CN108894228A - Piling location method and system - Google Patents
Piling location method and system Download PDFInfo
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- CN108894228A CN108894228A CN201810864182.5A CN201810864182A CN108894228A CN 108894228 A CN108894228 A CN 108894228A CN 201810864182 A CN201810864182 A CN 201810864182A CN 108894228 A CN108894228 A CN 108894228A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
- E02D13/04—Guide devices; Guide frames
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Abstract
The embodiment of the present invention proposes a kind of piling location method and system, offshore pile technical field of construction, and this method includes：It establishes to preset basic point on pile driving barge as the real-time hull coordinate system of origin；In real-time hull coordinate system, by piling bracket hinge and at least three respective coordinates of Beidou positioning terminal, the top characteristic coordinates of characteristic point at the top of target pile body are determined, wherein at least three Beidou positioning terminals are not on same straight line；Obtain the real-time transforming relationship of real-time hull coordinate system Yu default engineering design coordinate system；According to real-time transforming relationship, top characteristic coordinates, default design of pile top coordinate and default piling azimuth and default piling bracket slope, the real-time coordinates of locator head characteristic point.A kind of piling location method and system, are able to ascend the positioning accuracy of marine guidance piling provided by the embodiment of the present invention.
Description
Technical field
The present invention relates to offshore pile technical field of construction, in particular to a kind of piling location method and system.
Background technique
Marine guidance piling positioning at this stage mostly uses greatly traditional total station to carry out piling positioning, but the method is only applicable to 1
~2 kilometers of ranging ranges, for off-lying sea piling work, tradition sets up the method for measuring table either in positioning accuracy or fixed
All it there are problems that in the timeliness and economy of position.
Summary of the invention
The purpose of the present invention is to provide a kind of piling location method and system, are able to ascend the positioning accurate of marine guidance piling
Degree.
To achieve the goals above, technical solution used in the embodiment of the present invention is as follows：
In a first aspect, the embodiment of the invention provides a kind of piling location method, the method includes：It establishes with pile driving barge
Upper default basic point is the real-time hull coordinate system of origin；In the real-time hull coordinate system, by piling bracket hinge and extremely
Few three respective coordinates of Beidou positioning terminal, determine the top characteristic coordinates of characteristic point at the top of target pile body, wherein described
At least three Beidou positioning terminals are not on same straight line；Obtain the real-time hull coordinate system and default engineering design coordinate
The real-time transforming relationship of system；According to the real-time transforming relationship, the top characteristic coordinates, default design of pile top coordinate and preset
Piling azimuth and default piling bracket slope, position the real-time coordinates of the top characteristic point.
Second aspect, the embodiment of the invention provides a kind of piling location system, the system comprises：Real-time hull coordinate
It is creation module, for establishing to preset basic point on pile driving barge as the real-time hull coordinate system of origin；The positioning of top characteristic coordinates
Module is used in the real-time hull coordinate system, respective by least three Beidou positioning terminals and piling bracket hinge
Coordinate determines the top characteristic coordinates of characteristic point at the top of target pile body, wherein at least three Beidous positioning terminal is not located
In on same straight line；Transformational relation computing module, for obtaining the real-time hull coordinate system and default engineering design coordinate system
Real-time transforming relationship；Pile foundation locating module, for according to the real-time transforming relationship, the top characteristic coordinates, default stake
Top design coordinate and default piling azimuth and default piling bracket slope, position the real-time coordinates of the top characteristic point.
Compared with the existing technology, a kind of piling location method and system provided by the embodiment of the present invention, it is fixed by Beidou
On the basis of position terminal positions characteristic point at the top of target pile body, to implement more accurate localization process to target pile body,
Compared with the prior art, it is able to ascend the positioning accuracy of marine guidance piling.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of a kind of schematic flow chart of piling location method provided by the embodiment of the present invention；
Fig. 2 shows a kind of one kind of the real-time hull coordinate system of piling location method provided by the embodiment of the present invention to build
Cube method schematic diagram；
Fig. 3 is a kind of schematic flow chart of the sub-step of step S100 in Fig. 1；
Fig. 4 is a kind of schematic flow chart of the sub-step of step S200 in Fig. 1；
Fig. 5 is Beidou positioning terminal and piling bracket hinge coordinate relation schematic diagram；
Fig. 6 shows the relativeness schematic diagram between real-time hull coordinate system and standard hull coordinate system；
Fig. 7 shows the standard feature elevation relational graph of characteristic point at the top of target pile body in standard hull coordinate system；
Fig. 8 shows target pile body top characteristic point coordinate in standard hull coordinate system and solves relational graph；
Fig. 9 is a kind of schematic flow chart of the sub-step of step S300 in Fig. 1；
Figure 10 is a kind of schematic flow chart of the sub-step of step S400 in Fig. 1；
Figure 11 shows a kind of high schematic illustration of survey of piling location method provided by the embodiment of the present invention；
Figure 12 shows the floor plan of horizontal rangefinder；
Relationship signal when Figure 13 shows straight stake during pile foundation injection between red dot, target pile body characteristic point and stake top
Figure；
Figure 14 show bow drive piles injection during relation schematic diagram between red dot, target pile body characteristic point and stake top；
Figure 15 is shown face upward piling injection during relation schematic diagram between red dot, target pile body characteristic point and stake top；
Figure 16 shows a kind of a kind of schematic diagram of piling location system provided by the embodiment of the present invention；
Figure 17 shows a kind of real-time hull coordinate systems of piling location system provided by the embodiment of the present invention to create mould
A kind of schematic diagram of block；
Figure 18 shows a kind of top characteristic coordinates locating module of piling location system provided by the embodiment of the present invention
A kind of schematic diagram；
Figure 19 shows one of a kind of transformational relation computing module of piling location system provided by the embodiment of the present invention
Kind schematic diagram；
Figure 20 shows a kind of one kind of the pile foundation locating module of piling location system provided by the embodiment of the present invention and shows
Meaning property structure chart.
