CN111764433B - Immersed tube tunnel final joint system, method and final connecting tube - Google Patents
Immersed tube tunnel final joint system, method and final connecting tube Download PDFInfo
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- CN111764433B CN111764433B CN202010615897.4A CN202010615897A CN111764433B CN 111764433 B CN111764433 B CN 111764433B CN 202010615897 A CN202010615897 A CN 202010615897A CN 111764433 B CN111764433 B CN 111764433B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D29/00—Independent underground or underwater structures; Retaining walls
- E02D29/063—Tunnels submerged into, or built in, open water
- E02D29/073—Tunnels or shuttering therefor assembled from sections individually sunk onto, or laid on, the water-bed, e.g. in a preformed trench
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D29/00—Independent underground or underwater structures; Retaining walls
- E02D29/16—Arrangement or construction of joints in foundation structures
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D33/00—Testing foundations or foundation structures
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D2600/00—Miscellaneous
- E02D2600/10—Miscellaneous comprising sensor means
Abstract
The invention belongs to the technical field of tunnel construction, and discloses a system and a method for final joint of a immersed tunnel and a final connecting pipe. The immersed tube tunnel final joint system comprises: the system comprises an obstacle avoidance module, an image acquisition module, a last takeover height detection module, a last takeover descending speed detection module, a last takeover state detection module, a display module, a central processing module, a signal transmission module, a mobile terminal, a crane control module, a jack adjustment module, an alarm module and a last takeover left-right movement detection module. The invention can accurately detect the installation state of the last connecting pipe in the installation process of the last connecting pipe, thereby improving the installation precision of the last connecting pipe and improving the working efficiency. Meanwhile, the invention is connected with the mobile terminal through the signal transmission module, realizes the control and remote monitoring of the final connecting pipe installation process, and can remotely monitor and control.
Description
Technical Field
The invention belongs to the technical field of tunnel construction, and particularly relates to a system and a method for final joint of a immersed tunnel and a final connecting pipe.
Background
At present, in the installation of the pipe section of the immersed tunnel, in order to enable the last pipe section to sink smoothly, a distance space longer than the pipe section is required to be reserved. When the last pipe section is sunk, the end face of the last pipe section is connected with the previous pipe section through a connecting structure, and the connecting structure is the final joint.
The design and processing technology of the final joint of the immersed tube tunnel is one of the key technologies of the immersed tube tunnel. The joint should be designed to withstand temperature changes, seismic forces and other effects and to ensure good water tightness. Each pipe section of the immersed tunnel is a prefabricated member, and joints exist between the pipe sections and the ventilation tower. The joint has 2 forms, namely a rigid joint, wherein the joint has section rigidity and strength similar to those of a pipe section connected with the rigid joint; flexible joints, which allow relative displacement in 3 principal axis directions. In some cases all joints of the sinking tunnel take the same form, in other cases both forms may be used. The location, spacing and form of the joints should be determined according to the soil conditions, the foundation form, the seismic resistance and the workability. Meanwhile, the strength, deformation characteristic, water resistance, material and detailed structure of the joint are considered, but installation dislocation and other conditions often occur in the installation process of the interface, the installation state of the joint cannot be detected, and the joint is easy to damage in the installation process.
Through the above analysis, the problems and defects of the prior art are as follows: the existing final adapter connector cannot accurately detect the installation state of the adapter connector in the installation process, so that the adapter connector is damaged in the installation process.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a system and a method for a final joint of a immersed tunnel and a final connecting pipe.
