CN117629119B - Three-dimensional transverse measuring rope positioning device and method for deep-water submerged pipe sections - Google Patents
Three-dimensional transverse measuring rope positioning device and method for deep-water submerged pipe sections Download PDFInfo
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
本发明公开了一种大水深沉管管节用三维横向测绳定位装置及方法，属于沉管安装测控技术领域。该装置包括箱体、转轴系统、连接件、绕线器、测绳、固定件和测量系统。箱体具有腔室，箱体上设有与腔室连通的开孔。转轴系统、绕线器和测量系统设于腔室内。转轴系统包括第一旋转件和第二旋转件，连接件的一端与第二旋转件连接，另一端经箱体上的开孔伸出箱体。测绳缠绕于绕线器上，测绳一端穿过连接件至箱体外部。固定件连接测绳端部以将测绳端部固定在测量点处。测量系统用以测量测绳的拉伸长度、测量连接件的横向偏转角和纵向偏转角。本发明提供的大水深沉管管节用三维横向测绳定位装置及方法可以保证测量的高精度，使深水区域沉管精准沉放对接。
The present invention discloses a three-dimensional transverse measuring rope positioning device and method for a deep-water submerged pipe section, and belongs to the field of submerged pipe installation measurement and control technology. The device includes a box, a rotating shaft system, a connecting piece, a winding device, a measuring rope, a fixing piece and a measuring system. The box has a chamber, and an opening connected to the chamber is provided on the box. The rotating shaft system, the winding device and the measuring system are arranged in the chamber. The rotating shaft system includes a first rotating member and a second rotating member, one end of the connecting member is connected to the second rotating member, and the other end extends out of the box through the opening on the box. The measuring rope is wound on the winding device, and one end of the measuring rope passes through the connecting piece to the outside of the box. The fixing piece connects the end of the measuring rope to fix the end of the measuring rope at the measuring point. The measuring system is used to measure the stretching length of the measuring rope, the transverse deflection angle and the longitudinal deflection angle of the measuring connecting piece. The three-dimensional transverse measuring rope positioning device and method for a deep-water submerged pipe section provided by the present invention can ensure high-precision measurement, so that the submerged pipes in deep water areas can be accurately sunk and docked.
Description
技术领域Technical Field
本发明属于沉管安装测控技术领域，尤其涉及一种大水深沉管管节用三维横向测绳定位装置及方法。The invention belongs to the technical field of immersed tube installation measurement and control, and in particular relates to a three-dimensional transverse measuring rope positioning device and method for a immersed tube section at a large water depth.
背景技术Background technique
目前沉管安装水下定位测量方法主要有四种，分别是全站仪法、GNSS-RTK法、声呐法和机械拉线法。其中，GNSS-RTK法是较为成熟的测量方法，但是该方法是基于测量塔实现的，随着管节安装水深增加，测量塔高度需要增加，高度过高会使测量误差及安全风险不可控，故该方法主要用于浅水区域。At present, there are four main underwater positioning measurement methods for immersed tube installation, namely total station method, GNSS-RTK method, sonar method and mechanical wire method. Among them, GNSS-RTK method is a relatively mature measurement method, but this method is based on the measurement tower. As the water depth of the pipe section installation increases, the height of the measurement tower needs to be increased. Too high a height will make the measurement error and safety risks uncontrollable, so this method is mainly used in shallow water areas.
在大型沉管隧道工程中，沉管水下安装精度要求高，且沉管水下安装横向轴线精度控制难度大。随着大型沉管隧道安装逐渐向外海、深水方向发展，无测量塔的沉管安装测量方法是未来发展趋势。如何在无测量塔的情况下保证测量精度，使待安装管节与已安装管节精准对接，已成为亟待解决的技术问题。In large-scale immersed tube tunnel projects, the underwater installation of immersed tubes requires high precision, and the precision control of the horizontal axis of the underwater installation of immersed tubes is difficult. As the installation of large-scale immersed tube tunnels gradually develops towards offshore and deep water, the immersed tube installation measurement method without a measuring tower is the future development trend. How to ensure the measurement accuracy without a measuring tower and accurately connect the pipe section to be installed with the installed pipe section has become a technical problem that needs to be solved urgently.
发明内容Summary of the invention
针对相关技术中存在的不足之处，本发明的目的在于提供一种大水深沉管管节用三维横向测绳定位装置及方法，在没有测量塔的情况下保证测量的高精度，解决深水区域沉管沉放对接难题。In view of the shortcomings existing in the related art, the purpose of the present invention is to provide a three-dimensional transverse measuring rope positioning device and method for deep-water immersed pipe sections, which can ensure high-precision measurement in the absence of a measuring tower and solve the problem of immersed pipe sinking and docking in deep water areas.
为实现上述目的，本发明提供如下技术方案：To achieve the above object, the present invention provides the following technical solutions:
一种大水深沉管管节用三维横向测绳定位装置，包括：A three-dimensional transverse measuring rope positioning device for deep-water submerged pipe sections, comprising:
箱体，箱体内设有腔室，箱体上设有与腔室连通的开孔；A box body, wherein a chamber is arranged in the box body, and an opening communicating with the chamber is arranged on the box body;
转轴系统，转轴系统设于腔室内，转轴系统包括第一旋转件和第二旋转件，第二旋转件设于第一旋转件上，第一旋转件纵向旋转，第二旋转件横向旋转；A rotating shaft system is arranged in the chamber, and the rotating shaft system comprises a first rotating member and a second rotating member, the second rotating member is arranged on the first rotating member, the first rotating member rotates longitudinally, and the second rotating member rotates transversely;
连接件，连接件内设有中空腔，连接件的一端与第二旋转件连接，连接件的另一端经箱体上的开孔伸出箱体；A connecting member, wherein a hollow cavity is provided in the connecting member, one end of the connecting member is connected to the second rotating member, and the other end of the connecting member extends out of the box body through an opening on the box body;
绕线器，绕线器设于腔室内；A wire winder, the wire winder being arranged in the chamber;
测绳，测绳缠绕于绕线器上，测绳的第一端部固定连接于绕线器上，测绳的第二端部穿过中空腔伸出至箱体外部；A measuring rope, the measuring rope is wound on the winding device, a first end of the measuring rope is fixedly connected to the winding device, and a second end of the measuring rope passes through the hollow cavity and extends to the outside of the box;
固定件，固定件连接测绳的第二端部，固定件用以将测绳的第二端部固定在测量点处；A fixing member connected to the second end of the measuring rope, and used to fix the second end of the measuring rope at the measuring point;
测量系统，测量系统设于腔室内，测量系统用以测量测绳的拉伸长度、测量连接件的横向偏转角和纵向偏转角。The measuring system is arranged in the chamber and is used to measure the stretching length of the measuring rope and the lateral deflection angle and longitudinal deflection angle of the measuring connecting piece.
