WO2024032663A1 - 水下摄影测量沉管管节对接测量方法 - Google Patents

水下摄影测量沉管管节对接测量方法 Download PDF

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Publication number
WO2024032663A1
WO2024032663A1 PCT/CN2023/112025 CN2023112025W WO2024032663A1 WO 2024032663 A1 WO2024032663 A1 WO 2024032663A1 CN 2023112025 W CN2023112025 W CN 2023112025W WO 2024032663 A1 WO2024032663 A1 WO 2024032663A1
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WIPO (PCT)
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coordinates
pipe section
immersed
underwater
measurement
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PCT/CN2023/112025
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English (en)
French (fr)
Inventor
张德津
李清泉
何莉
田霖
管明雷
张中元
马华川
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深圳大学
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Publication of WO2024032663A1 publication Critical patent/WO2024032663A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Definitions

  • This application belongs to the field of marine surveying and mapping, and specifically relates to an underwater photogrammetry immersed tube section docking measurement method.
  • the construction method of immersed tube tunnels adopts the construction method of prefabricating pipe sections in the factory and floating the pipe sections to the site for sinking and docking.
  • the sinking and installation of pipe sections is the key to the construction of immersed tube tunnels.
  • the docking of pipe sections requires that the pipe sections to be laid and the pipe sections that have been laid underwater maintain the correct position and attitude, especially the linear accuracy after docking. This requires precise measurements of the position and attitude of underwater tube sections.
  • the current underwater position measurement of pipe sections mainly uses Global Navigation Satellite System (GNSS) measurements installed on the top of the measurement towers at the top and tail ends of the pipe section, and the pipe section is determined through differential calculation of the two coordinates measured by the two towers. axis direction, converting underwater measurement positioning into above-water measurement positioning. Due to the influence of seawater flow, the measuring tower may be deformed by the impact of water flow, and the height of the measuring tower generally cannot exceed 45 meters. This leads to certain problems in water depth suitability, construction safety, docking accuracy, and operating efficiency for the docking installation of pipe sections. The shortcomings of measurement tower-free installation and positioning are the future development trend.
  • GNSS Global Navigation Satellite System
  • the embodiment of the present application provides an underwater photogrammetry immersed pipe section docking measurement method, which can solve the problem that existing related technologies cannot guarantee the accuracy of docking, installation and positioning of pipe sections without a measurement tower.
  • Embodiments of the present application provide an underwater photogrammetry immersed pipe section docking measurement method.
  • the method includes: determining the pipe section coordinates of multiple sets of underwater photogrammetry systems in the pipe section coordinate system, wherein the underwater photography
  • the measurement system includes underwater photogrammetry equipment and a measurement cooperation target.
  • the underwater photogrammetry equipment is installed on the pipe section to be immersed.
  • the measurement cooperation target is installed on the docking target pipe section. In the pipe section coordinate system, determine the water content of the pipe section.
  • the adjustment parameters include the rotation angle and/or translation amount of the pipe section to be immersed; according to the adjustment parameters , control and adjust the docking of the pipe section to be immersed and the docking target pipe section.
  • the measurement point of the measurement cooperation target is the center point of the non-directional light source, and a certain distance is maintained between the measurement points of the measurement cooperation target so that the light spots generated by the light source in the water will not merge within the measurement range. ;
  • the relationship between the measurement points of the measurement cooperation target is pre-calibrated; the coordinates in the pipe node coordinate system between the measurement points of the measurement cooperation target are determined through the control network.
  • the underwater photogrammetry system includes underwater photogrammetry equipment and a measurement cooperation target
  • the underwater photogrammetry equipment is installed on the pipe section to be immersed
  • the measurement cooperation target is installed on the docking target pipe section
  • determine the standard angle between the connection line between the pipe section coordinates of the underwater photogrammetry equipment and the central axis of the pipe section to be immersed based on the pipe section coordinates, during construction
  • the actual coordinates of the underwater photogrammetry equipment, the theoretical coordinates of the pipe section to be immersed, the theoretical coordinates of the underwater photogrammetry equipment and the theoretical central axis coordinates of the pipe section to be immersed are determined in the coordinate system; based on the The actual coordinates of the underwater photogrammetry equipment, the theoretical coordinates of the pipe section to be immersed, the theoretical coordinates of the underwater photogrammetry equipment, the theoretical central axis coordinates of the pipe section to be immersed are determined in the coordinate system; based on the The actual coordinates of the underwater photogrammetry equipment, the theoretical coordinates of the pipe section to be immersed,
  • Figure 1 is a schematic flow chart of an underwater photogrammetric immersed tube section docking measurement method provided by an embodiment of the present application
  • Figure 2 is a schematic diagram of an underwater photogrammetry immersed tube section docking measurement method provided by an embodiment of the present application
  • Figure 3 is a schematic diagram of a cooperative target provided by an embodiment of the present application.
  • Figure 4 is a measurement schematic diagram of a measurement device provided by an embodiment of the present application.
  • Figure 5 is a schematic diagram for determining adjustment parameters provided by an embodiment of the present application.
  • Figure 1 shows an underwater photogrammetry immersed tube section docking measurement method provided by one embodiment of the present application.
  • the method can be executed by an electronic device, and the electronic device can include: a server and/or a terminal device.
  • the method can be executed by software or hardware installed on the electronic device, and the method includes the following steps:
  • Step 101 Determine the pipe section coordinates of multiple sets of underwater photogrammetry systems in the pipe section coordinate system.
  • the underwater photogrammetry system includes underwater photogrammetry equipment and a measurement cooperation target.
  • the underwater photogrammetry equipment is installed on the pipe section to be immersed, and the measurement cooperation target is installed on the docking target pipe section.
  • the target pipe section is the pipe section to be docked that has sunk underwater.
  • the above-mentioned multiple sets of measurement equipment are installed at appropriate positions at the top of the butt end of the pipe section to be immersed.