The invention is realized in such a way that a method for butting the final joints of immersed tube tunnels comprises the following steps:
step one, a hoisting machine is used for hoisting and mounting the last connecting pipe, and an infrared obstacle avoidance sensor is used for carrying out obstacle avoidance detection on the sinking process of the last connecting pipe sinking to the preset mounting position of the foundation bed in the mounting process; the speed sensor detects the sinking speed of the last connecting pipe;
the infrared obstacle avoidance sensor is provided with a pair of infrared transmitting and receiving tubes, the transmitting tubes transmit infrared rays with certain frequency, when the infrared rays encounter an obstacle in the detection direction, the infrared rays are transmitted back to be received by the receiving tubes, and low level signals are output after the infrared rays are processed by a comparator circuit;
step two, when the last connecting pipe is sunk to the preset installation position of the foundation bed, the height sensor detects the height of the connecting pipe in the installation process of the last connecting pipe; the attitude sensor detects the swing state of the final connecting pipe in the installation process; installing a displacement sensor and detecting the left and right movement of the last connecting pipe;
the attitude sensor comprises a static level unit and an inclinometer unit, the attitude of the final joint is calibrated through the static level unit before the final joint is installed and in a static state, initial parameters of the inclinometer unit are corrected according to the attitude data calibrated by the static level unit, and attitude adjustment data used for adjusting the final joint to be horizontal are generated according to the attitude data detected by the inclinometer unit;
thirdly, the camera acquires and records the image of the installation state of the last connecting pipe;
step four, according to the data detected in the step one to the step three, the single chip microcomputer performs data fusion on the data acquired by each sensor and controls a display screen to display related data; the alarm is arranged in the last connecting pipe installation control room and used for realizing corresponding alarm;
the alarm is connected with an infrared obstacle avoidance sensor through a single chip microcomputer, and when the single chip microcomputer receives a low-level signal output by the infrared obstacle avoidance sensor, the alarm gives an alarm prompt for an obstacle;
the alarm is connected with a speed sensor through a single chip microcomputer, the speed sensor detects the sinking speed of the last connecting pipe, and when the sinking speed exceeds an early warning value, the alarm gives an alarm prompt on the sinking speed;
the alarm is connected with a height sensor through a single chip microcomputer, the height sensor detects a difference value of distance data of two ends of the bottom edge of each butt joint surface in the final connecting pipe installation process, and when the difference value exceeds an early warning value, the alarm gives a height alarm prompt;
the alarm is connected with an attitude sensor through a single chip microcomputer, the longitudinal inclination angle and the transverse inclination angle of the final joint are calculated according to attitude data detected by the attitude sensor, whether the inclination angle data are within a tolerance range or not is judged, and if the inclination angle data are outside the tolerance range, the alarm gives an attitude alarm;
the alarm is connected with a displacement sensor through a single chip microcomputer, the displacement sensor detects left and right offsets of two ends of the bottom edge of each butt joint surface in the final connecting pipe installation process, and when the difference value exceeds an early warning value, the alarm gives an alarm for left and right displacement;
step five, the wireless router is installed at the take-over position to realize network connection, and the monitoring personnel remotely monitor the final take-over installation process and interact opinions in the steps of the installation process by transmitting data to the mobile terminal;
and sixthly, controlling and adjusting the height, the left position, the right position and the installation angle of the final connecting pipe by using jacks arranged on two sides of the final connecting pipe through a hydraulic machine, and correcting through data displayed by a display screen.
Further, in the third step, a process of denoising an image shot in the installation state of the last takeover is as follows:
selecting an image obtained by installing the last connecting pipe, selecting a circular field from the obtained image obtained by installing the last connecting pipe, and determining each pixel in the circular field;
secondly, sorting the pixels according to the collected pixel values, and selecting a middle value in the pixels;
and thirdly, correcting the pixels in the acquired image by using the intermediate values of the pixels.
Further, in the step one, the process of processing the last connecting pipe joint before the installation of the last connecting pipe is as follows:
detecting soil conditions, foundation forms and earthquake resistance, and comprehensively analyzing the whole body;
determining the position, the distance and the form of the final pipe joint according to the result of the comprehensive analysis;
at the same time, the strength, deformation properties, water resistance, materials and details of the joint are designed.
Further, the final nozzle manufacturing requirement is: manufacturing the steel shell type pipe section at a dock near a tunnel site, towing the steel shell type pipe section to the vicinity of a tunnel construction site for yi-installation, towing the steel shell type pipe section to the construction site, and pouring ballast concrete;
and (3) pouring concrete pipe sections in a dry dock near the tunnel site, and after the pipe sections are manufactured, floating and transporting the concrete pipe sections to a construction site for sinking.
