CN115046537A - Underwater check method for closure attitude of immersed tunnel - Google Patents

Underwater check method for closure attitude of immersed tunnel Download PDF

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CN115046537A
CN115046537A CN202210984276.2A CN202210984276A CN115046537A CN 115046537 A CN115046537 A CN 115046537A CN 202210984276 A CN202210984276 A CN 202210984276A CN 115046537 A CN115046537 A CN 115046537A
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pipe joint
measuring
closure
reading
point
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CN115046537B (en
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锁旭宏
岳远征
王强
宁进进
王伟
董理科
张超
朱岭
韩战伟
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CCCC First Harbor Engineering Co Ltd
No 2 Engineering Co Ltd of CCCC First Harbor Engineering Co Ltd
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CCCC First Harbor Engineering Co Ltd
No 2 Engineering Co Ltd of CCCC First Harbor Engineering Co Ltd
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    • G01—MEASURING; TESTING
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Abstract

The invention belongs to the technical field of immersed tube tunnel engineering measurement, and particularly relates to an underwater checking method for closure attitude of an immersed tube tunnel. The checking method comprises the following steps: distributing a plurality of initial characteristic points at the closure surface of the steel shell at the end of the first pipe joint and calibrating the actual measurement construction coordinates of the initial characteristic points under a first pipe joint construction coordinate system, and distributing a plurality of reading characteristic points at the closure surface of the steel shell at the end of the second pipe joint and calibrating the actual measurement construction coordinates of the reading characteristic points under a second pipe joint construction coordinate system; measuring the actually measured side lengths of a plurality of measuring sides between the initial characteristic point and the reading characteristic point under water, establishing an observation equation, solving space coordinate conversion parameters between a first pipe joint construction coordinate system and a second pipe joint construction coordinate system, and solving side length correction numbers of the measuring sides; and analyzing the solution result. The invention realizes the checking of the spatial relationship between the first pipe joint and the second pipe joint at the closure of the immersed tunnel, and ensures the accuracy and reliability of the closure data.

Description

Underwater check method for closure attitude of immersed tunnel
Technical Field
The invention belongs to the technical field of immersed tube tunnel engineering measurement, and particularly relates to an underwater checking method for closure attitude of an immersed tube tunnel.
Background
The immersed tunnel is formed by respectively transporting a plurality of prefabricated immersed tube sections to a construction site in a floating manner, sinking and installing the prefabricated immersed tube sections one by one and connecting the prefabricated immersed tube sections with each other underwater, wherein the prefabricated immersed tube sections are usually constructed and laid oppositely from two ends of the tunnel in the whole length direction, a closure opening is formed between the last two sections of tube sections laid oppositely at the two ends, and the closure opening is connected by a final joint to form a complete immersed tunnel; therefore, the design of the final joint is related to the closure, so that the measurement accuracy of the closure attitude directly influences the manufacturing size and the subsequent installation accuracy of the final joint.
As shown in fig. 1 and 2, the last two pipe joints are respectively marked as a first pipe joint 1 and a second pipe joint 2, and the attitude measurement of the closure opening 4 mainly measures the overall attitude condition of the end steel shell at the butt joint end of the first pipe joint 1, the second pipe joint 2 and the final joint 3 after the first pipe joint 1 and the second pipe joint 2 are installed; macroscopically, the core elements such as an end steel shell azimuth angle, a vertical inclination angle, a transverse deviation, a mileage deviation and the like which are related to the butt joint of the final joint are included; microscopically, namely, the coordinates of any characteristic point on the first pipe joint end steel shell closure surface 11 and the second pipe joint end steel shell closure surface 21 are accurately calculated by measuring related characteristic points.
At present, the attitude measurement of the closure 4 usually adopts an in-pipe through measurement method, a double-manhole point throwing method or a double-measuring tower method, and the absolute and relative three-dimensional attitude relationship of the first pipe joint 1 and the second pipe joint 2 at the closure 4 is determined by respectively measuring and positioning the first pipe joint 1 and the second pipe joint 2, and the measurement result is used as a geometric basis for designing and manufacturing a final joint; however, the three measurement methods are indirect measurement of the attitude of the closure socket 4 by using a measuring device. Taking an in-pipe through measurement method as an example, the first pipe joint 1 and the second pipe joint 2 are both a construction coordinate system used in installation positioning and through measurement, but the final positions of the first pipe joint 1 and the second pipe joint 2 in the construction coordinate system are determined by conducting wire measurement on a plurality of pipe joints from two ends of a tunnel respectively, that is, the measurement work of the first pipe joint 1 and the second pipe joint 2 are independent from each other, so that the positioning results of the first pipe joint 1 and the second pipe joint 2 inevitably have certain difference, and the difference can be regarded as that the coordinate systems of the two pipe joints have difference; normally, the difference is caused by accumulation of measurement errors measured by the two leads at the two ends of the tunnel, but the possible measurement errors cannot be completely eliminated, so that the method for indirectly measuring the attitude of the closure 4 by adopting the in-pipe through measurement and the like has the risk of large errors of the data of the closure 4, and the wrong basis can be provided for manufacturing the final joint 3. Therefore, the posture measurement of the closure 4 at present lacks direct rechecking data, and the spatial relationship between the first pipe joint 1 and the second pipe joint 2 at the closure 4 cannot be checked, so that the accuracy and the reliability of the data of the closure 4 cannot be ensured, and the manufacture and the installation of the final joint 3 are influenced. In view of the above, the invention provides an underwater checking method for closure attitude of immersed tube tunnel.
Disclosure of Invention
Aiming at the defects in the related technology, the invention provides an underwater checking method for the closure attitude of the immersed tunnel, which is used for checking the spatial relationship between a first pipe joint and a second pipe joint at the closure of the immersed tunnel and ensuring the accuracy and reliability of closure data.
The invention provides an underwater checking method for closure attitude of a immersed tunnel, which is used for checking spatial relationship between a first pipe joint and a second pipe joint at the closure of the immersed tunnel and comprises the following steps:
the characteristic points are distributed, before the first pipe joint and the second pipe joint enter water, a plurality of initial characteristic points are distributed at the closure surface of the steel shell at the end of the first pipe joint, and a plurality of reading characteristic points are distributed at the closure surface of the steel shell at the end of the second pipe joint; a plurality of measuring edges are formed between the plurality of initial characteristic points and the plurality of reading characteristic points;
calibrating the characteristic points, namely calibrating the actual measurement construction coordinates of all initial characteristic points under the first pipe joint construction coordinate system after the first pipe joint is sunk and installed in place; calibrating the actual measurement construction coordinates of all the reading characteristic points under the second pipe joint construction coordinate system after the second pipe joint is sunk and installed in place;
measuring the underwater measurement of the side length of the side, starting from each initial characteristic point after the first pipe joint and the second pipe joint are sunk and installed in place, and measuring the actually measured side length of more than 12 measuring sides;
establishing and solving an observation equation, establishing the observation equation for all measured edges, solving space coordinate conversion parameters between a first pipe joint construction coordinate system and a second pipe joint construction coordinate system, and solving side length correction numbers of the measured edges;
analyzing the result, analyzing whether the side length correction exceeds the predicted maximum measurement error or not to judge whether the measured side is eliminated or not, and re-establishing and solving the observation equation; and analyzing whether the space coordinate conversion parameter exceeds the space coordinate conversion parameter tolerance expected to be caused by the measurement error or not so as to judge whether to check the result data of the characteristic point calibration step or not.
