CN115248949A - End steel shell linearity evaluation method and system - Google Patents

End steel shell linearity evaluation method and system Download PDF

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Publication number
CN115248949A
CN115248949A CN202211154423.XA CN202211154423A CN115248949A CN 115248949 A CN115248949 A CN 115248949A CN 202211154423 A CN202211154423 A CN 202211154423A CN 115248949 A CN115248949 A CN 115248949A
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steel shell
pipe joint
end steel
fitting
detection point
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CN115248949B (en
Inventor
潘伟
王强
成益品
岳远征
宁进进
张超
锁旭宏
孙海丰
董理科
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Cccc First Navigation Bureau Ecological Engineering Co ltd
CCCC First Harbor Engineering Co Ltd
No 2 Engineering Co Ltd of CCCC First Harbor Engineering Co Ltd
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Cccc First Navigation Bureau Ecological Engineering Co ltd
CCCC First Harbor Engineering Co Ltd
No 2 Engineering Co Ltd of CCCC First Harbor Engineering Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/13—Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/18—Network design, e.g. design based on topological or interconnect aspects of utility systems, piping, heating ventilation air conditioning [HVAC] or cabling
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2111/00—Details relating to CAD techniques
    • G06F2111/10—Numerical modelling
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2113/00—Details relating to the application field
    • G06F2113/14—Pipes

Abstract

The application discloses a method and a system for linearly evaluating an end steel shell, wherein the method for linearly evaluating the end steel shell comprises the following steps: detection point data obtaining step: measuring to obtain detection point data of the steel shell at the end of the pipe joint to be installed; obtaining a fitting result: fitting the pipe joint end steel shell to be installed through a mathematical model according to the detection point data to obtain a fitting result of the pipe joint end steel shell to be installed; an installation deviation amount obtaining step: and according to the shape and the posture of the butt joint end of the installed pipe joint end steel shell and the fitting result of the pipe joint end steel shell to be installed, performing simulated installation on the pipe joint end steel shell to be installed to obtain the installation deviation of the pipe joint to be installed. The method is applied to the immersed tube tunnel installation linear control, and solves the problems that the calculation accuracy is low due to manual intervention in linear fitting calculation, the flatness and the posture accuracy of the end steel shell cannot be ensured, high safety quality risks exist in the immersed tube installation process, and the like.

Description

End steel shell linearity evaluation method and system
Technical Field
The application relates to the technical field of immersed tube tunnel linear fitting, in particular to a method and a system for end steel shell linear evaluation.
Background
The shape of the steel shell at the end of the immersed tube and the space posture of the steel shell relative to the immersed tube directly influence the final installation position of the immersed tube and the axial direction of the tunnel. Therefore, after the immersed tube is manufactured according to the design drawing, the shape, the flatness and the space attitude of the end steel shell need to be actually measured so as to determine the construction deviation, the actual shape and the space attitude of the end steel shell. The influence of the manufacturing deviations on the linearity of the immersed tube installation axis is calculated, displayed and predicted through a mathematical mode and software, and the follow-up immersed tube prefabrication and installation deviation control can be effectively guided.
At present, the linear fitting of the immersed tube tunnel mostly adopts CAD (computer-aided design) assembly or EXCEL programming calculation, the manual intervention is converted from data acquisition to interior calculation, the risk of calculation errors is high, and the working efficiency is low. For a large immersed tube tunnel, the tunnel is formed by splicing dozens of tube sections with the weight of ten thousand tons, the immersed tube installation measurement accuracy index and the quality control standard are high, and the tube section linearity plays a very key guiding role in immersed tube accuracy pre-control. If the linear fitting calculation data misguides construction, important quality safety risks are caused, and therefore the key is to guarantee the accuracy and timeliness of the linear fitting data. Therefore, how to improve the linear fitting accuracy and the timeliness becomes an urgent problem to be solved in the immersed tube tunnel construction process.
Disclosure of Invention
The embodiment of the application provides a method and a system for evaluating the linearity of an end steel shell, and at least solves the problems that manual intervention exists in linear fitting calculation, the accuracy of the linear fitting calculation is low, the flatness and the posture accuracy of the end steel shell cannot be guaranteed, high safety quality risks exist in the installation process of a immersed tube tunnel, and the like.