In figure：10- piling location system；The real-time hull coordinate system creation module of 100-；110-X axis creating unit；120-Y
Axis creating unit；130-Z axis creating unit；Characteristic coordinates locating module at the top of 200-；210- foundation location data capture unit；
220- characteristic elevation acquiring unit；Positioning feature point computing unit at the top of 230-；300- transformational relation computing module；310- first
Transformational relation acquiring unit；The real-time transforming relationship computing unit of 320-；400- pile foundation locating module；The conversion of 410- engineering coordinate is single
Member；420- pile foundation positioning unit.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile of the invention
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
With the continuous development of ocean engineering, a large amount of off-lying sea piling work is continuously emerged, for utilizing in the prior art
The method that total station carries out piling positioning is only applicable to the status of 1~2 kilometer of ranging range, and inventor is in institute of the embodiment of the present invention
A kind of piling location method suitable for marine engineering construction of offer, to adapt to the needs of ocean engineering development.
Beidou satellite navigation system (Beidou) has a great development in recent years.Currently, the real-time phase of Beidou
Differential technique (RTK) has made the measurement and positioning precision as far as 10~20 kilometers reach Centimeter Level, data collection rate and is measured
The real-time of achievement is all very high.Therefore, it using Beidou location technology, assists with other measurement means and computer technology, with right
The piling of marine engineering is positioned, and the positioning accuracy of marine guidance piling can be made higher.
Specifically, referring to Fig. 1, Fig. 1 shows a kind of one kind of piling location method provided by the embodiment of the present invention
Schematic flow chart, in embodiments of the present invention, the piling location method include the following steps：
Step S100 is established to preset basic point on pile driving barge as the real-time hull coordinate system of origin.
When carrying out piling location, the real-time hull coordinate system using basic point preset on pile driving barge as origin is initially set up.
Wherein, referring to Fig. 2, Fig. 2 shows a kind of real-time hull coordinate systems of piling location method provided by the embodiment of the present invention
A kind of method for building up schematic diagram, the real-time hull establishment of coordinate system space of a default basic point as origin O on pile driving barge
In rectangular coordinate system, the point in real-time hull coordinate system uses rectangular space coordinate (XC, YC, ZC) indicate.As a kind of implementation
Mode, the X-axis of the real-time hull coordinate system are defined as along hull longitudinal central axis line direction, and positive direction is defined as being directed toward by stern
Fore, and it is parallel to deck；And the Y-axis of the real-time hull coordinate system be perpendicular to the X-axis direction, and the positive direction of Y-axis by
The hull starboard of pile driving barge is directed toward hull larboard；Z axis is established with vertical XOY plane, definition is the positive direction of Z axis upwards；It is default
Basic point, i.e., real-time hull coordinate origin O, can take on the same plane for being parallel to deck with Beidou position indicator.
Specifically, referring to Fig. 3, Fig. 3 is a kind of schematic flow chart of the sub-step of step S100 in Fig. 1, in this hair
In bright embodiment, step S100 includes following sub-step：
Sub-step S110 on pile driving barge in determining plane, using default basic point as origin O, is built along hull longitudinal axis
Vertical X-axis.
When establishing real-time hull coordinate system, first on pile driving barge in determining plane, such as the deck with pile driving barge
The plane of plane parallel establishes X-axis using default basic point as origin O.Wherein, hull longitudinal axis can be used and establish X-axis, and
The positive stern by pile driving barge of the X-axis of the foundation is directed toward fore.
For example, being provided with the positioning of at least three Beidous in the same plane of the pile driving barge in schematic diagram as shown in Figure 2
Instrument (only shows three, including BD1, BD2 and BD3) in figure, wherein choose in the same plane, be not at collinear three
The Beidou position indicator of a anchor point, such as Beidou 1 (BD1), Beidou 2 (BD2) and Beidou 3 (BD3) in schematic diagram shown in Fig. 2,
The X-axis of foundation is parallel with BD2 line with BD1, and the forward direction for the X-axis established is the direction that BD1 is directed toward BD2.