According to the technical scheme, the checking of the spatial relationship between the first pipe joint and the second pipe joint at the closure of the immersed tunnel is realized by actually measuring the side lengths of a plurality of measuring edges at the closure and establishing and solving an observation equation, so that the accuracy and the reliability of the closure data are ensured.
In some embodiments, in the step of establishing and solving the observation equation, point location correction numbers after the measured construction coordinates of the reading feature points are converted into the first pipe joint construction coordinate system are calculated according to the space coordinate conversion parameters; in the step of result analysis, whether the point location correction number exceeds the expected maximum point location deviation is analyzed to judge whether to execute the step of feature point calibration again. According to the technical scheme, whether the actually measured construction coordinates of the initial characteristic points and/or the reading characteristic points need to be calibrated again or not can be judged more visually through calculation and analysis of the point position correction numbers.
In some embodiments, in the step of arranging the feature points, the number of the starting feature points is six, wherein three starting feature points are uniformly arranged on the top plate of the first pipe joint end steel shell along the width direction of the first pipe joint, the other two starting feature points are respectively arranged on two side plates of the lower part of the first pipe joint end steel shell, and the other starting feature point is arranged on the bottom surface of the middle gallery at the first pipe joint end steel shell; the number of the reading characteristic points is six, and the positions of the reading characteristic points on the second pipe joint end steel shell correspond to the starting characteristic points one by one.
In some embodiments, in the step of measuring the length of the side under water, the measured length of the side of 28 measured sides is measured. According to the technical scheme, more observation equations can be established by measuring more measuring edges, more redundant data can be generated, and the precision and reliability of each solution result are further improved.
In some embodiments, the step of establishing and solving the observation equation specifically includes the following steps:
establishing an initial observation equation of a measuring edge:
establishing an initial observation equation of a measuring edge:
Figure 726565DEST_PATH_IMAGE001
in formula (1):
Figure 316946DEST_PATH_IMAGE002
measuring the actually measured side length of the side;
Figure 152659DEST_PATH_IMAGE003
the side length of the measuring edgeCorrecting the number;
Figure 980938DEST_PATH_IMAGE004
the measured construction coordinate of the initial characteristic point of the measuring edge under the first pipe joint construction coordinate system is taken as the actual measurement construction coordinate;
Figure 43572DEST_PATH_IMAGE005
the actual measurement construction coordinate of the reading characteristic point of the measuring edge under the second pipe joint construction coordinate system is taken as the actual measurement construction coordinate;
Figure 121249DEST_PATH_IMAGE006
calculating a space coordinate conversion value when the reading characteristic point of the measuring edge is converted into a first pipe joint construction coordinate system by adopting an equation (2):
Figure 498004DEST_PATH_IMAGE007
in the formula (2), the reaction mixture is,
Figure 711948DEST_PATH_IMAGE008
converting parameters of space coordinates between a first pipe joint construction coordinate system and a second pipe joint construction coordinate system, wherein the mathematical meaning of the parameters is expressed as a formula (3); spatial coordinate transformation parameters
Figure 414324DEST_PATH_IMAGE009
Including the amount of translation
Figure 979298DEST_PATH_IMAGE010
And amount of rotation
Figure 894164DEST_PATH_IMAGE011
The mathematical meaning of the compound is expressed as formula (4) and formula (5);
Figure 759352DEST_PATH_IMAGE012
Figure 101472DEST_PATH_IMAGE013
Figure 153741DEST_PATH_IMAGE014
linearizing the initial observation equation of the measuring edge, and removing the equation (1) after expansion
Figure 137878DEST_PATH_IMAGE015
、
Figure 326414DEST_PATH_IMAGE016
、
Figure 105014DEST_PATH_IMAGE017
And let:
Figure 379000DEST_PATH_IMAGE018
Figure 163898DEST_PATH_IMAGE019
Figure 206941DEST_PATH_IMAGE020
Figure 156442DEST_PATH_IMAGE021
Figure 183304DEST_PATH_IMAGE022
Figure 243664DEST_PATH_IMAGE023
Figure 672371DEST_PATH_IMAGE024
obtaining a final observation equation of the measuring edge, which is expressed as a formula (13);
Figure 58353DEST_PATH_IMAGE025
let the number of all measuring sides be
Figure 306932DEST_PATH_IMAGE026
Then, the observation equation of all the measurement edges is expressed as formula (14);
Figure 905403DEST_PATH_IMAGE027
order to
Figure 188617DEST_PATH_IMAGE028
The observation equation of all the measurement edges is expressed as formula (15);
Figure 479921DEST_PATH_IMAGE029
obtaining space coordinate conversion parameters according to the principle of least square method
Figure 481375DEST_PATH_IMAGE030
Is expressed as equation (16),
Figure 149117DEST_PATH_IMAGE031
converting the solved space coordinate into parameters
Figure 286837DEST_PATH_IMAGE030
In the formula (15), the side length correction numbers of all the measuring sides are calculated
Figure 483463DEST_PATH_IMAGE032
。
According to the technical scheme, the establishment of the measurement edge observation equation is realized based on the mathematical principle of space coordinate system conversion, and then the space coordinate conversion parameter between the first pipe joint construction coordinate system and the second pipe joint construction coordinate system and the edge length correction number of the measurement edge are solved.
In some embodiments, in the step of establishing and solving the observation equation, the correction number is determined according to the side length of all the measured sides
Figure 706634DEST_PATH_IMAGE032
Solving the overall measurement accuracy by using the formula (17)
Figure 974805DEST_PATH_IMAGE033
：
Figure 964102DEST_PATH_IMAGE034
In the formula (17), the compound represented by the formula (I),
Figure 800471DEST_PATH_IMAGE035
the number of all measuring edges.
According to the technical scheme, the measurement accuracy in the step of measuring the side length underwater can be mastered by solving the measurement accuracy of the whole body.
In some embodiments, a base is mounted on each of the start feature and each of the reading feature;
the base of the initial characteristic point of the measuring edge to be measured is detachably connected with an initial point assembly, and the initial point assembly comprises a first support, a pull rope and a universal ball, wherein the pull rope and the universal ball are movably connected with the first support; one end of the pull rope is connected with the universal ball, and the other end of the pull rope penetrates through the first support and is connected with the head end of a pull ruler in a hanging mode; the universal ball is pressed on the first bracket under the pulling of the pull ruler and can rotate universally;
detachably connects a reading point subassembly on waiting to measure the base of the reading characteristic point on limit, and the reading point subassembly includes the second support, is equipped with draw-in groove portion and the reading portion that is located draw-in groove portion one side on the second support, and the extension end card of slide rule reads the scale on the slide rule that reading portion corresponds in the draw-in groove portion.
