Safety control system, design method and control method for construction of immersed tube segment transfer

Abstract

The present invention relates to a safety control system, design method and control method for construction of immersed tube section barge. The safety control system for construction of immersed tube section barge monitors the monitoring parameters in the construction process of immersed tube section barge in real time through a monitoring module, and analyzes the control index of the required control parameter and the real-time monitoring result of the monitoring parameter in real time through an early warning module to judge whether there is a safety risk in the construction of immersed tube section barge. After judging that there is a safety risk in the construction of immersed tube section barge, the decision module uses the control module to realize regulation so that the real-time monitoring result of the monitoring parameter meets the relevant requirements of the control index of the required control parameter, which can realize the real-time evaluation and early warning of the safety risk of the construction of immersed tube section barge, and realizes the real-time regulation of the safety of the construction of immersed tube section barge through the control module, which greatly improves the decision-making and regulation efficiency of the construction safety risk, thereby greatly reducing the construction safety risk and meeting the control requirements of the construction of immersed tube section barge.

Description

Technical Field

[0001] The invention relates to the technical field of immersed tube segment transfer safety, in particular to a immersed tube segment transfer construction safety control system, a design method and a control method. Background Art

[0002] At present, the transportation of immersed tube tunnel segments mainly adopts the floating transportation technology of towing by tugboats, which has the disadvantages of occupying a large number of tugboats and for a long time, occupying a large area of ​​water, slow towing speed, great impact on navigation, deep waterway, great risk of coordination and linkage in the towing process, and poor ability to resist wind and waves. With the rapid development of cross-sea immersed tube tunnels and semi-submersible barge transportation technology, and the development trend of factory prefabrication of immersed tube segments, the use of semi-submersible barges to transport immersed tube segments has broad prospects.

[0003] Large immersed tube segments, especially reinforced concrete segments, have poor adaptability to deformation. Due to the difference in stiffness between semi-submersible barges and immersed tube segments, the semi-submersible barges are deformed and their posture is in dynamic change during the transportation of immersed tube segments, such as barge, sea transportation, and diving, which in turn affects the stress and deformation of immersed tube segments, causing quality and safety risks. Therefore, the transportation of immersed tube segments puts forward higher requirements for construction control. It is necessary to be able to grasp the stress state of immersed tube segments in a timely manner, and when safety risks occur, it is necessary to be able to guide the adjustment of equipment and process parameters in a timely manner to achieve control of structural safety.

[0004] (1) The existing technology lacks the safety control theory and method for the construction of immersed tube segment transfer;

[0005] (2) Traditional construction control methods in the engineering field are mainly reflected in the design control of the safety of the structure itself, but cannot guide the rapid adjustment of equipment and process parameters. Summary of the invention

[0006] The purpose of the present invention is to provide a safety control system, design method and control method for immersed tube segment transfer construction, in view of the problem that the prior art mainly controls the safety of the structural body during the transfer of immersed tube segments, and is unable to control the transfer process of the immersed tube segments, thereby failing to meet the control requirements for the transfer of immersed tube segments.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is:

[0008] A safety control system for immersed tube section transfer construction, comprising a monitoring module, an early warning module, a decision module and a control module;

[0009] The monitoring module is used to monitor the monitoring parameters in the immersed tube segment barge construction process in real time by means of information monitoring means;

[0010] The early warning module is used to compare and analyze the control index of the required control parameter and the real-time monitoring result of the monitoring parameter, and determine whether there is a safety risk in the construction of immersed tube segment transportation;

[0011] The decision module uses the control module to implement regulation according to the judgment result of the early warning module, so that the real-time monitoring result of the monitoring parameter meets the relevant requirements of the control index of the required control parameter, and compares the regulation result with the real-time monitoring result of the monitoring module to determine whether to end the regulation;

[0012] The control module controls the regulation parameters according to the real-time monitoring results of the monitoring module and the execution instructions of the decision module, so as to realize the control of the safety of the immersed tube section barge construction.

[0013] The immersed tube section barge construction safety control system described in the present scheme monitors the monitoring parameters in the immersed tube section barge construction process in real time through the monitoring module, and analyzes the control indicators of the required control parameters and the real-time monitoring results of the monitoring parameters in real time through the early warning module to determine whether there is a safety risk in the immersed tube section barge. After determining that there is a safety risk in the immersed tube section barge, the decision-making module uses the control module to implement regulation so that the real-time monitoring results of the monitoring parameters meet the relevant requirements of the control indicators of the required control parameters. It can realize real-time evaluation and early warning of the safety risks in the immersed tube section barge construction, and realize real-time regulation of the safety of the immersed tube section barge construction through the control module, which greatly improves the decision-making and regulation efficiency of construction safety risks, thereby greatly reducing construction safety risks and meeting the control requirements of immersed tube section barge.