Sub-step S120 establishes Y-axis along hull transversal line, and match with the X-axis of foundation, shape in determining plane
At XOY plane.
In the above-mentioned plane for establishing X-axis, the plane parallel with deck level as described above, then along hull transversal line
Establish Y-axis.Wherein, the Y-axis of the foundation is mutually perpendicular to the sub-step S110 X-axis established, and the Y-axis of the foundation passes through origin O,
So that the Y-axis of the foundation is matched with the X-axis of above-mentioned foundation, XOY plane is formed.Also, the forward direction of the Y-axis of the foundation is by driving piles
The hull starboard of ship is directed toward hull larboard.
Such as in Beidou 1 (BD1) as shown in Figure 2, Beidou 2 (BD2) and Beidou 3 (BD3), and schematic diagram shown in Fig. 2
In, the Y-axis of the real-time hull establishment of coordinate system can be set to the line direction of BD1 and BD3, and the positive direction definition of the Y-axis
The direction of BD3 is directed toward for BD1.
Sub-step S130 is establishing Z axis perpendicular to XOY plane.
In the XOY plane of above-mentioned formation, to establish Z axis on the direction perpendicular to the XOY plane.Wherein, the Z of the foundation
Axis passes through origin O；It also, is the forward direction for the Z axis established perpendicular to XOY plane upwardly direction.
The intersection point of the Y-axis of the X-axis and foundation of above-mentioned foundation is the origin O of real-time hull coordinate system.As a kind of embodiment party
Formula, origin O is at least three Taibei bucket position indicator away from identical at a distance from deck level.Herein under real-time hull coordinate system, piling
Target pile body may be controlled to always on X-axis line in the central point on X-O-Y coordinate plane during ship running fix, institute
The real-time hull coordinate system O-XYZ constituted is right-hand coordinate system.
Step S200, it is each by piling bracket hinge and at least three Beidou positioning terminals in real-time hull coordinate system
From coordinate, determine the top characteristic coordinates of characteristic point at the top of target pile body.
On pile driving barge as shown in Figure 2, piling bracket hinge and at least three Beidou positioning terminals are provided with (in Fig. 2
Only show three), since the position of the piling bracket hinge and at least three Beidou positioning terminals on pile driving barge is to set in advance
It sets, their own position and the relative position of the origin O of real-time hull coordinate system remain unchanged.Therefore, it is establishing in real time
After hull coordinate system, i.e., in the real-time hull coordinate system, according to the piling bracket hinge and at least three Beidou positioning terminals
Coordinate in each comfortable hull coordinate system in real time determines that top feature of the top characteristic point in real-time hull coordinate system is sat
Mark.
Specifically, referring to Fig. 4, Fig. 4 is a kind of schematic flow chart of the sub-step of step S200 in Fig. 1, in this hair
In bright embodiment, step S200 includes following sub-step：
Sub-step S210 obtains piling bracket hinge and each comfortable hull coordinate system in real time of at least three Beidou positioning terminals
In positioning coordinate.
Since the position on pile driving barge of the piling bracket hinge and at least three Beidou positioning terminals is pre-set,
Their own position and the relative position of the origin O of real-time hull coordinate system remain unchanged, then that is, working as real-time ship
When the relative position of the deck level of the foundation and pile driving barge of body coordinate system remains unchanged, drive piles bracket hinge and at least three north
Bucket positioning terminal respective coordinate in the real-time hull coordinate system would not also change.Wherein, it is fixed to participate on pile driving barge
In the Beidou positioning terminal of position, at least it is not on same straight line there are three Beidou positioning terminal.
Therefore, it obtains and determines in piling bracket hinge and each comfortable hull coordinate system in real time of at least three Beidou positioning terminals
Position coordinate mode can be：Measuring tool is first passed through in advance measures piling bracket hinge and at least three Beidou positioning terminals respectively
Coordinate in real-time hull coordinate system.
For example, referring to Fig. 5, Fig. 5 is Beidou positioning terminal and piling bracket hinge coordinate relation schematic diagram, in the present invention
In embodiment, BD1 and BD3 positioning terminal are symmetrical with the installation of ship longitudinal central axis line two sides, the line of BD2 and BD1 positioning terminal
It is parallel to ship longitudinal central axis line, i.e. BD3 is vertical with the line direction of BD2 with the line direction of BD1 with BD1.
In schematic diagram as shown in Figure 5, the distance between BD3 and BD1 l are obtained using measuring tool measurement1-3, BD1 with
The distance between BD2 l1-2, piling the distance between bracket hinge JD and BD1 R1Piling bracket hinge JD and BD2 between away from
From for R2, then obtaining coordinate of the Beidou positioning terminal BD1 in real-time hull coordinate system is xBD1=0,
zBD1=0；Coordinate of the Beidou positioning terminal BD2 in real-time hull coordinate system is xBD2=l1-2,zBD2=0；North
Coordinate of the positioning terminal BD3 in real-time hull coordinate system that struggle against is xBD3=0,zBD3=0；Drive piles bracket hinge JD
Coordinate in real-time hull coordinate system be foryJD=0,
Wherein, zJDValue it is positive and negative depend on piling bracket hinge JD and Beidou positioning terminal relative to the height relationships between deck, if
Drive piles bracket hinge JD high, then zJDTake positive value；Conversely, if Beidou positioning terminal is high, zJDTake negative value.