The invention provides a linear evaluation method for an end steel shell, which comprises the following steps:
detection point data obtaining step: measuring to obtain detection point data of the steel shell at the end of the pipe joint to be installed;
obtaining a fitting result: fitting the pipe joint end steel shell to be installed through a mathematical model according to the detection point data to obtain a pipe joint end steel shell fitting result to be installed;
an installation deviation amount obtaining step: and simulating and installing the pipe joint end steel shell to be installed according to the shape and the posture of the butt joint end of the installed pipe joint end steel shell and the fitting result of the pipe joint end steel shell to be installed, so as to obtain the installation deviation of the pipe joint to be installed.
In the above method for linear evaluation of end steel shells, the step of obtaining the detection point data includes:
and measuring and obtaining the detection point data of each detection point, wherein the detection point data comprises the shape and the posture of the steel shell at the joint end of the pipe to be installed.
In the above method for linear evaluation of end steel shells, the obtaining step of the fitting result includes:
fitting the pipe joint end steel shell to be installed through a mathematical model according to the shape and the posture of the pipe joint end steel shell to be installed, and obtaining a fitting result of the pipe joint end steel shell to be installed.
In the above method for linear evaluation of end steel shells, the obtaining of the fitting result includes:
fitting the pipe joint end steel shell to be installed through a least square method linear fitting mathematical model according to the shape and the posture of the pipe joint end steel shell to be installed, and obtaining the manufacturing deviation and the actual posture of the pipe joint end steel shell to be installed.
In the above method for linearly evaluating an end steel shell, the step of obtaining the fitting result further includes:
fitting the pipe joint end steel shell to be installed through a least square method plane fitting mathematical model according to the shape and the posture of the pipe joint end steel shell to be installed, and obtaining the actual shape of the pipe joint end steel shell to be installed.
In the above method for linearly evaluating an end steel shell, the step of obtaining the installation deviation amount includes:
obtaining the axial direction of the steel shell at the head end of the pipe joint to be installed through the following calculation:
Figure 318525DEST_PATH_IMAGE001
Figure 235797DEST_PATH_IMAGE002
Figure 860813DEST_PATH_IMAGE003
wherein, (Rx 0, ry0, rz 0) is the axial direction of the steel shell at the head end of the installed pipe joint; (Rx 1, ry1, rz 1) is the axial direction of the steel shell at the head end of the pipe joint to be installed after the simulated installation when the non-parallelism deviation (sigma X, sigma Y, sigma Z) of the pulling-in plane is 0; (Rx 2, ry2 and Rz 2) are the axial direction of the steel shell at the head end of the pipe joint to be installed after the simulated installation when the non-parallelism deviation (sigma X, sigma Y and sigma Z) of the pulling-in plane is not 0; (X0, Y0, Z0) is the coordinate of the central point of the head end steel shell of the installed pipe joint; (X1, Y1, Z1) is the coordinate of the center point of the steel shell at the head end of the pipe joint to be installed after the simulated installation when the non-parallelism deviation (sigma X, sigma Y, sigma Z) of the pulling-in plane is 0; (dX, dY, dZ) is the center point position deviation, and (σ X, σ Y, σ Z) is the drawing surface non-parallelism deviation.
In the above method for linearly evaluating an end steel shell, the step of obtaining the installation deviation amount further includes:
calculating the installation deviation amount of the pipe joint to be installed by the following formula:
Figure 454605DEST_PATH_IMAGE004
Figure 797862DEST_PATH_IMAGE005
Figure 768092DEST_PATH_IMAGE006
wherein, (X2, Y2, Z2) is coordinates of the center point of the steel shell at the head end of the pipe joint to be installed after the simulated installation when the non-parallelism deviation (sigma X, sigma Y, sigma Z) of the pulling-in plane is not 0; l is the length of the pipe section; (Xt, yt, zt) is a design coordinate of the center point of the steel shell at the head end of the pipe joint to be installed; (Dxt, dyt, dzt) is the installation deviation amount of the pipe joint to be installed after simulation installation.
The invention also provides an end steel shell linear evaluation system, which is suitable for the end steel shell linear evaluation method and comprises the following steps:
detection point data obtaining unit: measuring by a total station to obtain detection point data of a steel shell at the end of the pipe joint to be installed;
a fitting result obtaining unit: fitting the pipe joint end steel shell to be installed through a mathematical model according to the detection point data to obtain a pipe joint end steel shell fitting result to be installed;
mounting deviation amount obtaining means: and simulating and installing the pipe joint end steel shell to be installed according to the shape and the posture of the butt joint end of the installed pipe joint end steel shell and the fitting result of the pipe joint end steel shell to be installed, so as to obtain the installation deviation of the pipe joint to be installed.