[0014] Preferably, the monitoring parameters are parameters that can provide feedback on the safety control parameters and regulation parameters of the immersed tube segment barge construction, and the monitoring parameters include structural monitoring parameters, process monitoring parameters, environmental monitoring parameters, and regulation monitoring parameters;

[0015] The structural monitoring parameters are parameters that can provide feedback on the real-time status of the structural control parameters, the process monitoring parameters are parameters that can provide feedback on the real-time status of the process control parameters, the environmental monitoring parameters are parameters that can provide feedback on the real-time status of the environmental control parameters, and the control monitoring parameters are parameters that can provide feedback on the real-time status of the control parameters;

[0016] The control parameters include structural control parameters, process control parameters and environmental control parameters;

[0017] The structural control parameters are parameters that can evaluate the safety of the immersed tube segment body, the process control parameters are parameters that can evaluate the safety and feasibility of the transfer process, and the environmental control parameters are parameters that can provide feedback on the immersed tube segment transfer operation window;

[0018] The control parameters include pre-control parameters and real-time control parameters;

[0019] The pre-adjustment parameters include the environmental control parameters and the process parameters that affect the safety of the immersed tube section transportation construction and cannot be adjusted during the transportation process; the real-time adjustment parameters are the process parameters that affect the safety of the immersed tube section transportation construction and can be adjusted in real time during the transportation process.

[0020] Preferably, the structural control parameters include stress and deformation of the immersed tube segment;

[0021] The process control parameters include the semi-submersible barge posture and deformation;

[0022] The environmental control parameters include wind speed, wind direction, wave height, wave wavelength, wave period, flow speed and flow direction;

[0023] The structural monitoring parameters are the vertical displacement of the displacement monitoring point and the strain of the stress monitoring point on the immersed tube segment;

[0024] The process monitoring parameters are the vertical displacement and inclination of the displacement monitoring points on the semi-submersible barge;

[0025] The environmental monitoring parameters are wind speed, wind direction, wave height, wave wavelength, wave period, flow velocity and flow direction;

[0026] The pre-controlled parameters of the control parameters are the transverse stiffness and longitudinal stiffness of the semi-submersible barge, the load adjustment capacity of the semi-submersible barge, and the performance curve and height of the pier on the ship;

[0027] The real-time control parameter of the control monitoring parameter is the ballast water level in the cabin of the semi-submersible barge.

[0028] Preferably, the control module includes several automation equipments.

[0029] Preferably, the monitoring module includes the Internet of Things, which includes sensors, automated collection equipment and wireless transmission technology.

[0030] A design method for a safety control system for immersed tube segment transfer construction includes the following steps:

[0031] Step 1: Construct a multi-parameter system for safety control of immersed tube segment barge construction, wherein the multi-parameter system includes control parameters, regulation parameters, and monitoring parameters, wherein the regulation parameters include pre-regulation parameters and real-time regulation parameters;

[0032] Step 2: Through theoretical analysis, put forward the control index of control parameters, the configuration requirements of pre-adjustment parameters, and the quantitative relationship between real-time adjustment parameters and control parameters;

[0033] Step 3: Use intelligent sensing equipment, automated collection equipment and wireless transmission technology to form a monitoring module based on the Internet of Things;

[0034] A real-time early warning module for safety risks in the construction of immersed tube segments is constructed. When the real-time monitoring result of the monitoring parameter is greater than or equal to the control index of the control parameter, an alarm signal is issued and the decision-making module can be automatically entered.

[0035] A hierarchical control decision mechanism for real-time control parameters is constructed. According to the principle of maximizing control efficiency, hierarchical control behaviors are formulated for real-time control parameters, that is, control parameters with high control efficiency are regulated first, until the real-time monitoring results of the monitoring parameters meet the relevant requirements of the control indicators of the required control parameters. When an alarm signal is issued, a control instruction is issued through the decision module and the control module is used to implement the control, and the control result is compared with the real-time monitoring result of the monitoring module to determine whether to end the control;

[0036] A control module for regulating parameters is constructed. The control module adopts two control methods: advance control before the construction of immersed tube segment transfer and real-time control during transfer.

[0037] In the pre-construction plan planning stage of immersed tube segment transfer, the following two control behaviors can be performed to control the pre-control parameters. The first control behavior is to realize the pre-control of environmental parameters by clarifying the transfer construction operation window. The second control behavior is to realize the pre-control of process parameters that affect the safety of immersed tube segment transfer construction and cannot be adjusted during the transfer process through the optimization of the transfer process plan.

[0038] During the transportation of immersed tube segments, the process parameters that affect the safety of the transportation of immersed tube segments can be adjusted in real time according to the quantitative relationship between the control parameters and the real-time control parameters;

[0039] Step 4: Develop, develop and upgrade the automation equipment or independent control system of the equipment, so that it can accept control instructions and automatically control the control parameters to complete the above-mentioned immersed tube section transfer construction safety control system.

