds the phenomenon of soil body surface, therefore reply measurement result is revised.

Mooring foundation provided by the invention is installed the configuration measurement mechanism of hawser in seabed soil and is also comprised data correction module, as the obliquity sensor P of the most end calculated ₈when the coordinate position calculated exceeds soil body surface, data correction module is used for the horizontal ordinate x of each obliquity sensor obtained by data operation module _i(i=1 ~ 8) and ordinate y _i(i=1 ~ 8) are modified to:

$x_i^{\′}=x_i-\frac{l_i}{L}\mathrm{\Δ}{x}_n$

$y_i^{\′}=y_i-\frac{l_i}{L}\mathrm{\Δ}{y}_n$

i＝1,2,3.....n

Wherein,

X ' _i, y ' _i, the horizontal ordinate of each obliquity sensor obtained after revising and ordinate;

Δ x _n, Δ y _n, the horizontal ordinate x ' of the obliquity sensor of the horizontal ordinate of the obliquity sensor of the most end calculated and ordinate and known most end _nwith ordinate y ' _ntrue value between difference, i.e. Δ x _n=x _n-x ' _n, Δ y _n=y _n-y ' _n,

L _i, the length of i-th installation hawser between obliquity sensor and mooring foundation,

L, after representing towing, mooring foundation installs the total length that hawser embeds the soil body.

In addition,

The measurement mechanism that the embodiment of the present invention provides and method are also suitable for loading the tank of saturated closely knit extra large sand, towing plate anchor, towing system (comprising towing motor, towing hawser, the horizontal cursor slide of towing etc.), obliquity sensor and data acquisition system (DAS).

By obliquity sensor P _iwhen (i=1 ~ 8) are arranged on towing cable, require to carry out sensor P _ithe water-tight work of (i=1 ~ 8), sensor P _ithe alignment error of (i=1 ~ 8) controls within ± 1 °.

During application, adopt 3 groups of different operating modes to test, each test all repeats 3 times, embedding double-shaft tilt angle sensor P on the axis of plate anchor 1 in advance _i(i=1 ~ 8), measure position angle and the lateral turnover angle of plate anchor 1 in towing process, are controlled at lateral turnover angle within 3 °, to ensure the stability of towing process.

Above embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; these are only the specific embodiment of the present invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (8)

1. mooring foundation installs the method for measuring shape of palaemon of hawser in seabed soil, it is characterized in that, comprises the following steps:

Step 1: install on hawser at mooring foundation and install multiple obliquity sensor;

Step 2: the mooring foundation installation hawser that order is provided with obliquity sensor buries with mooring foundation;

Step 3: install in the hawser process of burying with mooring foundation at mooring foundation, gathers that described multiple obliquity sensor records with real-time azimuthal angle that is horizontal direction;

Step 4: the spacing between real-time azimuthal angle that is that record according to described multiple obliquity sensor and horizontal direction and each obliquity sensor, calculate described multiple obliquity sensor separately with horizontal ordinate and ordinate;

Step 5: according to described multiple obliquity sensor separately with the real-time azimuthal angle of horizontal direction, horizontal ordinate and ordinate, matching obtains the real-time modality curves that described mooring foundation installs hawser.

2. mooring foundation according to claim 1 installs the method for measuring shape of palaemon of hawser in seabed soil, it is characterized in that, described mooring foundation installs hawser, and to follow the part that mooring foundation buries at first be hawser leading portion, described mooring foundation installs hawser, and finally to follow the part that mooring foundation buries be hawser back segment, the packing density of described obliquity sensor by described hawser leading portion to described hawser back segment by close to rare.

3. mooring foundation according to claim 1 installs the method for measuring shape of palaemon of hawser in seabed soil, it is characterized in that, spacing between real-time azimuthal angle that is that record according to described multiple obliquity sensor and horizontal direction and each obliquity sensor, the method calculating the respective horizontal ordinate of described multiple obliquity sensor and ordinate is

Work as θ _i=θ _i+1time, the hawser form between adjacent two obliquity sensors is straight line, has:

x _i+1＝x _i+S _icosθ _i

y _i+1＝y _i-S _isinθ _i

i＝1,2,3.....n；

Work as θ _i≠ θ _i+1time, the hawser form between adjacent two obliquity sensors is circular arc, has:

$x_{i+1}=x_i+S_i\frac{\sin {\mathrm{\θ}}_i-\sin {\mathrm{\θ}}_{i+1}}{{\mathrm{\θ}}_i-{\mathrm{\θ}}_{i+1}}$

$y_{i+1}=y_i+S_i\frac{\cos {\mathrm{\θ}}_i-\cos {\mathrm{\θ}}_{i+1}}{{\mathrm{\θ}}_i-{\mathrm{\θ}}_{i+1}}$

i＝1,2,3.....n

Wherein,

θ _i, θ _i+1, adjacent two obliquity sensors record separately with the real-time azimuthal angle of horizontal direction, the elevation angle is just, the angle of depression is negative,

X _i, x _i+1, adjacent two obliquity sensors horizontal ordinate separately,

Y _i, y _i+1, adjacent two obliquity sensors ordinate separately,

S _i, the spacing between i-th sensor and the i-th+1 sensor.