In the above system for linear evaluation of end steel shells, the detection point data obtaining unit includes:
and arranging a plurality of detection points on the end surface of the steel shell at the end of the pipe joint to be installed.
In the above system for linear evaluation of end steel shell, the detection point data obtaining unit further includes:
and measuring and obtaining the detection point data of each detection point through the total station, wherein the detection point data comprises the shape and the posture of the steel shell of the pipe joint end to be installed.
Compared with the prior art, the terminal steel shell linearity evaluation method and system provided by the invention have the advantages that the station position of the total station is freely set, the station setting efficiency of the total station is effectively improved, the possibility of human errors is reduced, and a complete solution is provided for high-precision and high-efficiency acquisition of terminal steel shell data; the method comprises the steps that a linear fitting software adopts a strict mathematical model to evaluate the immersed tube manufacturing quality, namely the end steel shell manufacturing deviation, detects the actual shape and the spatial attitude of the end steel shell of the pipe joint to be installed, predicts the deviation amount of a plurality of continuous pipe joints to be immersed through calculation according to the actual shape and the spatial attitude of the end steel shell to be installed, and in the process of installing the pipe joint to be installed, an operator can control and guide the installation of the pipe joint to be installed according to the deviation result, so that the linear fitting calculation accuracy is improved, and the flatness and the attitude accuracy of the end steel shell are guaranteed.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a flow chart of an end steel shell linearity assessment method according to an embodiment of the present application;
FIG. 2 is a graph showing the actual attitude of the end steel shell in the form of lines of a linear fitting software interface according to an embodiment of the present application;
FIG. 3 is a graph showing linear fitting software interface fit data according to an embodiment of the present application;
FIG. 4 is a graph showing data of actual poses of a linear fit software interface according to an embodiment of the present application;
FIG. 5 is a graph showing linear results of a linear fit software interface according to an embodiment of the present application;
FIG. 6 is a diagram of end steel shell detection point placement according to an embodiment of the present application;
FIG. 7 is a schematic structural diagram of the end steel shell linearity evaluation system of the present invention.
Wherein the reference numerals are:
detection point data obtaining unit: 51;
a fitting result obtaining unit: 52;
mounting deviation amount obtaining means: 53.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application.
It is obvious that the drawings in the following description are only examples or embodiments of the application, and that it is also possible for a person skilled in the art to apply the application to other similar contexts on the basis of these drawings without inventive effort. Moreover, it should be appreciated that such a development effort might be complex and tedious, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure, and thus should not be construed as a limitation of this disclosure.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plurality" as referred to herein means two or more. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.
Linear control management is commonly used in bridge engineering construction control, and comprises plane axis and vertical elevation linear control, so that the relative construction deviation at each stage is reduced, and the bridge is ensured to be finally and smoothly closed.
In recent years, with the increase of large immersed tube tunnel construction projects on the sea, a linear fitting control theory is gradually introduced into immersed tube tunnel management. The construction method of the immersed tunnel is to prefabricate pipe joints on land and install the pipe joints one by one under water, and determines that plane deviation inevitably occurs between the pipe joints in the underwater installation operation process of the pipe joints under the influence of pipe joint prefabrication errors, measurement calibration errors, gina compression uniformity, pipe joint deformation, pipe joint bottom surface frictional resistance and the like, so the aim of pipe joint installation linear fitting is mainly to correct construction errors generated by prefabrication of the pipe joints before the pipe joints are sunk and installed, and a controllable deviation range is set, so that the immersed tunnel is stable and controlled linearly and the tunnel is ensured to be accurately communicated. The reinforced concrete immersed tube tunnel construction of the HongZhuao bridge provides a linear control method and measures for design, pre-control, fitting and adjustment by analyzing linear control influence factors and linking design and construction, and adopts a CAD geometric assembly method and a programming calculation method based on EXCEL to perform linear fitting.
The invention provides a terminal steel shell linear evaluation method and a terminal steel shell linear evaluation system, which realize quick, accurate and visual linear fitting of a immersed tube and can provide reference for similar linear engineering project application in the future.
The present invention will be described with reference to specific examples.