Further, in the fourth step, the process of performing data fusion on the data acquired by each module by the single chip microcomputer is as follows:
(1) establishing a corresponding data fusion training sample according to the acquired final takeover installation state data;
(2) establishing a corresponding state data matrix according to the acquired last takeover installation state data, and extracting corresponding eigenvalues and eigenvectors;
(3) performing clustering pattern recognition on the feature vectors, and establishing a corresponding association pattern;
(4) and fusing the acquired data by using a fusion algorithm according to the association mode to obtain each unified explanation.
Another object of the present invention is to provide a docking system for a final joint of a immersed tube tunnel, which implements the docking method for a final joint of an immersed tube tunnel, the docking system comprising:
the obstacle avoidance module is connected with the central processing module, and an infrared obstacle avoidance sensor is arranged on the last connecting pipe and used for detecting the motion state of the last connecting pipe;
the image acquisition module is connected with the central processing module, and a camera is arranged at a proper position on the last connecting pipe and is used for shooting the installation state of the last connecting pipe;
the last connecting pipe height detection module is connected with the central processing module, a height sensor is installed on the last connecting pipe, and the height is detected in the installation process of the last connecting pipe;
the last connecting pipe descending speed detection module is connected with the central processing module, and the descending speed of the last connecting pipe is detected by using the speed sensor in the last connecting pipe installation process;
the last connecting pipe state detection module is connected with the central processing module and is used for detecting the swing state of the last connecting pipe in the installation process by installing an attitude sensor on the last connecting pipe;
the central processing module is respectively connected with the obstacle avoidance module, the image acquisition module, the last connecting pipe height detection module, the last connecting pipe descending speed detection module, the last connecting pipe state detection module, the display module, the central processing module, the signal transmission module, the mobile terminal, the crane control module, the jack adjustment module, the alarm module and the last connecting pipe left-right movement detection module and is used for coordinating the normal operation of each module;
and the left-right movement detection module of the last connecting pipe is connected with the central processing module, and the left-right movement of the last connecting pipe is detected by installing a displacement sensor on the last connecting pipe.
Further, the central processing module is respectively connected with the display module and the signal transmission module;
the display module is used for displaying related data by utilizing a display screen;
the signal transmission module realizes the network connection by installing a wireless router on the connecting device for data;
the signal transmission module is connected with the mobile terminal, so that the control and remote monitoring of the final take-over installation process are realized.
Furthermore, the central processing module is also respectively connected with the crane control module, the jack adjusting module and the alarm module;
the crane control module realizes the installation control of the crane on the last connecting pipe according to the detected data;
the jack adjusting module controls the left and right positions of the last connecting pipe by arranging jacks at the left and right sides of the last connecting pipe and controlling the jacks by utilizing hydraulic control jacks;
the alarm module is provided with an alarm through the installation control room of the last connecting pipe so as to realize corresponding alarm.
The invention also aims to provide a final connecting pipe installed by using the butt joint method of the final joints of the immersed tube tunnel, wherein the final connecting pipe is provided with a joint, and a lifting device is fixed at the lower end of the joint through a bolt;
the lifting device is fixed with a sealing plate, and the upper end of the sealing plate is inserted in the groove of the upper side plate of the connector.
Furthermore, the last connecting pipe is provided with a hanging buckle welded at the upper end of the connector, and waterproof sealing strips are adhered around the sealing plate.
By combining all the technical schemes, the invention has the advantages and positive effects that:
the invention monitors the sinking state of the last connecting pipe through the infrared obstacle avoidance sensor and the speed sensor, monitors the position state of the last connecting pipe at the installation position through the attitude sensor, the displacement sensor and the height sensor, realizes remote monitoring and control through the transmission of the wireless router, ensures the installation precision and the real-time performance of the last connecting pipe and has strong reliability.
The image denoising method ensures the definition of the image and is convenient for remote monitoring.
The invention can realize the early planning of the joint installation in the process of processing the last connecting pipe joint before the installation of the last connecting pipe, and can avoid other technical problems in the installation process.
The process of data fusion for each processor adopted by the invention can be more convenient for monitoring personnel and operators.
