CN203129177U - Monitoring system for pipe section underwater gesture - Google Patents
Monitoring system for pipe section underwater gesture Download PDFInfo
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- CN203129177U CN203129177U CN 201320004827 CN201320004827U CN203129177U CN 203129177 U CN203129177 U CN 203129177U CN 201320004827 CN201320004827 CN 201320004827 CN 201320004827 U CN201320004827 U CN 201320004827U CN 203129177 U CN203129177 U CN 203129177U
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Abstract
The utility model relates to a monitoring system for a pipe section underwater gesture, in particular to the monitoring system which guides and adjusts an immersed gesture and a butt joint gesture of a pipe section through a global positioning system (GPS) receiver, a sonar device and a central processing unit. The monitoring system for the pipe section underwater gesture comprises the GPS receiver, the sonar device and the central processing unit. The central processing unit is respectively connected with the sonar device and the GPS receiver. The design of the sonar device is adopted. The sonar device can be used for locating a pipe section to be installed in real time in the process of immersion and locating relative positions of the pipe section to be installed and an installed pipe section in real time in the process of butt joint. According to the monitoring system for the pipe section underwater gesture, the monitoring and control problems existing in the processes of immersion and butt joint of the pipe sections in deep water can be effectively solved, so that real-time gesture adjustment of the pipe sections in deep water is achieved, cost of each device is saved, and work efficiency is improved.
Description
Technical field
The utility model relates to a kind of tube coupling TT﹠C system of attitude under water, relate in particular to a kind of by GPS receiver, sonar equipment and central processing unit to tube coupling sinking and the butt joint attitude TT﹠C system that instructs and adjust.
Background technology
At present, the submerged tunnel of a walking of buying car in installments is to be formed by connecting by many immersed tube, and the volume and weight of immersed tube is quite big, and generally its length has about 100-200 rice, and immersed tube is routed on the bedding that lays in advance.When big specification immersed tube is installed, adopt mostly and ship is installed by the method for hoist cable cable hanging immersed tube; But this kind method is very high to immersed tube sedimentation and merging precision requirement, and it is very big to control difficulty accordingly, and the observing and controlling of attitude under water is the important assurance that guarantees the smooth sinking of immersed tube and butt joint to tube coupling.When constructing, the more shallow zone of the depth of water can adopt the attitude under water of measuring tower method observing and controlling immersed tube, but it is limited to measure the height of a tower, measuring tower when construct in the darker zone of the depth of water may be immersed under water fully, measure the GPS receiver of top of tower installation like this with ineffective, therefore, will adopt the deep water TT﹠C system to carry out the immersed tube observing and controlling of attitude under water; The system that does not at present also have this kind can carry out deep water observing and controlling does not more adopt this system to carry out the method for observing and controlling accordingly.
Therefore, be badly in need of providing a kind of new tube coupling TT﹠C system of attitude under water at the problems referred to above.
Summary of the invention
The purpose of this utility model provides a kind of tube coupling TT﹠C system of attitude under water, and this TT﹠C system realizes the tube coupling sinking by GPS receiver, sonar equipment and central processing unit and docks the purpose that attitude instructs and adjusts.
The purpose of this utility model is achieved through the following technical solutions: a kind of tube coupling is the TT﹠C system of attitude under water, and this system comprises GPS receiver, sonar equipment and central processing unit; Described central processing unit is connected with the GPS receiver with described sonar equipment respectively.
Described sonar equipment comprises that being arranged on sending on the installation ship is subjected to ripple device and a plurality of responder that is arranged on the tube coupling end face; Described sending is connected with described responder by signal by the ripple device.
Described responder and the corresponding setting in characteristic point position of demarcating in advance on the tube coupling end face.
Described tube coupling end face arrange at least three responders respectively with the corresponding setting in the characteristic point position of pre-demarcation on the end face of tube coupling butt end.
Described tube coupling end face arrange at least two responders respectively with the corresponding setting in the characteristic point position of pre-demarcation on tube coupling tail end end face.