Example one
This example provides an end-hat linearity assessment method. Referring to fig. 1 to 6, fig. 1 is a flowchart of a method for evaluating end-hat linearity according to an embodiment of the present application; FIG. 2 is a graph showing the actual attitude of the end steel shell in the form of a line of the linear fitting software interface according to an embodiment of the present application; FIG. 3 is a display of linear fitting software interface fitting data according to an embodiment of the present application; FIG. 4 is a graph showing data of actual poses of a linear fit software interface according to an embodiment of the present application; FIG. 5 is a graph showing linear results of a linear fit software interface according to an embodiment of the present application; fig. 6 is a schematic diagram of the detecting point arrangement positions according to the embodiment of the application, and as shown in fig. 1 to 6, the end steel shell linearity evaluating method includes the following steps:
detection point data obtaining step S1: measuring to obtain detection point data of the steel shell at the end of the pipe joint to be installed;
the fitting result obtaining step S2: fitting the pipe joint end steel shell to be installed through a mathematical model according to the detection point data to obtain a pipe joint end steel shell fitting result to be installed;
mounting deviation amount obtaining step S3: and according to the shape and the posture of the butt joint end of the installed pipe joint end steel shell and the fitting result of the pipe joint end steel shell to be installed, performing simulated installation on the pipe joint end steel shell to be installed to obtain the installation deviation of the pipe joint to be installed.
In an embodiment, the detection point data obtaining step S1 includes:
and measuring and acquiring detection point data of each detection point, wherein the detection point data comprises the shape and the posture of the steel shell of the pipe joint end to be installed.
In a specific implementation, as shown in fig. 6, firstly, a plurality of detection points are arranged on the end surface of the steel shell at the end of the pipe joint to be installed, numbers 1 to 112 in fig. 6 are detection point numbers, after the detection points are arranged, a total station is erected at a set-up position, linear fitting software is connected with the total station, and after the total station and the linear fitting software are ensured to normally communicate, the linear fitting software is started, wherein the total station is erected at the set-up position, specifically, the total station can be freely set up at the set-up position as long as the total station is arranged at a proper position on the front surface of the steel shell and under the condition of ensuring the visibility of the control points and the detection points, and each time of erecting the total station, the total station is ensured to be not less than 3 control points of the total station and the visibility;
secondly, measuring and acquiring detection point data of each detection point, wherein the detection point data comprises the shape and the posture of the steel shell at the end of the pipe joint to be installed; in detail, after detection points are uniformly distributed on the steel shell of the pipe joint end to be installed, a programming data acquisition program is implanted into a total station, the total station automatically measures and obtains shape and posture design data of the steel shell of the pipe joint end to be installed, shape and actual posture data of the steel shell of the pipe joint end to be installed, or the total station is controlled by a remote control instruction mode to measure and obtain the shape and posture design data of the steel shell of the pipe joint end to be installed, shape and actual posture data of the steel shell of the pipe joint end to be installed;
finally, the total station transmits the measured shape and posture design data of the steel shell at the pipe joint end to be installed to linear fitting software in real time; the data communication adopts a wired or wireless radio station and is in bidirectional communication with an RS232 serial port communication protocol.
In an embodiment, the fitting result obtaining step S2 includes:
fitting the pipe joint end steel shell to be installed through a mathematical model according to the shape and the posture of the pipe joint end steel shell to be installed to obtain a pipe joint end steel shell fitting result to be installed;
fitting the pipe joint end steel shell to be installed through a least square method straight line fitting mathematical model according to the shape and the posture of the pipe joint end steel shell to be installed to obtain the manufacturing deviation and the actual posture of the pipe joint end steel shell to be installed;
and fitting the pipe joint end steel shell to be installed through a least square method plane fitting mathematical model according to the shape and the posture of the pipe joint end steel shell to be installed to obtain the actual shape of the pipe joint end steel shell to be installed.
