CN115855029A - Pipe section sinking coarse positioning system and method based on sling of immersed pipe transporting integrated ship - Google Patents
Pipe section sinking coarse positioning system and method based on sling of immersed pipe transporting integrated ship Download PDFInfo
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Abstract
The invention belongs to the technical field of immersed tube measurement and control, and relates to a pipe section sinking coarse positioning system and method based on a sling of an immersed tube transport and installation integrated ship. The system comprises four sets of positioning components arranged at four pulley wells of an integrated ship, wherein each set of positioning component comprises a marking line, a binocular shooting positioning instrument, a measuring rod and a depth finder transducer; the marking line has light reflectivity, is laid on a sling fixedly connected with the integrated ship in the pulley block and extends along the length direction of the sling; the binocular shooting and positioning instrument is arranged on the side wall of the pulley well and faces the marking line so as to measure the direction angle of the pulley well; the measuring rod is vertically arranged at the pulley well, and the bottom end of the measuring rod protrudes out of the bottom of the integrated ship and is submerged below the water surface; the depth finder transducer is arranged at the bottom end of the measuring rod to measure the distance between the depth finder transducer and the top surface of the pipe joint to be installed. The invention achieves the purpose of reliably and coarsely positioning the sinking of the pipe joint to be installed without arranging a measuring tower on the top surface of the pipe joint to be installed through the arrangement of four sets of positioning components on the integrated ship.
Description
Technical Field
The invention belongs to the technical field of immersed tube measurement and control, and particularly relates to a pipe joint sinking coarse positioning system and method based on a sling of an immersed tube transport and installation integrated ship.
Background
The immersed tube tunnel is a structural form which is frequently adopted by river-crossing and sea-crossing tunnels at home and abroad at present. After the immersed tube pipe joint is prefabricated, the pipe joint to be installed needs to be transported to an installation site by a split ship or an immersed tube transporting and installing integrated ship (referred to as an integrated ship) with the latest technology for sinking and installing. As disclosed in chinese patents CN112000069A, CN115184979B, and CN204188163U, in the prior art, a measurement tower is usually arranged on the top surface of a pipe joint to be installed, and a positioning device such as a GPS, GNSS, or prism is installed at the top end of the measurement tower; in the whole process of sinking and installing the pipe joint to be installed, the top end of the measuring tower is always exposed out of the water surface, so that the position of the pipe joint to be installed in the sinking and installing process is positioned until the pipe joint to be installed and the installed pipe joint are guided to complete butt joint installation.
As can be understood by those skilled in the art, the pipe joint to be installed is usually transported in a floating manner to about 20m from the axial direction of the butt joint end of the installed pipe joint, and when the transverse positions are basically aligned, the pipe joint to be installed starts to be sunk, and the pipe joint to be installed is roughly positioned in the sinking process; when the pipe joint to be installed is sunk to be close to the installed pipe joint, usually 2m away from the foundation bed and 2m away from the butt joint end of the installed pipe joint, the coarse positioning task is completed, and then the pipe joint to be installed is precisely positioned until the pipe joint to be installed and the installed pipe joint are in butt joint installation.
Different from a split ship, an RTK GNSS positioning device and an inclinometer attitude measuring device are usually installed on an integrated ship in the latest technology, and the integrated ship can be precisely positioned, oriented and oriented, so that the integrated ship can provide a stable water platform with high-precision positioning in the whole installation construction of a immersed tube pipe joint. In view of the above, the present invention provides a new pipe joint sinking rough positioning method applied to an integrated ship, so as to achieve the purpose of reliably and roughly positioning the pipe joint to be installed while sinking without arranging a measuring tower on the top surface of the pipe joint to be installed.
Disclosure of Invention
Aiming at the defects in the related art, the invention provides a pipe joint sinking coarse positioning system and method based on a sling of a pipe sinking transporting and installing integrated ship, so as to achieve the purpose of reliably and coarsely positioning the sinking of the pipe joint to be installed without arranging a measuring tower on the top surface of the pipe joint to be installed.