4. mooring foundation according to claim 3 installs the method for measuring shape of palaemon of hawser in seabed soil, it is characterized in that, when the coordinate position that the obliquity sensor of most end calculates exceeds soil body surface, also comprise the step that horizontal ordinate and the ordinate of each obliquity sensor calculated are revised:

$x_i^{\′}=x_i-\frac{l_i}{L}\mathrm{\Δ}{x}_n$

$y_i^{\′}=y_i-\frac{l_i}{L}\mathrm{\Δ}{y}_n$

i＝1,2,3.....n

Wherein,

X ' _i, y ' _i, the horizontal ordinate of each obliquity sensor obtained after revising and ordinate,

Δ x _n, Δ y _n, the horizontal ordinate x ' of the obliquity sensor of the horizontal ordinate of the obliquity sensor of the most end calculated and ordinate and known most end _nwith ordinate y ' _ntrue value between difference, i.e. Δ x _n=x _n-x ' _n, Δ y _n=y _n-y ' _n,

L _i, the length of i-th installation hawser between obliquity sensor and mooring foundation,

L, after representing towing, mooring foundation installs the total length that hawser embeds the soil body.

5. mooring foundation installs the configuration measurement mechanism of hawser in seabed soil, it is characterized in that, comprises multiple obliquity sensor, data acquisition module, data operation module and data fitting module,

Described multiple obliquity sensor is arranged on mooring foundation and installs on hawser, for measuring the real-time azimuthal angle of its mounting points and horizontal direction separately;

Described data acquisition module is for receiving the data-signal of described obliquity sensor;

Described data operation module be used for according to the spacing of described multiple obliquity sensor separately and between the real-time azimuthal angle of horizontal direction and each obliquity sensor, calculate described multiple obliquity sensor separately with horizontal ordinate and ordinate;

Described data fitting module be used for according to described multiple obliquity sensor separately with the real-time azimuthal angle of horizontal direction, horizontal ordinate and ordinate, matching obtains the real-time modality curves of described mooring foundation installation hawser.

6. mooring foundation according to claim 5 installs the configuration measurement mechanism of hawser in seabed soil, it is characterized in that, described mooring foundation installs hawser, and to follow the part that mooring foundation buries at first be hawser leading portion, described mooring foundation installs hawser, and finally to follow the part that mooring foundation buries be hawser back segment, the packing density of described obliquity sensor by described hawser leading portion to described hawser back segment by close to rare.

7. mooring foundation according to claim 5 installs the configuration measurement mechanism of hawser in seabed soil, it is characterized in that, spacing between real-time azimuthal angle that is that described data operation module records according to described multiple obliquity sensor and horizontal direction and each obliquity sensor, calculating described multiple obliquity sensor with the method for horizontal ordinate and ordinate is separately

Work as θ _i=θ _i+1time, the hawser form between adjacent two obliquity sensors is straight line, has:

x _i+1＝x _i+S _icosθ _i

y _i+1＝y _i-S _isinθ _i

i＝1,2,3.....n；

Work as θ _i≠ θ _i+1time, the hawser form between adjacent two obliquity sensors is circular arc, has:

$x_{i+1}=x_i+S_i\frac{\sin {\mathrm{\θ}}_i-\sin {\mathrm{\θ}}_{i+1}}{{\mathrm{\θ}}_i-{\mathrm{\θ}}_{i+1}}$

$y_{i+1}=y_i+S_i\frac{\cos {\mathrm{\θ}}_i-\cos {\mathrm{\θ}}_{i+1}}{{\mathrm{\θ}}_i-{\mathrm{\θ}}_{i+1}}$

i＝1,2,3.....n

Wherein,

θ _i, θ _i+1, adjacent two obliquity sensors record separately with the real-time azimuthal angle of horizontal direction, be counterclockwise the elevation angle be just, clockwise direction is the angle of depression is negative,

X _i, x _i+1, adjacent two obliquity sensors horizontal ordinate separately,

Y _i, y _i+1, adjacent two obliquity sensors ordinate separately,

S _i, the spacing between i-th sensor and the i-th+1 sensor.

8. mooring foundation according to claim 5 installs the configuration measurement mechanism of hawser in seabed soil, it is characterized in that, also comprise data correction module, when the coordinate position that the obliquity sensor of most end calculates exceeds soil body surface, described data correction module is used for the horizontal ordinate of the described each obliquity sensor obtained by described data operation module and ordinate to be modified to:

$x_i^{\′}=x_i-\frac{l_i}{L}\mathrm{\Δ}{x}_n$

$y_i^{\′}=y_i-\frac{l_i}{L}\mathrm{\Δ}{y}_n$

i＝1,2,3.....n

Wherein,

X ' _i, y ' _i, the horizontal ordinate of each obliquity sensor obtained after revising and ordinate,

Δ x _n, Δ y _n, the horizontal ordinate x ' of the obliquity sensor of the horizontal ordinate of the obliquity sensor of the most end calculated and ordinate and known most end _nwith ordinate y ' _ntrue value between difference, i.e. Δ x _n=x _n-x ' _n, Δ y _n=y _n-y ' _n,

L _i, the length of i-th installation hawser between obliquity sensor and mooring foundation,

L, after representing towing, mooring foundation installs the total length that hawser embeds the soil body.