Sub-step S220 obtains standard feature elevation of the characteristic point under standard hull coordinate system at the top of target pile body.
In the real-time hull coordinate system established according to step S100, there are standard hull coordinate systems, wherein the standard
Hull coordinate system is real-time hull coordinate system of the pile driving barge under the first preset state.
For example, when pile driving barge is in horizontality across the sea, i.e. pile driving barge it is vertical bow and the amplitude of lateral oscillation extremely
Small and average value is zero, using this state as the first preset state, then real-time hull coordinate system in this state is
Standard hull coordinate system.
It is worth noting that standard hull coordinate system is real-time hull coordinate system in the case where pile driving barge is in the first preset state
A kind of special case, that is to say, that standard hull coordinate system substantially also be real-time hull coordinate system.
Specifically, referring to Fig. 6, Fig. 6 shows the opposite pass between real-time hull coordinate system and standard hull coordinate system
It is schematic diagram, since pile driving barge is during leaning on close-target pile body, the state mobile in the moment, and hull coordinate in real time
The origin O of system is also established on pile driving barge, then that is, hull coordinate system is actually built upon mobile hull in real time
On instantaneous relative coordinate system.Unlike the coordinate system fixed from basic point, the position of the real-time hull coordinate plane can be with
The variation of hull position and change.Standard hull coordinate system is a special case of real-time hull coordinate system, i.e., when real-time hull is sat
Mark system plane XOY is in horizontality, i.e. pile driving barge is in horizontality, and moment longitudinal direction flexion-extension amplitude and transverse direction are shaken before and after hull
Amplitude of oscillation degree is extremely small, and real-time hull coordinate system when average value is zero is exactly standard hull coordinate system.Therefore in the present invention
In embodiment, three be not on same straight line anchor point was continuously acquired to different moments respectively under WGS-84 coordinate system
After real-time coordinates, through handling, that is, the present orientation variable quantity of pile driving barge is produced, present orientation variable quantity characterization is this dozen
Variable quantity of the present orientation of stake ship compared to pile driving barge previous moment orientation, wherein the present orientation variable quantity packet of pile driving barge
Include pile driving barge hull position, torsional angle, hull height, hull it is vertical bow and lateral oscillation on variable quantity, that is to say, that pile driving barge
Present orientation variable quantity to be that the current hull position of pile driving barge, torsional angle, hull height, hull are vertical bow and lateral oscillation and beat
Hull position of the stake ship in previous moment, torsional angle, hull height, hull be vertical bow and lateral oscillation between difference.Pile driving barge
Present orientation variable quantity can be acquired by least three Beidou position indicators being mounted on pile driving barge.
After determining standard hull coordinate system, i.e., in the standard hull coordinate system, obtain feature at the top of target pile body
Standard feature elevation of the point under standard hull coordinate system.
Specifically, referring to Fig. 7, Fig. 7 shows the standard spy of characteristic point at the top of target pile body in standard hull coordinate system
Levy elevation relational graph, wherein H0Represent engineering region tidal datum elevation, HpFor design of pile top elevation, these data by
Engineering design data obtains；h0For real-time tidal height, can be discovered and seized according to local newest tide table；HwIt, can be by relationship for real-time water surface height
Formula Hw=H0+h0Inquire into；hwFor the difference of design of pile top elevation and real-time water surface elevation；Beidou positioning terminal away from piling boat deck away from
Acquisition is measured by measuring device in advance in installation from D2；Piling boat deck can pass through hull away from water surface elevation D1
Graduation mark actual measurement obtains.In embodiments of the present invention, by relational expression hp=D1+D2-hw、hw=Hp-HwAnd Hw=H0+h0, can be derived from
Characteristic standard elevation Z of the characteristic point T in standard hull coordinate system at the top of target pile bodyT, i.e. ZT=-hp。
The slope of sub-step S230, establishing criteria characteristic elevation and target pile body, radius, the overhanging arm lengths of pile holding bracket with
And piling bracket position of articulating point data, obtain top characteristic coordinates of the top characteristic point in real-time hull coordinate system.
Specifically, referring to Fig. 8, Fig. 8 is shown in standard hull coordinate system, characteristic point coordinate is solved at the top of target pile body
Relational graph, wherein n is the slope of target pile body, R is the radius of target pile body, a is the overhanging arm lengths of pile holding bracket, piling bracket
Hinge JD coordinate in standard hull coordinate system is (xJD, yJD, zJD), it will be understood that as noted previously, as standard hull coordinate
System is form of the real-time hull coordinate system under the first preset state actually, and in other words, standard hull coordinate system is substantially also
Real-time hull coordinate system, therefore, feature mark of the top characteristic point T pushed away in conjunction with sub-step S220 in standard hull coordinate system
Quasi- elevation ZT, it is as follows to can be derived from top characteristic point T coordinate in real-time hull coordinate system：For straight stake, xT=xJD+ a+R, yT=
yJD, zT=-hp；It drives piles for bowing,yT=yJD, zT=-hp；It is beaten for facing upward
Stake,yT=yJD, zT=-hp。
Step S300 obtains the real-time transforming relationship of real-time hull coordinate system Yu default engineering design coordinate system.