The invention relates to a pipe joint sinking coarse positioning system based on a sling of a immersed tube transporting integrated ship, which comprises four sets of positioning components, wherein the four sets of positioning components are respectively arranged at four pulley wells on the integrated ship, and four sets of pulley blocks in the four pulley wells are respectively connected with four lifting points at the top of a pipe joint to be arranged so as to sink the pipe joint to be arranged by retracting the sling; each set of positioning assemblies further comprises:
the marking line is laid on a sling which is fixedly connected with the integrated ship in the pulley block and extends along the length direction of the sling; the marking line has light reflection;
a binocular camera locator arranged on the side wall of the pulley well and facing the marking line to align the direction angle of the marking line
Carrying out determination;
the measuring rod is vertically arranged at the pulley well, the top end of the measuring rod is positioned near the binocular camera positioning instrument, and the bottom end of the measuring rod protrudes out of the bottom of the integral ship and is submerged below the water surface;
a depth finder transducer mounted at the bottom end of the measuring rod for measuring the vertical distance between the depth finder transducer and the top surface of the pipe joint to be installed
。
In some embodiments, a data acquisition module is arranged in a measurement and control system on the integrated ship; each binocular shooting positioning instrument is in communication connection with the data acquisition module so as to enable each marking line direction angle
The measured result is transmitted to a measurement and control system in real time; each depth finder transducer is in communication connection with the data acquisition module so as to enable the vertical distance between each depth finder transducer and the top surface of the pipe joint to be installed to be greater or smaller than the preset value>
And transmitting the measurement result to the measurement and control system in real time.
In some embodiments, the measurement and control system on the integral ship is internally provided with a calculation module according to the direction angle of each marking line
And each depth finder is replacedVertical distance between the energy device and the top surface of the pipe section to be installed->
And calculating the three-dimensional coordinates of four hoisting points at the top of the pipe joint to be installed in real time.
In some of these embodiments, the length of the marking line is 1m.
In some embodiments, the marking line is formed by coating reflective paint on the sling or by attaching reflective stickers to the sling.
The invention also provides a pipe joint sinking coarse positioning method which is carried out by adopting the pipe joint sinking coarse positioning system based on the sling of the immersed pipe transport integrated ship and comprises the following steps:
calibrating the relative position of each sling fixing connection point on the integrated ship, and calibrating the height difference between the top end of each measuring rod and the sling fixing connection point in the vertical direction
Calibrating the length of each measuring bar>
Recording the calibration results into a calculation module;
a synchronous measurement step, in the process of sinking the pipe joint to be installed, the direction angle of each marking line is measured in real time by each binocular shooting position finder
And transmitting the result to a measurement and control system in real time, and simultaneously measuring the vertical distance between the depth finder transducer and the top surface of the pipe joint to be installed in real time by each depth finder transducer>
Transmitting the result to a measurement and control system in real time, and simultaneously obtaining the real-time coordinate of the integrated ship through RTK GNSS positioning equipment on the integrated ship;
and a real-time calculating step, namely calculating the three-dimensional coordinates of the four hoisting points at the top of the pipe joint to be installed in real time according to each calibration result of the calibration step and each real-time measurement result of the synchronous measurement step.
In some embodiments, the real-time calculating step specifically includes:
according to the calibration result of the relative position of each sling fixed connection point, the real-time coordinate of each sling fixed connection point is calculated in real time in combination with the real-time coordinate of a whole ship;
according to the vertical distance between each depth finder transducer and the top surface of the pipe joint to be installed
The real-time measurement result is obtained by respectively solving the height difference between each sling fixed connection point and the corresponding hanging point at the top of the pipe joint to be installed in real time through the formula (1) and the formula (2)>
And axial difference->
；
According to the real-time coordinates of each sling fixed connection point, combining the height difference between each sling fixed connection point and the corresponding hanging point at the top of the pipe joint to be installed
And an axial difference->
And calculating the three-dimensional coordinates of four hoisting points at the top of the pipe joint to be installed in real time. />
In some of these embodiments, in the step of simultaneously measuring, the inclination value of a ship is also measured in real time by an inclinometer on the ship to determine the direction angle of each marking line
And the vertical distance between each depth finder transducer and the top surface of the pipe section to be installed is->
The real-time measurement results are corrected.
