CN117629119B - Three-dimensional transverse rope measuring positioning device and method for large-water-depth immersed tube joint - Google Patents
Three-dimensional transverse rope measuring positioning device and method for large-water-depth immersed tube joint Download PDFInfo
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- CN117629119B CN117629119B CN202410102154.5A CN202410102154A CN117629119B CN 117629119 B CN117629119 B CN 117629119B CN 202410102154 A CN202410102154 A CN 202410102154A CN 117629119 B CN117629119 B CN 117629119B
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Abstract
The invention discloses a three-dimensional transverse rope measuring and positioning device and method for a large-water-depth immersed tube joint, and belongs to the technical field of immersed tube installation measurement and control. The device comprises a box body, a rotating shaft system, a connecting piece, a winder, a measuring rope, a fixing piece and a measuring system. The box body is provided with a cavity, and an opening communicated with the cavity is formed in the box body. The rotating shaft system, the winder and the measuring system are arranged in the cavity. The rotating shaft system comprises a first rotating piece and a second rotating piece, one end of the connecting piece is connected with the second rotating piece, and the other end of the connecting piece extends out of the box body through an opening in the box body. The measuring rope is wound on the winder, and one end of the measuring rope penetrates through the connecting piece to the outside of the box body. The fixing member is connected to the rope end to fix the rope end at the measurement point. The measuring system is used for measuring the stretching length of the measuring rope, and measuring the transverse deflection angle and the longitudinal deflection angle of the connecting piece. The three-dimensional transverse rope measuring positioning device and method for the large-water-depth immersed tube joint can ensure high measurement precision and enable immersed tubes in a deep water area to be accurately immersed and butted.
Description
Technical Field
The invention belongs to the technical field of immersed tube installation measurement and control, and particularly relates to a three-dimensional transverse rope measurement positioning device and method for a large-water-depth immersed tube joint.
Background
At present, four underwater positioning measurement methods for immersed tube installation are mainly adopted, namely a total station method, a GNSS-RTK method, a sonar method and a mechanical wire drawing method. The GNSS-RTK method is a mature measuring method, but the method is realized based on a measuring tower, the height of the measuring tower needs to be increased along with the increase of the installation water depth of a pipe joint, and the measuring error and the safety risk are uncontrollable due to the excessively high height, so the method is mainly used in shallow water areas.
In large immersed tube tunnel engineering, the underwater installation accuracy requirement of the immersed tube is high, and the accuracy control difficulty of the underwater installation transverse axis of the immersed tube is high. Along with the gradual development of the large immersed tube tunnel installation towards the open sea and deep water, the immersed tube installation measuring method without a measuring tower is a future development trend. How to guarantee measurement accuracy under the condition of no measuring tower, so that the pipe joint to be installed and the installed pipe joint are accurately butted, and the method has become a technical problem to be solved urgently.
Disclosure of Invention
Aiming at the defects existing in the related art, the invention aims to provide the three-dimensional transverse rope measuring positioning device and the method for the large-water-depth immersed tube joint, which ensure high measurement precision under the condition of no measuring tower and solve the immersed tube sinking butt joint problem in the deep water area.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a three-dimensional transverse rope measuring positioning device for a large-water-depth immersed tube joint comprises:
The box body is internally provided with a cavity, and is provided with an opening communicated with the cavity;
the rotating shaft system is arranged in the cavity and comprises a first rotating piece and a second rotating piece, the second rotating piece is arranged on the first rotating piece, the first rotating piece longitudinally rotates, and the second rotating piece transversely rotates;
The connecting piece is internally provided with a hollow cavity, one end of the connecting piece is connected with the second rotating piece, and the other end of the connecting piece extends out of the box body through an opening in the box body;
The winder is arranged in the cavity;
The first end part of the measuring rope is fixedly connected to the winder, and the second end part of the measuring rope penetrates through the hollow cavity and extends out of the box body;
The fixing piece is connected with the second end part of the measuring rope and used for fixing the second end part of the measuring rope at the measuring point;
the measuring system is arranged in the cavity and is used for measuring the stretching length of the measuring rope, and measuring the transverse deflection angle and the longitudinal deflection angle of the connecting piece.
In some embodiments, the winder comprises a rotating shaft, a motor and a winding drum, wherein the motor is provided with an output shaft, the output shaft of the motor is connected with the rotating shaft, the winding drum is arranged on the rotating shaft, threads are arranged on the surface of the winding drum, the measuring rope is wound on the winding drum, and the measuring rope is positioned in the threads.