Because the positioning coordinate of Beidou positioning terminal initial acquisition is based on the coordinate under WGS-84 coordinate system, so usually adopting
When directly being positioned with Beidou positioning terminal, it is required to carry out to turn between WGS-84 coordinate system and default engineering design coordinate system
It changes.However offshore pile positions, and can not be directly positioned to pile foundation using Beidou positioning terminal, can only by positioning pile driving barge, and
The relative positional relationship between pile foundation and pile driving barge is calculated, to realize the positioning to pile foundation indirectly.Real-time hull coordinate system
The purpose of foundation is just easy for the relative positional relationship gone out between pile foundation and pile driving barge with simple formula directly calculation, and utilizes
WGS-84 coordinate system realizes the conversion between real-time hull coordinate system and default engineering design coordinate system as middle coordinate system.
Specifically, referring to Fig. 9, Fig. 9 is a kind of schematic flow chart of the sub-step of step S300 in Fig. 1, in this hair
In bright embodiment, step S300 includes following sub-step：
Sub-step S310, according at least three Beidou positioning terminals at the time of determining, in real-time hull coordinate system and
Respective coordinate in WGS-84 coordinate system obtains the first transformational relation of real-time hull coordinate system Yu WGS-84 coordinate system.
When obtaining respective coordinate of at least three Beidou positioning terminals in WGS-84 coordinate system on pile driving barge, using Beidou
Realtime phase differential technology, (typically not greater than 10 kilometers~20 kilometers) the setting base stations near engineering, with obtain high-precision
Position coordinate.
Sub-step S320, according to the first transformational relation and preset WGS-84 coordinate system and default engineering design coordinate system
Second transformational relation obtains the real-time transforming relationship of real-time hull coordinate system Yu default engineering design coordinate system.
Step S400, according to real-time transforming relationship, top characteristic coordinates, default design of pile top coordinate and default piling orientation
Angle and default piling bracket slope, the real-time coordinates of locator head characteristic point.
Specifically, referring to Fig. 10, Figure 10 is a kind of schematic flow chart of the sub-step of step S400 in Fig. 1, at this
In inventive embodiments, step S400 includes following sub-step：
Sub-step S410 obtains top characteristic point and sets in default engineering according to real-time transforming relationship and top characteristic coordinates
Count the engineering coordinate in coordinate system, and the real-time coordinates as top characteristic point.
Sub-step S420 is adjusted according to design of pile top coordinate and default piling azimuth and default piling bracket slope is preset
The real-time slope of the real-time azimuthal angle of whole pile driving barge and bracket of driving piles, so that real-time coordinates are identical as default design of pile top coordinate.
It is real-time seat of the top characteristic point under default engineering coordinate system according to the engineering coordinate that sub-step S410 is obtained
Mark.The construction of offshore pile not only needs to consider the precision of top characteristic point construction coordinate, it is also necessary to according to preset azimuth
It constructs with preset slope.In general, in default engineering coordinate system, it is labeled with the default piling orientation of target pile body
Angle, default piling bracket slope and default design of pile top coordinate adjust pile driving barge when control pile driving barge carries out pile foundation construction
Real-time azimuthal angle and piling bracket real-time slope, make pile driving barge real-time azimuthal angle and piling bracket real-time slope respectively with
Default piling azimuth and default piling bracket slope are identical, and obtain the real-time coordinates of top characteristic point, make real-time coordinates and
Default design of pile top coordinate is identical.Pass through the real-time slope difference of real-time coordinates, the real-time azimuthal angle of pile driving barge and bracket of driving piles
It is identical as default design of pile top coordinate, default piling azimuth and default piling bracket slope, it is ensured that target pile body construction point
Accuracy.
Please refer to Figure 11, Figure 11 shows a kind of high principle of survey of piling location method provided by the embodiment of the present invention and shows
It is intended to, the measurement of the stake top absolute altitude of target pile body is an important content of piling location control, passes through the reality to stake top absolute altitude
When measure, it is high that we are not only known that target pile body real-time top mark during the beating process, while being also piling pile penetration
Calculating provides a call parameter.A kind of Beidou positioning that piling location method uses as provided by the embodiment of the present invention
The location data of system, calculating process is automatic processing, and is adaptable to the piling location method of off-lying sea, therefore, often
The absolute altitude control method of level or theodolite in rule piling location cannot be applicable in.For this purpose, the observation of height-finding system with
The form of number is sent into system software and is uniformly processed, and processing result is reflected on the computer screen in real time.Such as
Shown in Figure 11, horizontal rangefinder can project red visible in the pile body of target pile body, pass through cameras view target pile body
The variation of pile body delineation and rangefinder red dot, extrapolates the stake top absolute altitude of target pile body, eventually by control red dot corresponding quarter
Value is drawn, to control stake top by injection to the position of top characteristic point T, to control pile foundation cope level.H in figuresFor level
Distance of the rangefinder away from deck, after rangefinder installation, hsFor definite value.Therefore, the corresponding delineation numerical value of red dot is on target pile body
Calculate a main foundation of the real-time absolute altitude of stake top.Figure 12 shows the floor plan of horizontal rangefinder.