In some embodiments, the calibrating step further includes calibrating the relative position relationship between the four hoisting points at the top of the pipe joint to be installed and the butt joint end of the pipe joint to be installed, so as to obtain the real-time position of the butt joint end of the pipe joint to be installed when the pipe joint to be installed is sunk by combining the real-time three-dimensional coordinates of the four hoisting points.
Based on the technical scheme, the pipe joint sinking coarse positioning system and method based on the sling of the immersed tube transporting integrated ship in the embodiment of the invention achieve the purpose of reliably and coarsely positioning the sinking of the pipe joint to be installed without arranging a measuring tower on the top surface of the pipe joint to be installed through the arrangement and application of four sets of positioning components at four pulley wells on the integrated ship, and can improve the coarse positioning precision of the pipe joint during sinking by utilizing the high-precision positioning advantage of the integrated ship, thereby ensuring the safety and reliability of immersed tube tunnel construction.
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 top plan view of an integrated vessel in a submerged position for installation of pipe joints;
FIG. 2 is a side view of a pipe section sinking rough positioning system based on a sling for a immersed tube transport integrated ship of the present invention installed on the integrated ship;
fig. 3 is a schematic diagram of a pipe section sinking rough positioning system based on a sling of a immersed tube transporting and installing integrated ship.
In the figure:
1. a positioning assembly; 11. a binocular camera locator; 12. marking a line; 13. a measuring rod; 14. a depth finder transducer; 2. a sling; 3. a fixed pulley block; 4. a movable pulley block; 5. and (4) winding the drum.
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 some 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 "lateral," "longitudinal," "upper," "lower," "top," "bottom," "inner," "outer," "front," "rear," "vertical," "horizontal," and the like are used in an orientation or positional relationship indicated based on the orientation or positional relationship shown in fig. 2, which is merely for convenience in describing and simplifying the description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the invention.
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. 1-3, the invention provides a pipe joint sinking rough positioning system based on a sling for transporting and installing a whole ship through a sinking pipe, which comprises four sets of positioning components 1, wherein the four sets of positioning components 1 are respectively arranged at four pulley wells on the whole ship. As can be understood by those skilled in the art, a set of pulley block is respectively installed in four pulley wells of the integrated ship, each set of pulley block comprises a fixed pulley block 3, a movable pulley block 4 and a sling 2, the fixed pulley block 3 is fixedly installed on the integrated ship, the movable pulley block 4 is connected with a lifting point D at the top of a pipe joint to be installed, one end of the sling 2 is fixedly connected to the integrated ship, and the other end of the sling 2 sequentially bypasses the movable pulley block 4 and the fixed pulley block 3 and then is wound on a winding drum 5 of a lifting winch; slings 2 in the four sets of pulley blocks are respectively connected with four lifting winches in a one-to-one correspondence manner, and movable pulley blocks 4 in the four sets of pulley blocks are respectively connected with four lifting points D at the top of the pipe joint to be installed in a one-to-one correspondence manner; a measurement and control system on the integrated ship is located in a control room, and the measurement and control system drives four movable pulley blocks 4 to move up and down by controlling slings 2 on winding and unwinding drums 5 of four lifting winches, so that the sinking of pipe joints to be installed is controlled.