Above-mentioned technical scheme is through the setting of initial point subassembly and reading point subassembly, has solved because of the artifical difficult control slide rule both ends position and the great problem of the operation degree of difficulty of measuring that leads to, the error of measuring is great, has realized reliable location and control to the slide rule both ends, has improved the accuracy of measuring the limit length of side and measuring the result under water, has realized universal slide rule moreover.
In some embodiments, the base is convexly provided with a connecting column; the starting point assembly and the reading point assembly respectively comprise a connecting shaft and a connecting sleeve movably connected with the connecting shaft, one end of the connecting shaft is fixedly connected with the first support or the second support, the other end of the connecting shaft is inserted into the connecting sleeve, and the connecting sleeve can move in a reciprocating manner along the axial direction of the connecting shaft; the connecting sleeve is detachably sleeved outside the connecting column, so that the starting point component and the reading point component are detachably connected with the two bases respectively. This technical scheme passes through the removable setting between adapter sleeve and the spliced pole, has realized the detachability between initial point subassembly and the base and the detachability between reading point subassembly and the base.
In some embodiments, the top surface of the connecting column is concavely provided with a positioning groove, and the bottom surface of the connecting shaft is convexly provided with a positioning rib matched with the positioning groove; before the connecting sleeve is sleeved with the connecting column, the positioning ribs are clamped in the positioning grooves, so that the connecting shaft and the connecting column are mutually positioned. According to the technical scheme, the positioning arrangement between the connecting column and the connecting shaft is adopted, so that the reliable positioning between the initial point component and the base and the reliable positioning between the reading point component and the base are realized, and the same mounting direction of the initial point component and the reading point component on the base every time is ensured.
In some embodiments, a through hole is formed in the first support, the aperture of the through hole is smaller than the spherical diameter of the universal ball, and the pull rope penetrates through the first support through the through hole; one side of the through hole, which is close to the universal ball, is concavely provided with a ball groove matched with the universal ball in shape, and the universal ball is matched with the ball groove and can rotate in a universal manner under the pulling of the pull ruler; one side of the through hole, which is far away from the universal ball, is provided with an outward-expanding type horn mouth. According to the technical scheme, the starting position of the pull rule is ensured to be unchanged when the universal pull rule is used through the matching arrangement of the universal ball and the ball groove; through the setting of through hole horn mouth, the stay cord can not receive blockking of first support when guaranteeing not equidirectional slide rule.
Based on the technical scheme, the underwater checking method for the closure attitude of the immersed tube tunnel in the embodiment of the invention realizes the checking of the spatial relationship between the first pipe joint and the second pipe joint at the closure of the immersed tube tunnel by the way of underwater manual direct measurement of the closure and the method for establishing and solving the measurement side observation equation, so that the measurement results of indirectly measuring the closure attitude by using a tube inner through measurement method and the like are verified, and the accuracy and the reliability of closure data are ensured.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic view of the final joint installation of a immersed tunnel;
FIG. 2 is a schematic structural view of a closure of a immersed tunnel;
FIG. 3 is a schematic flow chart of the underwater checking method for closure attitude of immersed tube tunnel according to the present invention;
FIG. 4 is a schematic layout diagram of the initial characteristic points at the closure surface of the steel shell at the end of the first pipe joint of the present invention;
FIG. 5 is a schematic view of a measuring edge according to the present invention;
FIG. 6 is a schematic view of the structure of the base at the start feature and the read feature of the present invention;
FIG. 7 is a schematic view of an assembly structure of a starting point component and a base according to the present invention;
FIG. 8 is a cross-sectional view of the structure of FIG. 7;
FIG. 9 is a schematic view of an assembly structure of the reading point assembly and the base according to an embodiment of the present invention;
FIG. 10 is a cross-sectional view of the structure of FIG. 9;
FIG. 11 is a schematic view of an assembly structure of a reading point assembly and a base according to another embodiment of the present invention;
FIG. 12 is a schematic view of the construction of the pull rod of the present invention;
fig. 13 is a schematic view of the assembly of the protective cap and the base of the present invention.
In the figure:
1. a first pipe section; 11. a steel shell closure surface at the first pipe joint end; 2. a second pipe section; 21. a second pipe joint end steel shell closure surface; 3. a final splice; 4. closing the opening; 5. a base; 51. connecting columns; 52. positioning a groove; 6. a starting point component; 61. a first bracket; 611. a through hole; 612. a ball groove; 613. a bell mouth; 62. pulling a rope; 63. a universal ball; 64. hanging and buckling; 7. a reading point component; 71. a second bracket; 72. a slot clamping part; 721. an insert block; 722. a stopper; 723. a locking block; 73. a reading section; 8. a connecting shaft; 81. a limiting step; 82. positioning ribs; 9. connecting sleeves; 91. a limiting surface; 10. a protective cap; P1/P2/P3/P4/P5/P6, initial characteristic point; Q1/Q2/Q3/Q4/Q5/Q6 and a reading characteristic point.
Detailed Description
The technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "top", "bottom", "inner", "outer", "front", "rear", "vertical", "horizontal", and the like, are used in the orientations and positional relationships indicated in the drawings, which are based on the orientations and positional relationships shown in the drawings, and are used for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, are not to be construed as limiting the present invention.
The terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1-5, the invention provides an underwater inspection method for the closure attitude of an immersed tunnel, which is used for inspecting the spatial relationship between a first pipe joint 1 and a second pipe joint 2 at a closure 4 of the immersed tunnel, and comprises the steps of characteristic point arrangement, characteristic point calibration, edge length measurement under water, observation equation establishment and solution, result analysis and the like.
And (3) laying characteristic points: before the first pipe joint 1 and the second pipe joint 2 enter water, a plurality of starting characteristic points are distributed at the first pipe joint end steel shell closure surface 11, and a plurality of reading characteristic points are distributed at the second pipe joint end steel shell closure surface 21. A measuring edge is formed between an initial feature point and a reading feature point, so that a plurality of measuring edges are formed between a plurality of initial feature points and a plurality of reading feature points.
Calibrating the characteristic points: calibrating actual measurement construction coordinates of all initial characteristic points under a first pipe joint 1 construction coordinate system after the first pipe joint 1 is sunk and installed in place; and calibrating the actual measurement construction coordinates of all the reading characteristic points under the second pipe joint 2 construction coordinate system after the second pipe joint 2 is sunk and installed in place.
Measuring the length of the side under water: after the first pipe joint 1 and the second pipe joint 2 are sunk and installed in place, starting from each initial characteristic point, measuring the actually measured side length of more than 12 measuring sides. The underwater measuring operation is measured by a diver under water by using a pull ruler; it should be noted that, during actual measurement, the first pipe joint end steel shell closure surface 11 or the second pipe joint end steel shell closure surface 21 can be selected as the starting end of the pull rod according to the flow direction of water.