In some embodiments, the three-dimensional transverse rope measuring positioning device for the large-water-depth immersed tube joint further comprises a wire arranging device, wherein the wire arranging device is arranged in the cavity and connected with the wire winder so that the rope measuring is uniformly distributed in threads on the surface of the wire winding drum.
In some of these embodiments, the measurement system comprises:
The first encoder is arranged on the rotating shaft, an output shaft of the first encoder is coaxial with the rotating shaft, and the first encoder is used for measuring the stretching length of the measuring rope;
The second encoder is arranged on the second rotating piece, an output shaft of the second encoder is coaxial with the second rotating piece, and the second encoder is used for measuring the transverse deflection angle of the connecting piece;
And the single-axis inclinometer is arranged on the connecting piece to measure the longitudinal deflection angle of the connecting piece.
In some of these embodiments, the spindle system further comprises a mounting bracket, the first and second swivel members being disposed on the mounting bracket.
In some embodiments, the three-dimensional transverse rope measuring positioning device for the large-water-depth immersed tube joint further comprises a base, wherein the base is fixed at the bottom of the box body, and a mark for calibrating the direction is arranged on the base.
The three-dimensional transverse rope measuring positioning device for the large-water-depth immersed tube joint is adopted, a rotating plane of a second encoder of the three-dimensional transverse rope measuring positioning device is used as a reference plane, a rotating shaft of the second encoder of the three-dimensional transverse rope measuring positioning device is used as a main shaft, the end part, connected with a second rotating piece, of the connecting piece is used as a rotating center, and the intersecting point of the rotating center and the reference plane and the main shaft is the same point, and the method comprises the following steps:
s1, respectively installing at least two three-dimensional transverse rope measuring positioning devices on the left side and the right side of a pipe joint to be installed, wherein the installation position is lower than the pipe top of the pipe joint to be installed and is close to a butt joint surface, and after installation, the reference surface is vertical to the side surface of the pipe joint to be installed, and the main shaft is vertical to the pipe top of the pipe joint to be installed;
S2, acquiring calibration data of the three-dimensional transverse rope measuring positioning device:
Calibrating the coordinates of the rotation center in a ship coordinate system, calibrating the transverse included angle between the main shaft and a ship coordinate system reference surface, calibrating the vertical included angle between the main shaft and the ship coordinate system reference surface, calibrating the reading of the single-axis inclinometer when the connecting piece is parallel to the ship coordinate system reference surface, calibrating the initial length of the measuring rope, calibrating the reading of a first encoder of the measuring rope in the initial length state, and calibrating the position of a measuring point in the installed immersed tube coordinate system;
s3, fixing the fixing piece at a measuring point, and acquiring measuring data of the three-dimensional transverse measuring rope positioning device according to the calibration data:
The coordinates of the rotation center in a three-dimensional transverse rope measuring positioning device coordinate system are (0, 0), the length of the rope from the rotation center to a measuring point is measured to be L by a first encoder, the transverse deflection angle of a connecting piece is measured to be b by a second encoder, and the longitudinal deflection angle of the connecting piece is measured to be a by a single-axis inclinometer;
s4, setting the coordinates of the measuring point in a coordinate system of the three-dimensional transverse measuring rope positioning device as (X, Y, Z), and then ，/>，/>；
S5, setting the coordinates of the measurement point obtained through the through measurement in the construction coordinate system as (Xc, yc, zc), and setting the coordinates of the rotation center in the construction coordinate system as (Xg, yg, zg)，/>,/>；
Wherein,The direction angle of the immersed tube axis of the tube section to be installed in a construction coordinate system.
In some of these embodiments, the pipe section to be installed is coarsely positioned relative to the installed pipe section prior to measurement using the three-dimensional transverse rope positioning device, such that the pipe section to be installed coincides with the installed pipe section axis, and, in step S4,For measuring the distance between a point and a three-dimensional transverse rope measuring positioning device along the axis direction of the current pipe joint, the method comprises the following steps ofFor measuring the transverse distance between a point and a three-dimensional transverse rope measuring positioning device along the direction vertical to the axis of the current pipe joint,/>The height difference between the measuring point and the three-dimensional transverse measuring rope positioning device in the vertical direction is measured.
In some of these embodiments, in step S5, the pipe section to be installed coincides with the installed pipe section axis,And adopting the direction angle of the immersed tube axis of the installed tube joint in a construction coordinate system.