[0040] The design method of the immersed tube section barge construction safety control system described in the present application first determines a multi-parameter control system, and then determines the control indicators of the control parameters in the multi-parameter control system, the configuration requirements of the pre-control parameters, and the quantitative relationship between the real-time control parameters and the control parameters. Based on the control indicators of the control parameters, the configuration requirements of the pre-control parameters, and the quantitative relationship between the real-time control parameters and the control parameters, a monitoring module, an early warning module, and a decision-making module are constructed. Based on the control decision-making mechanism, the independent control system of the automated equipment or equipment is developed and upgraded to meet the corresponding automated control and complete the development of the immersed tube section barge construction safety control system.

[0041] By adopting the design method of the immersed tube section barge construction safety control system described in this application, the research and development of the immersed tube section barge construction safety control system can be completed in an orderly and rapid manner, and the control capability of the immersed tube section barge construction safety control system can be ensured.

[0042] Preferably, in the first step:

[0043] Control parameters include structural control parameters and process control parameters. The process control parameters are determined based on process safety and feasibility. The structural control parameters are determined through structural stress analysis. The control parameters of automation equipment or devices are determined through process analysis.

[0044] After considering the need to understand the real-time status of regulation parameters and control parameters, the monitoring parameters are clarified from the aspects of environment, structure, process, equipment or devices.

[0045] A method for controlling the safety of immersed tube segment barge construction is provided, which adopts the safety control system for immersed tube segment barge construction to control the process of immersed tube segment barge construction:

[0046] The early warning module compares and analyzes the control indicators of the required control parameters and the real-time monitoring results of the monitoring parameters in real time, and determines whether there is a safety risk in the transshipment of the immersed tube sections. If the early warning module determines that there is a safety risk in the transshipment of the immersed tube sections, it sends out an early warning signal and automatically enters the control decision module. The decision module uses the control module to implement control according to the judgment result of the early warning module, so that the real-time monitoring results of the monitoring parameters meet the relevant requirements of the control indicators of the required control parameters, and then the safety warning of the transshipment construction is lifted.

[0047] The immersed tube section barge construction safety control method described in this scheme adopts the immersed tube section barge construction safety control system for control, which can realize real-time evaluation and early warning of immersed tube section barge construction safety risks, and realize real-time regulation of immersed tube section barge construction safety through the control module, which greatly improves the decision-making and regulation efficiency of construction safety risks, thereby greatly reducing construction safety risks and meeting the control requirements of immersed tube section barge.

[0048] Preferably, the control module includes at least two levels of regulation modules;

[0049] When the decision module uses the control module to implement regulation according to the judgment result of the early warning module: hierarchical regulation is performed according to the regulation efficiency of the real-time regulation parameters.

[0050] Preferably, when 50% of the control amount of the current level can meet the control demand, the end condition of each level of control is: the real-time monitoring result of the monitoring parameter is 50% of the control index of the control parameter. When the current level regulation increases the redundancy under the premise of safety, the number of subsequent adjustments can be reduced, and the control is simpler.

[0051] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0052] 1. The safety control system for immersed tube section barge construction of the present invention monitors the monitoring parameters in the immersed tube section barge construction process in real time through the monitoring module, and analyzes the control index of the required control parameter and the real-time monitoring result of the monitoring parameter in real time through the early warning module to determine whether there is a safety risk in the immersed tube section barge. After determining that there is a safety risk in the immersed tube section barge, the decision-making module uses the control module to implement regulation so that the real-time monitoring result of the monitoring parameter meets the relevant requirements of the control index of the required control parameter. It can realize real-time evaluation and early warning of the safety risk of immersed tube section barge construction, and realize real-time regulation of the safety of immersed tube section barge construction through the control module, which greatly improves the decision-making and regulation efficiency of construction safety risks, thereby greatly reducing construction safety risks and meeting the control requirements of immersed tube section barge.

[0053] 2. The design method of the immersed tube section barge construction safety control system of the present invention can complete the research and development of the immersed tube section barge construction safety control system in an orderly and rapid manner, and can ensure the control capability of the immersed tube section barge construction safety control system.

[0054] 3. The immersed tube section barge construction safety control method of the present invention adopts the immersed tube section barge construction safety control system for control, which can realize real-time evaluation and early warning of the immersed tube section barge construction safety risks, and realize real-time regulation of the immersed tube section barge construction safety through the control module, which greatly improves the decision-making and regulation efficiency of construction safety risks, thereby greatly reducing construction safety risks and meeting the control requirements of immersed tube section barge. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a control system diagram of the safety control system for the construction of immersed tube section barge;

[0056] Figure 2 It is a schematic diagram of the relationship between monitoring parameters, control parameters and regulation parameters;

[0057] Figure 3 It is a schematic diagram of a multi-parameter system for safety control of immersed tube segment barge construction;

[0058] Figure 4 It is a schematic diagram of hierarchical regulation of decision modules;

[0059] Figure 5 It is a schematic diagram of the control module regulation behavior. DETAILED DESCRIPTION