Establishing and solving an observation equation: and establishing an observation equation for all measured edges, solving space coordinate conversion parameters between the first pipe joint 1 construction coordinate system and the second pipe joint 2 construction coordinate system, and solving the side length correction number of the measured edges. Further stated, the observation equation refers to: the side length of the measuring edge is equal to the side length calculated by the coordinate difference of the measuring points at the two ends of the measuring edge converted into the same coordinate system; considering that the underwater manual measurement of the side length of the measuring edge has a certain measurement error, a side length correction number is introduced, namely the sum of the actually measured side length of the measuring edge and the side length correction number is used as the side length of the measuring edge in the observation equation.
And (3) analyzing results: analyzing whether the side length correction exceeds the predicted maximum measurement error or not to judge whether the measured side needs to be removed or not, and re-establishing and solving the observation equation; it can be understood that if the side length correction exceeds the expected maximum measurement error, which indicates that there is an error in the measured data, the measured edges need to be removed, but the number of removed measured edges should not exceed 1/3 of the total number; analyzing whether the space coordinate conversion parameter exceeds the space coordinate conversion parameter tolerance expected to be caused by the measurement error or not so as to judge whether to check the result data of the characteristic point calibration step or not; it can be understood that if the spatial coordinate conversion parameter exceeds the expected tolerance, the result data of the feature point calibration may have errors and needs to be checked.
In the above illustrative embodiment, by actually measuring the side lengths of a plurality of measuring edges at the closure 4 and establishing and solving an observation equation, checking the spatial relationship between the first pipe joint 1 and the second pipe joint 2 at the closure 4 of the immersed tunnel is realized, verification of the measurement result of indirectly measuring the closure 4 attitude by a tube inner through measurement method and the like is realized, and the accuracy and reliability of the closure 4 data are ensured; further, by means of the direct measurement of underwater distance of divers, the measurement method of closure 4 in this embodiment is independent from the measurement method of closure 4 by indirect measurement such as a tube penetration measurement method, so that the checking result is objective and effective.
It should be noted that the steps of establishing and solving the measurement edge observation equation in the present invention are based on the mathematical principle of space coordinate system transformation, and are specifically described as follows:
setting a construction coordinate system A of a first pipe joint 1 and a construction coordinate system B of a second pipe joint 2; it can be understood that A, B both coordinate systems are space coordinate systems, so a space coordinate conversion method can be used to establish a relationship between the two coordinate systems; when the dimension is not considered, the space coordinate system is converted by 6 space coordinate conversion parameters, wherein 3 are translation amount and 3 are rotation amount. A, B, because the two coordinate systems are based on the same construction coordinate system, the difference is caused by measurement error or measurement error which is unlikely to be too large, and the 6 space coordinate transformation parameters are all tiny. Theoretically, the side lengths of more than 6 measuring edges between the first pipe joint 1 and the second pipe joint 2 need to be measured, and the 6 space coordinate conversion parameters can be solved; in actual measurement, in order to improve the accuracy and the stability of the calculation result, the side length of more than 12 measuring sides needs to be measured. A. The spatial transformation relationship established between the two coordinate systems is shown as formula (H1):
Figure 510938DEST_PATH_IMAGE036
wherein:
Figure 520482DEST_PATH_IMAGE037
Figure 367215DEST_PATH_IMAGE038
Figure 436803DEST_PATH_IMAGE039
Figure 634566DEST_PATH_IMAGE040
in the formulae (H1) to (H5),
Figure 447801DEST_PATH_IMAGE041
is a coordinate representation of the a coordinate system,
Figure 149041DEST_PATH_IMAGE042
is a coordinate representation of a B coordinate system;
Figure 389529DEST_PATH_IMAGE043
and
Figure 809009DEST_PATH_IMAGE011
contains 6 space coordinate conversion parameters, wherein,
Figure 160356DEST_PATH_IMAGE043
is the translation amount,
Figure 716102DEST_PATH_IMAGE011
Is the rotation amount; thus, formula (H1) may be represented by formula (H6):
Figure 127492DEST_PATH_IMAGE044
formula (H6) can be further worked up to give formula (H7):
Figure 34268DEST_PATH_IMAGE045
order:
Figure 287893DEST_PATH_IMAGE046
Figure 963725DEST_PATH_IMAGE047
Figure 546016DEST_PATH_IMAGE048
it is understood that in the formula (H1)
Figure 940088DEST_PATH_IMAGE049
Of formula (H1)
Figure 836500DEST_PATH_IMAGE030
Of formula (H1)
Figure 429156DEST_PATH_IMAGE050
Can be understood as a code number, which aims at simplifying the expression of the formula (H1); thus, formula (H1) may be represented by formula (H11):
Figure 120031DEST_PATH_IMAGE051
as is known from the foregoing, the 6 spatial coordinate conversion parameters are all minute quantities, and thus, those including the 6 spatial coordinate conversion parameters
Figure 1399DEST_PATH_IMAGE052
、
Figure 294977DEST_PATH_IMAGE053
、
Figure 945402DEST_PATH_IMAGE054
Also in minute quantities.
In some embodiments, in the step of establishing and solving the observation equation, the point location correction number after the measured construction coordinates of the reading feature point are converted into the first pipe joint 1 construction coordinate system is calculated according to the space coordinate conversion parameter. In the step of result analysis, analyzing whether the point location correction number exceeds the expected maximum point location deviation or not to judge whether to execute the step of feature point calibration again or not; that is, if the point location correction number exceeds the expected maximum point location deviation, it means that there may be an obvious error in the calibration of the actual measurement construction coordinates of the start feature point and/or the read feature point in the feature point calibration step, and the feature point calibration step needs to be executed again. According to the illustrative embodiment, whether the actually measured construction coordinates of the initial characteristic points and/or the reading characteristic points need to be re-calibrated or not can be judged more intuitively through calculation and analysis of the point position correction numbers.
As shown in fig. 4 and 5, in some embodiments, in the step of laying out feature points, the number of starting feature points is six, as marked by P1-P6; the three starting characteristic points P1, P2 and P3 are uniformly distributed on the top plate of the steel shell at the end of the first pipe joint 1 along the width direction of the first pipe joint 1, the other two starting characteristic points P4 and P6 are respectively positioned on two side plates at the lower part of the steel shell at the end of the first pipe joint 1, and the other starting characteristic point P5 is positioned on the bottom surface of the middle gallery at the steel shell at the end of the first pipe joint 1. The number of reading characteristic points is six, and the positions of the reading characteristic points on the steel shell at the end of the second pipe joint 2 correspond to the starting characteristic points P1-P6 one by one as marked by Q1-Q6 in the figure. The illustrative embodiment realizes the relative balanced arrangement of the starting characteristic points and the reading characteristic points at the closure gap 4.