In specific implementation, according to the shape and the posture of the steel shell at the pipe joint end to be installed, fitting the steel shell at the pipe joint end to be installed through a least square method straight line fitting mathematical model to obtain the manufacturing deviation and the posture of the steel shell at the pipe joint end to be installed; fitting the pipe joint end steel shell to be installed through a least square method plane fitting mathematical model according to the shape and the posture of the pipe joint end steel shell to be installed to obtain the actual shape of the pipe joint end steel shell to be installed; firstly, linear fitting software linearly fits four sides of a pipe joint end steel shell to be installed according to shape and posture design data of the pipe joint end steel shell to be immersed through a least square method linear fitting mathematical model to obtain manufacturing deviation and an actual posture of the pipe joint end steel shell to be installed, and performs plane fitting on the pipe joint end steel shell to be installed through a least square method plane fitting mathematical model to obtain an actual shape of the pipe joint end steel shell to be installed;
secondly, storing the manufacturing deviation, the actual posture and the actual shape data of the steel shell at the end of the pipe joint to be installed into a database;
finally, archive management and playback are carried out on the production deviation data.
The parallelism of an upper line and a lower line of the end steel shell, the parallelism of a left side line and a right side line of the end steel shell and the correctness of the geometric dimension of the end steel shell can be checked according to actual attitude data and manufacturing deviation of the end steel shell of the pipe joint to be installed, and meanwhile, the parallelism can also be used as a check for measuring quality of characteristic point data of the end steel shell; the flatness of the end steel shell can be checked according to the actual shape data of the pipe joint end steel shell to be installed, and meanwhile, the method can also be used as a check for the measurement quality of the feature point data of the end steel shell.
The linear fitting software adopts a standard WINDOWS software interface, the software running environment and corresponding tool software are suggested to be a Windows XP or Win7 system, office automation software Office 2007 and AuotoCAD 2007 are convenient for a user to operate and check through reasonable and humanized interface design, and the interface is friendly; the main interface display of the linear fitting software is divided into a menu, a toolbar, a tree-shaped software function control area, a main graphic display visual area and other reference information display areas, and can be used for importing a software control parameter file, excel table design and actual measurement data of a sinking pipe, a background graph in an AutoCAD format, a design graph and the like, and generating and exporting a control parameter file and a calculation result file; the display interface can be zoomed in, zoomed out, translated, rotated, and rotated to north, guide or point to any direction; as shown in fig. 2, the main interface of the linear fitting software can display the actual attitude of the end steel shell in different forms, for example, as shown in fig. 2, the main interface of the linear fitting software displays the actual attitude of the end steel shell in a line form, and the graph displayed on the main interface of the linear fitting software can be switched at multiple angles, so that intuitive reference is provided for constructors;
as shown in fig. 3 to 4, fitting result data of the pipe joint end steel shell to be installed can be displayed on the main interface of the linear fitting software, and actual attitude data of the pipe joint end steel shell to be installed can also be displayed, as shown in fig. 3;
the least square method straight line fitting mathematical model establishing process is as follows:
let the functional relationship between coordinates x and y on the straight line be:
Figure 513194DEST_PATH_IMAGE007
wherein a represents an intercept and b represents a slope;
for N groups of data (x) obtained by equal precision measurement i ，y i ），i＝1，2……，N，x i The values are considered accurate and all errors are linked only to y i ；
Since the least square method is used to estimate the parameters, the observed value y is required i Since the weighted sum of squares of the deviations of (a) is minimum, the value of the following equation can be minimized to the observed value y for the linear fitting of the observed value of equal accuracy i The weighted sum of squares of the deviations of (a) is the smallest effect:
Figure 277888DEST_PATH_IMAGE008
the above formula calculates the partial derivatives of a and b respectively:
Figure 108441DEST_PATH_IMAGE009
after finishing, obtaining an equation set:
Figure 367515DEST_PATH_IMAGE010
after the above equation set is solved, the optimal estimation values of the linear parameters a and b can be obtained through the following formula:
Figure 967123DEST_PATH_IMAGE011
the least square method plane fitting mathematical model establishment process is as follows:
the general expression of the plane equation of the least squares plane fit mathematical model is:
Figure 902718DEST_PATH_IMAGE012
recording:
Figure 486147DEST_PATH_IMAGE013
then:
Figure 470283DEST_PATH_IMAGE014
a plane equation is fitted, for a series of n points, where,
Figure 252294DEST_PATH_IMAGE015
：
Figure 296474DEST_PATH_IMAGE016
the S expression is:
Figure 163935DEST_PATH_IMAGE017
application point
Figure 951763DEST_PATH_IMAGE018
Fitting the above plane equation to calculate the minimum S is required, and to minimize S, it should satisfy:
Figure 339013DEST_PATH_IMAGE019
namely:
Figure 554094DEST_PATH_IMAGE020
therefore, the method has the advantages that,
Figure 846535DEST_PATH_IMAGE021
or the like, or a combination thereof,
Figure 500370DEST_PATH_IMAGE022
solving the linear equation set to obtain:
Figure 929077DEST_PATH_IMAGE023
the result of the fitting calculation of the plane equation of the least squares plane-fitting mathematical model, i.e.