[0060] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0061] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0062] Example 1

[0063] This embodiment provides a safety control system for immersed tube section transfer construction. Figure 1 As shown, it includes a monitoring module, an early warning module, a decision module and a control module;

[0064] The monitoring module is used to monitor the monitoring parameters in the immersed tube segment barge construction process in real time by means of information monitoring means;

[0065] The early warning module is used to compare and analyze the control index of the required control parameter and the real-time monitoring result of the monitoring parameter, and determine whether there is a safety risk in the construction of immersed tube segment transportation;

[0066] The decision module uses the control module to implement regulation according to the judgment result of the early warning module, so that the real-time monitoring result of the monitoring parameter meets the relevant requirements of the control index of the required control parameter, and compares the regulation result with the real-time monitoring result of the monitoring module to determine whether to end the regulation;

[0067] The control module controls the regulation parameters according to the real-time monitoring results of the monitoring module and the execution instructions of the decision module, so as to realize the control of the safety of the immersed tube section barge construction.

[0068] In this embodiment, Figure 3 As shown, the monitoring parameters are parameters that can provide feedback on the safety control parameters and regulation parameters of immersed tube segment barge construction. The monitoring parameters include structural monitoring parameters, process monitoring parameters, environmental monitoring parameters, and regulation monitoring parameters; the control parameters include structural control parameters, process control parameters, and environmental control parameters; the regulation parameters include pre-regulation parameters and real-time regulation parameters;

[0069] The structural monitoring parameters are parameters that can provide feedback on the real-time status of the structural control parameters; the structural control parameters are parameters that can assess the safety of the immersed tube segment body, and the structural control parameters include the vertical displacement of the displacement monitoring points on the immersed tube segment and the strain of the stress monitoring points, etc.

[0070] The process monitoring parameters are parameters that can provide feedback on the real-time status of the process control parameters. The process monitoring parameters include the vertical displacement and inclination of the displacement monitoring points on the semi-submersible barge, corresponding to the posture and deformation of the semi-submersible barge; the process control parameters are parameters that can evaluate the safety and feasibility of the barge transportation process;

[0071] The environmental monitoring parameters are parameters that can provide feedback on the real-time status of environmental control parameters, and the environmental monitoring parameters include wind speed, wind direction, wave height, wave wavelength, wave period, flow velocity and flow direction, etc.; the environmental control parameters are parameters that can provide feedback on the construction window for immersed tube section bargeing;

[0072] The control monitoring parameters are parameters that can provide feedback on the real-time status of the control parameters, and the control parameters include pre-control parameters and real-time control parameters;

[0073] like Figure 2 As shown, the pre-regulation parameters include the environmental control parameters, the process parameters that affect the safety of the construction of the submerged tube section and cannot be adjusted during the transportation process; the environmental control parameters include wind speed, wind direction, wave height, wave wavelength, wave period, flow velocity and flow direction; the process parameters that affect the safety of the construction of the submerged tube section and cannot be adjusted during the transportation process are the transverse stiffness and longitudinal stiffness of the semi-submersible barge, the semi-submersible barge's load adjustment capacity, and the performance curve and height of the ship's piers. The real-time regulation parameters are the process parameters that affect the safety of the construction of the submerged tube section and can be adjusted in real time during the transportation process; the real-time regulation parameters of the regulation and monitoring parameters are the ballast water level in the semi-submersible barge's cabin.

[0074] In this embodiment, the control module includes a number of automated equipment, and the control module needs to be automatically adjusted by the number of automated equipment. For example, during the barge transportation of the immersed tube section, the control module includes a load adjustment control system for the semi-submersible barge, an independent control system for the trolley system, and a hydraulic support structure control system for the ship's piers. The load adjustment control system can accept the control instructions of the decision-making module to adjust the ballast water of each cabin in real time, the independent control system accepts the control instructions of the decision-making module to adjust the jack stroke and oil pressure of the trolley system in real time, and the hydraulic support structure control system accepts the control instructions of the decision-making module to adjust the hydraulic support stroke in real time.

[0075] In this embodiment, the monitoring module includes the Internet of Things, which includes sensors, automated data collection equipment, and wireless transmission technology. For example, during the barge transportation of the immersed tube segment, the monitoring module has the function of monitoring the monitoring parameters during the construction process of the roll-on / roll-off barge of the immersed tube segment trolley; the monitoring module includes vertical displacement monitoring points evenly distributed on the immersed tube segment, stress monitoring points arranged on the immersed tube segment, vertical displacement monitoring points arranged on the semi-submerged barge, inclination monitoring points arranged on the semi-submerged barge, jack automated data collection equipment of the trolley system, automated data collection equipment for the ballast water level in the cabin, and automated data collection equipment for the height of the piers on board.