  • the underwater photogrammetry equipment can be connected to the top of the pipe through the base to maintain a sufficient distance between the measurement equipment. For example, if two sets of underwater photogrammetry equipment are installed, they can be installed on the outermost side where the docking end can be installed, so as to form a long baseline for measurement.
  • Measuring cooperative targets can use active, passive or combined active and passive targets.
  • the active target is formed by multiple controllable lights, and the passive target is formed by multiple reflective signs, arranged according to a certain shape. each There are multiple measurement points on the measurement cooperation target. The points are distributed according to certain rules for matching and identification.
  • the active light source adopts strobe mode. When the active light source is on, the target is an active light source target.
  • the passive target uses highly reflective materials. Can be distinguished by preset target arrangements.
  • Each measurement cooperation target can have multiple measurement points, and each measurement point can have independent pipe section coordinates.
  • the coordinates in the construction coordinate system can be obtained through through measurement.
  • the measurement point on the measurement cooperation target is the center point of the main passive light source; a predetermined distance is maintained between multiple measurement points on the measurement cooperation target, so that the light spot generated by the light source in the water can be within the measurement range. There will be no fusion within the measurement cooperation target; the relationship between the multiple measurement points on the measurement cooperation target is pre-calibrated; the control network determines the position of the multiple measurement points on the measurement cooperation target at the pipe section of the pipe section coordinate system. coordinate.
  • active light sources can increase the measurement range on the one hand, and reduce the influence of the above factors on the other hand.
  • environmental factors such as underwater plankton, fish eggs, and impurities in the water
  • active light sources can increase the measurement range on the one hand, and reduce the influence of the above factors on the other hand.
  • due to the influence of environmental factors there is a phenomenon that measurement points cannot be completely measured. Resection requires at least 3 measurement points, and measurement cooperation targets with more than 3 measurement points are conducive to reducing the impact of environmental factors.
  • a passive light source measurement point can be set up on the same measurement cooperation target. At close range or under good water quality conditions, the passive target has higher measurement accuracy than the active target.
  • the distance between the two immersed tubes is getting closer and closer, which is conducive to taking advantage of the passive target.
  • the scattered light source has no directivity, a light spot is formed in the water.
  • the camera is close to the target, the light spots will merge due to exposure. Maintaining a certain distance between measurement points can effectively prevent this phenomenon from occurring.
  • Figure 2 shows an example diagram of an underwater photogrammetry immersed pipe section docking measurement method.
  • the measurement can be achieved by two sets of underwater photogrammetry systems p 1 and p 2.
  • Each set of underwater photogrammetry systems p 1 and p 2 The photogrammetry system may include a set of underwater photogrammetry equipment and a measurement cooperation target, each of which The set of underwater photogrammetry equipment consists of 2 cameras. Each camera can determine the tube section coordinates of the two cameras by photographing the measurement points of the cooperative target;
  • a crosshair marker (positioning mark) can be set on the cooperation target as shown in Figure 3, and a prism can be used to position the crosshair, and the position of the prism can be measured through engineering method to measure;
  • the back side of the measurement cooperation target can be set as the coordinate plane, the horizontal direction on the back side of the measurement cooperation target can be set as the X-axis, the direction perpendicular to the horizontal direction on the back side of the measurement cooperation target can be set as the Y-axis, and the measurement cooperation target The front direction of is set as the Z-axis.
  • the coordinate system composed of the above-mentioned X-axis, Y-axis and Z-axis can be determined as the pipe section coordinate system O(x c ,y c ,z c ) of the docking target pipe section, so that Make the four measuring points of the crosshair on the X-axis and Y-axis.
  • the positions of the prism and measurement points in the station coordinate system O(x s ,y s ,z s ) can be obtained in the laboratory through total station, tracker or photogrammetry.
  • R sc and T sc are the coordinates in the measuring station coordinate system and the coordinates in the pipe section coordinate system measured by relevant technical personnel through actual measurements, and then the coordinates in the measuring station coordinate system and the calibration coordinate system can be obtained Coordinate pose matrix (also known as coordinate transformation matrix).
  • step S101 it also includes establishing a pipe section coordinate system.
  • Step 102 In the pipe section coordinate system, determine the standard angle between the connection line between the pipe section coordinates of the underwater photogrammetry equipment and the central axis of the pipe section to be immersed.
  • the angle between the connection line between the pipe section coordinates of the underwater photogrammetry equipment on the pipe section to be immersed and the central axis of the pipe section to be immersed can be calculated.
  • Multiple pairs of pipe section coordinates can calculate multiple angles. as a standard angle.
  • Step 103 Based on the pipe section coordinates, determine in the construction coordinate system the actual coordinates of the underwater photogrammetry equipment, the theoretical coordinates of the pipe section to be immersed, the theoretical coordinates of the underwater photogrammetry equipment and the The theoretical central axis coordinates of the tube section to be immersed and the actual coordinates of the measurement cooperation target.
  • the determined pipe section coordinates of the measuring points of the measurement cooperation target can be converted into coordinates in the construction coordinate system through the corresponding pose matrix.
  • the pose matrix here can be obtained by through-measurement of the immersed pipe section, for example Through actual measurement, the coordinates of the preset point in the pipe section coordinate system and the coordinates of the preset point in the construction coordinate system can be obtained, and then the coordinates of the preset point in the pipe section coordinate system and the preset point in the construction coordinate system can be determined.
  • the transformation matrix of the coordinates, and the transformation matrix can be determined as the above-mentioned pose matrix.
  • the penetration measurement technology is used to measure the actual position of the docking target pipe section in the construction coordinate system, and then the theoretical coordinates of the pipe section to be sunk are calculated with reference to the design line shape.
  • the theoretical coordinates of the underwater photogrammetry equipment and the theoretical central axis coordinates of the tube section to be immersed are determined.