Figure 377376DEST_PATH_IMAGE024
。
In the embodiment, the mounting deviation amount obtaining step S3 includes:
and according to the shape and the posture of the butt joint end of the installed pipe joint end steel shell and the fitting result of the pipe joint end steel shell to be installed, performing simulated installation on the pipe joint end steel shell to be installed to obtain the installation deviation of the pipe joint to be installed.
In specific implementation, according to the shape and posture of the butt joint end of the installed pipe joint end steel shell and the fitting result of the pipe joint end steel shell to be installed, the pipe joint end steel shell to be installed is subjected to simulated installation, and the installation deviation amount of the pipe joint to be installed is obtained through calculation, wherein as shown in fig. 5, the installation deviation amount data of the pipe joint to be installed is displayed on a linear fitting software interface; firstly, according to the fitting result of the shape and the posture of the butt joint end of the installed pipe joint end steel shell and the pipe joint end steel shell to be installed, simulating and installing the pipe joint end steel shell to be installed through linear fitting software; secondly, after determining the central line of the pipe joint to be installed according to the actual shape of the steel shell of the pipe joint end to be installed, determining the central line of the installed pipe joint according to the shape of the butt joint end of the steel shell of the installed pipe joint end, and presetting pull-in deviation according to the central line of the pipe joint to be installed and the central line of the installed pipe joint; wherein the pulling deviation comprises central point position deviation (dX, dY, dZ) and non-parallelism deviation (sigma X, sigma Y, sigma Z) of the pulling surface; the detailed operation steps for determining the central line of the pipe joint comprise that the central point of the steel shell at the end of the pipe joint is taken as the center of the steel shell at the end of the pipe joint according to the shape of the steel shell at the end of the pipe joint, and the connecting line of the central points of the steel shells at the head end and the tail end of the pipe joint is the central line of the pipe joint according to definition;
finally, the non-parallelism deviation (σ X, σ Y, σ Z) of the pulling-in plane is generally 0, but due to differences in sea conditions, bedding and pulling-in methods, a non-0 condition may occur; calculating the central point coordinate and the axial direction of the head end steel shell of the pipe joint to be installed after the simulated installation when the non-parallelism deviation (sigma X, sigma Y, sigma Z) of the pulling-closing surface is 0 according to the following formula:
Figure 157113DEST_PATH_IMAGE025
Figure 349060DEST_PATH_IMAGE026
Figure 632274DEST_PATH_IMAGE027
wherein, (Rx 0, ry0, rz 0) is the axial direction of the head end steel shell of the installed pipe joint, wherein the axial direction of the head end steel shell of the installed pipe joint is determined by the attitude of the head end steel shell of the installed pipe joint, and the attitude of the head end steel shell of the installed pipe joint is obtained by measuring with a total station; (Rx 1, ry1, rz 1) is axial inclination data which is axial inclination data of the steel shell axial direction of the head end of the pipe joint to be installed after simulated installation when the non-parallelism deviation (sigma X, sigma Y, sigma Z) of the pulling-in and closing surface is 0; (X0, Y0, Z0) is the coordinate of the central point of the steel shell at the head end of the installed pipe joint; (X1, Y1, Z1) is the coordinates of the center point of the steel shell at the head end of the pipe joint to be installed after simulated installation when the non-parallelism deviation (sigma X, sigma Y, sigma Z) of the pulling-in plane is 0, namely the data of the center point of the steel shell at the head end of the pipe joint to be installed; (dX, dY, dZ) is the central point position deviation, and (sigma X, sigma Y, sigma Z) is the drawing surface non-parallelism deviation;
and calculating to obtain the axial direction of the head end steel shell of the pipe joint to be installed after the simulated installation when the non-parallelism deviation (sigma X, sigma Y, sigma Z) of the pulling-closing surface is not 0 according to the following formula:
Figure 264856DEST_PATH_IMAGE028
in the formula, (Rx 2, ry2 and Rz 2) are the axial direction of the steel shell at the head end of the pipe joint to be installed after the simulated installation when the non-parallelism deviation (sigma X, sigma Y and sigma Z) of the pulling-in and closing surface is not 0;
calculating the central point coordinates of the head end steel shell of the pipe joint to be installed after the simulated installation when the non-parallelism deviation (sigma X, sigma Y, sigma Z) of the pulling-closing surface is not 0 according to the following formula:
Figure 266310DEST_PATH_IMAGE029
in the formula, (X2, Y2, Z2) is the coordinate of the center point of the steel shell at the head end of the pipe joint to be installed after the simulated installation when the non-parallelism deviation (sigma X, sigma Y, sigma Z) of the pulling-in and closing surface is not 0; l is the length of the pipe section;
after the design coordinates of the central point of the head end steel shell of the pipe joint to be installed, namely (Xt, yt, zt), are preset, the installation deviation of the pipe joint to be installed after the simulation installation is calculated according to the following formula:
Figure 261948DEST_PATH_IMAGE030
in the formula, (Xt, yt, zt) is a design coordinate of the center point of the steel shell at the head end of the pipe joint to be installed; (Dxt, dyt and Dzt) are installation deviation amounts of pipe joints to be installed after simulation installation.