In some of these embodiments, the method for positioning a three-dimensional transverse rope for a large-water-depth immersed tube joint further comprises S6: and (3) acquiring coordinates of a plurality of rotation centers in a construction coordinate system according to the steps S2-S5, and calculating the direction of the immersed tube axis of the tube section to be installed according to the coordinates of the rotation centers in the immersed tube coordinate system.
Compared with the prior art, the invention has the beneficial effects that:
1. The three-dimensional transverse rope measuring positioning device for the large-water-depth immersed tube joint is arranged on the tube joint to be installed when in use, the end part of the rope measuring is fixed on the measuring point of the installed tube joint by the fixing piece, the rope measuring moves along with the tube joint to be installed and drives the connecting piece in the immersed tube joint sinking butt joint process, the measuring system measures the stretching length of the rope measuring, the transverse deflection angle and the longitudinal deflection angle of the connecting piece, the measuring precision is high, and accurate immersed tube sinking butt joint in a deepwater area can be ensured.
2. According to the three-dimensional transverse rope measuring and positioning method for the large-water-depth immersed tube joint, provided by the invention, the three-dimensional transverse rope measuring and positioning device for the large-water-depth immersed tube joint is adopted, the measurement is not limited by water depth, the measurement accuracy can be ensured without a measurement tower with huge body in the measurement process, the outfitting workload is small, and the ship removing under the on-site emergency condition is not influenced.
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 specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic diagram of a box structure of one embodiment of a three-dimensional transverse rope positioning device and method for a large-water-depth immersed tube joint according to the invention;
FIG. 2 is a schematic diagram of a rotating shaft system of one embodiment of a three-dimensional transverse rope positioning device and method for a large-water-depth immersed tube joint according to the present invention;
FIG. 3 is a schematic view of a winder and a wire-arranging device of one embodiment of the three-dimensional transverse rope measuring positioning device and the method for a large-water-depth immersed tube joint;
FIG. 4 is a schematic diagram of measurement data of one embodiment of a three-dimensional transverse rope positioning device and method for a large-water-depth immersed tube joint according to the present invention;
FIG. 5 is a schematic diagram illustrating the installation of one embodiment of a three-dimensional lateral rope positioning device and method for a large water depth immersed tube section according to the present invention;
FIG. 6 is a schematic diagram of the direction of a measuring rope in a construction coordinate system after a pipe section to be installed has been positioned relative to an installed pipe section according to one embodiment of the three-dimensional transverse measuring rope positioning device and method for a large water depth immersed pipe section of the present invention.
In the figure:
1. A case; 11. opening holes; 2. a spindle system; 21. a first rotating member; 22. a second rotating member; 23. a mounting frame; 231. a first mounting frame; 232. a second mounting frame; 3. a connecting piece; 4. a winder; 41. a rotating shaft; 42. a motor; 43. a bobbin; 5. rope measurement; 6. a fixing member; 71. a first encoder; 72. a second encoder; 73. a single axis inclinometer; 8. a wire arranging device; 9. a base;
The O point is the rotation center; the P point is a measuring point; a is the longitudinal deflection angle of the connecting piece; b is the transverse deflection angle of the connecting piece, and F is the direction angle of the immersed tube axis of the installed tube joint in a construction coordinate system.
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 will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "center", "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1:
referring to fig. 1 to 5, an exemplary embodiment of a three-dimensional transverse rope positioning device for a large water depth immersed tube joint according to the present invention is provided, and the three-dimensional transverse rope positioning device includes a box 1, a rotating shaft system 2, a connecting piece 3, a winder 4, a rope 5, a fixing piece 6, a measuring system and a base 9.
The box body 1 is made of 316 stainless steel with the thickness of 3mm, and has good corrosion resistance and high-temperature strength. The box 1 is internally provided with a cavity which is used for accommodating all parts of the three-dimensional transverse rope measuring positioning device and plays a role in protection, and the box 1 is provided with an opening 11 communicated with the cavity. The base 9 is an instrument base made of 316 stainless steel, the base 9 is fixed at the bottom of the box body 1, and the base 9 is provided with a mark for calibrating the direction. The markers include center position and direction line markers for initial direction calibration.