  • the angle between the line connecting the theoretical coordinates of the underwater photogrammetry equipment and the theoretical central axis of the pipe section to be immersed must be equal to the standard angle corresponding to the above-mentioned underwater photogrammetry equipment. Otherwise, re-measurement is required to obtain the theoretical value.
  • Step 104 Based on the actual coordinates of the underwater photogrammetry equipment, the theoretical coordinates of the pipe section to be immersed, the theoretical coordinates of the underwater photogrammetry equipment, the theoretical central axis coordinates of the pipe section to be immersed, the At least one of the standard included angle and the preset accuracy parameter required for sinking the immersed tube section determines the adjustment parameters for the docking of the immersed tube section.
  • the adjustment parameter includes the rotation angle and/or translation amount of the pipe section to be immersed.
  • Step 105 Control and adjust the tube section to be immersed and the docking target according to the adjustment parameters. Pipe joints.
  • the embodiment of the present application determines the pipe section coordinates of multiple sets of underwater photogrammetry systems in the pipe section coordinate system, wherein the underwater photogrammetry system includes underwater photogrammetry equipment and a measurement cooperation target.
  • the photogrammetry equipment is installed on the pipe section to be immersed, and the measurement cooperation target is installed on the docking target pipe section; in the pipe section coordinate system, determine the connection between the pipe section coordinates of the underwater photogrammetry equipment and the Describe the standard angle of the central axis of the pipe section to be immersed; based on the coordinates of the pipe section, determine the actual coordinates of the underwater photogrammetry equipment, the theoretical coordinates of the pipe section to be immersed, the water The theoretical coordinates of the underwater photogrammetry equipment and the theoretical central axis coordinates of the pipe section to be immersed, the actual coordinates of the measurement cooperation target; based on the actual coordinates of the underwater photogrammetry equipment, the theoretical coordinates of the pipe section to be immersed, At least one of the theoretical coordinates of the underwater photogrammetry equipment, the theoretical central
  • each set of underwater photogrammetry equipment includes two cameras; the tube section coordinates of the underwater photogrammetry equipment include rear intersection coordinates and forward intersection coordinates; determine the underwater photography
  • the pipe section coordinates of the measuring equipment in the pipe section coordinate system include: determining the resection coordinates of each of the cameras for photogrammetry of the measurement points in the measurement cooperation target; determining the measurement cooperation of the two cameras. Measurement points in the target perform photogrammetric forward intersection measurement calculations The obtained tube section coordinates of each camera.
  • the underwater photogrammetry equipment can be sealed and waterproof using seals. It consists of two calibrated cameras. A single camera can perform rear intersection to calculate the projection center coordinates (i.e., the rear intersection coordinates). The two cameras can jointly perform forward intersection to calculate the projection center coordinates. (Forward intersection calculation), and at the same time, the distance from the projection center to the measurement cooperation target can be calculated through forward intersection.
  • determining the actual coordinates of the underwater photogrammetry equipment in a construction coordinate system based on the pipe section coordinates includes: converting the pipe section coordinates to Construction coordinate system: Aggregate the forward intersection coordinates and the rear intersection coordinates in the construction coordinate system to determine the actual coordinates of the underwater photogrammetry equipment in the construction coordinate system.
  • each set of underwater photogrammetry equipment can calculate and output a reliable value as the actual coordinates of the underwater photogrammetry equipment.
  • the calculation process is as follows.
  • V a (t) and V b (t) are the relative vectors of the displacement changes of the underwater photogrammetry equipment in the same time period.
  • Na and N b are the respective observation error correction amounts of the two cameras included in the underwater photogrammetry equipment.
  • L is the relative position vector between the two cameras, which is given by the binocular camera calibration.
  • Nab , Nab0 are the observation errors of the two camera baselines, and their estimates can be given by the photogrammetry error equation.
  • the observation error estimate Nab -N ab0 of the two camera baselines should be less than the threshold f 0 . Otherwise, at this moment, the measurement error is greater than the allowable range, and the result should be discarded.
  • the observation error of the two camera baselines is less than the threshold, the following equation (6) is satisfied.
  • the distance obtained by the forward intersection measurement remains unchanged, it can be expressed as repeated sampling.
  • a and B respectively obtain a sequence data, and then the representative value of this period can be obtained by least squares or simple averaging, as shown in the following formula (9 ).
  • determining the standard angle between the connection line between the coordinates of the pipe sections of the underwater photogrammetry equipment and the central axis of the pipe section to be immersed includes: The pipe section coordinates of the two sets of underwater photogrammetry equipment are differentially calculated; the result of the differential calculation is determined as the line between the pipe section coordinates of any two sets of underwater photogrammetry equipment and the The standard angle between the central axis of the pipe section to be immersed.
  • two sets of underwater photogrammetry equipment can obtain four standard angles (each set of underwater photogrammetry equipment has two pipe section coordinates, so the connection between the pipe section coordinates of the two sets of underwater photogrammetry equipment and the to-be- The central axis of the immersed tube section can form four included angles). But in general, the coordinates of the pipe section farthest apart from the two sets of underwater photogrammetry equipment are used to calculate the standard angle, and the rest are used as backup, calculation verification or point offset calculation.
  • the adjustment parameters include the rotation angle of the pipe section to be immersed; the actual coordinates based on the underwater photogrammetry equipment, the theoretical coordinates of the pipe section to be immersed, the At least one of the theoretical coordinates of the underwater photogrammetry equipment, the theoretical central axis coordinates of the pipe section to be immersed, the standard included angle, and the preset accuracy parameters required for sinking the pipe section to be immersed is determined.