Each set of positioning assemblies 1 further comprises a marking line 12, a binocular camera positioner 11, a measuring bar 13 and a depth finder transducer 14. The marking line 12 has a light reflection property and is laid on the sling 2 fixedly connected with the integrated ship in the pulley block, namely the marking line 12 is positioned on a sling section between a fixed connection point T of the sling 2 and the movable pulley block 4, and the marking line 12 extends along the length direction of the sling 2. The binocular camera locator 11 is installed on the sidewall of the pulley shaft and faces the marking line 12 to align the direction angle of the marking line 12
Carrying out measurement; it can be understood that a sling 2 fixed connection point T, a fixed point S of a fixed pulley block 3 and a hanging point D in each set of pulley block are coplanar, the sling 2 between two points TD and the sling 2 between two points SD are in a V-shaped state, a binocular shooting positioner 11 is positioned beside the V shape and faces a marking line 12, the measurement of a direction angle beta of the marking line 12 is realized by adopting a binocular positioning principle, and the direction of the marking line 12 is the direction of the sling 2 between the two points TD. The principle of using the binocular camera positioning apparatus 11 to measure the direction angle is understood by those skilled in the art, and will not be described herein. The measuring rod 13 is vertically arranged at the pulley well, the point A at the top end of the measuring rod 13 is positioned near the binocular shooting positioning instrument 11, the point B at the bottom end of the measuring rod 13 protrudes out of the bottom of the integrated ship, and the point B at the bottom end of the measuring rod 13 is not below the water surface when the integrated ship sinks to be provided with a pipe joint. The depth finder transducer 14 is arranged at the bottom end of the measuring rod 13 and can be used for measuring the vertical distance between the depth finder transducer 14 and the top surface of the pipe joint to be installed when the pipe joint to be installed is sunk>
I.e. the difference in height between the two points BC; because the lifting point D is positioned on the top surface of the pipe joint to be installed, thus->
Namely the height difference between the bottom end B point of the measuring rod and the lifting point D.
According to the illustrative embodiment, the four lifting points D at the top of the pipe joint to be installed can be positioned by arranging the four sets of positioning assemblies 1 at the four pulley wells on the integrated ship, so that the purpose of reliably and coarsely positioning the sinking of the pipe joint to be installed can be achieved without arranging a measuring tower on the top surface of the pipe joint to be installed.
In some embodiments, the measurement and control system on the integral ship is internally provided with a data acquisition module. Each binocular shooting positioner 11 is in communication connection with the data acquisition module so as to make each marking line have a 12-direction angle
The measured result is transmitted to a measurement and control system in real time. Each depth finder transducer 14 is in communication connection with the data acquisition module so as to pick up the vertical distance between each depth finder transducer 14 and the top surface of the pipe section to be installed>
And transmitting the measurement result to the measurement and control system in real time.
In some embodiments, the measurement and control system on the integrated ship is internally provided with a computing module; the calculation module can calculate the 12 direction angle according to each marking line
And the vertical distance between each depth finder transducer 14 and the top surface of the pipe section to be installed->
And calculating the three-dimensional coordinates of four lifting points D at the top of the pipe joint to be installed in real time.
In some embodiments, the length of the marking line 12 is 1m. In some embodiments, the mark line 12 is formed by coating reflective paint on the sling 2 or by attaching reflective sticker on the sling 2, so that the binocular camera locator 11 can accurately identify the mark line 12, and thus more accurately determine the azimuth angle of the mark line 12
。
With reference to fig. 1 to 3, the present invention further provides a pipe joint sinking coarse positioning method, which is performed by using the pipe joint sinking coarse positioning system based on the sling for transporting and installing a sunken pipe to an integrated ship, and comprises the following steps:
a calibration step, namely calibrating the relative position of each sling 2 fixed connection point T on the integrated ship, and calibrating the height difference of the top end A point of each measuring rod 13 and the sling 2 fixed connection point T in the vertical direction
Calibrating the length of each measuring lever 13>
Recording the calibration results into a calculation module;
a synchronous measurement step, in the process of sinking the pipe joint to be installed, the direction angle of each marking line 12 is measured in real time through each binocular shooting position finder 11
And the result is transmitted to a measurement and control system in real time, and the vertical distance between the depth finder transducer 14 and the top surface of the pipe joint to be installed is measured in real time by each depth finder transducer 14>
Transmitting the result to a measurement and control system in real time, and simultaneously obtaining the real-time coordinate of the integrated ship through RTK GNSS positioning equipment on the integrated ship; it will be understood that, during the lowering of the pipe section to be installed, a change in the lowering height of the pipe section to be installed will cause the angle of orientation of the marking line 12 to be greater or smaller than>
And the vertical distance ^ between the depth finder transducer 14 and the top surface of the pipe section to be installed>
When the integral ship drives the pipe joints to be installed to be close to the installed pipe joints in the axial direction, the real-time coordinates of the integral ship are changed;
and a real-time calculating step, namely calculating the three-dimensional coordinates of the four lifting points D at the top of the pipe joint to be installed in real time according to each calibration result of the calibration step and each real-time measurement result of the synchronous measurement step, so as to obtain the real-time three-dimensional coordinates of the four lifting points D in the sinking process of the pipe joint to be installed.