The rotating shaft system 2 is arranged in the cavity, and the rotating shaft system 2 has two degrees of freedom and can realize transverse rotation and longitudinal rotation. The spindle system 2 comprises a first rotating member 21 and a second rotating member 22, the second rotating member 22 being arranged on the first rotating member 21, the first rotating member 21 rotating longitudinally and the second rotating member 22 rotating transversely.
In order to ensure stable operation of the first rotating member 21 and the second rotating member 22, the spindle system 2 further comprises a mounting frame 23, and the first rotating member 21 and the second rotating member 22 are provided on the mounting frame 23. In the present embodiment, the mounting frame 23 includes a first mounting frame 231 and a second mounting frame 232. The first rotating member 21 is disposed 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 at two ends of the first horizontal rod, the first rotating member 21 is fixed on the two first vertical rods, and the first horizontal rod is fixed at the bottom inside the box 1. The second rotating member 22 is disposed 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 at two ends of the second horizontal rod, the second rotating member 22 is fixed on the second horizontal rod through a fixed rod, and the ends of the two second vertical rods, which are far away from the second horizontal rod, are fixed on the first rotating member 21. The rotating shaft system 2 comprises a mounting frame 23 which is self-integrated with the first rotating member 21 and the second rotating member 22, so that the rotating shaft system 2 can be prevented from deforming when the measuring rope 5 is stressed, and the overall stability of the device is improved.
The connecting piece 3 is internally provided with a hollow cavity, and the connecting piece 3 is a hollow steel pipe made of 316 stainless steel. In this embodiment, the outer diameter of the connecting piece 3 is 30mm, the wall thickness is 2mm, the pipe orifices at two ends of the connecting piece 3 are plugged by POM material, the plugging length is 20mm from the end of the connecting piece 3 to the inside of the connecting piece 3, the center of the POM plugging material is provided with an opening with the diameter of 2mm, and the diameter of the opening is adapted to the diameter of the measuring rope 5, so that the measuring rope 5 can penetrate out of the connecting piece 3. One end of the connecting member 3 is connected to the second rotating member 22 so that the connecting member 3 rotates the first rotating member 21 and the second rotating member 22 while swinging along with the measuring rope 5. The other end of the connecting piece 3 extends out of the box body 1 through the opening 11 on the box body 1.
The winder 4 is arranged in the cavity, the measuring rope 5 is wound on the winder 4, the first end part of the measuring rope 5 is fixedly connected to the winder 4, and the second end part of the measuring rope 5 penetrates through the hollow cavity and stretches out of the box body 1. The fixing piece 6 is connected to the second end of the measuring rope 5, and the fixing piece 6 is used for fixing 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 2mm, and the measuring rope 5 is pulled out from the outlet of the winder 4 during measurement, and passes through the hollow cavity of the connecting piece 3 through the opening provided in the center of the POM plugging material. In this embodiment the fixing member 6 is a hook mounted at the second end of the measuring rope 5 extending beyond the connecting member 3, the hook being in use hooked at the measuring point.
The measuring point is positioned on the installed immersed tube, calibration of the measuring point is completed when the installed immersed tube is calibrated, and when the three-dimensional transverse rope measuring positioning device is used, the measuring point is hooked at the measuring point for convenience, a pull ring is arranged at the measuring point, and the hook is directly hooked on the pull ring.
The winder 4 includes a rotary shaft 41, a motor 42, and a bobbin 43, the motor 42 has an output shaft, the output shaft of the motor 42 is connected with the rotary shaft 41, the bobbin 43 is provided on the rotary shaft 41, the bobbin 43 and the central axis of the rotary shaft 41 are coaxial, and the axes are aligned and connected. The outer surface of the winding drum 43 is provided with threads, the measuring rope 5 is wound on the winding drum 43, and the measuring rope 5 is positioned in the threads. The motor 42 can drive the winding reel 43 to rotate through the rotating shaft 41, so that the rope 5 is always kept in a tensioned state in the process of using the three-dimensional transverse rope positioning device, and the pull-out length of the rope 5 can be accurately measured. In this embodiment, the motor 42 is a constant torque motor, and the constant force motor is driven by 24V dc power, which can provide a constant torque of about 50N to the winder 4 to tighten the rope 5. The bobbin 43 is a wear resistant nylon cylinder having 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.
In order to ensure the accuracy of measurement, the measuring rope 5 can be wound on the winding reel 43 in sequence, the three-dimensional transverse measuring rope positioning device for the large-water-depth immersed tube joint further comprises a wire arranging device 8, the wire arranging device 8 is arranged in the cavity, the wire arranging device 8 is connected with the winding reel 4, so that the measuring rope 5 is uniformly distributed in threads on the surface of the winding reel 43, the measuring rope 5 is ensured to sequentially enter and exit the threads, and only one wire enters in one thread.