  • the adjustment parameters for the sinking and docking of the pipe section to be immersed include: determining the target angle between the connection line between the actual coordinates of any two sets of underwater photogrammetry equipment and the theoretical central axis of the pipe section to be immersed; The difference between the target angle and the standard angle corresponding to any two sets of underwater photogrammetry equipment is used as the angle to be rotated, and/or the connection between the actual coordinates of any two sets of underwater photogrammetry equipment is The angle between the line connecting the theoretical coordinates of any two sets of underwater photogrammetry equipment is determined as the angle to be rotated; when the angle to be rotated does not meet the preset accuracy parameter, the angle to be rotated is It is determined as the rotation angle of the pipe section to be immersed; when the rotation angle to be rotated meets the preset accuracy parameter, the rotation angle of the pipe section to be immersed is determined to be 0 or meets the error setting requirement.
  • the adjustment parameters should be calculated with the two sets of underwater photogrammetry equipment that are farthest apart as the highest priority.
  • l is the central axis of the pipe section to be immersed in the pipe section coordinate system
  • ⁇ i is the standard angle corresponding to underwater photogrammetry equipment A and underwater photogrammetry equipment B
  • the adjustment parameters include the translation amount of the pipe section to be immersed; the actual coordinates based on the underwater photogrammetry equipment, the theoretical coordinates of the pipe section to be immersed, the At least one of the theoretical coordinates of the underwater photogrammetry equipment, the theoretical central axis coordinates of the pipe section to be immersed, the standard included angle, and the preset accuracy parameters required for sinking the pipe section to be immersed is determined.
  • the adjustment parameters for the sinking and docking of the pipe section to be immersed include: determining the difference between the actual coordinates of the underwater photogrammetry equipment and the theoretical coordinates of the underwater photogrammetry equipment on each coordinate axis as the value of the to-be-immersed pipe section.
  • the methods of the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is better. implementation.
  • the technical solution of the present application can be embodied in the form of a software product in essence or that contributes to the existing technology.