The utility model compared with prior art has following advantage:
1, the utility model adopts the design of sonar equipment; This sonar equipment be used in treat in the sinking process peace tube coupling locate in real time; And in docking operation, treat to pacify tube coupling and pacify the tube coupling relative position relation and locate in real time; Can effectively solve tube coupling in the sinking at depth of water place and butt joint observing and controlling problem, thereby realize the real-time attitude adjustment of tube coupling under deepwater environment; Save each construction cost, improved operating efficiency.
2, the utility model adopts the design of GPS receiver; This GPS receiver passes through to receive the installation ship coordinate data of gps satellite signal network real-time Transmission, and monitors installation shipping row track in real time with this coordinate data; For central processing unit is set up unified absolute coordinate system and relative coordinate system provides guarantee; Make tube coupling sinking and butt joint operation simple more, quick, saved manually, improved efficient.
3, the utility model adopts the design of central processing unit; This central processing unit is based upon under the unified coordinate system after ship coordinate system, tube coupling relative coordinate system and tube coupling absolute coordinate system are compiled by calculating to install, and real-time Simulation goes out to install ship, waits to pacify tube coupling and pacified the three-dimensional space shape figure of tube coupling; So that staff's reference and carry out writing of attitude adjustment instruction; Make that the adjustment of tube coupling attitude is more directly perceived, easy, shortened construction progress, improved efficient.
Description of drawings
The utility model is described in further detail below in conjunction with drawings and Examples.
Fig. 1 is the structural representation of the utility model TT﹠C system;
Fig. 2 is the connection block diagram of each device in the utility model TT﹠C system;
Fig. 3 is the step block diagram of the utility model investigating method.
The specific embodiment
Referring to Fig. 1, shown in Figure 2, tube coupling of the present utility model is the TT﹠C system of attitude under water, this system comprise for to GPS receiver 1 that ship positionning is installed, be used for the sonar equipment of tube coupling location and be used for the central processing unit that data are handled; Described central processing unit is connected with the GPS receiver with described sonar equipment respectively.Sonar equipment described in the present embodiment is used for treating peace tube coupling 2 in the sinking process and positions; And in docking operation, treat the peace tube coupling and pacify tube coupling 3 relative position relations and position; Can effectively solve tube coupling in the sinking at depth of water place and butt joint observing and controlling problem, thereby realize the real-time attitude adjustment of tube coupling under deepwater environment; Save each construction cost, improved operating efficiency.
The utility model adopts the design of GPS receiver; The GPS receiver passes through to receive the installation ship coordinate data of gps satellite signal network real-time Transmission, and monitors installation shipping row track in real time with this coordinate data; For central processing unit is set up unified absolute coordinate system and relative coordinate system provides guarantee; Make tube coupling sinking and butt joint operation simple more, quick, saved manually, improved efficient.
Sonar equipment described in the present embodiment comprises that being arranged on sending on the installation ship is subjected to ripple device 4 and a plurality of responder 5 that is arranged on the tube coupling end face; Described sending is connected with described responder by sonar signal by the ripple device.A plurality of responders described in the present embodiment are separately positioned on waits to pacify tube coupling butt end 6 and has pacified tube coupling tail end 7.
Responder described in the present embodiment and the corresponding setting in characteristic point position of demarcating in advance on the tube coupling end face.Wait described in the present embodiment to pacify the tube coupling end face arrange at least three responders respectively with pre-demarcation in the corresponding setting of waiting to pacify on the end face of tube coupling butt end in characteristic point position; Pacified described in the present embodiment tube coupling end face arrange at least two responders respectively with pre-demarcation in the corresponding setting of pacifying on the tube coupling tail end end face in characteristic point position.Tube coupling characteristic point position described in the present embodiment refers to reflect on the whole the coordinate collection position of the spatial shape of tube coupling; Waiting to pacify tube coupling characteristic point position described in the present embodiment mainly is arranged on and waits to pacify on the angle, end face two ends, tube coupling butt end and wait to pacify on the end face of tube coupling butt end and GPS receiver location corresponding position; The described tube coupling characteristic point position of having pacified mainly is arranged on and has pacified on the angle, end face two ends, tube coupling butt end.