The measuring system is arranged in the cavity and is used for measuring the stretching length of the measuring rope 5, the transverse deflection angle and the longitudinal deflection angle of the connecting piece 3. In the present embodiment, the measurement system includes a first encoder 71, a second encoder 72, and a single axis inclinometer 73. The first encoder 71 is disposed on the rotating shaft 41, an output shaft of the first encoder 71 is coaxial with the rotating shaft 41, the axes are aligned and connected, the first encoder 71 is used for measuring the stretching length of the measuring rope 5, and the first encoder 71 is mounted on the mounting frame 23 of the rotating shaft system 2 at one side of the winding reel 43.
The second encoder 72 is provided on the second rotary member 22, and an output shaft of the second encoder 72 is coaxial with and connected to the second rotary member 22, and the second encoder 72 is configured to measure a lateral deflection angle of the connecting member 3. The second encoder 72 is mounted on a second horizontal bar of the second mounting bracket 232.
A single axis inclinometer 73 is provided on the link 3 to measure the longitudinal deflection angle of the link 3. The single axis inclinometer 73 is installed to ensure that its axis is aligned with the direction of the connector 3, thereby ensuring that the measured longitudinal deflection angle is accurate.
In the above-mentioned exemplary embodiment, the three-dimensional transverse rope measuring positioning device for the large-water-depth immersed tube joint is installed on the tube joint to be installed when in use, the fixing piece fixes the end part of the rope measuring on the measuring point of the installed tube joint, in the immersed tube joint sinking butt joint process, the rope measuring moves along with the tube joint to be installed and drives the connecting piece, the measuring system measures the stretching length of the rope measuring, the transverse deflection angle and the longitudinal deflection angle of the connecting piece, the measuring precision is high, and the accurate sinking butt joint of the immersed tube in the deep water area can be ensured.
The working procedure of one embodiment of the three-dimensional transverse rope measuring and positioning device for a large water depth immersed tube joint according to the invention is described below with reference to fig. 1 to 5:
At least two three-dimensional transverse rope measuring positioning devices are prepared and are arranged on a pipe joint to be installed. When the pipe joint is sunk and enters the butt joint stage, the fixing piece 6 is fixed at the measuring point, and after calibration data are obtained, measurement work is started. The length of the measuring rope 5 from the rotation center to the measurement point is L, the lateral deflection angle of the connecting member 3 is b, and the longitudinal deflection angle of the connecting member 3 is a, which is measured by the first encoder 71, and the longitudinal deflection angle of the connecting member 3 is b, which is measured by the single-axis inclinometer 73. And obtaining the coordinates of the rotation center in the construction coordinate system according to the measurement data, and calculating the direction of the immersed tube axis of the tube section to be installed according to the coordinates of the rotation center in the immersed tube coordinate system.
Example 2:
The embodiment provides a three-dimensional transverse rope measuring positioning method for a large-water-depth immersed tube joint, which adopts the three-dimensional transverse rope measuring positioning device for the large-water-depth immersed tube joint according to the embodiment 1, takes a rotation plane of a second encoder 72 of the three-dimensional transverse rope measuring positioning device as a reference surface, takes a rotation shaft of the second encoder 72 of the three-dimensional transverse rope measuring positioning device as a main shaft, takes an end part, connected with a second rotating piece 22, of a connecting piece 3 as a rotation center, and takes an intersection point of the rotation center and the reference surface as the same point, and the positioning method comprises the following steps:
S1, respectively installing at least two three-dimensional transverse rope measuring positioning devices on the left side and the right side of a pipe joint to be installed, wherein the installation position is lower than the pipe top of the pipe joint to be installed and is close to a butt joint surface, the installed reference surface is vertical to the side surface of the pipe joint to be installed, and the main shaft is vertical to the pipe top of the pipe joint to be installed;
S2, acquiring calibration data of the three-dimensional transverse rope measuring positioning device: calibrating the coordinates of the rotation center in the ship coordinate system, calibrating the transverse included angle between the main shaft and the reference surface of the ship coordinate system, calibrating the vertical included angle between the main shaft and the reference surface of the ship coordinate system, calibrating the reading of the single-axis inclinometer 73 when the connecting piece 3 is parallel to the reference surface of the ship coordinate system, calibrating the initial length of the measuring rope 5, calibrating the reading of the first encoder 71 of the measuring rope 5 in the initial length state, and calibrating the position of the measuring point in the installed immersed tube coordinate system;
S3, fixing the fixing piece 6 at a measuring point, and acquiring measuring data of the three-dimensional transverse measuring rope positioning device according to the calibration data: the coordinates of the rotation center in a three-dimensional transverse rope positioning device coordinate system are (0, 0), the length of the rope 5 from the rotation center to the measurement point is L measured by the first encoder 71, the transverse deflection angle of the connecting piece 3 is b measured by the second encoder 72, and the longitudinal deflection angle of the connecting piece 3 is a measured by the single-axis inclinometer 73;
s4, setting the coordinates of the measuring point in the coordinate system of the three-dimensional transverse rope measuring and positioning device as (X, Y, Z), and then ，/>，/>；
S5, setting the coordinates of the measurement point obtained through the through measurement in the construction coordinate system as (Xc, yc, zc), and setting the coordinates of the rotation center in the construction coordinate system as (Xg, yg, zg)，/>,/>；
Wherein,The direction angle of the immersed tube axis of the tube section to be installed in a construction coordinate system.