[0076] The safety control system for the construction of submerged tube section transportation described in this embodiment monitors the monitoring parameters in the construction process of submerged tube section transportation in real time through the monitoring module, and analyzes the control index of the required control parameters and the real-time monitoring results of the monitoring parameters in real time through the early warning module to determine whether there is a safety risk in the submerged tube section transportation. After determining that there is a safety risk in the submerged tube section transportation, the decision module uses the control module to implement regulation so that the real-time monitoring results of the monitoring parameters meet the relevant requirements of the control index of the required control parameters. It can realize the real-time evaluation and early warning of the safety risk of the construction of submerged tube section transportation, and realize the real-time regulation of the safety of the construction of submerged tube section transportation through the control module, greatly improving the decision-making and regulation efficiency of construction safety risks, thereby greatly reducing the construction safety risks and meeting the control requirements of the submerged tube section transportation. It can be used for the submerged tube section transportation, and can also be used in the submerged tube section transportation process such as sea transportation and diving, and can meet the corresponding transportation safety.

[0077] Example 2

[0078] This embodiment provides a design method for a safety control system for immersed tube section barge construction, comprising the following steps:

[0079] Step 1: Construct a multi-parameter system for safety control of immersed tube segment transfer construction, see Figure 3 , the multi-parameter system includes control parameters, regulation parameters, and monitoring parameters, and the regulation parameters include pre-regulation parameters and real-time regulation parameters;

[0080] In the first step:

[0081] Control parameters include structural control parameters, process control parameters and environmental control parameters. The process control parameters are determined based on process safety and feasibility. The structural control parameters are determined through structural stress analysis. The control parameters of automation equipment or devices are determined through process analysis.

[0082] After considering the need to understand the real-time status of regulation parameters and control parameters, the monitoring parameters are clarified from the aspects of environment, structure, process, equipment or devices.

[0083] The second step: through theoretical analysis, put forward the control index of control parameters, the configuration requirements of pre-adjustment parameters, and the quantitative relationship between real-time adjustment parameters and control parameters; specifically, it includes the analysis of the mechanical characteristics of the lower pipe section of the multi-support system for the trolley transfer of the submerged tube section, the analysis of the mechanical characteristics of the lower pipe section of the multi-cable system for the water winch transfer and loading barge, and the analysis of the mechanical characteristics of the ship-support-pipe section system for the semi-submerged barge carrying the submerged tube section. The purpose of theoretical analysis:

[0084] (1) Analyze the influence of control parameters on the stress characteristics of immersed tube segments, establish the quantitative relationship between control parameters and control parameters, and support the optimization of control parameters in advance and the control decision of real-time control parameters according to safety risks.

[0085] (2) Analyze the influence of structural control parameters on the stress characteristics of immersed tube segments, and propose control indicators of structural control parameters based on the control requirements of cracks, deformation, local stress, etc. of immersed tube segments to support the assessment of the structural safety and risk warning of the segments.

[0086] (3) The influence of process control parameters on the stress characteristics of immersed tube segments is analyzed, and control indicators of process control parameters are proposed from the perspective of process safety and feasibility to support the assessment of process safety and risk warning of segment transfer.

[0087] (4) Analyze the influence of environmental control parameters on the stress characteristics of immersed tube segments, propose control indicators for environmental control parameters, and support the establishment of ship ports for pipe segment transfer operations and risk warning.

[0088] The third step: Use intelligent sensing equipment, automated collection equipment and wireless transmission technology to form a monitoring module based on the Internet of Things; specifically, use information technology such as sensors, automated collection equipment, wireless transmission technology and other information technology means to form an information-based monitoring method for immersed tube section transfer based on the Internet of Things, and realize real-time collection, real-time transmission, real-time analysis and real-time display of monitoring parameters.

[0089] A real-time early warning module for safety risks in the construction of immersed tube section barge is constructed. When the real-time monitoring result of the monitoring parameter is greater than or equal to the control index of the control parameter, an alarm signal is issued and the decision-making module can be automatically entered. A specific real-time comparative analysis is performed between the control index of the control parameter and the real-time monitoring result of the monitoring parameter to determine whether there is a safety risk in the construction of immersed tube section barge. When the real-time monitoring result of the monitoring parameter is less than the control index of the control parameter, it indicates that the construction of immersed tube section barge is safe and controllable. When the real-time monitoring result of the monitoring parameter is greater than or equal to the control index of the control parameter, it indicates that there is a safety risk in the construction of immersed tube section barge. At this time, an alarm signal can be issued and the regulation and decision-making mechanism can be automatically entered.