在其中一些实施例中，绕线器包括转轴、电机和绕线筒，电机具有输出轴，电机的输出轴与转轴连接，绕线筒设于转轴上，绕线筒表面设有螺纹，测绳缠绕设于绕线筒上，测绳位于螺纹内。In some embodiments, the winding device includes a rotating shaft, a motor and a winding drum, the motor has an output shaft, the output shaft of the motor is connected to the rotating shaft, the winding drum is arranged on the rotating shaft, the surface of the winding drum is provided with a thread, the measuring rope is wound on the winding drum, and the measuring rope is located in the thread.
在其中一些实施例中，大水深沉管管节用三维横向测绳定位装置还包括排线器，排线器设于腔室内，排线器与绕线器连接，以使测绳均匀分布在绕线筒表面的螺纹内。In some of the embodiments, the three-dimensional transverse measuring rope positioning device for deep-water submerged pipe sections also includes a wire arranger, which is arranged in the chamber and connected to the wire winder so that the measuring rope is evenly distributed in the threads on the surface of the winding drum.
在其中一些实施例中，测量系统包括：In some embodiments, the measurement system includes:
第一编码器，第一编码器设于转轴上，第一编码器的输出轴与转轴同轴，第一编码器用以测量测绳的拉伸长度；A first encoder, the first encoder is arranged on the rotating shaft, the output shaft of the first encoder is coaxial with the rotating shaft, and the first encoder is used to measure the stretching length of the measuring rope;
第二编码器，第二编码器设于第二旋转件上，第二编码器的输出轴与第二旋转件同轴，第二编码器用以测量连接件的横向偏转角；A second encoder, the second encoder is arranged on the second rotating member, the output shaft of the second encoder is coaxial with the second rotating member, and the second encoder is used to measure the lateral deflection angle of the connecting member;
单轴倾斜仪，单轴倾斜仪设于连接件上以测量连接件的纵向偏转角。A single-axis inclinometer is arranged on the connecting member to measure the longitudinal deflection angle of the connecting member.
在其中一些实施例中，转轴系统还包括安装架，第一旋转件和第二旋转件设于安装架上。In some embodiments, the shaft system further includes a mounting frame, and the first rotating member and the second rotating member are disposed on the mounting frame.
在其中一些实施例中，大水深沉管管节用三维横向测绳定位装置还包括底座，底座固定在箱体底部，底座上设有用以标定方向的标记。In some of the embodiments, the three-dimensional transverse measuring rope positioning device for deep-water submerged pipe sections also includes a base, which is fixed to the bottom of the box and has a mark on the base for calibrating the direction.
一种大水深沉管管节用三维横向测绳定位方法，采用上述的大水深沉管管节用三维横向测绳定位装置，以三维横向测绳定位装置的第二编码器的旋转平面为参考面，以三维横向测绳定位装置的第二编码器的旋转轴为主轴，以连接件与第二旋转件连接的端部为旋转中心，旋转中心与参考面和主轴的交点为同一点，方法包括如下步骤：A three-dimensional transverse measuring rope positioning method for a deep-water submerged pipe section adopts the three-dimensional transverse measuring rope positioning device for a deep-water submerged pipe section, takes the rotation plane of the second encoder of the three-dimensional transverse measuring rope positioning device as the reference plane, takes the rotation axis of the second encoder of the three-dimensional transverse measuring rope positioning device as the main axis, takes the end of the connecting member connected to the second rotating member as the rotation center, and the intersection of the rotation center and the reference plane and the main axis as the same point. The method comprises the following steps:
S1、将至少两个三维横向测绳定位装置分别安装在待安装管节的左右两侧，安装位置低于待安装管节的管顶且靠近对接面，安装后，参考面与待安装管节侧面垂直、主轴与待安装管节的管顶垂直；S1. Install at least two three-dimensional transverse measuring rope positioning devices on the left and right sides of the pipe section to be installed, respectively. The installation position is lower than the pipe top of the pipe section to be installed and close to the butt joint surface. After installation, the reference surface is perpendicular to the side of the pipe section to be installed, and the main axis is perpendicular to the pipe top of the pipe section to be installed;
S2、获取三维横向测绳定位装置的标定数据：S2. Obtain calibration data of the three-dimensional horizontal rope measuring and positioning device:
标定旋转中心在船体坐标系中的坐标，标定主轴与船体坐标系参考面的横向夹角，标定主轴与船体坐标系参考面的竖向夹角，标定连接件与船体坐标系参考面平行时单轴倾斜仪的读数，标定测绳的初始长度，标定测绳在初始长度状态下的第一编码器读数，标定测量点在已安装沉管坐标系中的位置；Calibrate the coordinates of the rotation center in the hull coordinate system, calibrate the transverse angle between the main axis and the reference plane of the hull coordinate system, calibrate the vertical angle between the main axis and the reference plane of the hull coordinate system, calibrate the reading of the single-axis inclinometer when the connecting piece is parallel to the reference plane of the hull coordinate system, calibrate the initial length of the measuring rope, calibrate the reading of the first encoder of the measuring rope in the initial length state, and calibrate the position of the measuring point in the installed immersed tube coordinate system;
S3、将固定件固定在测量点处，根据标定数据，获取三维横向测绳定位装置的测量数据：S3. Fix the fixture at the measuring point and obtain the measuring data of the three-dimensional horizontal measuring rope positioning device according to the calibration data:
旋转中心在三维横向测绳定位装置坐标系中的坐标为（0，0，0），第一编码器测得旋转中心到测量点的测绳长度为L，第二编码器测得连接件的横向偏转角为b，单轴倾斜仪测得连接件的纵向偏转角为a；The coordinates of the rotation center in the three-dimensional transverse measuring rope positioning device coordinate system are (0, 0, 0), the first encoder measures the measuring rope length from the rotation center to the measuring point as L, the second encoder measures the transverse deflection angle of the connecting member as b, and the single-axis inclinometer measures the longitudinal deflection angle of the connecting member as a;
S4、设测量点在三维横向测绳定位装置坐标系中坐标为（X，Y，Z），，则，/>，/>；S4. Assume that the coordinates of the measuring point in the three-dimensional horizontal measuring rope positioning device coordinate system are (X, Y, Z), then ,/> ,/> ;
S5、设通过贯通测量得到测量点在施工坐标系中的坐标为（Xc,Yc,Zc），旋转中心在施工坐标系中的坐标为（Xg,Yg,Zg），则，/>,/>；S5. Assume that the coordinates of the measuring point obtained by through-measurement in the construction coordinate system are (Xc, Yc, Zc), and the coordinates of the rotation center in the construction coordinate system are (Xg, Yg, Zg), then ,/> ,/> ;
其中，为待安装管节的沉管轴线在施工坐标系中的方向角。in, It is the direction angle of the axis of the immersed tube where the pipe segment is to be installed in the construction coordinate system.