Referring to fig. 5, in some embodiments, in the step of measuring the length of the side underwater, the measured lengths of the 28 measured sides are measured in total. Specifically, starting from starting feature points P1, P3, P4 and P6, respectively, the length of a measuring edge between 5 reading feature points is measured; starting from the starting feature points P2 and P5 respectively, measuring the side length of a measuring edge between 4 reading feature points; therefore, the total length of the six initial characteristic points is 28 measured sides. In the exemplary embodiment, more observation equations can be established by measuring more measuring edges, more redundant data can be generated, and the precision and reliability of each solution result can be further improved.
In some embodiments, the step of establishing and solving the observation equation specifically includes the following steps:
firstly, based on the definition of the above-mentioned observation equation, that is, the side length of the measuring edge should be equal to the side length calculated by the coordinate difference of the two measuring points of the measuring edge converted to the same coordinate system, and the initial characteristic point number of the measuring edge is marked as
Figure 72758DEST_PATH_IMAGE055
And the number of the reading characteristic points is marked
Figure 175843DEST_PATH_IMAGE057
Then the theoretical observation equation of the measurement edge can be expressed as formula (H12);
Figure 210795DEST_PATH_IMAGE058
in formula (H12):
Figure 981305DEST_PATH_IMAGE002
is the actually measured side length of a measuring side;
Figure 76300DEST_PATH_IMAGE003
the side length correction number of the measuring side is obtained;
Figure 463419DEST_PATH_IMAGE004
is the starting feature point of the measuring edge
Figure 502394DEST_PATH_IMAGE055
Actually measuring construction coordinates under a first pipe joint 1 construction coordinate system;
Figure 127411DEST_PATH_IMAGE059
is the reading characteristic point of the measuring edge
Figure 393307DEST_PATH_IMAGE057
Obtaining a construction coordinate of the first pipe joint 1 under a construction coordinate system after coordinate conversion;
based on equations (H11) and (H12), an initial observation equation for a measure edge in this embodiment is established:
Figure 408668DEST_PATH_IMAGE060
in formula (1):
Figure 785422DEST_PATH_IMAGE002
is the actually measured side length of a measuring side;
Figure 530524DEST_PATH_IMAGE003
the side length correction number of the measuring side is obtained;
Figure 701743DEST_PATH_IMAGE004
is the starting feature point of the measuring edge
Figure 266716DEST_PATH_IMAGE055
Actually measuring construction coordinates under a first pipe joint 1 construction coordinate system;
Figure 447162DEST_PATH_IMAGE005
is the reading characteristic point of the measuring edge
Figure 781191DEST_PATH_IMAGE057
Actually measuring construction coordinates under a second pipe joint 2 construction coordinate system;
Figure 388890DEST_PATH_IMAGE061
is the reading characteristic point of the measuring edge
Figure 441160DEST_PATH_IMAGE057
And (3) calculating a space coordinate conversion value when converting to a first pipe joint 1 construction coordinate system by adopting an equation (2):
Figure 222034DEST_PATH_IMAGE007
in the formula (2), the reaction mixture is,
Figure 410570DEST_PATH_IMAGE062
converting parameters of space coordinates between a first pipe joint 1 construction coordinate system and a second pipe joint 2 construction coordinate system, wherein the mathematical meaning of the parameters is expressed as formula (3); spatial coordinate transformation parameters
Figure 389503DEST_PATH_IMAGE030
Including the amount of translation
Figure 929068DEST_PATH_IMAGE043
And amount of rotation
Figure 451317DEST_PATH_IMAGE011
The mathematical meaning of the compound is expressed as formula (4) and formula (5);
Figure 556676DEST_PATH_IMAGE063
Figure 709440DEST_PATH_IMAGE013
Figure 736301DEST_PATH_IMAGE014
the initial observation equation of the measuring edge is linearized, and the 6 space coordinate transformation parameters are all minute quantities according to the result, so that the formula (1) can be removed after being unfolded
Figure 593399DEST_PATH_IMAGE015
、
Figure 756527DEST_PATH_IMAGE016
、
Figure 142509DEST_PATH_IMAGE017
And let:
Figure 391088DEST_PATH_IMAGE018
Figure 255139DEST_PATH_IMAGE019
Figure 538352DEST_PATH_IMAGE020
Figure 564077DEST_PATH_IMAGE021
Figure 299952DEST_PATH_IMAGE022
Figure 764431DEST_PATH_IMAGE023
Figure 902152DEST_PATH_IMAGE024
obtaining a final observation equation of the measuring edge, which is expressed as a formula (13);
Figure 364357DEST_PATH_IMAGE025
let the number of all measuring edges be
Figure 319019DEST_PATH_IMAGE026
Then, the observation equation of all the measurement edges is expressed as formula (14);
Figure 790452DEST_PATH_IMAGE027
order to
Figure 517099DEST_PATH_IMAGE028
The observation equation of all the measurement edges is expressed as formula (15);
Figure 415785DEST_PATH_IMAGE029
obtaining space coordinate conversion parameters according to the principle of least square method
Figure 922990DEST_PATH_IMAGE030
Is represented by the formula (16),
Figure 666955DEST_PATH_IMAGE031
converting the solved space coordinate into parameters
Figure 513688DEST_PATH_IMAGE030
In the formula (15), the side length correction numbers of all the measuring sides are calculated
Figure 317696DEST_PATH_IMAGE032
。
The above illustrative embodiment is based on the mathematical principle of spatial coordinate system conversion, and realizes the establishment of the measurement edge observation equation, so as to solve the spatial coordinate conversion parameter between the first pipe joint 1 construction coordinate system and the second pipe joint 2 construction coordinate system and the edge length correction number of the measurement edge.
In some embodiments, in the step of establishing and solving the observation equation, the correction number is determined according to the side length of all the measured sides
Figure 515459DEST_PATH_IMAGE032
Solving the overall measurement accuracy by the formula (17)
Figure 859853DEST_PATH_IMAGE033
：
Figure 826672DEST_PATH_IMAGE034
In the formula (17), the compound represented by the formula (I),
Figure 67160DEST_PATH_IMAGE064
the number of all measuring edges.
In the above exemplary embodiment, the measurement accuracy in the step of measuring the side length underwater can be obtained by solving the overall measurement accuracy.
As shown in fig. 4-12, in some embodiments, a base 5 is mounted on each of the start feature points and each of the reading feature points. An initial point component 6 is detachably connected on the base 5 of the initial characteristic point of the side to be measured, and a reading point component 7 is detachably connected on the base 5 of the reading characteristic point of the side to be measured.
The starting point component 6 comprises a first bracket 61, a pull rope 62 movably connected with the first bracket 61 and a universal ball 63. One end of the pull rope 62 is connected with the universal ball 63, and the other end of the pull rope penetrates through the first bracket 61 and is connected with the head end of a pull ruler in a hanging mode; the pull rod is shown in fig. 12. The universal ball 63 is pressed against the first bracket 61 under the pulling of the pull rod and can rotate universally. It will be appreciated that the gimbaled ball 63 is located on the side of the first support 61 remote from the reading point assembly 7; when the pull rule is not articulated with the pull rope 62 or the pull rule is not tensioned, the position of the universal ball 63 is in a relatively free state, namely is not fixed at a certain position of the first bracket 61; however, after the pull rod is tensioned, the universal ball 63 is pressed against the first bracket 61 by the pulling force of the pull rod and can rotate universally, so that the starting position of the pull rod is fixed, and the universal pull rod can be realized.