  • the computer software product is stored in a storage medium (such as ROM/RAM, disk, CD), including several instructions to cause a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in various embodiments of this application.

Abstract

一种水下摄影测量沉管管节对接测量方法。包括：确定多套水下摄影测量系统在管节坐标系中的管节坐标（101）；在管节坐标系中，确定水下摄影测量设备的管节坐标之间的连线与待沉管节的中轴线的标准夹角（102）；基于管节坐标，在施工坐标系中确定水下摄影测量设备的实际坐标、待沉管节的理论坐标、水下摄影测量设备的理论坐标及待沉管节的理论中轴线坐标（103）；基于水下摄影测量设备的实际坐标、待沉管节的理论坐标、水下摄影测量设备的理论坐标、待沉管节的理论中轴线坐标、标准夹角及待沉管节沉放所需的预设精度参数中的至少一者，确定待沉管节沉放对接的调节参数（104）；根据调节参数，控制调节待沉管节与对接目标管节对接（105）。

Description

水下摄影测量沉管管节对接测量方法
交叉引用
本申请要求在2022年08月11日提交中国专利局、申请号为202210962801.0、名称为“水下摄影测量沉管管节对接测量方法”的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请属于海洋测绘领域，具体涉及一种水下摄影测量沉管管节对接测量方法。
背景技术
在相关技术中，沉管隧道施工采用工厂预制管节，并将管节浮运到现场沉放对接的施工方式。而管节的沉放安装是沉管隧道施工建设的关键，沉放对接要求待沉放的管节与水下已经沉放的管节保持正确的位置和姿态，特别是对接后的线形精度，这需要对水下管节的位置和姿态进行精密测量。
当前管节水下位置测量主要利用安装在管节顶部首尾端的测量塔顶的全球卫星导航系统(Global Navigation Satellite System，GNSS)测量，并通过两个塔测量的两个坐标进行差分计算确定管节的轴线方向，将水下测量定位转换为水上的测量定位。由于受到海水流动的影响，测量塔受水流冲击可能会发生形变，而且一般量塔的高度不能超过45米，从而导致管节对接安装在水深适用、施工安全、对接精度、和作业效率上存在一定的缺陷，免测量塔安装定位是未来的发展趋势。
综上所述，现有相关技术无法保证管节在免测量塔情况下对接安装定位 的准确性。
发明内容
本申请实施例提供一种水下摄影测量沉管管节对接测量方法，能够解决在现有相关技术无法保证管节在免测量塔情况下对接安装定位的准确性问题。
本申请实施例提供了一种水下摄影测量沉管管节对接测量方法，该方法包括：确定多套水下摄影测量系统在管节坐标系中的管节坐标，其中，所述水下摄影测量系统包括水下摄影测量设备和测量合作靶标，所述水下摄影测量设备安装于待沉管节，所述测量合作靶标安装于对接目标管节；在管节坐标系中，确定所述水下摄影测量设备的所述管节坐标之间的连线与所述待沉管节的中轴线的标准夹角；基于所述管节坐标，在施工坐标系中确定所述水下摄影测量设备的实际坐标、所述待沉管节的理论坐标、所述水下摄影测量设备的理论坐标及所述待沉管节的理论中轴线坐标；基于所述水下摄影测量设备的实际坐标、所述待沉管节的理论坐标、所述水下摄影测量设备的理论坐标、所述待沉管节的理论中轴线坐标、所述标准夹角及所述待沉管节沉放所需的预设精度参数中的至少一者，确定所述待沉管节沉放对接的调节参数，其中，所述调节参数包括所述待沉管节的旋转角度和/或平移量；根据所述调节参数，控制调节所述待沉管节与所述对接目标管节对接。
可选地，所述测量合作靶标的所述测量点为无指向光源的中心点，所述测量合作靶标的所述测量点间保持一定距离以便光源在水中产生的光斑在测量范围内不会融合；所述测量合作靶标的所述测量点间关系预先标定；通过控制网确定测量合作靶标的所述测量点间在管节坐标系的坐标。
在本申请实施例中，通过确定多套水下摄影测量系统在管节坐标系中的 管节坐标，其中，所述水下摄影测量系统包括水下摄影测量设备和测量合作靶标，所述水下摄影测量设备安装于待沉管节，所述测量合作靶标安装于对接目标管节；在管节坐标系中，确定所述水下摄影测量设备的所述管节坐标之间的连线与所述待沉管节的中轴线的标准夹角；基于所述管节坐标，在施工坐标系中确定所述水下摄影测量设备的实际坐标、所述待沉管节的理论坐标、所述水下摄影测量设备的理论坐标及所述待沉管节的理论中轴线坐标；基于所述水下摄影测量设备的实际坐标、所述待沉管节的理论坐标、所述水下摄影测量设备的理论坐标、所述待沉管节的理论中轴线坐标、所述标准夹角及所述待沉管节沉放所需的预设精度参数中的至少一者，确定所述待沉管节沉放对接的调节参数，其中，所述调节参数包括所述待沉管节的旋转角度和/或平移量；根据所述调节参数，控制调节所述待沉管节与所述对接目标管节对接，从而可以避免使用测量塔对管节对接过程中管节的水下位姿进行测量，进而可以避免使用测量塔对管节的水下位姿进行测量，从而避免了使用测量塔水下对接的存在的水深受限、变形影响精度、成本高以及作业效率低等问题，这解决了在现有相关技术无法保证管节在免测量塔情况下对接安装定位的准确性问题。
附图说明
图1是本申请实施例提供的一种水下摄影测量沉管管节对接测量方法的流程示意图；
图2是本申请实施例提供的一种水下摄影测量沉管管节对接测量方法的示意图；
图3是本申请实施例提供的一种合作靶标的示意图；
图4是本申请实施例提供的一种测量设备的测量示意图；
图5是本申请实施例提供的一种确定调节参数的示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请的说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”，一般表示前后关联对象是一种“或”的关系。
下面结合附图，通过具体的实施例及其应用场景对本申请实施例提供的一种水下摄影测量沉管管节对接测量方法进行详细地说明。
图1示出本申请的一个实施例提供的一种水下摄影测量沉管管节对接测量方法，该方法可以由电子设备执行，该电子设备可以包括：服务器和/或终端设备。换言之，该方法可以由安装在电子设备的软件或硬件来执行，该方法包括如下步骤：
步骤101：确定多套水下摄影测量系统在管节坐标系中的管节坐标。