According to the illustrative embodiment, the purpose of reliably and coarsely positioning the sinking of the pipe joint to be installed without arranging a measuring tower on the top surface of the pipe joint to be installed is achieved through the application of the pipe joint sinking coarse positioning system on the integrated ship, and the safety and the reliability of the sinking pipe tunnel construction are ensured.
In some embodiments, the real-time solving step specifically includes:
according to the calibration result of the relative position of the fixed connection point T of each sling 2, the real-time coordinate of the fixed connection point T of each sling 2 is calculated in real time in combination with the real-time coordinate of a whole ship, so that the high-precision positioning advantage of the whole ship is utilized, and the real-time precise positioning can be carried out on the fixed connection point T of each sling 2;
according to the vertical distance between each depth finder transducer 14 and the top surface of the pipe joint to be installed
The real-time measurement result is obtained by respectively calculating the height difference between the fixed connection point T of each sling 2 and the lifting point D at the top of the corresponding pipe joint to be installed in real time according to the formula (1) and the formula (2)>
And axial difference->
；
According to the real-time coordinates of the fixed connecting point T of each sling 2, combining the fixed connecting point T of each sling 2 and the lifting point D at the top of the corresponding pipe joint to be installedHeight difference
And an axial difference->
And resolving the three-dimensional coordinates of the four lifting points D at the top of the pipe joint to be installed in real time, so that the four lifting points D are accurately positioned in real time, and the rough positioning precision of the pipe joint during sinking is improved.
In some embodiments, in the synchronous measurement step, the inclination value of a ship is also measured in real time by an inclinometer on the ship to identify the azimuth angle of each marker line 12
And the vertical distance between each depth finder transducer 14 and the top surface of the pipe section to be installed->
The real-time measurement results are corrected.
In some embodiments, the calibration step further includes calibrating a relative position relationship between the four hanging points D at the top of the pipe joint to be installed and the butt end of the pipe joint to be installed, so as to obtain a real-time position of the butt end of the pipe joint to be installed when the pipe joint to be installed is sunk, thereby more intuitively judging a mutual relationship between the butt end of the pipe joint to be installed and the butt end of the installed pipe joint, and further guiding the pipe joint to be installed to better complete a coarse positioning task.
In conclusion, the pipe joint sinking coarse positioning system and method based on the sling of the immersed pipe transporting integrated ship achieve the purpose of reliably and coarsely positioning the sinking of the pipe joint to be installed without arranging a measuring tower on the top surface of the pipe joint to be installed through the arrangement and application of four sets of positioning assemblies 1 at four pulley wells on the integrated ship, and can improve the coarse positioning precision of the pipe joint during sinking by utilizing the high-precision positioning advantage of the integrated ship and ensure the safety and reliability of the immersed pipe tunnel construction.
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 the preferred embodiments, those skilled in the art should 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 invention, it is intended to cover all modifications within the scope of the invention as claimed.
Claims (9)
1. The pipe joint sinking coarse positioning system based on the sling of the immersed pipe transporting integrated ship is characterized by comprising four sets of positioning components, wherein the four sets of positioning components are respectively arranged at four pulley wells on the integrated ship, and four sets of pulley blocks in the four pulley wells are respectively connected with four hoisting points at the top of a pipe joint to be sunk through retracting the sling; each set of the positioning assembly further comprises:
the marking line is laid on a sling which is fixedly connected with the integrated ship in the pulley block and extends along the length direction of the sling; the marking line has light reflectivity;
a binocular camera locator installed on the sidewall of the pulley well and facing the mark line to align the direction angle of the mark line
Carrying out measurement;
the measuring rod is vertically arranged at the pulley well, the top end of the measuring rod is positioned near the binocular camera positioning instrument, and the bottom end of the measuring rod protrudes out of the bottom of the integrated ship and is submerged below the water surface;
a depth finder transducer mounted at the bottom end of the measuring rod for measuring the vertical distance between the depth finder transducer and the top surface of the pipe joint to be installed
。
2.The immersed tube transportation and safety integrated ship sling-based tube section sinking coarse positioning system as claimed in claim 1, wherein a data acquisition module is arranged in a measurement and control system on the integrated ship; each binocular shooting positioner is in communication connection with a data acquisition module so as to mark each line direction angle
The measured result is transmitted to a measurement and control system in real time; each depth finder transducer is in communication connection with the data acquisition module so as to enable each depth finder transducer to be vertically distant from the top surface of the pipe joint to be installed>
The measurement result is transmitted to the measurement and control system in real time.