According to the invention, the infrared obstacle avoidance sensor is arranged on the last connecting pipe through the obstacle avoidance module and is used for detecting the motion state of the last connecting pipe. The image acquisition module is provided with a camera at a proper position on the last connecting pipe and is used for shooting the installation state of the last connecting pipe. And the last connecting pipe height detection module is provided with a height sensor on the last connecting pipe, and the height is detected in the installation process of the last connecting pipe. And finally, the pipe-taking-down speed detection module detects the speed of the last pipe-taking-down by using the speed sensor in the process of installing the last pipe-taking-down. And the last connecting pipe state detection module is used for detecting the swing state of the last connecting pipe in the installation process by installing an attitude sensor on the last connecting pipe. And the left-right movement detection module of the last connecting pipe detects the left-right movement of the last connecting pipe by installing a displacement sensor on the last connecting pipe. The invention can accurately detect the installation state of the last connecting pipe in the installation process of the last connecting pipe, thereby improving the installation precision of the last connecting pipe and improving the working efficiency.
Meanwhile, the wireless router is arranged on the connecting device through the signal transmission module, so that network connection is realized for data transmission. The mobile terminal is connected with the mobile terminal through the signal transmission module, and control and remote monitoring of the final take-over installation process are achieved. The invention can remotely monitor and control through the signal transmission module.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a final joint butt joint system of a immersed tube tunnel according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for butting a final joint of a immersed tunnel according to an embodiment of the present invention;
FIG. 3 is a flowchart of a method for denoising an image according to an embodiment of the present invention;
FIG. 4 is a flowchart of a method for fusing data according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a final connection structure provided by an embodiment of the present invention;
in the figure: 1. an obstacle avoidance module; 2. an image acquisition module; 3. finally, taking over a height detection module; 4. finally, taking over a descending speed detection module; 5. finally, taking over the state detection module; 6. a display module; 7. a central processing module; 8. a signal transmission module; 9. a mobile terminal; 10. a crane control module; 11. a jack adjustment module; 12. an alarm module; 13. finally, taking over a left-right movement detection module; 14. a joint; 15. hanging and buckling; 16. a sealing plate; 17. a lifting device; 18. and fitting the extension plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides a final joint system, a method and a final connecting pipe of a immersed tunnel, and the invention is described in detail with reference to the attached drawings.
As shown in fig. 1, the system for docking a final joint of a immersed tunnel according to an embodiment of the present invention includes:
the system comprises an obstacle avoidance module 1, an image acquisition module 2, a last takeover height detection module 3, a last takeover descending speed detection module 4, a last takeover state detection module 5, a display module 6, a central processing module 7, a signal transmission module 8, a mobile terminal 9, a crane control module 10, a jack adjustment module 11, an alarm module 12 and a last takeover left-right movement detection module 13.
And the obstacle avoidance module 1 is connected with the central processing module 7, and an infrared obstacle avoidance sensor is mounted on the last connecting pipe and used for detecting the motion state of the last connecting pipe.
And the image acquisition module 2 is connected with the central processing module 7, and a camera is installed at a proper position on the last connecting pipe and is used for shooting the installation state of the last connecting pipe.
And the last connecting pipe height detection module 3 is connected with the central processing module 7, a height sensor is installed on the last connecting pipe, and the height is detected in the installation process of the last connecting pipe.
And the last connecting pipe descending speed detection module 4 is connected with the central processing module 7, and detects the descending speed of the last connecting pipe by using a speed sensor in the installation process of the last connecting pipe.
And the final connecting pipe state detection module 5 is connected with the central processing module 7, and is used for detecting the swing state of the final connecting pipe in the installation process by installing an attitude sensor on the final connecting pipe.
And the display module 6 is connected with the central processing module 7 and is used for displaying relevant data by utilizing a display screen.
The central processing module 7 is respectively connected with the obstacle avoidance module 1, the image acquisition module 2, the last takeover height detection module 3, the last takeover descending speed detection module 4, the last takeover state detection module 5, the display module 6, the central processing module 7, the signal transmission module 8, the mobile terminal 9, the crane control module 10, the jack adjustment module 11, the alarm module 12 and the last takeover left-right movement detection module 13, and is used for coordinating normal operation of the modules.
And the signal transmission module 8 is connected with the central processing module 7, and realizes network connection for data transmission by installing a wireless router on the connecting device.