In step S2, calibrating the position of the measuring point in the installed immersed tube coordinate system is completed when the installed immersed tube is calibrated.
The coordinates of the measuring points measured by the measuring system of the three-dimensional transverse measuring rope positioning device belong to the coordinates of the coordinate system of the three-dimensional transverse measuring rope positioning device. In step S3, the measurement data of the three-dimensional transverse rope positioning device is obtained according to the calibration data, which refers to the installation parameters and the measurement data of the three-dimensional transverse rope positioning device after the measured data is corrected by the calibration data.
Before the three-dimensional transverse rope measuring positioning device is used for measurement, the current pipe joint to be installed is roughly positioned, so that the pipe joint to be installed can be considered to be consistent with the axis of the installed pipe joint. Referring to the attached drawing, the point 6,O is a rotation center and is positioned on a pipe joint to be installed, the point P is a measurement point and is positioned on the pipe joint which is installed. The roughly positioned pipe section to be installed is already substantially aligned with the main axis of the installed pipe section, and the dashed line in fig. 6 is the main axis of the pipe section. After coarse positioning, the horizontal direction of the measuring rope 5, i.e. the OP line, is substantially parallel to the main axes of the two pipe sections. F is the direction angle of the immersed tube axis of the installed tube section in the construction coordinate system, and is close to the direction of the OP connecting line in the construction coordinate system.
In step S4, X is the distance between the measurement point and the three-dimensional transverse rope measuring positioning device along the axis direction of the current pipe joint, Y is the transverse distance between the measurement point and the three-dimensional transverse rope measuring positioning device along the axis direction perpendicular to the current pipe joint, and Z is the elevation difference between the measurement point and the three-dimensional transverse rope measuring positioning device in the vertical direction.
The three-dimensional transverse rope measuring positioning device is started when the pipe joint is sunk into a second stage (namely a butt joint stage), the relative distance between the pipe joint to be installed and the pipe joint installed is relatively short, and the current rough positioning direction error of the pipe joint to be installed is very small (generally less than 0.1 degree), in step S5, the pipe joint to be installed is consistent with the axis of the pipe joint to be installed,The angle of the immersed tube axis of the installed tube segment in the construction coordinate system may be used, which is the tube segment direction measured through the installed tube segment, and the effect caused thereby on the current rotational center position should be less than 1mm.
The three-dimensional transverse rope measuring positioning method further comprises S6: and (3) acquiring coordinates of a plurality of rotation centers in a construction coordinate system according to the steps S2-S5, and calculating the direction of the immersed tube axis of the tube section to be installed according to the coordinates of the rotation centers in the immersed tube coordinate system.
In some embodiments, the accuracy and reliability of the axis direction measurement of the pipe joint to be installed and the independence of the data source are considered, and meanwhile, certain redundancy of the data is guaranteed, so that the reliability of the data can be checked, and therefore measurement and control are performed by adopting four three-dimensional transverse rope measuring positioning device combinations, and accurate positioning of immersed pipe installation is guaranteed. When a plurality of three-dimensional transverse measuring rope positioning devices are installed, coordinates of a plurality of rotation centers in a construction coordinate system can be obtained, and then the immersed tube positioning calculation can be completed. Since the rotation center has already obtained its coordinates in the immersed tube coordinate system at the time of calibration, the current immersed tube axis direction can be further calculated.