3. The system for sinking and coarsely positioning pipe joints based on slings of immersed tube transport and safety integrated ship as claimed in claim 2, wherein a measurement and control system on the integrated ship is internally provided with a calculation module according to the direction angle of each marking line
And the vertical distance between each depth finder transducer and the top surface of the pipe joint to be installed is->
And calculating the three-dimensional coordinates of the four hoisting points at the top of the pipe joint to be installed in real time.
4. The system for rough pipe section sinking location based on the sling for immersed tube transport and installation of an integral ship according to any one of claims 1-3, wherein the length of the marking line is 1m.
5. The system for coarsely positioning sinking pipe joints of the integrated ship sling-based on immersed tube transportation as claimed in claim 4, wherein the marking line is formed by coating a reflective paint on the sling or attaching a reflective sticker on the sling.
6. The pipe section sinking rough positioning method is characterized by being carried out by adopting the pipe section sinking rough positioning system based on the sling of the immersed pipe transport and installation integrated ship according to claim 3, and comprising the following steps of:
calibrating the relative position of each sling fixing connection point on the integrated ship, and calibrating the height difference between the top end of each measuring rod and the sling fixing connection point in the vertical direction
Calibrating the length of each of said measuring bars>
Inputting the calibration results into the computing module;
a synchronous measurement step, namely measuring the direction angle of each marking line in real time through each binocular shooting position indicator in the process of sinking the pipe joint to be installed
And transmitting the result to a measurement and control system in real time; simultaneously, the vertical distance between each depth finder transducer and the top surface of the pipe joint to be installed is measured in real time by each depth finder transducer>
And transmitting the result to a measurement and control system in real time; simultaneously, real-time coordinates of the integrative ship are obtained through RTK GNSS positioning equipment on the integrative ship;
and a real-time calculating step, namely calculating the three-dimensional coordinates of the four hoisting points at the top of the pipe joint to be installed in real time according to each calibration result of the calibration step and each real-time measurement result of the synchronous measurement step.
7. The pipe joint sinking coarse positioning method according to claim 6, wherein the real-time calculating step specifically comprises:
according to the calibration result of the relative position of each sling fixing connection point, the real-time coordinate of each sling fixing connection point is calculated in real time by combining the real-time coordinate of the integrated ship;
according to the vertical distance between each depth finder transducer and the top surface of the pipe joint to be installed
The real-time measurement result of (2) is calculated in real time according to the formulas (1) and (2) respectively to calculate the height difference between each sling fixing connection point and the corresponding hanging point at the top of the pipe joint to be installed>
And axial difference->
；
According to the real-time coordinates of each sling fixed connection point, combining the height difference between each sling fixed connection point and the corresponding lifting point at the top of the pipe joint to be installed
And an axial difference->
And calculating the three-dimensional coordinates of the four hoisting points at the top of the pipe joint to be installed in real time.
8. The pipe section sinking coarse positioning method according to claim 6 or 7, wherein in the synchronous measuring step, the inclination value of a ship is also measured in real time by an inclinometer on the ship to obtain the direction angle of each mark line
And the vertical distance between each depth finder transducer and the top surface of the pipe joint to be installed is->
The real-time measurement results are corrected.
9. The pipe joint sinking coarse positioning method according to claim 8, wherein the calibrating step further comprises calibrating the relative position relationship between four hanging points at the top of the pipe joint to be installed and the butt end of the pipe joint to be installed, so as to obtain the real-time position of the butt end of the pipe joint to be installed when the pipe joint to be installed is sunk by combining the real-time three-dimensional coordinates of the four hanging points.
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