Example two
Referring to fig. 7, fig. 7 is a schematic structural diagram of an end steel shell linearity evaluation system of the present invention. As shown in fig. 7, the end steel shell linearity evaluation system of the present invention is suitable for the end steel shell linearity evaluation method, and includes:
detection point data obtaining unit 51: measuring by a total station to obtain detection point data of a steel shell at the end of the pipe joint to be installed;
the fitting result obtaining unit 52: fitting the pipe joint end steel shell to be installed through a mathematical model according to the detection point data to obtain a pipe joint end steel shell fitting result to be installed;
mounting deviation amount obtaining unit 53: and according to the shape and the posture of the butt joint end of the installed pipe joint end steel shell and the fitting result of the pipe joint end steel shell to be installed, performing simulated installation on the pipe joint end steel shell to be installed to obtain the installation deviation of the pipe joint to be installed.
In the embodiment, the detected point data obtaining unit 51 includes:
and arranging a plurality of detection points on the end surface of the steel shell at the end of the pipe joint to be installed.
In the embodiment, the detected point data obtaining unit 51 further includes:
and measuring and acquiring detection point data of each detection point through a total station, wherein the detection point data comprises the shape and the posture of the steel shell at the end of the pipe joint to be installed.
In conclusion, the end steel shell linear evaluation method and system provided by the invention solve the problem that the fusion and conversion of a plurality of pipe joint data in pipe joint linear fitting are difficult, realize the standardized management of data, promote the data sharing and data transmission at different stages, and ensure the integrity, consistency and normalization of data. Meanwhile, the total station setting efficiency is effectively improved, the possibility of human errors is reduced and a complete solution is provided for high-precision and high-efficiency acquisition of end steel shell data by a software mode from the strict requirement of data acquisition; according to the invention, a rigorous mathematical model is adopted and a software system for calculating the flatness and the space attitude of the end steel shell is compiled at the same time, so that the result can be used for evaluating the construction quality of the end steel shell, and simultaneously, the linearity of immersed tube installation construction can be estimated, and an accurate digital basis is provided for correcting the prefabrication of immersed tube sections; in the aspect of software design, the invention adopts the technologies such as a database and the like to achieve better integrity, consistency and traceability of data in the whole project, so that the invention has higher technical advancement.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the protection scope of the appended claims.

Claims (10)

1. An end steel shell linearity assessment method, characterized in that the end steel shell linearity assessment comprises:
detection point data obtaining step: measuring to obtain detection point data of the steel shell at the end of the pipe joint to be installed;
obtaining a fitting result: fitting the pipe joint end steel shell to be installed through a mathematical model according to the detection point data to obtain a pipe joint end steel shell fitting result to be installed;
an installation deviation amount obtaining step: and simulating and installing the pipe joint end steel shell to be installed according to the shape and the posture of the butt joint end of the installed pipe joint end steel shell and the fitting result of the pipe joint end steel shell to be installed, so as to obtain the installation deviation of the pipe joint to be installed.
2. The end-hat linearity assessment method according to claim 1, wherein said detection point data obtaining step comprises:
and measuring and obtaining the detection point data of each detection point, wherein the detection point data comprises the shape and the posture of the steel shell at the joint end of the pipe to be installed.