其中，所述水下摄影测量系统包括水下摄影测量设备和测量合作靶标，所述水下摄影测量设备安装于待沉管节，所述测量合作靶标安装于对接目标管节。目标管节即为水下已沉的待对接管节。
上述多套测量设备安装在待沉管节对接端顶端的合适位置，水下摄影测量设备可以通过基座与管顶连接，保持测量设备间具有足够大的距离。例如，如果安装两套水下摄影测量设备，可以安装在对接端可以安装的最外侧，以便形成测量的长基线。
测量合作靶标可以采用主动、被动或主被动联合靶标，主动靶标由多个可控制灯形成，被动靶标有多个反光标志形成，按照一定的形状布设。每个 测量合作靶标上有多个测量点位，点位按照一定规则分布，用于匹配和识别；主动光源采用频闪模式，主动光源灯亮时，靶标为主动光源靶标，被动靶标采用高反光材料，靶标可以通过预设的靶标排列形式区分。
每个测量合作靶标可以有多个测量点，每个测量点可以有独立的管节坐标，通过贯通测量可得到在施工坐标系的坐标。
所述测量合作靶标上的所述测量点为主被动光源的中心点；所述测量合作靶标上的多个所述测量点之间保持预定距离，从而可以使得光源在水中产生的光斑在测量范围内不会融合；所述测量合作靶标上的多个所述测量点之间的关系预先标定；通过控制网确定所述测量合作靶标上的多个所述测量点在管节坐标系的管节坐标。
可以理解的是，由于水下测量受水下浮游生物、鱼卵、水中杂质等环境因素影响，主动光源一方面可以增加量程，另一方可以降低上述因素影响。此外，由于环境因素影响，存在测量点不能被完整测量的现象，而后方交会至少需要3个测量点，并且多于3个测量点的测量合作靶标有利于降低环境因素影响。另外，考虑到主动光源提取中心点的误差大，在同一个测量合作靶标上可以设置被动光源测量点，在近距离或水质条件良好下，被动靶标相较于主动靶标具有更高的测量精度，并且沉管对接时两节沉管的距离是越来越近的，有利于发挥被动靶标的优势。最后，由于散射光源没有指向性，在水中形成一个光斑，当相机距离靶标距离近时，由于曝光原因会有光斑融合现象，测量点间保持一定距离可以有效预防此现象发生。
作为一个具体的示例，如图2所示为一种水下摄影测量沉管管节对接测量方法的示例图，可以由两套水下摄影测量系统p1与p2实现测量，每套水下摄影测量系统可以包括一套水下摄影测量设备和一个测量合作靶标，其中每 套水下摄影测量设备由2台相机组成。每个相机通过对测量合作靶标的测量点进行拍摄，可以确定2台相机的管节坐标；
可选的，测量合作靶标在安装时，可以在如图3所示的合作靶标上设置十字丝标志物(定位标志)，并可以利用棱镜对十字丝定位，而棱镜的位姿可以通过工程测量方式测量；进一步的，可以将测量合作靶标背面设置为坐标平面，将测量合作靶标背面的水平方向设置为X轴，将测量合作靶标背面与水平方向垂直的方向设置为Y轴，将测量合作靶标的正面方向设置为Z轴，这样，可以将上述X轴、Y轴及Z轴构成的坐标系确定为对接目标管节的管节坐标系O(xc,yc,zc)，从而可以使得十字丝的四个测点在X轴与Y轴的轴线上。
可以在实验室通过全站仪、追踪仪或摄影测量等方式获取棱镜与测量点在测站坐标系O(xs,ys,zs)下的位置。
进而可以通过以下公式(1)确定测站坐标系中的坐标与管节坐标系中的坐标的关系：
其中，Rsc与Tsc为相关技术人员通过实测所测得的测站坐标系中的坐标与管节坐标系中的坐标，进而可以得到的测站坐标系中的坐标与标定坐标系中的坐标位姿矩阵(也即坐标转换矩阵)。
可选的，在步骤S101之前还包括，建立管节坐标系。
步骤102：在管节坐标系中，确定所述水下摄影测量设备的所述管节坐标之间的连线与所述待沉管节的中轴线的标准夹角。
基于管节坐标，可以计算待沉管节上的水下摄影测量设备的管节坐标之间的连线与待沉管节中轴线的夹角，多对管节坐标可以计算多个夹角，作为标准夹角。
可以理解的是，在管节不发生形变，水下摄影测量设备不变化的情况下，这个标准夹角不发生变化。
步骤103：基于所述管节坐标，在施工坐标系中确定所述水下摄影测量设备的实际坐标、所述待沉管节的理论坐标、所述水下摄影测量设备的理论坐标及所述待沉管节的理论中轴线坐标、所述测量合作靶标的实际坐标。
可以将所确定的测量合作靶标的测量点的管节坐标通过相应的位姿矩阵转换为在施工坐标系中的坐标，此处的位姿矩阵可以通过对已沉管节进行贯通测量得到，例如通过实际测量得到管节坐标系中的预设点的坐标与施工坐标系中该预设点的坐标，进而可以确定管节坐标系中的预设点的坐标与施工坐标系中该预设点的坐标的转换矩阵，并可以将该转换矩阵确定为上述位姿矩阵。
基于测量合作靶标的理论位置为测量合作靶标所在管节沉放后，采用贯通测量技术测量对接目标管节在施工坐标系的实际位置，然后参考设计线形，计算出待沉管节的理论坐标，从而确定水下摄影测量设备的理论坐标及待沉管节的理论中轴线坐标。利用水下摄影测量设备之间的理论坐标的连线与待沉管节理论中轴线的夹角要等于上述水下摄影测量设备对应的标准夹角，否则需要重新贯通测量得到理论值。
步骤104：基于所述水下摄影测量设备的实际坐标、所述待沉管节的理论坐标、所述水下摄影测量设备的理论坐标、所述待沉管节的理论中轴线坐标、所述标准夹角及所述待沉管节沉放所需的预设精度参数中的至少一者，确定所述待沉管节沉放对接的调节参数。
其中，所述调节参数包括所述待沉管节的旋转角度和/或平移量。
步骤105：根据所述调节参数，控制调节所述待沉管节与所述对接目标 管节对接。
这样，本申请实施例通过确定多套水下摄影测量系统在管节坐标系中的管节坐标，其中，所述水下摄影测量系统包括水下摄影测量设备和测量合作靶标，所述水下摄影测量设备安装于待沉管节，所述测量合作靶标安装于对接目标管节；在管节坐标系中，确定所述水下摄影测量设备的所述管节坐标之间的连线与所述待沉管节的中轴线的标准夹角；基于所述管节坐标，在施工坐标系中确定所述水下摄影测量设备的实际坐标、所述待沉管节的理论坐标、所述水下摄影测量设备的理论坐标及所述待沉管节的理论中轴线坐标所述测量合作靶标的实际坐标；基于所述水下摄影测量设备的实际坐标、所述待沉管节的理论坐标、所述水下摄影测量设备的理论坐标、所述待沉管节的理论中轴线坐标、所述标准夹角及所述待沉管节沉放所需的预设精度参数中的至少一者，确定所述待沉管节沉放对接的调节参数，其中，所述调节参数包括所述待沉管节的旋转角度和/或平移量；根据所述调节参数，控制调节所述待沉管节与所述对接目标管节对接，从而可以避免使用测量塔对管节对接过程中管节的水下位姿进行测量，进而可以避免使用测量塔对管节的水下位姿进行测量，从而避免了使用测量塔水下对接存在的水深受限、变形影响精度、成本高以及作业效率低等问题，这解决了在现有相关技术无法保证管节在免测量塔情况下对接安装的准确性问题。