[0090] A hierarchical control decision mechanism for real-time control parameters is constructed. According to the principle of maximizing control efficiency, hierarchical control behaviors are formulated for real-time control parameters, such as Figure 4As shown, the control parameters with high control efficiency are regulated first, until the real-time monitoring results of the monitoring parameters meet the relevant requirements of the control indicators of the required control parameters. When an alarm signal is issued, a control instruction is issued through the decision module and the control module is used to implement the control, and the control result is compared with the real-time monitoring result of the monitoring module to determine whether to end the control. In this embodiment, the control decision mechanism is a control method for real-time control parameters. The real-time control parameters are graded according to the control efficiency of the construction safety of immersed tube sections. The control parameters with the highest control efficiency are set as the first-level control parameters, and the control parameters with the second-level control efficiency are set as the second-level control parameters, and so on. When an alarm signal is issued, a control instruction is issued, and the first-level control is entered first. When the first-level control parameter reaches the controllable amount of the equipment or device, the second-level control is entered, and so on. The end condition of the control is that the real-time monitoring result of the monitoring parameter is 50% of the control indicator of the control parameter.

[0091] And build a control module to adjust the parameters, such as Figure 5 As shown in the figure, the control module adopts two control methods: advance control before the construction of immersed tube segment transfer and real-time control during transfer.

[0092] In the pre-construction plan planning stage of immersed tube segment transfer, the following two control behaviors can be performed to control the pre-control parameters. The first control behavior is to realize the pre-control of environmental parameters by clarifying the transfer construction operation window. The second control behavior is to realize the pre-control of process parameters that affect the safety of immersed tube segment transfer construction and cannot be adjusted during the transfer process through the optimization of the transfer process plan.

[0093] During the transportation of immersed tube sections, the process parameters that affect the construction safety of immersed tube section transportation can be adjusted in real time according to the quantitative relationship between the control parameters and the real-time regulation parameters.

[0094] Step 4: Develop and upgrade the automation equipment or independent control system of the device, so that it can accept control instructions and automatically control the control parameters, thereby completing the immersed tube section barge construction safety control system in the above-mentioned embodiment 1.

[0095] The design method of the immersed tube section barge construction safety control system described in the present application first determines a multi-parameter control system, and then determines the control indicators of the control parameters in the multi-parameter control system, the configuration requirements of the pre-control parameters, and the quantitative relationship between the real-time control parameters and the control parameters. Based on the control indicators of the control parameters, the configuration requirements of the pre-control parameters, and the quantitative relationship between the real-time control parameters and the control parameters, a monitoring module, an early warning module, and a decision-making module are constructed. Based on the control decision-making mechanism, the independent control system of the automated equipment or equipment is developed and upgraded to meet the corresponding automated control and complete the development of the immersed tube section barge construction safety control system.

[0096] This embodiment proposes a design method for a construction safety system for immersed tube section bargeing in view of the high requirements of immersed tube section bargeing for construction control with high precision, high efficiency, and control decision support. The designed construction safety system for immersed tube section bargeing can realize real-time assessment and early warning of construction safety risks of immersed tube section bargeing, and realize real-time control of the construction safety of immersed tube section bargeing through automated control of equipment or devices, which greatly improves the decision-making and control efficiency of construction safety risks, thereby greatly reducing construction safety risks, and has great value for promotion and application.

[0097] Example 3

[0098] This embodiment provides a method for controlling the safety of transporting immersed tube segments. The method adopts the safety control system for transporting immersed tube segments described in Embodiment 1. During the process of transporting immersed tube segments:

[0099] like Figure 1 As shown, the early warning module compares and analyzes the control indicators of the required control parameters and the real-time monitoring results of the monitoring parameters in real time, and determines whether there is a safety risk in the transshipment of the immersed tube sections. If the early warning module determines that there is a safety risk in the transshipment of the immersed tube sections, a warning signal is issued and the control decision module is automatically entered. The decision module uses the control module to implement control according to the judgment result of the early warning module, so that the real-time monitoring results of the monitoring parameters meet the relevant requirements of the control indicators of the required control parameters, and then the safety warning of the transshipment construction is released.

[0100] The immersed tube section barge construction safety control method described in this scheme adopts the immersed tube section barge construction safety control system for control, which can realize real-time evaluation and early warning of immersed tube section barge construction safety risks, and realize real-time regulation of immersed tube section barge construction safety through the control module, which greatly improves the decision-making and regulation efficiency of construction safety risks, thereby greatly reducing construction safety risks and meeting the control requirements of immersed tube section barge.

[0101] In this embodiment, the control module includes at least two levels of control modules;

[0102] When the decision module uses the control module to achieve regulation according to the judgment result of the early warning module: hierarchical regulation is performed according to the control efficiency of the real-time control parameters, and the control modules are divided into at least two levels according to the control efficiency. Different control modules are selected for regulation in turn according to the efficiency, so that the control efficiency is higher.