The reading point assembly 7 includes a second bracket 71, and the second bracket 71 is provided with a groove portion 72 and a reading portion 73 located on one side of the groove portion 72. When measuring the underwater measurement of the side length of the edge, the head end of the pull ruler is hung on the initial point component 6, the extension end of the pull ruler extends to the side of the reading point component 7 and is clamped in the clamping groove part 72, and the side length of the measured edge can be obtained by reading the scale on the pull ruler corresponding to the reading part 73.
It should be noted that the slot portion 72 of the reading point assembly 7 is not limited to a specific structure or shape; the structure shown in fig. 9 and 10 may be that an insert 721 is inserted into the second bracket 71, the other end of the insert 721 is connected to a stopper 722 through a locking block 723, a slot 72 is formed between the stopper 722 and the second bracket 71, and when measuring the edge, the extended section of the pull rod is directly attached to the outer surface of the insert 721 to be positioned for reading; as shown in fig. 11, a trumpet-shaped notch may be directly formed in the second bracket 71, and when the measuring edge is measured, the extended section of the pull rod directly fits the bottom of the trumpet-shaped notch, so that the pull rod can be positioned for reading.
Above-mentioned exemplary embodiment, through the setting of initial point subassembly 6 and reading point subassembly 7, solved because of the artifical difficult control slide rule both ends position leads to the measurement operation degree of difficulty great, measure the great problem of error, realized reliable location and control to the slide rule both ends, improved the accuracy of measuring the length of a side length underwater measurement result, realized universal slide rule moreover.
As shown in fig. 6-11, in some embodiments, the base 5 is provided with a connecting post 51 protruding therefrom. The starting point component 6 and the reading point component 7 both comprise a connecting shaft 8 and a connecting sleeve 9 movably connected with the connecting shaft 8; one end of the connecting shaft 8 is fixedly connected with the first bracket 61 or the second bracket 71, and the other end is inserted into the connecting sleeve 9; the connecting sleeve 9 can reciprocate along the axial direction of the connecting shaft 8. The connecting sleeve 9 is detachably sleeved outside the connecting column 51, so that the starting point component 6 and the reading point component 7 are detachably connected with the two bases 5 respectively, and the detachability between the starting point component 6 and the bases 5 and the detachability between the reading point component 7 and the bases 5 are realized.
As shown in fig. 8 and 10, in some embodiments, a limiting step 81 is convexly provided at one end of the connecting shaft 8 close to the connecting sleeve 9, and a limiting surface 91 is provided in the connecting sleeve 9. It should be noted that, the arrangement of the limiting step 81, on one hand, prevents the connecting sleeve 9 from falling off from the connecting shaft 8 in the process of reciprocating movement along the axial direction of the connecting shaft 8; on the other hand, when the connecting sleeve 9 is sleeved outside the connecting column 51, the limiting surface 91 is pressed on the limiting step 81 along the axial direction of the connecting shaft 8, so that the connecting shaft 8 is pressed on the connecting column 51, and reliable connection and limiting among the connecting shaft 8, the connecting sleeve 9 and the connecting column 51 are realized.
As shown in fig. 6-11, in some embodiments, the connecting post 51 has an external thread, the connecting sleeve 9 has an internal thread inside that matches the external thread, and the connecting sleeve 9 is detachably screwed outside the connecting post 51. The connecting sleeve 9 can be hexagonal in shape, so that the connecting sleeve can be conveniently screwed.
As shown in fig. 6, 8 and 10, in some embodiments, the top surface of the connecting column 51 is concavely provided with a positioning groove 52, and the bottom surface of the connecting shaft 8 is convexly provided with a positioning rib 82 matched with the positioning groove 52. Before the connecting sleeve 9 is sleeved with the connecting column 51, the positioning rib 82 is clamped in the positioning groove 52 to position the connecting shaft 8 and the connecting column 51 with each other, so that the mounting direction between the connecting shaft 8 and the connecting column 51 is fixed, that is, the mounting direction between the starting point component 6 and the base 5, and the mounting direction between the reading point component 7 and the base 5 are fixed. It should be noted that the shape of the positioning slot 52 includes, but is not limited to, a straight slot. In the exemplary embodiment, by the positioning arrangement between the connecting column 51 and the connecting shaft 8, reliable positioning between the starting point component 6 and the base 5 and reliable positioning between the reading point component 7 and the base 5 are realized, and the same mounting orientation of the starting point component 6 and the reading point component 7 on the base 5 every time is ensured.
As shown in fig. 8, in some embodiments, a through hole 611 is formed in the first bracket 61, the diameter of the through hole 611 is smaller than the spherical diameter of the universal ball 63, and the pull rope 62 penetrates through the first bracket 61 through the through hole 611. One side of the through hole 611 close to the universal ball 63 is concavely provided with a ball groove 612 matched with the universal ball 63 in shape, and the universal ball 63 is pulled by the pull rod to be fitted with the ball groove 612 and rotate universally, so that the position of the center of the ball of the universal ball 63 is always unchanged in the universal rotation process, and the position of the starting point of the pull rod is ensured to be unchanged in the universal pull rod process. One side of the through hole 611 far away from the universal ball 63 is provided with an outward-expanding type bell mouth 613, so that the pull rope 62 is not blocked by the first bracket 61 when the ruler is pulled in different directions.
As shown in fig. 7 and 8, in some embodiments, one end of the pull rope 62 is connected to a hook 64, and the hook 64 is used for hooking with the head end of the pull rule, so that the connection between the pull rope 62 and the pull rule is convenient.
As shown in fig. 13, in some embodiments, the connecting column 51 is detachably sleeved with a protective cap 10 for protecting the connecting column 51 from damage during the process of leaving the base 5 empty or storing.
In some embodiments, the base 5, the initiation point assembly 6, and the reading point assembly 7 are all made of stainless steel; the pull rod is a steel measuring tape with a nylon coating. The above illustrative embodiment enables the relevant parts for measuring the measuring tape to have good corrosion resistance and rust resistance, so that the requirements of underwater measuring operation of the measuring tape can be met.