在一种可选的实现方式中，每套所述水下摄影测量设备包括两台相机；所述水下摄影测量设备的所述管节坐标包括后方交会坐标和前方交会坐标；确定水下摄影测量设备在管节坐标系中的管节坐标，包括：确定每台所述相机对所述测量合作靶标中的测量点进行摄影测量的后方交会坐标；确定所述两台相机对所述测量合作靶标中的测量点进行摄影测量的前方交会测量计算 得到的每台相机的管节坐标。
水下摄影测量设备可以利用密封件密封防水，由两台标定后的相机组成，单台相机可以后方交会计算投影中心坐标(即后方交会坐标)，两台相机联合可进行前方交会计算投影中心坐标(前方交会计算)，同时可以通过前方交会计算投影中心到测量合作靶标的距离。
在一种可选的实现方式中，所述基于所述管节坐标，在施工坐标系中确定所述水下摄影测量设备的实际坐标，包括：通过贯通测量，将所述管节坐标转换至施工坐标系；对施工坐标系中的所述前方交会坐标与所述后方交会坐标进行聚合，确定施工坐标系中所述水下摄影测量设备的实际坐标。
如图4所示，每套水下摄影测量设备可以计算输出一个可靠值作为水下摄影测量设备的实际坐标，计算过程如下。
通过摄影测量的相机A的投影中心Pa和相机B的投影中心Pb的点位观测值满足方程(2)：
其中，Va(t)和Vb(t)为水下摄影测量设备在同一时间段内的位移变化的相对矢量。Na和Nb为水下摄影测量设备内所包括的两台相机各自的观测误差修正量。
t0和t时刻下，Pa和Pb的基线观测方程如下式(3)所示。
其中，L为两台相机之间的相对位置矢量，它由双目相机标定给出。Nab，Nab0为两台相机基线的观测误差，可以通过摄影测量误差方程给出其估值。
由点位观测方程得到如下式(4)：
Pa(t)+Pb(t0)＝Pa(t0)+Pb(t)+Na-Nb+Va(t)-Vb(t)    (4)
由基线观测方程得到如下式(5)
Pa(t)+Pb(t0)＝Pa(t0)+Pb(t)+Nab-Nab0     (5)
即
Na-Nb＝Nab-Nab0+Va(t)-Vb(t)
如果在时间段[t0,t]，两台相机基线的观测误差估值Nab-Nab0应当小于阈值f0。否则，该时刻下，测量误差大于允许范围，结果应当舍弃。当两台相机基线的观测误差小于阈值时，满足如下式(6)。
当点A的观测误差δa小于点B时，解算系统根据下式(7)输出修正后的点A坐标。
P＝Pa(t)+Na       (7)
反之则根据下式(8)输出修正后的点B坐标。
P＝Pb(t)+Nb       (8)
可选的，如前方交会测量得到的距离不变，则可以表示在重复采样，A、B分别得到一个序列数据，则可以最小二乘或简单平均达到这段时间的代表值，如下式(9)。
这样，可以确定水下摄影测量设备的实际坐标。
在一种可选的实现方式中，所述确定所述水下摄影测量设备的所述管节坐标之间的连线与所述待沉管节的中轴线的标准夹角，包括：对任意两套水下摄影测量设备的所述管节坐标作差分解算；将差分解算的结果确定为所述任意两套水下摄影测量设备的所述管节坐标之间的连线与所述待沉管节的中轴线的标准夹角。
水下摄影测量系统所对应的标准夹角的个数与水下摄影测量设备的数量 有关，如两套水下摄影测量设备可以得到四个标准夹角(每套水下摄影测量设备有两个管节坐标，因此两套水下摄影测量设备管节坐标之间的连线与待沉管节的中轴线可以形成四个夹角)。但一般情况下，都利用两套水下摄影测量设备相距最远的管节坐标计算标准夹角，其余的作为备份、作为计算校验或点位偏移计算。
可以通过差分计算计算出施工坐标系中的多个标准夹角，这样可以通过差分方法消除由于水体影响导致的测量误差，进而提高所测量得到的方位的精度。
在一种可选的实现方式中，所述调节参数包括所述待沉管节的旋转角度；所述基于所述水下摄影测量设备的实际坐标、所述待沉管节的理论坐标、所述水下摄影测量设备的理论坐标、所述待沉管节的理论中轴线坐标、所述标准夹角及所述待沉管节沉放所需的预设精度参数中的至少一者，确定所述待沉管节的沉放对接调节参数，包括：确定任意两套水下摄影测量设备的实际坐标之间的连线与所述待沉管节的理论中轴线的目标夹角；将所述目标夹角与所述任意两套水下摄影测量设备对应的标准夹角的差值作为待旋转角度，和/或将所述任意两套水下摄影测量设备的实际坐标之间的连线与所述任意两套水下摄影测量设备的理论坐标之间的连线的夹角确定为所述待旋转角度；在所述待旋转角度不满足预设精度参数时，将所述待旋转角度确定为所述待沉管节的旋转角度；在所述待旋转角度满足预设精度参数时，将所述待沉管节的旋转角度确定为0或满足误差设定要求。
根据待沉管节尾端允许偏离理想线形的距离，可以计算出旋转角度对应的预设精度参数，假设待沉管节管长L，管宽W，偏离理想线形的距离S，则：△d＝WS/L,从而可以计算最大允许角度差△d，该最大允许角度差可以 作为旋转角度对应的预设精度参数。
如果安装有多套水下摄影测量设备，则要以相距最远的两套水下摄影测量设备为最高优先级计算调节参数。
作为一个具体的示例，如图5所示，l为待沉管节在管节坐标系下的中轴线，αi为水下摄影测量设备A与水下摄影测量设备B对应的标准夹角，水下摄影测量设备A与水下摄影测量设备B的坐标的连线与待沉管节理论中轴线的夹角可以通过以下公式(10)计算：
βi＝sin-1(yB-yA)/(xB-xA)      (10)
当待旋转角度△θ＝αi-βi绝对值大于最大允许角度差时，可以认为此时的待沉管节与对接目标管节并未平行，需要根据待旋转角度对待沉放管节进行旋转，使待沉放管节与对接目标管节平行；在这个差的绝对值小于最大允许角度差时，可以认为此时的待沉管节与对接目标管节平行，无需对待沉放管节进行旋转。
这样，可以确定待沉管节与对接目标管节对接的旋转角度。
在一种可选的实现方式中，所述调节参数包括所述待沉管节的平移量；所述基于所述水下摄影测量设备的实际坐标、所述待沉管节的理论坐标、所述水下摄影测量设备的理论坐标、所述待沉管节的理论中轴线坐标、所述标准夹角及所述待沉管节沉放所需的预设精度参数中的至少一者，确定所述待沉管节的沉放对接调节参数，包括：将所述水下摄影测量设备的实际坐标与所述水下摄影测量设备的理论坐标在各坐标轴上的差值确定为所述待沉管节在所述各坐标轴方向上的待平移量；在所述待平移量不满足预设精度参数时，将所述待平移量确定为所述待沉管节的平移量；在所述待平移量满足预设精度参数时，将所述待沉管节的所述平移量确定为0或满足误差设定要求。