[0103] For example, in the process of transshipment of immersed tube sections, the control module includes a primary control module, a secondary control module and a tertiary control module, the control efficiency of the primary control module is greater than the control efficiency of the secondary control module, and the control efficiency of the secondary control module is greater than the control efficiency of the tertiary control module; specifically as follows: perform the first-level control: obtain the measured data of the jack stroke and oil pressure of the trolley system according to the monitoring module, obtain the jack control target oil pressure and stroke according to the measured data of the jack stroke and oil pressure to judge the adjustable amount of the jack stroke of the trolley system, when the adjustable amount of the jack stroke of the trolley system is greater than 0, the jack stroke and oil pressure of the trolley system are regulated by an independent control system; when the adjustable amount of the jack stroke of the trolley system is equal to 0, the early warning module determines whether there is a safety risk in the transshipment of the immersed tube section, if it is determined that there is no safety risk in the transshipment of the immersed tube section, the control is completed and the transshipment continues; if it is determined that there is a safety risk in the transshipment of the immersed tube section, enter the next level of control;

[0104] Conduct the second-level control: obtain the measured data of each ballast water of the semi-submersible barge according to the monitoring module, and obtain the adjustable amount of ballast water according to the measured data of each ballast water. When the adjustable amount of ballast water is greater than 0, adjust the ballast water of each cabin through the load adjustment control system; when the adjustable amount of ballast water is equal to 0, the early warning module determines whether there is a safety risk in the barge of the submerged tube section. If it is determined that there is no safety risk in the barge of the submerged tube section, the control is completed and the barge continues; if it is determined that there is a safety risk in the barge of the submerged tube section, enter the next level of control;

[0105] Carry out the third level of control: obtain the measured data of the hydraulic support stroke of the hydraulic support structure control system of the pier on board according to the monitoring module, obtain the adjustable amount of the hydraulic support stroke according to the measured data of the hydraulic support stroke, adjust the hydraulic support stroke through the hydraulic support structure control system to achieve control, and then continue to load the barge.

[0106] And when the 50% control amount of the current level control can meet the control needs, the end condition of each level control is: the real-time monitoring result of the monitoring parameter is 50% of the control parameter control index. The current level control increases the redundancy under the premise of safety, which can reduce the number of subsequent adjustments and make the control simpler. For example, in the first level control, the jack stroke and oil pressure of the trolley system are controlled by an independent control system, so that there is no safety risk in the transportation of immersed tube sections. However, the control amount of the jack stroke and oil pressure of the trolley system controlled by the independent control system is less than 50% of the controllable amount, then the control amount of the jack stroke and oil pressure of the trolley system controlled by the independent control system will continue to be adjusted to 50% of the controllable amount, so that the current control has redundancy, which can avoid frequent subsequent control and reduce the difficulty of operation.

[0107] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A safety control system for immersed tube section barge construction, characterized in that: It includes monitoring module, early warning module, decision-making module and control module; The monitoring module is used to monitor the monitoring parameters in the immersed tube segment barge construction process in real time by means of information monitoring means; The early warning module is used to compare and analyze the control index of the required control parameter and the real-time monitoring result of the monitoring parameter, and determine whether there is a safety risk in the construction of immersed tube segment transportation; The decision module uses the control module to implement regulation according to the judgment result of the early warning module, so that the real-time monitoring result of the monitoring parameter meets the relevant requirements of the control index of the required control parameter, and compares the regulation result with the real-time monitoring result of the monitoring module to determine whether to end the regulation; The control module controls the control parameters according to the real-time monitoring results of the monitoring module and the execution instructions of the decision module to achieve the control of the safety of the immersed tube section barge construction; The monitoring parameters are parameters that can provide feedback on the safety control parameters and regulation parameters of immersed tube segment barge construction, and the monitoring parameters include structural monitoring parameters, process monitoring parameters, environmental monitoring parameters, and regulation monitoring parameters; The structural monitoring parameters are parameters that can provide feedback on the real-time status of the structural control parameters, the process monitoring parameters are parameters that can provide feedback on the real-time status of the process control parameters, the environmental monitoring parameters are parameters that can provide feedback on the real-time status of the environmental control parameters, and the control monitoring parameters are parameters that can provide feedback on the real-time status of the control parameters; The control parameters include structural control parameters, process control parameters and environmental control parameters; The structural control parameters are parameters that can evaluate the safety of the immersed tube segment body, the process control parameters are parameters that can evaluate the safety and feasibility of the transfer process, and the environmental control parameters are parameters that can provide feedback on the immersed tube segment transfer operation window; The control parameters include pre-control parameters and real-time control parameters; The pre-adjustment parameters include the environmental control parameters and the process parameters that affect the safety of the immersed tube section transportation construction and cannot be adjusted during the transportation process; the real-time adjustment parameters are the process parameters that affect the safety of the immersed tube section transportation construction and can be adjusted in real time during the transportation process.