The following briefly describes the examination process and technical effects of the underwater examination method for the closure of the immersed tunnel according to the present invention, taking a certain closure of the immersed tunnel as an example, and referring to fig. 1 to 13:
1) laying characteristic points: before the first pipe joint 1 and the second pipe joint 2 enter water, six starting characteristic points P1-P6 are distributed on a steel shell closure surface 11 at the end of the first pipe joint; six reading characteristic points Q1-Q6 are arranged on the closure surface 21 of the steel shell at the end of the second pipe joint;
2) calibrating characteristic points: calibrating actual measurement construction coordinates of all initial characteristic points under a first pipe joint 1 construction coordinate system after the first pipe joint 1 is sunk and installed in place; calibrating the actual measurement construction coordinates of all the reading characteristic points under the second pipe joint 2 construction coordinate system after the second pipe joint 2 is sunk and installed in place; the characteristic point calibration results are as follows:
Figure 486641DEST_PATH_IMAGE065
3) measuring the side length of the edge under water, and solving an observation equation: after the first pipe joint 1 and the second pipe joint 2 are sunk and installed in place, the actually measured side lengths of 28 measuring sides are measured
Figure 41250DEST_PATH_IMAGE002
(ii) a Establishing a measurement equation for all 28 measurement edges, performing adjustment calculation, and solving space coordinate conversion parameters between a first pipe joint 1 construction coordinate system and a second pipe joint 2 construction coordinate system
Figure 659313DEST_PATH_IMAGE009
I.e. amount of translation
Figure 70703DEST_PATH_IMAGE010
And amount of rotation
Figure 711900DEST_PATH_IMAGE011
And solving the side length correction number of the measured edge
Figure 601358DEST_PATH_IMAGE066
Solving the resultAs in the following table:
Figure 539840DEST_PATH_IMAGE067
Figure 122131DEST_PATH_IMAGE068
4) calculating point position correction number: calculating point location correction numbers after the actual measurement construction coordinates of the reading feature points under the second pipe joint 2 coordinate system are converted into the first pipe joint 1 construction coordinate system according to the space coordinate conversion parameters; the calculation results are as follows:
Figure 516203DEST_PATH_IMAGE069
5) and (3) calculation of measurement precision: correcting number according to side length of all measured sides
Figure 209352DEST_PATH_IMAGE070
And solving the measurement precision in the step of measuring the side length of the edge under water
Figure 739691DEST_PATH_IMAGE033
And 0.014 m.
6) And (4) analyzing results:
the translation amount in the space coordinate conversion parameter between the first pipe joint 1 construction coordinate system and the second pipe joint 2 construction coordinate system is the maximum in the X direction, the numerical value is 0.017m, and the numerical value and the measurement precision are
Figure 492883DEST_PATH_IMAGE033
The translation amount in the space coordinate conversion parameters accords with theoretical expectation;
the rotation amount in the space coordinate conversion parameters between the first pipe joint 1 construction coordinate system and the second pipe joint 2 construction coordinate system is smaller than 1/1000 radians, the numerical value is far smaller than the predicted measurement error, no discriminability exists between the two, and the rotation amount in the space coordinate conversion parameters accords with the theoretical expectation;
the reading characteristic point is that the point location correction number after the actual measurement construction coordinate under the second pipe joint 2 construction coordinate system is converted into the first pipe joint 1 construction coordinate system is the maximum in the X direction and is 0.0215m, and the point location correction number is obtained by calculating space coordinate conversion parameters, so that the value also contains the measurement error; that is to say, the relative deviation between the first pipe joint end steel shell closure surface 11 and the second pipe joint end steel shell closure surface 21 is below 2.15cm, and the deviation value has little influence on the installation of the final joint 3, so that the calibration of the actual measurement construction coordinates of the initial characteristic point and the reading characteristic point at the closure opening 4 of the immersed tunnel can be judged to be accurate, that is to say, the measurement result obtained by indirectly measuring the closure opening posture by an in-pipe through measurement method and the like does not need to be corrected; and finishing the underwater checking operation of the closure opening posture of the immersed tunnel.
Through the description of the multiple embodiments of the underwater checking method for the closure opening attitude of the immersed tube tunnel, the invention can be seen to have at least one or more of the following advantages:
1) by means of the underwater manual direct measurement mode of the closure 4 and the method for establishing and solving the observation equations of the multiple measurement edges, checking of the spatial relationship between the first pipe section 1 and the second pipe section 2 at the closure 4 of the immersed tunnel is achieved, and the checking result is objective and effective, so that verification of the measurement result of indirectly measuring the closure 4 attitude by using a tube inner through measurement method and the like is achieved, and the accuracy and reliability of the closure 4 data are ensured;
2) through the setting of initial point subassembly 6 and reading point subassembly 7, realized the reliable location and the control to the slide rule both ends, and realized universal slide rule, reduced the limit of measurationing and measured the operation degree of difficulty under water, improved the accuracy of measuring the result under water.
Finally, it should be noted that: the embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.

Claims (10)

1. An underwater checking method for the closure attitude of an immersed tunnel closure opening is used for checking the spatial relationship between a first pipe joint and a second pipe joint at the closure opening of the immersed tunnel, and is characterized by comprising the following steps:
the characteristic point layout, before the first pipe joint and the second pipe joint enter water, a plurality of initial characteristic points are laid at the closure surface of the steel shell at the end of the first pipe joint, and a plurality of reading characteristic points are laid at the closure surface of the steel shell at the end of the second pipe joint; a plurality of measuring edges are formed between the plurality of starting feature points and the plurality of reading feature points;
calibrating the characteristic points, namely calibrating the actual measurement construction coordinates of all the initial characteristic points under a first pipe joint construction coordinate system after the first pipe joint is sunk and installed in place; calibrating the actual measurement construction coordinates of all the reading characteristic points under a second pipe joint construction coordinate system after the second pipe joint is sunk and installed in place;
measuring the underwater measurement of the side length of the side, starting from each initial characteristic point after the first pipe joint and the second pipe joint are sunk and installed in place, and measuring the actually measured side length of more than 12 measuring sides;
establishing and solving an observation equation, establishing the observation equation for all measured edges, solving space coordinate conversion parameters between the first pipe joint construction coordinate system and the second pipe joint construction coordinate system, and solving the side length correction number of the measured edges;
analyzing the result, analyzing whether the side length correction exceeds the predicted maximum measurement error or not to judge whether the measured side is removed or not, and re-establishing and solving the observation equation; and analyzing whether the space coordinate conversion parameter exceeds the space coordinate conversion parameter tolerance expected to be caused by the measurement error so as to judge whether to check the result data of the characteristic point calibration step.
2. The underwater inspection method for closure attitude of immersed tube tunnel according to claim 1, further comprising: in the step of establishing and solving the observation equation, calculating a point location correction number after the actual measurement construction coordinate of the reading feature point is converted into a first pipe joint construction coordinate system according to the space coordinate conversion parameter; and in the step of result analysis, analyzing whether the point location correction number exceeds the expected maximum point location deviation or not so as to judge whether to execute the step of feature point calibration again or not.
3. The underwater inspection method for closure attitude of immersed tube tunnel according to claim 1, wherein in the step of arranging the characteristic points, the number of the starting characteristic points is six, wherein three starting characteristic points are uniformly arranged on the top plate of the first tube section end steel shell along the width direction of the first tube section, the other two starting characteristic points are respectively positioned on two side plates at the lower part of the first tube section end steel shell, and the other starting characteristic point is positioned on the bottom surface of the middle gallery at the first tube section end steel shell; the number of the reading characteristic points is six, and the positions of the reading characteristic points on the second pipe joint end steel shell correspond to the starting characteristic points one by one.