在其中一些实施例中，在使用三维横向测绳定位装置进行测量前，待安装管节已相对已安装管节粗定位，使待安装管节与已安装管节轴线一致，在步骤S4中，为测量点与三维横向测绳定位装置沿当前管节轴线方向的距离，/>为测量点与三维横向测绳定位装置沿垂直当前管节轴线方向的横向距离，/>为测量点与三维横向测绳定位装置在竖直方向的高程差。In some embodiments, before using the three-dimensional transverse measuring rope positioning device for measurement, the pipe section to be installed has been roughly positioned relative to the installed pipe section so that the axis of the pipe section to be installed is consistent with the axis of the installed pipe section. In step S4, is the distance between the measuring point and the three-dimensional transverse measuring rope positioning device along the current pipe section axis direction,/> is the lateral distance between the measuring point and the three-dimensional lateral measuring rope positioning device along the direction perpendicular to the current pipe segment axis,/> It is the elevation difference between the measuring point and the three-dimensional horizontal measuring rope positioning device in the vertical direction.
在其中一些实施例中，在步骤S5中，待安装管节与已安装管节轴线一致，采用已安装管节的沉管轴线在施工坐标系中的方向角。In some embodiments, in step S5, the axis of the pipe segment to be installed is consistent with the axis of the installed pipe segment. The direction angle of the immersed tube axis with installed pipe segments in the construction coordinate system is used.
在其中一些实施例中，大水深沉管管节用三维横向测绳定位方法还包括S6：根据步骤S2~S5，获取多个旋转中心在施工坐标系中的坐标，根据旋转中心在沉管坐标系中坐标，计算待安装管节的沉管轴线的方向。In some of the embodiments, the three-dimensional transverse rope positioning method for deep-water immersed pipe segments also includes S6: according to steps S2 to S5, the coordinates of multiple rotation centers in the construction coordinate system are obtained, and the direction of the immersed pipe axis of the segment to be installed is calculated according to the coordinates of the rotation center in the immersed pipe coordinate system.
与现有技术相比，本发明的有益效果是：Compared with the prior art, the present invention has the following beneficial effects:
1、本发明提供的大水深沉管管节用三维横向测绳定位装置在使用时安装在待安装管节上，固定件将测绳端部固定在已安装管节的测量点上，在沉管管节沉放对接过程中，测绳随待安装管节移动并带动连接件，测量系统测量测绳的拉伸长度、连接件的横向偏转角和纵向偏转角，测量的精度高，可以保证深水区域沉管精准沉放对接。1. The three-dimensional transverse measuring rope positioning device for deep-water submerged pipe sections provided by the present invention is installed on the pipe section to be installed when in use, and the fixing part fixes the end of the measuring rope on the measuring point of the installed pipe section. During the sinking and docking process of the submerged pipe section, the measuring rope moves with the pipe section to be installed and drives the connecting part. The measuring system measures the stretched length of the measuring rope, the transverse deflection angle and the longitudinal deflection angle of the connecting part. The measurement accuracy is high, which can ensure the accurate sinking and docking of submerged pipes in deep water areas.
2、本发明提供的大水深沉管管节用三维横向测绳定位方法，采用大水深沉管管节用三维横向测绳定位装置，测量不受水深限制，测量过程中无需体型庞大的测量塔仍能保证测量精度，且舾装作业量少，不影响现场紧急情况下的撤船。2. The three-dimensional transverse measuring rope positioning method for deep-water submerged pipe sections provided by the present invention adopts a three-dimensional transverse measuring rope positioning device for deep-water submerged pipe sections. The measurement is not limited by water depth. During the measurement process, no large-scale measuring tower is required to ensure measurement accuracy. The outfitting work volume is small, and the withdrawal of the ship in an emergency situation on site is not affected.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:
图1为本发明大水深沉管管节用三维横向测绳定位装置及方法一个实施例的箱体结构示意图；FIG1 is a schematic diagram of the box structure of an embodiment of a three-dimensional transverse measuring rope positioning device and method for a deep-water submerged pipe section according to the present invention;
图2为本发明大水深沉管管节用三维横向测绳定位装置及方法一个实施例的转轴系统示意图；FIG2 is a schematic diagram of a rotating shaft system of an embodiment of a three-dimensional transverse measuring rope positioning device and method for a deep-water submerged pipe section according to the present invention;
图3为本发明大水深沉管管节用三维横向测绳定位装置及方法一个实施例的绕线器和排线器示意图；FIG3 is a schematic diagram of a wire winder and a wire arranging device for a three-dimensional transverse wire measuring and positioning device for a deep-water submerged pipe section according to an embodiment of the present invention;
图4为本发明大水深沉管管节用三维横向测绳定位装置及方法一个实施例的测量数据示意图；FIG4 is a schematic diagram of measurement data of an embodiment of a three-dimensional transverse measuring rope positioning device and method for a deep-water submerged pipe section according to the present invention;
图5为本发明大水深沉管管节用三维横向测绳定位装置及方法一个实施例的安装示意图；FIG5 is a schematic diagram of the installation of an embodiment of a three-dimensional transverse measuring rope positioning device and method for a deep-water submerged pipe section according to the present invention;
图6为本发明大水深沉管管节用三维横向测绳定位装置及方法一个实施例的待安装管节已相对已安装管节定位后测绳在施工坐标系中的方向示意图。6 is a schematic diagram of the direction of the measuring rope in the construction coordinate system after the pipe segment to be installed has been positioned relative to the installed pipe segment in one embodiment of the three-dimensional transverse measuring rope positioning device and method for deep-water submerged pipe segments of the present invention.