Central processing unit described in the present embodiment can be set up according to each tube coupling characteristic point coordinates data and meet WGS84 coordinate system standard (World Geodetic System1984, be to use the coordinate system set up for the GPS global positioning system) the tube coupling coordinate system, and simulate tube coupling three-dimensional space shape figure with this tube coupling coordinate system; Central processing unit is adjusted according to the attitude of the tube coupling of this tube coupling three-dimensional space shape figure in sinking or butt joint construction and is instructed.The utility model adopts the design of central processing unit; This central processing unit is based upon under the unified coordinate system after ship coordinate system, tube coupling relative coordinate system and tube coupling absolute coordinate system are compiled by calculating to install, and real-time Simulation goes out to install ship, waits to pacify tube coupling and pacified the three-dimensional space shape figure of tube coupling; So that staff's reference and carry out writing of attitude adjustment instruction; Make that the adjustment of tube coupling attitude is more directly perceived, easy, shortened construction progress, improved efficient.
Send the corresponding setting of GPS receiver location that is subjected on ripple device and the described installation ship described in the present embodiment; Described sending is subjected to the ripple device to be arranged on GPS receiver bottom, to realize installing the unification of ship coordinate system and tube coupling coordinate system, reduces measure error.
TT﹠C system described in the present embodiment comprises that at least two are sent and are subjected to the ripple device, and respectively with ship is installed on the corresponding setting of two GPS receivers.
Responder described in the present embodiment is provided with for the depth gauge 8 of measuring each characteristic point position water level depth; Depth gauge is measured and is measured the depth value of each characteristic point position in real time, by responder the numerical value passback is sent to be subjected to the ripple device.
Central processing unit described in the present embodiment comprises data sink and attitude data treating apparatus; Described data sink comprise the gps data receiving terminal that is connected with the GPS receiver with send the measuring and control data receiving terminal that be connected by the ripple device.Described attitude data treating apparatus is connected with the measuring and control data receiving terminal with the gps data receiving terminal respectively; Also be connected with image display on the described attitude data treating apparatus.Described central processing unit also comprises the data storage that is connected with the attitude data treating apparatus; This data storage is used for storing and calling at any time the data storage of each characteristic point coordinate data, absolute coordinate system, relative coordinate system, tube coupling three-dimensional space shape figure and installation ship coordinate data.The receiver of GPS described in the present embodiment is connected with described gps data receiving terminal by cable, thereby realizes the real-time Transmission of each tube coupling characteristic point coordinate data; And dynamically be connected with Global Positioning System with the real-time tube coupling coordinate system that this will set up.Described central processing unit also comprises the attitude adjustment control end that is connected with the attitude data treating apparatus; This attitude is adjusted control end and be can be used for sending the attitude adjustment instruction of waiting to pacify tube coupling, carries out the attitude of tube coupling in sinking and docking operation with the control device for adjusting posture and adjusts operation.
Referring to shown in Figure 3, tube coupling of the present utility model is the investigating method of attitude under water, and this investigating method may further comprise the steps:
1, fitting-out TT﹠C system in advance, wherein the responder of sonar equipment respectively with wait to pacify the tube coupling butt end, pacify the corresponding installation in characteristic point position that the tube coupling tail end is demarcated in advance.
2, central processing unit carries out absolute fix and sets up the tube coupling absolute coordinate system tube coupling in tube coupling sinking process; Wherein further comprising the steps of:
Wait to pacify each characteristic point position coordinate data of tube coupling by the sonar equipment detection: send to be subjected to the ripple device to send sonar signal to the responder of waiting to pacify the tube coupling butt end; Responder is beamed back the characteristic point position coordinate data that collects to send with the sonar signal form and is subjected to the ripple device.