3. The end-hat linearity assessment method according to claim 2, wherein said fitting result obtaining step comprises:
fitting the pipe joint end steel shell to be installed through a mathematical model according to the shape and the posture of the pipe joint end steel shell to be installed, and obtaining a fitting result of the pipe joint end steel shell to be installed.
4. The end-hat linearity assessment method according to claim 3, wherein said fitting result obtaining step comprises:
and fitting the pipe joint end steel shell to be installed through a least square method linear fitting mathematical model according to the shape of the pipe joint end steel shell to be installed and the gesture to obtain the manufacturing deviation and the actual gesture of the pipe joint end steel shell to be installed.
5. The end-hat linearity assessment method according to claim 3, wherein said fitting result obtaining step further comprises:
fitting the pipe joint end steel shell to be installed through a least square method plane fitting mathematical model according to the shape and the posture of the pipe joint end steel shell to be installed, and obtaining the actual shape of the pipe joint end steel shell to be installed.
6. The end steel shell linearity assessment method according to claim 5, wherein said installation deviation amount obtaining step comprises:
obtaining the axial direction of the steel shell at the head end of the pipe joint to be installed through the following calculation:
Figure 655839DEST_PATH_IMAGE001
Figure 579933DEST_PATH_IMAGE002
Figure 276494DEST_PATH_IMAGE003
Figure 577025DEST_PATH_IMAGE004
wherein, (Rx 0, ry0, rz 0) is the axial direction of the steel shell at the head end of the installed pipe joint; (Rx 1, ry1, rz 1) is the axial direction of the steel shell at the head end of the pipe joint to be installed after the simulated installation when the non-parallelism deviation (sigma X, sigma Y, sigma Z) of the pulling-in plane is 0; (Rx 2, ry2 and Rz 2) are the axial direction of the steel shell at the head end of the pipe joint to be installed after the simulated installation when the non-parallelism deviation (sigma X, sigma Y and sigma Z) of the pulling-in plane is not 0; (X0, Y0, Z0) is the coordinate of the central point of the head end steel shell of the installed pipe joint; (X1, Y1, Z1) is the coordinate of the center point of the steel shell at the head end of the pipe joint to be installed after the simulated installation when the non-parallelism deviation (sigma X, sigma Y, sigma Z) of the pulling-in plane is 0; (dX, dY, dZ) is the center point position deviation, and (σ X, σ Y, σ Z) is the drawing surface non-parallelism deviation.
7. The end steel shell linearity assessment method according to claim 6, wherein said installation deviation amount obtaining step further comprises:
calculating the installation deviation amount of the pipe joint to be installed by the following formula:
Figure 426163DEST_PATH_IMAGE005
Figure 521158DEST_PATH_IMAGE006
wherein, (X2, Y2, Z2) is coordinates of the center point of the steel shell at the head end of the pipe joint to be installed after the simulated installation when the non-parallelism deviation (sigma X, sigma Y, sigma Z) of the pulling-in plane is not 0; l is the length of the pipe section; (Xt, yt, zt) is a design coordinate of the central point of the front end of the steel shell at the end of the pipe joint to be installed; (Dxt, dyt and Dzt) are installation deviation amounts of pipe joints to be installed after simulation installation.
8. An end-hat linearity assessment system, comprising:
detection point data obtaining unit: measuring by a total station to obtain detection point data of a steel shell at the end of the pipe joint to be installed;
a fitting result obtaining unit: fitting the pipe joint end steel shell to be installed through a mathematical model according to the detection point data to obtain a pipe joint end steel shell fitting result to be installed;
mounting deviation amount obtaining means: and simulating and installing the pipe joint end steel shell to be installed according to the shape and the posture of the butt joint end of the installed pipe joint end steel shell and the fitting result of the pipe joint end steel shell to be installed, and obtaining the installation deviation of the pipe joint to be installed.
9. The end-hat linearity assessment system according to claim 8, wherein said detection point data obtaining unit comprises:
and arranging a plurality of detection points on the end surface of the steel shell at the end of the pipe joint to be installed.
10. The end-hat linearity assessment system according to claim 9, wherein said detection point data obtaining unit further comprises:
and measuring and acquiring the detection point data of each detection point through the total station, wherein the detection point data comprises the shape and the posture of the steel shell at the pipe joint end to be installed.
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