Red dot, target pile body characteristic point and stake during pile foundation injection when Figure 13 shows straight stake under standard hull coordinate system
Relation schematic diagram between top, red dot, mesh during pile foundation injection when Figure 14, Figure 15 show taper pile under standard hull coordinate system
Relation schematic diagram between stake body characteristics point and stake top.When pile foundation is overlapped by injection to stake top with characteristic point at the top of target pile body
When, the corresponding pile body delineation reading H of red dotZKIt is as follows：H when straight stakeZK=ZT-ZH=D2-hs-hp；When bowingWhen facing upwardWherein n is pile foundation slope, n=
tana.Pile body scale corresponding to red dot can change as pile driving frame tilts, the horizontal plane where stake top minimum point
When consistent with the horizontal plane where target pile body characteristic point T, stake top is then by injection to design altitude position, and red dot is corresponding at this time
Pile body delineation is according to pile body design data, pile foundation size, piling bracket slope and the relevant informations thing such as water level elevation at that time
First inquire into, during pile foundation injection, the corresponding pile body delineation value of control red dot is that is, control height of pile top.The peace of video camera
Dress height is high consistent with red dot.Stake top absolute altitude is defined as the absolute altitude of the stake top cross section position Shang Di.Therefore, under normal circumstances,
In addition to straight stake, stake top absolute altitude is not the absolute altitude for being characteristic point at the top of target pile body.
Based on above-mentioned design, a kind of piling location method, passes through Beidou positioning terminal pair provided by the embodiment of the present invention
On the basis of characteristic point is positioned at the top of target pile body, to implement more accurate localization process to target pile body, compared to existing
There is technology, is able to ascend the positioning accuracy of marine guidance piling.
Figure 16 is please referred to, Figure 16 shows a kind of a kind of signal of piling location system 10 provided by the embodiment of the present invention
Property structure chart, in embodiments of the present invention, the piling location system 10 include real-time hull coordinate system creation module 100, top
Characteristic coordinates locating module 200, transformational relation computing module 300 and pile foundation locating module 400.
Real-time hull coordinate system creation module 100 is sat using presetting basic point on pile driving barge as the real-time hull of origin for establishing
Mark system.
Specifically, Figure 17 is please referred to, Figure 17 shows a kind of piling location systems 10 provided by the embodiment of the present invention
A kind of schematic diagram of real-time hull coordinate system creation module 100, in embodiments of the present invention, real-time hull coordinate system wound
Modeling block 100 includes X-axis creating unit 110, Y-axis creating unit 120 and Z axis creating unit 130.
It is vertical along hull using default basic point as origin O in plane of the X-axis creating unit 110 for being determined on pile driving barge
Axis establishes X-axis, wherein the positive stern by the pile driving barge of the X-axis of the foundation is directed toward fore.
Y-axis creating unit 120 is used in the plane of the determination, establishes Y-axis along hull transversal line, and with the foundation
X-axis match, form XOY plane, wherein the positive hull starboard by the pile driving barge of the Y-axis of the foundation is directed toward ship
Body larboard.
Z axis creating unit 130 is for establishing Z axis perpendicular to the XOY plane, wherein perpendicular to the XOY plane to
On direction be the foundation Z axis forward direction.
Please continue to refer to Figure 16, top characteristic coordinates locating module 200 is used in the real-time hull coordinate system, is passed through
At least three Beidou positioning terminals and the piling respective coordinate of bracket hinge determine that the top of characteristic point at the top of target pile body is special
Levy coordinate, wherein at least three Beidous positioning terminal is not on same straight line.
Specifically, Figure 18 is please referred to, Figure 18 shows a kind of piling location system 10 provided by the embodiment of the present invention
A kind of schematic diagram of top characteristic coordinates locating module 200, in embodiments of the present invention, top characteristic coordinates positioning mould
Block 200 includes foundation location data capture unit 210, characteristic elevation acquiring unit 220 and top positioning feature point computing unit
230。
Foundation location data capture unit 210 is for obtaining at least three Beidou positioning terminals and piling bracket hinge respectively
Positioning coordinate in the real-time hull coordinate system, wherein at least three Beidous positioning terminal is not at same straight line
On.
Characteristic elevation acquiring unit 220 is used to obtain standard of the characteristic point under standard hull coordinate system at the top of target pile body
Characteristic elevation, wherein the standard hull coordinate system is real-time hull coordinate system of the pile driving barge under the first preset state.