图中：In the figure:
1、箱体；11、开孔；2、转轴系统；21、第一旋转件；22、第二旋转件；23、安装架；231、第一安装架；232、第二安装架；3、连接件；4、绕线器；41、转轴；42、电机；43、绕线筒；5、测绳；6、固定件；71、第一编码器；72、第二编码器；73、单轴倾斜仪；8、排线器；9、底座；1. Box; 11. Opening; 2. Rotating shaft system; 21. First rotating member; 22. Second rotating member; 23. Mounting frame; 231. First mounting frame; 232. Second mounting frame; 3. Connecting member; 4. Winder; 41. Rotating shaft; 42. Motor; 43. Winding drum; 5. Measuring rope; 6. Fixing member; 71. First encoder; 72. Second encoder; 73. Single-axis inclinometer; 8. Cable arranger; 9. Base;
O点为旋转中心；P点为测量点；a为连接件的纵向偏转角；b为连接件的横向偏转角;F为已安装管节的沉管轴线在施工坐标系中的方向角。Point O is the rotation center; point P is the measuring point; a is the longitudinal deflection angle of the connecting piece; b is the lateral deflection angle of the connecting piece; and F is the direction angle of the axis of the immersed tube with installed pipe segments in the construction coordinate system.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对实施例中的技术方案进行清楚、完整的描述。显然，所描述的实施例仅仅是本发明的一部分实施例，而非全部的实施例。基于本发明的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.
在本发明的描述中，需要理解的是，术语“中心”、“横向”、“纵向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。In the description of the present invention, it should be understood that the terms "center", "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
实施例1：Embodiment 1:
参见附图1至图5，给出了本发明所提出的大水深沉管管节用三维横向测绳定位装置的一个示意性实施例，该三维横向测绳定位装置包括箱体1、转轴系统2、连接件3、绕线器4、测绳5、固定件6、测量系统和底座9。Referring to Figures 1 to 5, a schematic embodiment of the three-dimensional transverse measuring rope positioning device for a deep-water submerged pipe section proposed by the present invention is given. The three-dimensional transverse measuring rope positioning device includes a box 1, a rotating shaft system 2, a connecting part 3, a winder 4, a measuring rope 5, a fixing part 6, a measuring system and a base 9.
箱体1选用3mm厚的316不锈钢制作，耐蚀性和高温强度好。箱体1内设有腔室，腔室用以容纳三维横向测绳定位装置的各部件并起到保护作用，箱体1上设有与腔室连通的开孔11。底座9是采用316不锈钢制作的仪器基座，底座9固定在箱体1底部，底座9上设有用以标定方向的标记。标记包括中心位置和方向线标志，用于初始方向标定。The box 1 is made of 3mm thick 316 stainless steel, which has good corrosion resistance and high temperature strength. A chamber is provided in the box 1, which is used to accommodate the components of the three-dimensional horizontal measuring rope positioning device and play a protective role. The box 1 is provided with an opening 11 connected to the chamber. The base 9 is an instrument base made of 316 stainless steel. The base 9 is fixed to the bottom of the box 1. The base 9 is provided with a mark for calibrating the direction. The mark includes a center position and a direction line mark, which is used for initial direction calibration.
转轴系统2设于腔室内，转轴系统2具有两个自由度，可以实现横向旋转和纵向旋转。转轴系统2包括第一旋转件21和第二旋转件22，第二旋转件22设于第一旋转件21上，第一旋转件21纵向旋转，第二旋转件22横向旋转。The shaft system 2 is arranged in the chamber, and the shaft system 2 has two degrees of freedom, which can realize horizontal rotation and vertical rotation. The shaft system 2 includes a first rotating member 21 and a second rotating member 22, and the second rotating member 22 is arranged on the first rotating member 21. The first rotating member 21 rotates longitudinally, and the second rotating member 22 rotates horizontally.
为了确保第一旋转件21和第二旋转件22能稳定工作，转轴系统2还包括安装架23，第一旋转件21和第二旋转件22设于安装架23上。在本实施例中，安装架23包括第一安装架231和第二安装架232。第一旋转件21设于第一安装架231上，具体的，第一安装架231由一个第一水平杆和两个第一竖直杆组成，两个第一竖直杆分别固定在第一水平杆的两端部，第一旋转件21固定在两个第一竖直杆上，第一水平杆固定在箱体1内部的底部。第二旋转件22设于第二安装架232上，具体的，第二安装架232由一个第二水平杆和两个第二竖直杆组成，两个第二竖直杆分别固定在第二水平杆的两端部，第二旋转件22通过一个固定杆件固定在第二水平杆上，两个第二竖直杆远离第二水平杆的端部固定在第一旋转件21上。转轴系统2包括安装架23，与第一旋转件21和第二旋转件22自成一体，可以避免在测绳5受力时转轴系统2产生变形，提高了装置的整体稳定性。In order to ensure that the first rotating member 21 and the second rotating member 22 can work stably, the rotating shaft system 2 also includes a mounting frame 23, and the first rotating member 21 and the second rotating member 22 are arranged on the mounting frame 23. In this embodiment, the mounting frame 23 includes a first mounting frame 231 and a second mounting frame 232. The first rotating member 21 is arranged on the first mounting frame 231. Specifically, the first mounting frame 231 is composed of a first horizontal rod and two first vertical rods. The two first vertical rods are respectively fixed to the two ends of the first horizontal rod. The first rotating member 21 is fixed to the two first vertical rods, and the first horizontal rod is fixed to the bottom inside the box body 1. The second rotating member 22 is arranged on the second mounting frame 232. Specifically, the second mounting frame 232 is composed of a second horizontal rod and two second vertical rods. The two second vertical rods are respectively fixed to the two ends of the second horizontal rod. The second rotating member 22 is fixed to the second horizontal rod through a fixed rod, and the ends of the two second vertical rods away from the second horizontal rod are fixed to the first rotating member 21. The rotating shaft system 2 includes a mounting frame 23, which is integrated with the first rotating member 21 and the second rotating member 22, so as to avoid deformation of the rotating shaft system 2 when the measuring rope 5 is subjected to force, thereby improving the overall stability of the device.