Because the first encoder 71, the second encoder 72 and the single-axis inclinometer 73 adopted by the three-dimensional transverse rope measuring positioning device have higher measurement precision, when a plurality of three-dimensional transverse rope measuring positioning devices are installed on the immersed tube, the positioning result of the butt joint end of the immersed tube can reach higher precision, and meanwhile, the installation precision requirement of the non-butt joint end can be met. The relative positioning precision can reach the plane precision of the immersed tube position of +/-0.010 m, the elevation precision of +/-0.010 m and the immersed tube axial direction of +/-0.005 degrees, and the positioning precision of the non-butt joint end can reach the plane precision of the immersed tube position of +/-0.04 m and the elevation precision of +/-0.05 m. According to the precision estimation, the penetration measurement of the installed immersed tube at the butt joint is not considered, and according to immersed tube construction experience, a precise penetration measurement method is adopted, so that the penetration measurement error can be controlled to be 0.03m in a 5-kilometer tunnel, and the difference of the directions of the front and rear planes of the tube sections caused by the orientation error of the last tube section is smaller than 0.005m.
In the above-mentioned exemplary embodiment, the three-dimensional transverse rope positioning method for the large-water-depth immersed tube joint adopts the three-dimensional transverse rope positioning device for the large-water-depth immersed tube joint, the measurement is not limited by the water depth, the measurement accuracy can be ensured without a measurement tower with huge body size in the measurement process, the outfitting workload is less, and the ship removing under the on-site emergency condition is not influenced.
Finally, it should be noted that: in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same; while the invention has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that: modifications may be made to the specific embodiments of the present invention or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the invention, it is intended to cover the scope of the invention as claimed.
Claims (8)
1. The utility model provides a three-dimensional transverse rope measuring positioner for large water depth immersed tube coupling which characterized in that includes:
the box body is internally provided with a cavity, and the box body is provided with an opening communicated with the cavity;
The rotating shaft system is arranged in the cavity and comprises a first rotating piece and a second rotating piece, the second rotating piece is arranged on the first rotating piece, the first rotating piece longitudinally rotates, and the second rotating piece transversely rotates;
The connecting piece is internally provided with a hollow cavity, one end of the connecting piece is connected with the second rotating piece, the other end of the connecting piece extends out of the box body through an opening on the box body, and the end part of the connecting piece connected with the second rotating piece is used as a coordinate origin of a coordinate system of the three-dimensional transverse rope measuring positioning device;
the winder is arranged in the cavity;
The measuring rope is wound on the winder, the first end part of the measuring rope is fixedly connected to the winder, and the second end part of the measuring rope penetrates through the hollow cavity and extends out of the box body;
The fixing piece is connected with the second end part of the measuring rope and used for fixing the second end part of the measuring rope at a measuring point;
the measuring system is arranged in the cavity and is used for measuring the stretching length of the measuring rope and the transverse deflection angle and the longitudinal deflection angle of the connecting piece;
The winder comprises a rotating shaft, a motor and a winding drum, wherein the motor is provided with an output shaft, the output shaft of the motor is connected with the rotating shaft, the winding drum is arranged on the rotating shaft, threads are arranged on the surface of the winding drum, the measuring rope is wound on the winding drum, and the measuring rope is positioned in the threads;
The measuring system comprises a first encoder, a second encoder and a single-axis inclinometer, wherein the first encoder is arranged on the rotating shaft, an output shaft of the first encoder is coaxial with the rotating shaft, and the first encoder is used for measuring the length of a measuring rope from an origin of coordinates to a measuring point under a coordinate system of the three-dimensional transverse measuring rope positioning device; the second encoder is arranged on the second rotating piece, an output shaft of the second encoder is coaxial with the second rotating piece, and the second encoder is used for measuring a transverse deflection angle of the connecting piece under a three-dimensional transverse rope measuring positioning device coordinate system; the single-axis inclinometer is arranged on the connecting piece to measure the longitudinal deflection angle of the connecting piece under the coordinate system of the three-dimensional transverse rope measuring positioning device.
2. The three-dimensional transverse rope positioning device for a large-water-depth immersed tube joint according to claim 1, further comprising a wire arranging device, wherein the wire arranging device is arranged in the cavity and is connected with the wire winder so that the rope is uniformly distributed in threads on the surface of the winding drum.