And the mobile terminal 9 is connected with the signal transmission module 8 and is connected with the mobile terminal through the signal transmission module, so that the control and remote monitoring of the final takeover installation process are realized.
The crane control module 10 is connected with the central processing module 7 and used for realizing the installation control of the crane on the final connecting pipe according to the detected data
And the jack adjusting module 11 is connected with the central processing module 7, and controls the left and right positions of the final connecting pipe by arranging jacks at the left and right sides of the final connecting pipe and using a hydraulic control jack.
And the alarm module 12 is connected with the central processing module 7 and is used for realizing corresponding alarm by installing an alarm in the final connecting pipe installation control room.
And a left-right movement detection module 13 of the last connecting pipe is connected with the central processing module 7, and the left-right movement of the last connecting pipe is detected by installing a displacement sensor on the last connecting pipe.
As shown in fig. 2, the method for butting the final joints of the immersed tunnel according to the embodiment of the present invention includes:
s101, hoisting and installing the final connecting pipe by using a hoisting machine, and carrying out obstacle avoidance detection on the sinking process of the final connecting pipe sinking to the preset installation position of the foundation bed by using an infrared obstacle avoidance sensor in the installation process; the speed sensor detects the sinking speed of the last connecting pipe;
the infrared obstacle avoidance sensor is provided with a pair of infrared transmitting and receiving tubes, the transmitting tubes transmit infrared rays with certain frequency, when the infrared rays encounter an obstacle in the detection direction, the infrared rays are transmitted back to be received by the receiving tubes, and low level signals are output after the infrared rays are processed by a comparator circuit;
s102, when the last connecting pipe is sunk to a preset installation position of the foundation bed, the height sensor detects the height of the connecting pipe in the installation process of the last connecting pipe; the attitude sensor detects the swing state of the final connecting pipe in the installation process; installing a displacement sensor and detecting the left and right movement of the last connecting pipe;
the attitude sensor comprises a static level unit and an inclinometer unit, the attitude of the final joint is calibrated through the static level unit before the final joint is installed and in a static state, initial parameters of the inclinometer unit are corrected according to the attitude data calibrated by the static level unit, and attitude adjustment data used for adjusting the final joint to be horizontal are generated according to the attitude data detected by the inclinometer unit;
s103, carrying out image acquisition and recording on the installation state of the last connecting pipe by the camera;
s104, according to the data detected in the first step, the third step, the single chip microcomputer performs data fusion on the data acquired by each sensor and controls a display screen to display related data; the alarm is arranged in the last connecting pipe installation control room and used for realizing corresponding alarm;
the alarm is connected with an infrared obstacle avoidance sensor through a single chip microcomputer, and when the single chip microcomputer receives a low-level signal output by the infrared obstacle avoidance sensor, the alarm gives an alarm prompt for an obstacle;
the alarm is connected with a speed sensor through a single chip microcomputer, the speed sensor detects the sinking speed of the last connecting pipe, and when the sinking speed exceeds an early warning value, the alarm gives an alarm prompt on the sinking speed;
the alarm is connected with a height sensor through a single chip microcomputer, the height sensor detects a difference value of distance data of two ends of the bottom edge of each butt joint surface in the final connecting pipe installation process, and when the difference value exceeds an early warning value, the alarm gives a height alarm prompt;
the alarm is connected with an attitude sensor through a single chip microcomputer, the longitudinal inclination angle and the transverse inclination angle of the final joint are calculated according to attitude data detected by the attitude sensor, whether the inclination angle data are within a tolerance range or not is judged, and if the inclination angle data are outside the tolerance range, the alarm gives an attitude alarm;
the alarm is connected with a displacement sensor through a single chip microcomputer, the displacement sensor detects left and right offsets of two ends of the bottom edge of each butt joint surface in the final connecting pipe installation process, and when the difference value exceeds an early warning value, the alarm gives an alarm for left and right displacement;
s105, the wireless router is installed at the take-over position to realize network connection, and the monitoring personnel remotely monitor the final take-over installation process and interact opinions of the steps of the installation process by transmitting data to the mobile terminal;
and S106, controlling and adjusting the height, the left position, the right position and the installation angle of the final connecting pipe by using jacks arranged on two sides of the final connecting pipe through a hydraulic machine, and correcting through data displayed by a display screen.