Top positioning feature point computing unit 230 is used for according to the oblique of the standard feature elevation and the target pile body
Rate, radius, the overhanging arm lengths of pile holding bracket and piling bracket position of articulating point data, obtain the top characteristic point in the reality
When hull coordinate system in top characteristic coordinates.
Please continue to refer to Figure 16, transformational relation computing module 300 is for obtaining the real-time hull coordinate system and default work
The real-time transforming relationship of journey design coordinate system.
Specifically, Figure 19 is please referred to, Figure 19 shows a kind of piling location system 10 provided by the embodiment of the present invention
A kind of schematic diagram of transformational relation computing module 300, in embodiments of the present invention, transformational relation computing module 300 wrap
Include the first transformational relation acquiring unit 310 and in real time transforming relationship computing unit 320.
First transformational relation acquiring unit 310 is used for according at least three Beidous positioning terminal at the time of determining,
The respective coordinate in the real-time hull coordinate system and WGS-84 coordinate system, obtain the real-time hull coordinate system with it is described
First transformational relation of WGS-84 coordinate system.
Real-time transforming relationship computing unit 320 is used for according to first transformational relation and the preset WGS-84 coordinate
Second transformational relation of system and default engineering design coordinate system obtains the real-time hull coordinate system and the default engineering design
The real-time transforming relationship of coordinate system.
Please continue to refer to Figure 16, pile foundation locating module 400 is used to sit according to the real-time transforming relationship, the top feature
Mark, default design of pile top coordinate and default piling azimuth and default piling bracket slope, position the reality of the top characteristic point
When coordinate.
Specifically, Figure 20 is please referred to, Figure 20 shows a kind of piling location system 10 provided by the embodiment of the present invention
A kind of schematic diagram of pile foundation locating module 400, in embodiments of the present invention, pile foundation locating module 400 are sat including engineering
Mark converting unit 410 and pile foundation positioning unit 420.
Engineering coordinate transformation unit 410 is used to obtain institute according to the real-time transforming relationship and the top characteristic coordinates
State engineering coordinate of the top characteristic point in the default engineering design coordinate system, and the real-time seat as the top characteristic point
Mark.
Pile foundation positioning unit 420 is used for according to default design of pile top coordinate and default piling azimuth and default bracket of driving piles
Slope adjusts the real-time azimuthal angle of the pile driving barge and the real-time slope of the piling bracket, so that the real-time coordinates and institute
It is identical to state default design of pile top coordinate.
In conclusion a kind of piling location method and system provided by the embodiment of the present invention, pass through Beidou positioning terminal
On the basis of being positioned to characteristic point at the top of target pile body, to implement more accurate localization process to target pile body, compared to
The prior art is able to ascend the positioning accuracy of marine guidance piling.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of piling location method, which is characterized in that the method includes：
It establishes to preset basic point on pile driving barge as the real-time hull coordinate system of origin；
In the real-time hull coordinate system, by the piling bracket hinge and at least three respective coordinates of Beidou positioning terminal,
Determine the top characteristic coordinates of characteristic point at the top of target pile body, wherein at least three Beidous positioning terminal is not at together
On one straight line；
Obtain the real-time transforming relationship of the real-time hull coordinate system and default engineering design coordinate system；
According to the real-time transforming relationship, the top characteristic coordinates, default design of pile top coordinate and default piling azimuth and
Default piling bracket slope, positions the real-time coordinates of the top characteristic point.
2. the method as described in claim 1, which is characterized in that the foundation is to preset basic point as the real-time of origin on pile driving barge
The step of hull coordinate system, including：
In the plane determined on pile driving barge, using default basic point as origin O, X-axis is established along hull longitudinal axis, wherein described
The positive stern by the pile driving barge of the X-axis of foundation is directed toward fore；
In the plane of the determination, Y-axis is established along hull transversal line, and match with the X-axis of the foundation, it is flat to form XOY
Face, wherein the positive hull starboard by the pile driving barge of the Y-axis of the foundation is directed toward hull larboard；
Z axis is being established perpendicular to the XOY plane, wherein is the Z of the foundation perpendicular to the XOY plane upwardly direction
The forward direction of axis.
3. the method as described in claim 1, which is characterized in that it is described in the real-time hull coordinate system, pass through piling branch
Frame hinge and at least three respective coordinates of Beidou positioning terminal determine the top characteristic coordinates of characteristic point at the top of target pile body
The step of, including：
The positioning obtained in piling bracket hinge and each leisure of at least three Beidou positioning terminals real-time hull coordinate system is sat
Mark, wherein at least three Beidous positioning terminal is not on same straight line；
Obtain standard feature elevation of the characteristic point under standard hull coordinate system at the top of target pile body, wherein the standard hull
Coordinate system is real-time hull coordinate system of the pile driving barge under the first preset state；
According to the slope of the standard feature elevation and the target pile body, radius, the overhanging arm lengths of pile holding bracket and piling
Bracket position of articulating point data obtain top characteristic coordinates of the top characteristic point in the real-time hull coordinate system.