3. The three-dimensional transverse rope positioning device for a large-water-depth immersed tube joint according to claim 1, wherein the rotating shaft system further comprises a mounting frame, and the first rotating member and the second rotating member are arranged on the mounting frame.
4. The three-dimensional transverse rope measuring positioning device for the large-water-depth immersed tube joint according to claim 1, further comprising a base, wherein the base is fixed at the bottom of the box body, and a mark for calibrating the direction is arranged on the base.
5. The three-dimensional transverse rope measuring positioning method for the large-water-depth immersed tube joint is characterized by adopting the three-dimensional transverse rope measuring positioning device for the large-water-depth immersed tube joint, taking a rotating plane of a second encoder of the three-dimensional transverse rope measuring positioning device as a reference plane, taking a rotating shaft of the second encoder of the three-dimensional transverse rope measuring positioning device as a main shaft, taking an end part, connected with a second rotating piece, of a connecting piece as a rotating center and taking an intersection point of the rotating center and the reference plane as the same point, and comprises the following steps:
s1, respectively installing at least two three-dimensional transverse rope measuring positioning devices on the left side and the right side of a pipe joint to be installed, wherein the installation position is lower than the pipe top of the pipe joint to be installed and is close to a butt joint surface, after installation, the reference surface is vertical to the side surface of the pipe joint to be installed, and the main shaft is vertical to the pipe top of the pipe joint to be installed;
S2, acquiring calibration data of the three-dimensional transverse rope measuring positioning device:
Calibrating the coordinates of the rotation center in a ship coordinate system, calibrating the transverse included angle between the main shaft and a ship coordinate system reference surface, calibrating the vertical included angle between the main shaft and the ship coordinate system reference surface, calibrating the reading of the single-axis inclinometer when the connecting piece is parallel to the ship coordinate system reference surface, calibrating the initial length of the measuring rope, calibrating the reading of a first encoder of the measuring rope in the initial length state, and calibrating the position of a measuring point in the installed immersed tube coordinate system;
s3, fixing the fixing piece at a measuring point, and acquiring measuring data of the three-dimensional transverse measuring rope positioning device according to the calibration data:
The coordinates of the rotation center in a three-dimensional transverse rope measuring positioning device coordinate system are (0, 0), the length of the rope from the rotation center to a measuring point is measured to be L by a first encoder, the transverse deflection angle of a connecting piece is measured to be b by a second encoder, and the longitudinal deflection angle of the connecting piece is measured to be a by a single-axis inclinometer;
s4, setting the coordinates of the measuring point in the coordinate system of the three-dimensional transverse rope measuring and positioning device as (X, Y, Z), and then ，/>，/>；
S5, setting the coordinates of the measurement point obtained through the through measurement in the construction coordinate system as (Xc, yc, zc), and setting the coordinates of the rotation center in the construction coordinate system as (Xg, yg, zg)，/>,；
Wherein,The direction angle of the immersed tube axis of the tube section to be installed in a construction coordinate system.
6. The method for positioning a three-dimensional transverse rope for a large-water-depth immersed tube joint according to claim 5, wherein before the measurement is performed by using the three-dimensional transverse rope positioning device, the tube joint to be installed is positioned roughly relative to the installed tube joint, so that the axis of the tube joint to be installed is consistent with that of the installed tube joint, in step S4, X is the distance between a measuring point and the three-dimensional transverse rope positioning device along the axis direction of the current tube joint, Y is the transverse distance between the measuring point and the three-dimensional transverse rope positioning device along the axis direction perpendicular to the axis direction of the current tube joint, and Z is the height difference between the measuring point and the three-dimensional transverse rope positioning device in the vertical direction.
7. The method for positioning a three-dimensional transverse rope for a large-water-depth immersed tube joint according to claim 6, wherein in step S5, the tube joint to be installed is consistent with the axis of the installed tube joint, and F adopts the direction angle of the immersed tube axis of the installed tube joint in a construction coordinate system.
8. The method for positioning a three-dimensional transverse measuring rope for a large-water-depth immersed tube joint according to claim 7, further comprising S6: and (3) acquiring coordinates of a plurality of rotation centers in a construction coordinate system according to the steps S2-S5, and calculating the direction of the immersed tube axis of the tube section to be installed according to the coordinates of the rotation centers in the immersed tube coordinate system.
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