连接件3内设有中空腔，连接件3为316不锈钢材质的空心钢管。在本实施例中，连接件3外径30mm，壁厚2mm，连接件3两端管口采用POM材料填堵，填堵长度为由连接件3端部向连接件3内部20mm，POM填堵材料中心设有开孔，直径为2mm，该开孔直径是与测绳5的直径相适应，以使测绳5可以穿出连接件3。连接件3的一端与第二旋转件22连接，以使连接件3在跟随测绳5摆动时带动第一旋转件21和第二旋转件22旋转。连接件3的另一端经箱体1上的开孔11伸出箱体1。A hollow cavity is provided inside the connector 3, and the connector 3 is a hollow steel tube made of 316 stainless steel. In this embodiment, the connector 3 has an outer diameter of 30 mm and a wall thickness of 2 mm. The ends of the connector 3 are filled with POM material, and the length of the filling is 20 mm from the end of the connector 3 to the inside of the connector 3. An opening is provided in the center of the POM filling material, and the diameter is 2 mm. The diameter of the opening is adapted to the diameter of the measuring rope 5 so that the measuring rope 5 can pass through the connector 3. One end of the connector 3 is connected to the second rotating member 22, so that the connector 3 drives the first rotating member 21 and the second rotating member 22 to rotate when following the swing of the measuring rope 5. The other end of the connector 3 extends out of the box body 1 through the opening 11 on the box body 1.
绕线器4设于腔室内，测绳5缠绕于绕线器4上，测绳5的第一端部固定连接于绕线器4上，测绳5的第二端部穿过中空腔伸出至箱体1外部。固定件6连接测绳5的第二端部，固定件6用以将测绳5的第二端部固定在测量点处。在本实施例中，测绳5为直径2mm的316不锈钢钢丝，在测量时，测绳5从绕线器4的出口拉出，通过POM填堵材料中心所设的开孔穿过连接件3的中空腔。在本实施例中，固定件6为挂钩，挂钩安装在测绳5伸出连接件3的第二端部，在使用时，挂钩挂接在测量点处。The winder 4 is arranged in the chamber, the measuring rope 5 is wound on the winder 4, the first end of the measuring rope 5 is fixedly connected to the winder 4, and the second end of the measuring rope 5 extends out of the box body 1 through the hollow cavity. The fixing member 6 is connected to the second end of the measuring rope 5, and the fixing member 6 is used to fix the second end of the measuring rope 5 at the measuring point. In this embodiment, the measuring rope 5 is a 316 stainless steel wire with a diameter of 2 mm. When measuring, the measuring rope 5 is pulled out from the outlet of the winder 4 and passes through the hollow cavity of the connecting member 3 through the opening provided in the center of the POM filling material. In this embodiment, the fixing member 6 is a hook, which is installed at the second end of the measuring rope 5 extending out of the connecting member 3. When in use, the hook is hooked at the measuring point.
测量点位于已安装沉管上，测量点的标定在对已安装沉管标定时完成，在使用三维横向测绳定位装置时，为了便捷挂钩挂接在测量点处，测量点处设有拉环，挂钩直接挂接到拉环上。The measuring point is located on the installed immersed tube. The calibration of the measuring point is completed when the installed immersed tube is calibrated. When using the three-dimensional horizontal measuring rope positioning device, in order to facilitate the hook to be hung at the measuring point, a pull ring is provided at the measuring point, and the hook is directly hung on the pull ring.
绕线器4包括转轴41、电机42和绕线筒43，电机42具有输出轴，电机42的输出轴与转轴41连接，绕线筒43设于转轴41上，绕线筒43和转轴41的中轴线同轴，轴线对齐并连接。绕线筒43外表面设有螺纹，测绳5缠绕设于绕线筒43上，测绳5位于螺纹内。电机42可以通过转轴41带动绕线筒43旋转，保证在使用三维横向测绳定位装置的过程中测绳5始终保持拉紧状态，以便准确测定测绳5的拉出长度。在本实施例中，电机42为恒力矩电机，恒力电机驱动电源为24V直流电源，可以为绕线器4提供约50N的恒力矩，以拉紧测绳5。绕线筒43是耐磨尼龙圆筒，外径200mm，中空直径150mm，筒长350mm，螺纹深度2mm，宽度2mm，螺纹间距2.5mm。The winding device 4 includes a rotating shaft 41, a motor 42 and a winding drum 43. The motor 42 has an output shaft, and the output shaft of the motor 42 is connected to the rotating shaft 41. The winding drum 43 is arranged on the rotating shaft 41. The central axis of the winding drum 43 and the rotating shaft 41 are coaxial, and the axes are aligned and connected. The outer surface of the winding drum 43 is provided with a thread, and the measuring rope 5 is wound on the winding drum 43, and the measuring rope 5 is located in the thread. The motor 42 can drive the winding drum 43 to rotate through the rotating shaft 41 to ensure that the measuring rope 5 is always kept in a taut state during the use of the three-dimensional horizontal measuring rope positioning device, so as to accurately measure the pulled-out length of the measuring rope 5. In this embodiment, the motor 42 is a constant torque motor, and the constant force motor driving power supply is a 24V DC power supply, which can provide a constant torque of about 50N for the winding device 4 to tighten the measuring rope 5. The winding drum 43 is a wear-resistant nylon cylinder with an outer diameter of 200mm, a hollow diameter of 150mm, a cylinder length of 350mm, a thread depth of 2mm, a width of 2mm, and a thread pitch of 2.5mm.