4. the method as described in claim 1, which is characterized in that the acquisition real-time hull coordinate system is set with default engineering
The step of counting the real-time transforming relationship of coordinate system, including：
According at least three Beidous positioning terminal at the time of determining, in the real-time hull coordinate system and WGS-84 coordinate
Respective coordinate in system obtains the first transformational relation of the real-time hull coordinate system and the WGS-84 coordinate system；
Second turn according to first transformational relation and the preset WGS-84 coordinate system and default engineering design coordinate system
Relationship is changed, the real-time transforming relationship of the real-time hull coordinate system and the default engineering design coordinate system is obtained.
5. the method as described in claim 1, which is characterized in that described according to the real-time transforming relationship, the top feature
Coordinate, default design of pile top coordinate and default piling azimuth and default piling bracket slope, position the top characteristic point
The step of real-time coordinates, including：
According to the real-time transforming relationship and the top characteristic coordinates, obtains the top characteristic point and set in the default engineering
Count the engineering coordinate in coordinate system, and the real-time coordinates as the top characteristic point；
According to design of pile top coordinate and default piling azimuth and default piling bracket slope is preset, the reality of the pile driving barge is adjusted
When azimuth and it is described piling bracket real-time slope so that the real-time coordinates are identical as the default design of pile top coordinate.
6. a kind of piling location system, which is characterized in that the system comprises：
Real-time hull coordinate system creation module, for establishing to preset basic point on pile driving barge as the real-time hull coordinate system of origin；
Top characteristic coordinates locating module, for passing through at least three Beidou positioning terminals in the real-time hull coordinate system
And the piling respective coordinate of bracket hinge, determine the top characteristic coordinates of characteristic point at the top of target pile body, wherein it is described at least
Three Beidou positioning terminals are not on same straight line；
Transformational relation computing module, for obtaining the real-time conversion of the real-time hull coordinate system and default engineering design coordinate system
Relationship；
Pile foundation locating module, for according to the real-time transforming relationship, the top characteristic coordinates, default design of pile top coordinate and
Default piling azimuth and default piling bracket slope, position the real-time coordinates of the top characteristic point.
7. system as claimed in claim 6, which is characterized in that the real-time hull coordinate system creation module includes：
X-axis creating unit, for using default basic point as origin O, being built along hull longitudinal axis in determining plane on pile driving barge
Vertical X-axis, wherein the positive stern by the pile driving barge of the X-axis of the foundation is directed toward fore；
Y-axis creating unit, for establishing Y-axis, and the X-axis with the foundation along hull transversal line in the plane of the determination
It matches, forms XOY plane, wherein it is left that the positive hull starboard by the pile driving barge of the Y-axis of the foundation is directed toward hull
The side of a ship；
Z axis creating unit, for establishing Z axis perpendicular to the XOY plane, wherein perpendicular to the upward side of the XOY plane
To the forward direction of the Z axis for the foundation.
8. system as claimed in claim 6, which is characterized in that the top characteristic coordinates locating module includes：
Foundation location data capture unit, for obtaining described at least three Beidou positioning terminals and each leisure of piling bracket hinge
Positioning coordinate in real-time hull coordinate system, wherein at least three Beidous positioning terminal is not on same straight line；
Characteristic elevation acquiring unit is high for obtaining standard feature of the characteristic point under standard hull coordinate system at the top of target pile body
Journey, wherein the standard hull coordinate system is real-time hull coordinate system of the pile driving barge under the first preset state；
Top positioning feature point computing unit, for according to the slope of the standard feature elevation and the target pile body, radius,
The overhanging arm lengths of pile holding bracket and piling bracket position of articulating point data obtain the top characteristic point and sit in the real-time hull
Top characteristic coordinates in mark system.
9. system as claimed in claim 6, which is characterized in that the transformational relation computing module includes：
First transformational relation acquiring unit, for according at least three Beidous positioning terminal at the time of determining, described
Respective coordinate in real-time hull coordinate system and WGS-84 coordinate system, obtains the real-time hull coordinate system and the WGS-84 is sat
Mark the first transformational relation of system；
Real-time transforming relationship computing unit, for according to first transformational relation and the preset WGS-84 coordinate system and in advance
If the second transformational relation of engineering design coordinate system, the real-time hull coordinate system and the default engineering design coordinate system are obtained
Real-time transforming relationship.
10. system as claimed in claim 6, which is characterized in that the pile foundation locating module includes：
Engineering coordinate transformation unit, for obtaining the top according to the real-time transforming relationship and the top characteristic coordinates
Engineering coordinate of the characteristic point in the default engineering design coordinate system, and the real-time coordinates as the top characteristic point；
Pile foundation positioning unit presets design of pile top coordinate and default piling azimuth for foundation and presets piling bracket slope,
The real-time azimuthal angle of the pile driving barge and the real-time slope of the piling bracket are adjusted, so that the real-time coordinates are preset with described
Design of pile top coordinate is identical.
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