Sonar equipment is uploaded to central processing unit with the sonar signal that receives: send to be subjected to the ripple device that the sonar signal that receives is uploaded to the measuring and control data receiving terminal; The measuring and control data receiving terminal is compiled characteristic point position coordinate data with this sonar signal; And this characteristic point position coordinate data is uploaded to the attitude data treating apparatus; The attitude data treating apparatus is stored to characteristic point position coordinate data in the data storage.
Receive installation ship satellite positioning signal by the GPS receiver: the GPS receiver receives the satellite positioning signal that the ship position is installed.
The GPS receiver will be installed the ship satellite positioning signal and be uploaded to central processing unit: the GPS receiver is uploaded to the gps data receiving terminal with satellite positioning signal; The gps data receiving terminal is compiled satellite positioning signal the ship coordinate data is installed, and the ship coordinate data should be installed be uploaded to the attitude data treating apparatus; The attitude data treating apparatus will be installed the ship coordinate data and be stored in the data storage.
The attitude data treating apparatus of central processing unit will be waited to pacify each characteristic point position coordinate data of tube coupling and the ship coordinate data will be installed and be accessed in the data storage and gather calculating; Set up the absolute coordinate system of waiting to pacify tube coupling according to result of calculation.
Also can finish according to the following steps in above-mentioned 2:
Receive installation ship satellite positioning signal by the GPS receiver: the GPS receiver receives the satellite positioning signal that the ship position is installed.
The GPS receiver will be installed the ship satellite positioning signal and be uploaded to central processing unit: the GPS receiver is uploaded to the gps data receiving terminal with satellite positioning signal; The gps data receiving terminal is compiled satellite positioning signal the ship coordinate data is installed, and the ship coordinate data should be installed be uploaded to the attitude data treating apparatus; The attitude data treating apparatus will be installed the ship coordinate data and be stored in the data storage.
Wait to pacify each characteristic point position coordinate data of tube coupling by the sonar equipment detection: send to be subjected to the ripple device to send sonar signal to the responder of waiting to pacify the tube coupling butt end; Responder is beamed back the characteristic point position coordinate data that collects to send with the sonar signal form and is subjected to the ripple device.
Sonar equipment is uploaded to central processing unit with the sonar signal that receives: send to be subjected to the ripple device that the sonar signal that receives is uploaded to the measuring and control data receiving terminal; The measuring and control data receiving terminal is compiled characteristic point position coordinate data with this sonar signal; And this characteristic point position coordinate data is uploaded to the attitude data treating apparatus; The attitude data treating apparatus is stored to characteristic point position coordinate data in the data storage.
The attitude data treating apparatus of central processing unit will be waited to pacify each characteristic point position coordinate data of tube coupling and the ship coordinate data will be installed and be accessed in the data storage and gather calculating; Set up the absolute coordinate system of waiting to pacify tube coupling according to result of calculation.
3, central processing unit is adjusted tube coupling sinking attitude according to the tube coupling absolute coordinate system: the attitude data treating apparatus of central processing unit simulates three-dimensional space shape figure according to absolute coordinate system; Show three-dimensional space shape figure by image display; Operating personnel wait to pacify the attitude adjustment instruction of tube coupling to the input of attitude data treating apparatus according to three-dimensional space shape figure; The attitude data treating apparatus is sent to attitude with attitude adjustment instruction and adjusts control end; Attitude is adjusted control end and is realized the attitude adjustment of tube coupling in the sinking process according to attitude adjustment instruction by the operating attitude adjusting device; Begin until the butt joint operation.
4, central processing unit carries out relative positioning and sets up the tube coupling relative coordinate system tube coupling in the tube coupling docking operation; Wherein further comprising the steps of:
Wait to pacify tube coupling and pacified each characteristic point position coordinate data of tube coupling by the sonar equipment measurement: send to be subjected to the ripple device sonar signal to be sent to the responder of waiting to pacify the responder of tube coupling butt end and having pacified the tube coupling tail end respectively; Responder is beamed back the characteristic point position coordinate data that collects to send with the sonar signal form and is subjected to the ripple device.