为了保证测量的准确性，使测绳5能顺次缠绕在绕线筒43上，大水深沉管管节用三维横向测绳定位装置还包括排线器8，排线器8设于腔室内，排线器8与绕线器4连接，以使测绳5均匀分布在绕线筒43表面的螺纹内，并保证测绳5依次进出螺纹，且同一个螺纹内只进一次线。In order to ensure the accuracy of measurement, the measuring rope 5 can be wound on the winding drum 43 in sequence, and the three-dimensional horizontal measuring rope positioning device for deep-water submerged pipe sections also includes a wire arranger 8. The wire arranger 8 is arranged in the chamber and connected to the winding drum 4 to make the measuring rope 5 evenly distributed in the thread on the surface of the winding drum 43, and ensure that the measuring rope 5 enters and exits the thread in sequence, and the wire is only entered once in the same thread.
测量系统设于腔室内，测量系统用以测量测绳5的拉伸长度、测量连接件3的横向偏转角和纵向偏转角。在本实施例中，测量系统包括第一编码器71、第二编码器72和单轴倾斜仪73。第一编码器71设于转轴41上，第一编码器71的输出轴与转轴41同轴，轴心对齐并连接，第一编码器71用以测量测绳5的拉伸长度，第一编码器71安装在绕线筒43一侧的转轴系统2的安装架23上。The measuring system is arranged in the chamber, and the measuring system is used to measure the stretching length of the measuring rope 5, and the lateral deflection angle and the longitudinal deflection angle of the measuring connecting member 3. In this embodiment, the measuring system includes a first encoder 71, a second encoder 72 and a single-axis inclinometer 73. The first encoder 71 is arranged on the rotating shaft 41, and the output shaft of the first encoder 71 is coaxial with the rotating shaft 41, and the axes are aligned and connected. The first encoder 71 is used to measure the stretching length of the measuring rope 5, and the first encoder 71 is installed on the mounting frame 23 of the rotating shaft system 2 on one side of the winding drum 43.
第二编码器72设于第二旋转件22上，第二编码器72的输出轴与第二旋转件22同轴，并进行连接，第二编码器72用以测量连接件3的横向偏转角。第二编码器72安装在第二安装架232的第二水平杆上。The second encoder 72 is disposed on the second rotating member 22 , and the output shaft of the second encoder 72 is coaxial with and connected to the second rotating member 22 . The second encoder 72 is used to measure the lateral deflection angle of the connecting member 3 . The second encoder 72 is mounted on the second horizontal rod of the second mounting frame 232 .
单轴倾斜仪73设于连接件3上以测量连接件3的纵向偏转角。单轴倾斜仪73安装时要保证其轴向与连接件3方向一致，从而确保所测得的纵向偏转角准确。The single-axis inclinometer 73 is arranged on the connecting member 3 to measure the longitudinal deflection angle of the connecting member 3. When the single-axis inclinometer 73 is installed, its axial direction should be ensured to be consistent with the direction of the connecting member 3, so as to ensure that the measured longitudinal deflection angle is accurate.
在上述示意性实施例中，大水深沉管管节用三维横向测绳定位装置在使用时安装在待安装管节上，固定件将测绳端部固定在已安装管节的测量点上，在沉管管节沉放对接过程中，测绳随待安装管节移动并带动连接件，测量系统测量测绳的拉伸长度、连接件的横向偏转角和纵向偏转角，测量的精度高，可以保证深水区域沉管精准沉放对接。In the above-mentioned schematic embodiment, the three-dimensional transverse measuring rope positioning device for deep-water submerged pipe sections is installed on the pipe section to be installed when in use, and the fixing part fixes the end of the measuring rope on the measuring point of the installed pipe section. During the sinking and docking process of the submerged pipe section, the measuring rope moves with the pipe section to be installed and drives the connecting part. The measuring system measures the stretched length of the measuring rope, the transverse deflection angle and the longitudinal deflection angle of the connecting part. The measurement accuracy is high, which can ensure the accurate sinking and docking of submerged pipes in deep water areas.
下面结合附图1至图5对本发明大水深沉管管节用三维横向测绳定位装置的一个实施例的工作过程进行说明：The working process of an embodiment of the three-dimensional transverse measuring rope positioning device for a deep-water submerged pipe section of the present invention is described below in conjunction with Figures 1 to 5:
准备至少两个三维横向测绳定位装置，安装在待安装管节上。管节沉放进入对接阶段时，将固定件6固定在测量点处，获取标定数据后，开始进行测量工作。第一编码器71测得旋转中心到测量点的测绳5长度为L，第二编码器72测得连接件3的横向偏转角为b，单轴倾斜仪73测得连接件3的纵向偏转角为a。根据上述测量数据获得旋转中心在施工坐标系中的坐标，根据旋转中心在沉管坐标系中坐标，计算待安装管节的沉管轴线的方向。Prepare at least two three-dimensional transverse measuring rope positioning devices and install them on the pipe section to be installed. When the pipe section is sunk and enters the docking stage, fix the fixing part 6 at the measuring point, obtain the calibration data, and start the measurement work. The first encoder 71 measures the length of the measuring rope 5 from the rotation center to the measuring point as L, the second encoder 72 measures the lateral deflection angle of the connecting part 3 as b, and the single-axis inclinometer 73 measures the longitudinal deflection angle of the connecting part 3 as a. The coordinates of the rotation center in the construction coordinate system are obtained based on the above measurement data, and the direction of the immersed tube axis of the pipe section to be installed is calculated based on the coordinates of the rotation center in the immersed tube coordinate system.