In S103 provided by the embodiment of the present invention, a process of denoising an image by the image acquisition module for shooting the installation state of the last takeover is as follows:
s201, selecting the image obtained by the last connection pipe installation, selecting a circular field from the obtained image obtained by the last connection pipe installation, and determining each pixel in the circular field;
s203, sorting the pixels according to the collected pixel values, and selecting a middle value in the pixels;
and S203, correcting the pixels in the acquired image by using the intermediate values of the pixels.
In S101 provided by the embodiment of the present invention, a process of processing a last connection pipe joint before installation of a last connection pipe is as follows:
detecting soil conditions, foundation forms and earthquake resistance, and comprehensively analyzing the whole body;
determining the position, the distance and the form of the final pipe joint according to the result of the comprehensive analysis;
at the same time, the strength, deformation properties, water resistance, materials and details of the joint are designed.
The requirements for manufacturing the pipe joint are as follows: manufacturing the steel shell type pipe section at a dock near a tunnel site, towing the steel shell type pipe section to the vicinity of a tunnel construction site for yi-installation, towing the steel shell type pipe section to the construction site, and pouring ballast concrete;
and (3) pouring concrete pipe sections in a dry dock near the tunnel site, and after the pipe sections are manufactured, floating and transporting the concrete pipe sections to a construction site for sinking.
In S104 provided by the embodiment of the present invention, the process of the central processing module performing data fusion on the data acquired by each module is as follows:
s301, collecting the last installation state data and establishing a corresponding data fusion training sample;
s302, establishing a corresponding state data matrix according to the acquired final takeover installation state data, and extracting corresponding eigenvalues and eigenvectors;
s303, carrying out clustering pattern recognition on the vectors of the features, and establishing a corresponding association pattern;
and S304, fusing the acquired data by using a fusion algorithm according to the association mode to obtain each unified explanation.
As shown in fig. 3, the last connection pipe provided by the embodiment of the present invention has a hanging buckle 15 welded to the upper end of the joint 14.
The lower end of the joint 14 is fixed with a lifting device 17 through a bolt, the lifting device 17 is fixed with a sealing plate 16, and the upper end of the sealing plate 16 is inserted into a groove of an upper side plate of the joint 14.
Wherein, waterproof sealing strips are pasted around the sealing plate 16.
The working principle of the invention is as follows: in the process of installing the final connecting pipe, the obstacle avoidance module is provided with an infrared obstacle avoidance sensor on the final connecting pipe and used for detecting the motion state of the final connecting pipe; the image acquisition module is provided with a camera at a proper position on the last connecting pipe and is used for shooting the installation state of the last connecting pipe. The last connecting pipe height detection module is provided with a height sensor on the last connecting pipe, and the height is detected in the process of installing the last connecting pipe; and finally, the pipe-taking-down speed detection module detects the speed of the last pipe-taking-down by using the speed sensor in the process of installing the last pipe-taking-down.
The last connecting pipe state detection module is used for detecting the swing state of the last connecting pipe in the installation process by installing an attitude sensor on the last connecting pipe; and the left-right movement detection module of the last connecting pipe detects the left-right movement of the last connecting pipe by installing a displacement sensor on the last connecting pipe. According to the detected data, the central processing module controls the display module to display related data by utilizing the display screen; the alarm module is provided with an alarm through the installation control room of the last connecting pipe so as to realize corresponding alarm.
The central processing module controls the signal transmission module to realize network connection by installing the wireless router on the take-over device, so as to transmit data to the mobile terminal and realize control and remote monitoring of the final take-over installation process. And the crane control module realizes that the crane controls the jack adjusting module for installing the last connecting pipe through arranging jacks at the left side and the right side of the last connecting pipe according to the detected data, and controls the left position and the right position of the last connecting pipe by utilizing the hydraulic control jack.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, and any modification, equivalent replacement, and improvement made by those skilled in the art within the technical scope of the present invention disclosed herein, which is within the spirit and principle of the present invention, should be covered by the present invention.