Sonar equipment is uploaded to central processing unit with the sonar signal that receives: send to be subjected to the ripple device that the sonar signal that receives is uploaded to the measuring and control data receiving terminal; The measuring and control data receiving terminal is compiled characteristic point position coordinate data with this sonar signal; And this characteristic point position coordinate data is uploaded to the attitude data treating apparatus; The attitude data treating apparatus is stored to characteristic point position coordinate data in the data storage.
Receive installation ship satellite positioning signal by the GPS receiver: the GPS receiver receives the satellite positioning signal that the ship position is installed.
The GPS receiver will be installed the ship satellite positioning signal and be uploaded to central processing unit: the GPS receiver is uploaded to the gps data receiving terminal with satellite positioning signal; The gps data receiving terminal is compiled satellite positioning signal the ship coordinate data is installed, and the ship coordinate data should be installed be uploaded to the attitude data treating apparatus; The attitude data treating apparatus will be installed the ship coordinate data and be stored in the data storage.
The attitude data treating apparatus of central processing unit is with each characteristic point position coordinate data and the ship coordinate data is installed accesses in the data storage and gather calculating; Set up the relative coordinate system of having pacified tube coupling and having waited to pacify tube coupling according to result of calculation.
Also can finish according to the following steps in above-mentioned 4:
Receive installation ship satellite positioning signal by the GPS receiver: the GPS receiver receives the satellite positioning signal that the ship position is installed.
The GPS receiver will be installed the ship satellite positioning signal and be uploaded to central processing unit: the GPS receiver is uploaded to the gps data receiving terminal with satellite positioning signal; The gps data receiving terminal is compiled satellite positioning signal the ship coordinate data is installed, and the ship coordinate data should be installed be uploaded to the attitude data treating apparatus; The attitude data treating apparatus will be installed the ship coordinate data and be stored in the data storage.
Wait to pacify tube coupling and pacified each characteristic point position coordinate data of tube coupling by the sonar equipment measurement: send to be subjected to the ripple device sonar signal to be sent to the responder of waiting to pacify the responder of tube coupling butt end and having pacified the tube coupling tail end respectively; Responder is beamed back the characteristic point position coordinate data that collects to send with the sonar signal form and is subjected to the ripple device.
Sonar equipment is uploaded to central processing unit with the sonar signal that receives: send to be subjected to the ripple device that the sonar signal that receives is uploaded to the measuring and control data receiving terminal; The measuring and control data receiving terminal is compiled characteristic point position coordinate data with this sonar signal; And this characteristic point position coordinate data is uploaded to the attitude data treating apparatus; The attitude data treating apparatus is stored to characteristic point position coordinate data in the data storage.
The attitude data treating apparatus of central processing unit is with each characteristic point position coordinate data and the ship coordinate data is installed accesses in the data storage and gather calculating; Set up the relative coordinate system of having pacified tube coupling and having waited to pacify tube coupling according to result of calculation.
6, central processing unit is adjusted tube coupling sinking attitude according to the tube coupling absolute coordinate system: the attitude data treating apparatus of central processing unit simulates three-dimensional space shape figure according to absolute coordinate system; Show three-dimensional space shape figure by image display; Operating personnel wait to pacify the attitude adjustment instruction of tube coupling to the input of attitude data treating apparatus according to three-dimensional space shape figure; The attitude data treating apparatus is sent to attitude with attitude adjustment instruction and adjusts control end; Attitude is adjusted control end and is realized the attitude adjustment of tube coupling in docking operation according to attitude adjustment instruction by the operating attitude adjusting device; Finish until the butt joint operation.
7, remove TT﹠C system after TT﹠C system instructs tube coupling sinking and butt joint to finish.