实施例2：Embodiment 2:
本实施例提供了一种大水深沉管管节用三维横向测绳定位方法，采用实施例1所述的大水深沉管管节用三维横向测绳定位装置，以三维横向测绳定位装置的第二编码器72的旋转平面为参考面，以三维横向测绳定位装置的第二编码器72的旋转轴为主轴，以连接件3与第二旋转件22连接的端部为旋转中心，旋转中心与参考面和主轴的交点为同一点，定位方法包括如下步骤：The present embodiment provides a three-dimensional transverse measuring rope positioning method for a deep-water submerged pipe section, using the three-dimensional transverse measuring rope positioning device for a deep-water submerged pipe section described in Example 1, taking the rotation plane of the second encoder 72 of the three-dimensional transverse measuring rope positioning device as the reference plane, taking the rotation axis of the second encoder 72 of the three-dimensional transverse measuring rope positioning device as the main axis, taking the end of the connecting member 3 connected to the second rotating member 22 as the rotation center, and the intersection of the rotation center and the reference plane and the main axis as the same point, the positioning method includes the following steps:
S1、将至少两个三维横向测绳定位装置分别安装在待安装管节的左右两侧，安装位置低于待安装管节的管顶且靠近对接面，安装后的参考面与待安装管节侧面垂直、主轴与待安装管节的管顶垂直；S1. Install at least two three-dimensional transverse measuring rope positioning devices on the left and right sides of the pipe section to be installed, respectively. The installation position is lower than the pipe top of the pipe section to be installed and close to the butt joint surface. The reference surface after installation is perpendicular to the side of the pipe section to be installed, and the main axis is perpendicular to the pipe top of the pipe section to be installed;
S2、获取三维横向测绳定位装置的标定数据：标定旋转中心在船体坐标系中的坐标，标定主轴与船体坐标系参考面的横向夹角，标定主轴与船体坐标系参考面的竖向夹角，标定连接件3与船体坐标系参考面平行时单轴倾斜仪73的读数，标定测绳5的初始长度，标定测绳5在初始长度状态下的第一编码器71读数，标定测量点在已安装沉管坐标系中的位置；S2. Obtain calibration data of the three-dimensional transverse measuring rope positioning device: calibrate the coordinates of the rotation center in the hull coordinate system, calibrate the transverse angle between the main axis and the reference plane of the hull coordinate system, calibrate the vertical angle between the main axis and the reference plane of the hull coordinate system, calibrate the reading of the single-axis inclinometer 73 when the connecting member 3 is parallel to the reference plane of the hull coordinate system, calibrate the initial length of the measuring rope 5, calibrate the reading of the first encoder 71 of the measuring rope 5 in the initial length state, and calibrate the position of the measuring point in the installed immersed tube coordinate system;
S3、将固定件6固定在测量点处，根据标定数据，获取三维横向测绳定位装置的测量数据：旋转中心在三维横向测绳定位装置坐标系中的坐标为（0，0，0），第一编码器71测得旋转中心到测量点的测绳5长度为L，第二编码器72测得连接件3的横向偏转角为b，单轴倾斜仪73测得连接件3的纵向偏转角为a；S3, fix the fixing member 6 at the measuring point, and obtain the measuring data of the three-dimensional horizontal measuring rope positioning device according to the calibration data: the coordinates of the rotation center in the coordinate system of the three-dimensional horizontal measuring rope positioning device are (0, 0, 0), the first encoder 71 measures the length of the measuring rope 5 from the rotation center to the measuring point as L, the second encoder 72 measures the lateral deflection angle of the connecting member 3 as b, and the single-axis inclinometer 73 measures the longitudinal deflection angle of the connecting member 3 as a;
S4、设测量点在三维横向测绳定位装置坐标系中坐标为（X，Y，Z），则，/>，/>；S4. Assume that the coordinates of the measuring point in the three-dimensional horizontal measuring rope positioning device coordinate system are (X, Y, Z), then ,/> ,/> ;
S5、设通过贯通测量得到测量点在施工坐标系中的坐标为（Xc,Yc,Zc），旋转中心在施工坐标系中的坐标为（Xg,Yg,Zg），则，/>,/>；S5. Assume that the coordinates of the measuring point obtained by through-measurement in the construction coordinate system are (Xc, Yc, Zc), and the coordinates of the rotation center in the construction coordinate system are (Xg, Yg, Zg), then ,/> ,/> ;
其中，为待安装管节的沉管轴线在施工坐标系中的方向角。in, It is the direction angle of the axis of the immersed tube where the pipe segment is to be installed in the construction coordinate system.
在步骤S2中，标定测量点在已安装沉管坐标系中的位置，在已安装沉管标定时完成。In step S2, the position of the measuring point in the installed immersed tube coordinate system is calibrated, and the calibration of the installed immersed tube is completed.
通过三维横向测绳定位装置的测量系统测定的测量点坐标属于三维横向测绳定位装置坐标系的坐标。在步骤S3中，根据标定数据获取三维横向测绳定位装置的测量数据是指三维横向测绳定位装置的测得的数据经标定数据改正后的安装参数和测量数据。The coordinates of the measuring points determined by the measuring system of the three-dimensional horizontal rope measuring and positioning device belong to the coordinates of the three-dimensional horizontal rope measuring and positioning device coordinate system. In step S3, the measurement data of the three-dimensional horizontal rope measuring and positioning device obtained according to the calibration data refers to the installation parameters and measurement data of the three-dimensional horizontal rope measuring and positioning device after the calibration data corrects the measured data.
在使用三维横向测绳定位装置进行测量前，对当前待安装管节已经进行过粗定位，故可以认为待安装管节与已安装管节的轴线一致。参见附图6，O点为旋转中心，位于待安装管节上，P点为测量点，位于已安装管节上。粗定位后的待安装管节与已安装管节的主轴线已经基本对齐，图6中的虚线即为管节的主轴线。粗定位后，测绳5的水平方向即OP连线与两个管节的主轴线基本平行。F为已安装管节的沉管轴线在施工坐标系中的方向角，与OP连线在施工坐标系中的方向接近。Before using the three-dimensional horizontal measuring rope positioning device for measurement, the current pipe segment to be installed has been roughly positioned, so it can be considered that the axis of the pipe segment to be installed is consistent with that of the installed pipe segment. Referring to Figure 6, point O is the center of rotation, located on the pipe segment to be installed, and point P is the measuring point, located on the installed pipe segment. After rough positioning, the main axis of the pipe segment to be installed and the installed pipe segment are basically aligned, and the dotted line in Figure 6 is the main axis of the pipe segment. After rough positioning, the horizontal direction of the measuring rope 5, that is, the OP line, is basically parallel to the main axis of the two pipe segments. F is the direction angle of the immersed tube axis of the installed pipe segment in the construction coordinate system, which is close to the direction of the OP line in the construction coordinate system.