4. The underwater inspection method for closure mouth attitude of immersed tunnel according to claim 3, wherein in said step of underwater measuring the side length of the measuring edge, the measured side lengths of 28 measuring edges are measured in total.
5. The underwater inspection method for the closure attitude of the immersed tunnel according to any one of claims 1 to 4, wherein in the step of establishing and solving the observation equation, the method specifically comprises the following steps:
establishing an initial observation equation of the measuring edge:
Figure 9872DEST_PATH_IMAGE001
in formula (1):
Figure 770018DEST_PATH_IMAGE002
the actually measured side length of the measuring side is obtained;
Figure 302630DEST_PATH_IMAGE003
the side length correction number of the measuring side is obtained;
Figure 704792DEST_PATH_IMAGE004
the measured construction coordinate of the initial characteristic point of the measuring edge under the first pipe joint construction coordinate system is taken as the actual measurement construction coordinate;
Figure 842513DEST_PATH_IMAGE005
the actual measurement construction coordinate of the reading characteristic point of the measuring edge under a second pipe joint construction coordinate system is taken as the actual measurement construction coordinate;
Figure 570297DEST_PATH_IMAGE006
calculating a space coordinate conversion value when the reading characteristic point of the measuring edge is converted into a first pipe joint construction coordinate system by adopting an equation (2):
Figure 527889DEST_PATH_IMAGE007
in the formula (2), the reaction mixture is,
Figure 996392DEST_PATH_IMAGE008
converting parameters of space coordinates between the first pipe joint construction coordinate system and the second pipe joint construction coordinate system, wherein the mathematical meaning of the parameters is expressed as formula (3); spatial coordinate transformation parameters
Figure 723040DEST_PATH_IMAGE009
Including the amount of translation
Figure 356146DEST_PATH_IMAGE010
And amount of rotation
Figure 66613DEST_PATH_IMAGE011
The mathematical meaning of the compound is expressed as formula (4) and formula (5);
Figure 872895DEST_PATH_IMAGE012
Figure 719629DEST_PATH_IMAGE013
Figure 789216DEST_PATH_IMAGE014
linearizing the initial observation equation of the measuring edge, and removing the equation (1) after expansion
Figure 721400DEST_PATH_IMAGE015
、
Figure 269056DEST_PATH_IMAGE016
、
Figure 235875DEST_PATH_IMAGE017
And let:
Figure 210784DEST_PATH_IMAGE018
Figure 895843DEST_PATH_IMAGE019
Figure 247190DEST_PATH_IMAGE020
Figure 68515DEST_PATH_IMAGE021
Figure 214326DEST_PATH_IMAGE022
Figure 121102DEST_PATH_IMAGE023
Figure 276140DEST_PATH_IMAGE024
obtaining a final observation equation of the measuring edge, which is expressed as a formula (13);
Figure 748710DEST_PATH_IMAGE025
setting the number of all the measuring edges as
Figure 328071DEST_PATH_IMAGE026
Then, the observation equation of all the measurement edges is expressed as formula (14);
Figure 722143DEST_PATH_IMAGE027
order to
Figure 415293DEST_PATH_IMAGE028
The observation equation of all the measurement edges is expressed as formula (15);
Figure 945631DEST_PATH_IMAGE029
obtaining space coordinate conversion parameters according to the principle of least square method
Figure 698824DEST_PATH_IMAGE030
Is expressed as equation (16),
Figure 111350DEST_PATH_IMAGE031
converting the solved space coordinate into parameters
Figure 608191DEST_PATH_IMAGE030
In the formula (15), the side length correction number of all the measuring sides is calculated
Figure 258615DEST_PATH_IMAGE032
。
6. The immersed tube tunnel closure port attitude underwater examination method according to claim 5, characterized by further comprising: in the step of establishing and solving the observation equation, correcting the number according to the side length of all the measuring sides
Figure 917129DEST_PATH_IMAGE032
Solving the overall measurement accuracy by the formula (17)
Figure 285794DEST_PATH_IMAGE033
：
Figure 117484DEST_PATH_IMAGE034
In the formula (17), the compound represented by the formula (I),
Figure 622414DEST_PATH_IMAGE035
the number of all the measuring edges is counted.
7. The underwater inspection method for closure attitude of immersed tube tunnel according to claim 1, wherein a base is installed on each starting feature point and each reading feature point;
the base of the initial characteristic point of the measuring edge to be measured is detachably connected with an initial point assembly, and the initial point assembly comprises a first support, a pull rope and a universal ball, wherein the pull rope and the universal ball are movably connected with the first support; one end of the pull rope is connected with the universal ball, and the other end of the pull rope penetrates through the first support and is connected with the head end of a pull ruler in a hanging mode; the universal ball is pressed on the first bracket under the pulling of the pull rule and can rotate universally;
wait to measure on the base of the reading characteristic point on limit detachably connect a reading point subassembly, reading point subassembly includes the second support, be equipped with draw groove portion on the second support and be located the reading portion of draw groove portion one side, the extension end card of slide rule in the draw groove portion, read reading portion corresponds scale on the slide rule.
8. The underwater inspection method for closure attitude of immersed tube tunnel according to claim 7, wherein the pedestal is provided with a connecting column in a protruding manner; the starting point assembly and the reading point assembly respectively comprise a connecting shaft and a connecting sleeve movably connected with the connecting shaft, one end of the connecting shaft is fixedly connected with the first support or the second support, the other end of the connecting shaft is inserted into the connecting sleeve, and the connecting sleeve can move in a reciprocating manner along the axial direction of the connecting shaft; the connecting sleeve is detachably sleeved outside the connecting column, so that the starting point component and the reading point component are detachably connected with the two bases respectively.
9. The underwater inspection method for closure attitude of immersed tube tunnel according to claim 8, wherein the top surface of the connecting column is concavely provided with a positioning groove, and the bottom surface of the connecting shaft is convexly provided with a positioning rib matched with the positioning groove; before the connecting sleeve is sleeved with the connecting column, the positioning ribs are clamped in the positioning grooves, so that the connecting shaft and the connecting column are mutually positioned.
10. The underwater checking method for the closure mouth posture of the immersed tube tunnel according to claim 7, wherein a through hole is formed in the first support, the aperture of the through hole is smaller than the spherical diameter of the universal ball, and the pull rope penetrates through the first support through the through hole; one side of the through hole, which is close to the universal ball, is concavely provided with a ball groove matched with the universal ball in shape, and the universal ball is pulled by the pull ruler to be attached to the ball groove and can rotate universally; one side of the through hole, which is far away from the universal ball, is provided with an outward-expanding type horn mouth.
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CN116147596A (en) * 2023-04-21 2023-05-23 中交第一航务工程局有限公司 Left-right lane penetration measuring method for immersed tunnel
CN116625334A (en) * 2023-07-20 2023-08-22 中交第一航务工程局有限公司 Positioning method for sinking and butting sinking pipes
CN116657649A (en) * 2023-07-26 2023-08-29 中交第一航务工程局有限公司 Method for installing final joint of immersed tube tunnel

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