Claims (3)
1. A butt joint method for a final joint of a immersed tube tunnel is characterized by comprising the following steps:
step one, a hoisting machine is used for hoisting and mounting the last connecting pipe, and an infrared obstacle avoidance sensor is used for carrying out obstacle avoidance detection on the sinking process of the last connecting pipe sinking to the preset mounting position of the foundation bed in the mounting process; the speed sensor detects the sinking speed of the last connecting pipe;
the infrared obstacle avoidance sensor is provided with a pair of infrared transmitting and receiving tubes, the transmitting tubes transmit infrared rays with certain frequency, when the infrared rays encounter an obstacle in the detection direction, the infrared rays are transmitted back to be received by the receiving tubes, and low level signals are output after the infrared rays are processed by a comparator circuit;
step two, when the last connecting pipe is sunk to the preset installation position of the foundation bed, the height sensor detects the height of the connecting pipe in the installation process of the last connecting pipe; the attitude sensor detects the swing state of the final connecting pipe in the installation process; installing a displacement sensor and detecting the left and right movement of the last connecting pipe;
the attitude sensor comprises a static level unit and an inclinometer unit, the attitude of the final joint is calibrated through the static level unit before the final joint is installed and in a static state, initial parameters of the inclinometer unit are corrected according to the attitude data calibrated by the static level unit, and attitude adjustment data used for adjusting the final joint to be horizontal are generated according to the attitude data detected by the inclinometer unit;
thirdly, the camera acquires and records the image of the installation state of the last connecting pipe;
step four, according to the data detected in the step one to the step three, the single chip microcomputer performs data fusion on the data acquired by each sensor and controls a display screen to display related data; the alarm is arranged in the last connecting pipe installation control room and used for realizing corresponding alarm;
the alarm is connected with an infrared obstacle avoidance sensor through a single chip microcomputer, and when the single chip microcomputer receives a low-level signal output by the infrared obstacle avoidance sensor, the alarm gives an alarm prompt for an obstacle;
the alarm is connected with a speed sensor through a single chip microcomputer, the speed sensor detects the sinking speed of the last connecting pipe, and when the sinking speed exceeds an early warning value, the alarm gives an alarm prompt on the sinking speed;
the alarm is connected with a height sensor through a single chip microcomputer, the height sensor detects a difference value of distance data of two ends of the bottom edge of each butt joint surface in the final connecting pipe installation process, and when the difference value exceeds an early warning value, the alarm gives a height alarm prompt;
the alarm is connected with an attitude sensor through a single chip microcomputer, the longitudinal inclination angle and the transverse inclination angle of the final joint are calculated according to attitude data detected by the attitude sensor, whether the inclination angle data are within a tolerance range or not is judged, and if the inclination angle data are outside the tolerance range, the alarm gives an attitude alarm;
the alarm is connected with a displacement sensor through a single chip microcomputer, the displacement sensor detects left and right offsets of two ends of the bottom edge of each butt joint surface in the final connecting pipe installation process, and when the difference value exceeds an early warning value, the alarm gives an alarm for left and right displacement;
step five, the wireless router is installed at the take-over position to realize network connection, and the monitoring personnel remotely monitor the final take-over installation process and interact opinions in the steps of the installation process by transmitting data to the mobile terminal;
sixthly, controlling and adjusting the height, the left position, the right position and the installation angle of the final connecting pipe by using jacks arranged on two sides of the final connecting pipe through a hydraulic machine, and correcting through data displayed by a display screen;
in the third step, the process of denoising the image shot in the installation state of the last takeover is as follows:
selecting an image obtained by installing the last connecting pipe, selecting a circular field from the obtained image obtained by installing the last connecting pipe, and determining each pixel in the circular field;
secondly, sorting the pixels according to the collected pixel values, and selecting a middle value in the pixels;
thirdly, correcting the pixels in the acquired image by using the intermediate values of the pixels;
in the first step, the process of processing the last connecting pipe joint before the installation of the last connecting pipe is as follows:
detecting soil conditions, foundation forms and earthquake resistance, and comprehensively analyzing the whole body;
determining the position, the distance and the form of the final pipe joint according to the result of the comprehensive analysis;
meanwhile, the strength, the deformation characteristic, the water resistance, the material and the detailed structure of the joint are designed;
in the fourth step, the data fusion process of the data collected by each sensor by the single chip microcomputer is as follows:
(1) establishing a corresponding data fusion training sample according to the acquired final takeover installation state data;
(2) establishing a corresponding state data matrix according to the acquired last takeover installation state data, and extracting corresponding eigenvalues and eigenvectors;
(3) performing clustering pattern recognition on the feature vectors, and establishing a corresponding association pattern;
(4) fusing the acquired data by using a fusion algorithm according to the association mode to obtain each unified explanation;
the final connecting pipe is arranged by the immersed tunnel final joint butt joint method, the final connecting pipe is provided with a joint, and a lifting device is fixed at the lower end of the joint through a bolt;
the lifting device is fixed with a sealing plate, and the upper end of the sealing plate is inserted in the groove of the upper side plate of the connector;
and the last connecting pipe is provided with a hanging buckle welded at the upper end of the connector, and waterproof sealing strips are adhered around the sealing plate.