在步骤S4中，X为测量点与三维横向测绳定位装置沿当前管节轴线方向的距离，Y为测量点与三维横向测绳定位装置沿垂直当前管节轴线方向的横向距离，Z为测量点与三维横向测绳定位装置在竖直方向的高程差。In step S4, X is the distance between the measuring point and the three-dimensional transverse rope measuring positioning device along the current pipe section axis direction, Y is the transverse distance between the measuring point and the three-dimensional transverse rope measuring positioning device along the direction perpendicular to the current pipe section axis, and Z is the elevation difference between the measuring point and the three-dimensional transverse rope measuring positioning device in the vertical direction.
三维横向测绳定位装置在管节沉放进入第二阶段（即对接阶段）时才启动，在这个阶段，待安装管节与已安装管节之间的相对距离较近，且当前待安装管节的粗定位方向误差非常小（一般小于0.1度），则在步骤S5中，待安装管节与已安装管节轴线一致，可以采用已安装管节的沉管轴线在施工坐标系中的方向角，该方向是已安装管节贯通测量的管节方向，由此引起的对当前旋转中心位置的影响应小于1mm。The three-dimensional transverse measuring rope positioning device is activated when the pipe segment sinking enters the second stage (i.e., the docking stage). In this stage, the relative distance between the pipe segment to be installed and the installed pipe segment is relatively close, and the rough positioning direction error of the current pipe segment to be installed is very small (generally less than 0.1 degrees). In step S5, the axis of the pipe segment to be installed is consistent with that of the installed pipe segment. The direction angle of the immersed tube axis of the installed pipe segment in the construction coordinate system can be used. This direction is the direction of the pipe segment measured through the installed pipe segment. The impact on the current rotation center position caused by this should be less than 1mm.
三维横向测绳定位方法还包括S6：根据步骤S2~S5，获取多个旋转中心在施工坐标系中的坐标，根据旋转中心在沉管坐标系中坐标，计算待安装管节的沉管轴线的方向。The three-dimensional horizontal rope measurement positioning method also includes S6: according to steps S2 to S5, the coordinates of multiple rotation centers in the construction coordinate system are obtained, and the direction of the immersed tube axis of the pipe section to be installed is calculated according to the coordinates of the rotation center in the immersed tube coordinate system.
在一些实施例中，考虑到对待安装管节的轴线方向测量的精度、可靠性和数据源的独立性，同时保证数据有一定的冗余度，以便检核数据的可靠性，所以采用四个三维横向测绳定位装置组合进行测控，保障沉管安装准确定位。安装更多个三维横向测绳定位装置时，可以获得更多个旋转中心在施工坐标系中的坐标，即可完成沉管定位计算。由于旋转中心在标定时已经得到其在沉管坐标系中的坐标，因此，可以进一步计算当前沉管轴线的方向。In some embodiments, taking into account the accuracy, reliability and independence of the data source of the axial direction measurement of the pipe section to be installed, and ensuring that the data has a certain degree of redundancy in order to verify the reliability of the data, a combination of four three-dimensional transverse measuring rope positioning devices is used for measurement and control to ensure accurate positioning of the immersed tube installation. When more three-dimensional transverse measuring rope positioning devices are installed, more coordinates of the rotation center in the construction coordinate system can be obtained, and the immersed tube positioning calculation can be completed. Since the coordinates of the rotation center in the immersed tube coordinate system have been obtained during calibration, the direction of the current immersed tube axis can be further calculated.
由于三维横向测绳定位装置采用的第一编码器71、第二编码器72和单轴倾斜仪73具有较高的测量精度，当沉管上安装多个三维横向测绳定位装置时，沉管对接端的定位结果可以达到较高的精度，同时也可以满足非对接端的安装精度要求。相对定位精度可以达到沉管位置的平面精度±0.010m、高程精度±0.010m、沉管轴线方向±0.005°，非对接端定位精度可以达到沉管位置的平面精度±0.04m、高程精度±0.05m。该精度估计没有考虑至对接处的已安装沉管贯通测量，根据沉管施工经验，采用严谨贯通测量方法，在5公里隧道内可以达到贯通测量误差控制在0.03m，最后一节管节定向误差引起的管节艏艉平面方向差小于0.005m。Since the first encoder 71, the second encoder 72 and the single-axis inclinometer 73 used in the three-dimensional transverse measuring rope positioning device have high measurement accuracy, when multiple three-dimensional transverse measuring rope positioning devices are installed on the immersed tube, the positioning result of the immersed tube docking end can achieve high accuracy, and can also meet the installation accuracy requirements of the non-docked end. The relative positioning accuracy can reach the plane accuracy of the immersed tube position ±0.010m, the elevation accuracy ±0.010m, and the immersed tube axis direction ±0.005°. The positioning accuracy of the non-docked end can reach the plane accuracy of the immersed tube position ±0.04m and the elevation accuracy ±0.05m. This accuracy estimate does not take into account the penetration measurement of the installed immersed tube to the docking point. According to the experience of immersed tube construction, a rigorous penetration measurement method is adopted. The penetration measurement error can be controlled within 0.03m in a 5-kilometer tunnel, and the plane direction difference between the bow and stern of the last section of the tube caused by the orientation error is less than 0.005m.
在上述示意性实施例中，大水深沉管管节用三维横向测绳定位方法，采用大水深沉管管节用三维横向测绳定位装置，测量不受水深限制，测量过程中无需体型庞大的测量塔仍能保证测量精度，且舾装作业量少，不影响现场紧急情况下的撤船。In the above-mentioned schematic embodiment, a three-dimensional transverse measuring rope positioning method for a submerged pipe section in deep water is used, and a three-dimensional transverse measuring rope positioning device for a submerged pipe section in deep water is used. The measurement is not limited by water depth, and the measurement accuracy can still be guaranteed without the need for a large-sized measuring tower during the measurement process. In addition, the outfitting work volume is small, and the withdrawal of the ship in an emergency situation on site is not affected.
最后应当说明的是：本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。Finally, it should be noted that: the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.
以上实施例仅用以说明本发明的技术方案而非对其限制；尽管参照较佳实施例对本发明进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本发明的具体实施方式进行修改或者对部分技术特征进行等同替换；而不脱离本发明技术方案的精神，其均应涵盖在本发明请求保护的技术方案范围当中。The above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.
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