Claims (5)
1. the tube coupling TT﹠C system of attitude under water, it is characterized in that: this system comprises GPS receiver, sonar equipment and central processing unit; Described central processing unit is connected with the GPS receiver with described sonar equipment respectively.
2. according to the described tube coupling of claim 1 TT﹠C system of attitude under water, it is characterized in that: described sonar equipment comprises being arranged on to be installed sending on the ship and is subjected to ripple device and a plurality of responder that is arranged on the tube coupling end face; Described sending is connected with described responder by signal by the ripple device.
3. according to the described tube coupling of claim 2 TT﹠C system of attitude under water, it is characterized in that: described responder and the corresponding setting in characteristic point position of demarcating in advance on the tube coupling end face.
4. according to the described tube coupling of claim 3 TT﹠C system of attitude under water, it is characterized in that: described tube coupling end face arrange at least three responders respectively with the corresponding setting in the characteristic point position of pre-demarcation on the end face of tube coupling butt end.
5. according to the described tube coupling of claim 3 TT﹠C system of attitude under water, it is characterized in that: described tube coupling end face arrange at least two responders respectively with the corresponding setting in the characteristic point position of pre-demarcation on tube coupling tail end end face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320004827 CN203129177U (en) | 2013-01-06 | 2013-01-06 | Monitoring system for pipe section underwater gesture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320004827 CN203129177U (en) | 2013-01-06 | 2013-01-06 | Monitoring system for pipe section underwater gesture |
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| CN203129177U true CN203129177U (en) | 2013-08-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201320004827 Expired - Lifetime CN203129177U (en) | 2013-01-06 | 2013-01-06 | Monitoring system for pipe section underwater gesture |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103590400A (en) * | 2013-11-25 | 2014-02-19 | 中交第三航务工程局有限公司江苏分公司 | Offshore sunken pile accurate positioning operation method |
| CN103912012A (en) * | 2013-01-06 | 2014-07-09 | 中交第一航务工程局有限公司 | System and method for measuring and controlling underwater attitudes of pipe sections |
| CN104913769A (en) * | 2015-04-15 | 2015-09-16 | 上海海科工程咨询有限公司 | Underwater high-precision measurement and control system and method for pipe abutment in the construction of immersed tunnel |
| CN105672357A (en) * | 2015-12-31 | 2016-06-15 | 中交第一航务工程局有限公司 | Pipe joint installation and positioning control system and method |
| CN107024227A (en) * | 2017-03-22 | 2017-08-08 | 中交第航务工程局有限公司 | A kind of combined type TT＆C system installed for immersed tube and method |
-
2013
- 2013-01-06 CN CN 201320004827 patent/CN203129177U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103912012A (en) * | 2013-01-06 | 2014-07-09 | 中交第一航务工程局有限公司 | System and method for measuring and controlling underwater attitudes of pipe sections |
| CN103912012B (en) * | 2013-01-06 | 2015-10-28 | 中交第一航务工程局有限公司 | Tube coupling is the TT&C system of attitude and investigating method under water |
| CN103590400A (en) * | 2013-11-25 | 2014-02-19 | 中交第三航务工程局有限公司江苏分公司 | Offshore sunken pile accurate positioning operation method |
| CN104913769A (en) * | 2015-04-15 | 2015-09-16 | 上海海科工程咨询有限公司 | Underwater high-precision measurement and control system and method for pipe abutment in the construction of immersed tunnel |
| CN105672357A (en) * | 2015-12-31 | 2016-06-15 | 中交第一航务工程局有限公司 | Pipe joint installation and positioning control system and method |
| CN105672357B (en) * | 2015-12-31 | 2018-04-27 | 中交第一航务工程局有限公司 | A kind of tube coupling installation positioning control system and method |
| CN107024227A (en) * | 2017-03-22 | 2017-08-08 | 中交第航务工程局有限公司 | A kind of combined type TT＆C system installed for immersed tube and method |
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| C14 | Grant of patent or utility model | ||
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Granted publication date: 20130814 |
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