2. The method of claim 1, wherein the final joint of the immersed tunnel is manufactured by the following steps: manufacturing the steel shell type pipe section at a dock near a tunnel site, towing the steel shell type pipe section to the vicinity of a tunnel construction site for yi-installation, towing the steel shell type pipe section to the construction site, and pouring ballast concrete;
and (3) pouring concrete pipe sections in a dry dock near the tunnel site, and after the pipe sections are manufactured, floating and transporting the concrete pipe sections to a construction site for sinking.
3. A immersed tube tunnel final joint docking system for implementing the immersed tube tunnel final joint docking method according to any one of claims 1-2, wherein the immersed tube tunnel final joint docking system comprises:
the obstacle avoidance module is connected with the central processing module, and an infrared obstacle avoidance sensor is arranged on the last connecting pipe and used for detecting the motion state of the last connecting pipe;
the image acquisition module is connected with the central processing module, and a camera is arranged at a proper position on the last connecting pipe and is used for shooting the installation state of the last connecting pipe;
the last connecting pipe height detection module is connected with the central processing module, a height sensor is installed on the last connecting pipe, and the height is detected in the installation process of the last connecting pipe;
the last connecting pipe descending speed detection module is connected with the central processing module, and the descending speed of the last connecting pipe is detected by using the speed sensor in the last connecting pipe installation process;
the last connecting pipe state detection module is connected with the central processing module and is used for detecting the swing state of the last connecting pipe in the installation process by installing an attitude sensor on the last connecting pipe;
the central processing module is respectively connected with the obstacle avoidance module, the image acquisition module, the last connecting pipe height detection module, the last connecting pipe descending speed detection module, the last connecting pipe state detection module, the display module, the central processing module, the signal transmission module, the mobile terminal, the crane control module, the jack adjustment module, the alarm module and the last connecting pipe left-right movement detection module and is used for coordinating the normal operation of each module;
the last connecting pipe left-right movement detection module is connected with the central processing module and is used for detecting the left-right movement of the last connecting pipe by installing a displacement sensor on the last connecting pipe;
the central processing module is respectively connected with the display module and the signal transmission module;
the display module is used for displaying related data by utilizing a display screen;
the signal transmission module realizes the network connection by installing a wireless router on the connecting device for data;
the signal transmission module is connected with the mobile terminal, so that the control and remote monitoring of the final connecting pipe installation process are realized;
the central processing module is also respectively connected with the crane control module, the jack adjusting module and the alarm module;
the crane control module realizes the installation control of the crane on the last connecting pipe according to the detected data;
the jack adjusting module controls the left and right positions of the last connecting pipe by arranging jacks at the left and right sides of the last connecting pipe and controlling the jacks by utilizing hydraulic control jacks;
the alarm module is provided with an alarm through the installation control room of the last connecting pipe so as to realize corresponding alarm.
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| CN115217165B (en) * | 2022-06-24 | 2023-08-22 | 中交天津港湾工程研究院有限公司 | Arrangement method of immersed tunnel jacking type final joint sensor |
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