这样，可以确定待沉管节与对接目标管节对接的平移量。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。此外，需要指出的是，本申请实施方式中的方法和装置的范围不限按示出或讨论的顺序来执行功能，还可包括根据所涉及的功能按基本同时的方式或按相反的顺序来执行功能，例如，可以按不同于所描述的次序来执行所描述的方法，并且还可以添加、省去、或组合各种步骤。另外，参照某些示例所描述的特征可在其他示例中被组合。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端(可以是手机，计算机，服务器，空调器，或者网络设备等)执行本申请各个实施例所述的方法。
上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围情况下，还可做出很多形式，均属于本申请的保护之内。

Claims (7)

  1. 一种水下摄影测量沉管管节对接测量方法，包括：
    确定多套水下摄影测量系统在管节坐标系中的管节坐标，其中，所述水下摄影测量系统包括水下摄影测量设备和测量合作靶标，所述水下摄影测量设备安装于待沉管节，所述测量合作靶标安装于对接目标管节；
    在管节坐标系中，确定所述水下摄影测量设备的所述管节坐标之间的连线与所述待沉管节的中轴线的标准夹角；
    基于所述管节坐标，在施工坐标系中确定所述水下摄影测量设备的实际坐标、所述待沉管节的理论坐标、所述水下摄影测量设备的理论坐标及所述待沉管节的理论中轴线坐标；
    基于所述水下摄影测量设备的实际坐标、所述待沉管节的理论坐标、所述水下摄影测量设备的理论坐标、所述待沉管节的理论中轴线坐标、所述标准夹角及所述待沉管节沉放所需的预设精度参数中的至少一者，确定所述待沉管节沉放对接的调节参数，其中，所述调节参数包括所述待沉管节的旋转角度和/或平移量；
    根据所述调节参数，控制调节所述待沉管节与所述对接目标管节对接。
  2. 根据权利要求1所述的水下摄影测量沉管管节对接测量方法，其中，每个所述测量合作靶标上有多个测量点；
    所述测量合作靶标上的所述测量点为无指向主被动光源的中心点；
    所述测量合作靶标上的多个所述测量点之间保持预定距离；
    所述测量合作靶标上的多个所述测量点之间的关系预先标定；
    通过控制网确定所述测量合作靶标上的多个所述测量点在管节坐标系的管节坐标。
  3. 根据权利要求1或2所述的水下摄影测量沉管管节对接测量方法，其中，每套所述水下摄影测量设备包括两台相机；
    所述水下摄影测量设备的所述管节坐标包括后方交会坐标和前方交会坐标；
    确定所述水下摄影测量设备在管节坐标系中的管节坐标，包括：
    通过控制网确定所述测量合作靶标中的多个测量点在所述管节坐标系的管节坐标；
    确定每台所述相机对所述测量合作靶标中的测量点进行摄影测量的后方交会坐标；
    确定所述两台相机对所述测量合作靶标中的测量点进行摄影测量的前方交会测量计算得到的每台相机的管节坐标；
    确定所述后方交会坐标和前方交会坐标计算得到两台相机的管节坐标。
  4. 根据权利要求3所述的水下摄影测量沉管管节对接测量方法，其特征在于，所述基于所述管节坐标，在施工坐标系中确定所述水下摄影测量设备的实际坐标，包括：
    通过贯通测量，将所述测量合作靶标的管节坐标转换至施工坐标系；
    对施工坐标系中的所述前方交会坐标与所述后方交会坐标进行聚合，确定施工坐标系中所述水下摄影测量设备的实际坐标。
  5. 根据权利要求1至4中任一项所述的水下摄影测量沉管管节对接测量方法，其中，所述确定所述水下摄影测量设备的所述管节坐标之间的连线与所述待沉管节的中轴线的标准夹角，包括：
    对任意两套水下摄影测量设备的所述管节坐标作差分解算；
    将差分解算的结果确定为所述任意两套水下摄影测量设备的所述管节坐 标之间的连线与所述待沉管节的中轴线的标准夹角。
  6. 根据权利要求1至5中任一项所述的水下摄影测量沉管管节对接测量方法，其中，所述调节参数包括所述待沉管节的旋转角度；
    所述基于所述水下摄影测量设备的实际坐标、所述待沉管节的理论坐标、所述水下摄影测量设备的理论坐标、所述待沉管节的理论中轴线坐标、所述标准夹角及所述待沉管节沉放所需的预设精度参数中的至少一者，确定所述待沉管节的沉放对接调节参数，包括：
    确定任意两套水下摄影测量设备的实际坐标之间的连线与所述待沉管节的理论中轴线的目标夹角；
    将所述目标夹角与所述任意两套水下摄影测量设备对应的标准夹角的差值作为待旋转角度，
    和/或将所述任意两套水下摄影测量设备的实际坐标之间的连线与所述任意两套水下摄影测量设备的理论坐标之间的连线的夹角确定为所述待旋转角度；
    在所述待旋转角度不满足预设精度参数时，将所述待旋转角度确定为所述待沉管节的旋转角度；
    在所述待旋转角度满足预设精度参数时，将所述待沉管节的旋转角度确定为0或满足误差设定要求。
  7. 根据权利要求1至6中任一项所述的水下摄影测量沉管管节对接测量方法，其中，所述调节参数包括所述待沉管节的平移量；
    所述基于所述水下摄影测量设备的实际坐标、所述待沉管节的理论坐标、所述水下摄影测量设备的理论坐标、所述待沉管节的理论中轴线坐标、所述标准夹角及所述待沉管节沉放所需的预设精度参数中的至少一者，确定所述 待沉管节的沉放对接调节参数，包括：
    将所述水下摄影测量设备的实际坐标与所述水下摄影测量设备的理论坐标在各坐标轴上的差值确定为所述待沉管节在所述各坐标轴方向上的待平移量；
    在所述待平移量不满足预设精度参数时，将所述待平移量确定为所述待沉管节的平移量；
    在所述待平移量满足预设精度参数时，将所述待沉管节的所述平移量确定为0或满足误差设定要求。
PCT/CN2023/112025 2022-08-11 2023-08-09 水下摄影测量沉管管节对接测量方法 WO2024032663A1 (zh)

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