2. The immersed tube section barge construction safety control system according to claim 1 is characterized in that: The structural control parameters include stress and deformation of immersed tube segments; The process control parameters include the semi-submersible barge posture and deformation; The environmental control parameters include wind speed, wind direction, wave height, wave wavelength, wave period, flow speed and flow direction; The structural monitoring parameters are the vertical displacement of the displacement monitoring point and the strain of the stress monitoring point on the immersed tube segment; The process monitoring parameters are the vertical displacement and inclination of the displacement monitoring points on the semi-submersible barge; The environmental monitoring parameters are wind speed, wind direction, wave height, wave wavelength, wave period, flow velocity and flow direction; The pre-controlled parameters of the control parameters are the transverse stiffness and longitudinal stiffness of the semi-submersible barge, the load adjustment capacity of the semi-submersible barge, and the performance curve and height of the pier on the ship; The real-time control parameter of the control monitoring parameter is the ballast water level in the cabin of the semi-submersible barge.

3. The immersed tube section barge construction safety control system according to any one of claims 1-2, characterized in that: The control module needs to be automatically adjusted by a number of automated equipment.

4. The immersed tube section barge construction safety control system according to any one of claims 1-2, characterized in that: The monitoring module includes the Internet of Things, which includes sensors, automated collection equipment and wireless transmission technology.

5. A design method for a safety control system for immersed tube section barge construction, characterized in that: The steps include: Step 1: construct a multi-parameter system for safety control of immersed tube segment transfer construction, wherein the multi-parameter system includes control parameters, regulation parameters, and monitoring parameters, wherein the regulation parameters include pre-regulation parameters and real-time regulation parameters; Step 2: Through theoretical analysis, put forward the control index of control parameters, the configuration requirements of pre-adjustment parameters, and the quantitative relationship between real-time adjustment parameters and control parameters; Step 3: Use intelligent sensing equipment, automated collection equipment and wireless transmission technology to form a monitoring module based on the Internet of Things; A real-time early warning module for safety risks in the construction of immersed tube segments is constructed. When the real-time monitoring result of the monitoring parameter is greater than or equal to the control index of the control parameter, an alarm signal is issued and the decision-making module can be automatically entered. A hierarchical control decision mechanism for real-time control parameters is constructed. According to the principle of maximizing control efficiency, hierarchical control behaviors are formulated for real-time control parameters. When an alarm signal is issued, a control instruction is issued through the decision module and the control module is used to implement the control. The control result is compared with the real-time monitoring result of the monitoring module to determine whether to end the control. A control module for regulating parameters is constructed. The control module adopts two control methods: advance control before the construction of immersed tube segment transfer and real-time control during transfer. In the pre-construction plan planning stage of immersed tube segment transfer, the following two control behaviors can be performed to control the pre-control parameters. The first control behavior is to realize the pre-control of environmental parameters by clarifying the transfer construction operation window. The second control behavior is to realize the pre-control of process parameters that affect the safety of immersed tube segment transfer construction and cannot be adjusted during the transfer process through the optimization of the transfer process plan. During the transportation of immersed tube segments, the process parameters that affect the safety of the transportation of immersed tube segments can be adjusted in real time according to the quantitative relationship between the control parameters and the real-time control parameters; Step 4: Develop and upgrade the automation equipment or independent control system of the equipment, so that it can accept control instructions and automatically control the control parameters, and complete the immersed tube section barge construction safety control system as described in any one of claims 1-4.

6. The design method of the safety control system for immersed tube section transfer construction according to claim 5 is characterized in that: In the first step: Control parameters include structural control parameters and process control parameters. The process control parameters are determined based on process safety and feasibility. The structural control parameters are determined through structural stress analysis. The control parameters of automation equipment or devices are determined through process analysis. After considering the need to understand the real-time status of regulation parameters and control parameters, the monitoring parameters are clarified from the aspects of environment, structure, process, equipment or devices.

7. A method for safety control of immersed tube segment transportation construction, characterized in that: The immersed tube segment transfer construction safety control system as described in any one of claims 1 to 4 is used for control. During the immersed tube segment transfer construction: The early warning module compares and analyzes the control indicators of the required control parameters and the real-time monitoring results of the monitoring parameters in real time, and determines whether there is a safety risk in the transshipment of the immersed tube sections. If the early warning module determines that there is a safety risk in the transshipment of the immersed tube sections, it sends out an early warning signal and automatically enters the control decision module. The decision module uses the control module to implement control according to the judgment result of the early warning module, so that the real-time monitoring results of the monitoring parameters meet the relevant requirements of the control indicators of the required control parameters, and then the safety warning of the transshipment construction is lifted.

8. The method for safety control of immersed tube section barge construction according to claim 7 is characterized in that: The control module includes a primary control module, a secondary control module and a tertiary control module, the control efficiency of the primary control module is greater than the control efficiency of the secondary control module, and the control efficiency of the secondary control module is greater than the control efficiency of the tertiary control module; When the decision module uses the control module to implement regulation according to the judgment result of the early warning module: hierarchical regulation is performed according to the regulation efficiency of the real-time regulation parameters.

9. The method for safety control of immersed tube section transportation construction according to claim 8 is characterized in that: When 50% of the control amount at the current level can meet the control demand, the end condition of each level of control is: the real-time monitoring result of the monitoring parameter is 50% of the control parameter control index.

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